Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69719
E. Zalama Casanova, J. L. López Coronado, J.M. Munoz Platon, L. Pacheco
The authors have designed an expert system for the automated granting of overdrafts in banking entities. The system handles three basic parameters for each client: economic solvency, payment capacity, and guarantees for the recovery of the overdraft. The system is flexible, which means that it is easy to modify or to incorporate rules in the knowledge base. The system is automatic, so there is no need for any human intervention in the decision-making process. All the information necessary is taken from the banking entity's information services network. The system performs a personalized treatment of the operations between the client and the bank, based on heuristics, just as an expert human would.<>
{"title":"Expert system for automatic authorization of deficits","authors":"E. Zalama Casanova, J. L. López Coronado, J.M. Munoz Platon, L. Pacheco","doi":"10.1109/IECON.1989.69719","DOIUrl":"https://doi.org/10.1109/IECON.1989.69719","url":null,"abstract":"The authors have designed an expert system for the automated granting of overdrafts in banking entities. The system handles three basic parameters for each client: economic solvency, payment capacity, and guarantees for the recovery of the overdraft. The system is flexible, which means that it is easy to modify or to incorporate rules in the knowledge base. The system is automatic, so there is no need for any human intervention in the decision-making process. All the information necessary is taken from the banking entity's information services network. The system performs a personalized treatment of the operations between the client and the bank, based on heuristics, just as an expert human would.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115413543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69704
Y. Yoshida, A. Yabuki, Y. Nakata, K. Nishimoto
The SCARA (selective compliance assembly robot arm) robot has horizontal compliance. However, the amount and direction of compliance must be controlled before the robot can be used in actual applications. The authors have developed an active compliance controller that uses force sensors on the wrists of the robot to determine the contact forces acting on the end effector. The sensors feed this information to the trajectory generator of the robot controller. The controller achieves high-speed control (the sampling time is 1 ms) by performing all control operations in parallel using two MB8764 digital signal processors. The stability of the control was analyzed for joints having an arm that is not rigid. The force control can be stabilized by keeping the force feedback gain reasonably small.<>
{"title":"High-speed force controller for SCARA robots","authors":"Y. Yoshida, A. Yabuki, Y. Nakata, K. Nishimoto","doi":"10.1109/IECON.1989.69704","DOIUrl":"https://doi.org/10.1109/IECON.1989.69704","url":null,"abstract":"The SCARA (selective compliance assembly robot arm) robot has horizontal compliance. However, the amount and direction of compliance must be controlled before the robot can be used in actual applications. The authors have developed an active compliance controller that uses force sensors on the wrists of the robot to determine the contact forces acting on the end effector. The sensors feed this information to the trajectory generator of the robot controller. The controller achieves high-speed control (the sampling time is 1 ms) by performing all control operations in parallel using two MB8764 digital signal processors. The stability of the control was analyzed for joints having an arm that is not rigid. The force control can be stabilized by keeping the force feedback gain reasonably small.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115432261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69649
O. Kaynak, H. Hashimoto, H. Kuroyanagi, F. Harashima
The design and implementation of long-range predictive control for accurate trajectory control of a servo system with a highly nonlinear load are described. The experimental set-up imitates a joint of an industrial manipulator. The control system is implemented around a digital signal processor, which is used to calculate the voltage to be applied to the servo motor. The control algorithm aims for the minimization of a performance index which is chosen as the norm of the tracking error over a future control horizon. For the prediction of the future output, a very simple approach with a physical meaning is followed, and it is shown that this results in the same predicted values as an optimal predictor widely reported in the literature. The experimental results presented show that highly accurate trajectory following is possible in spite of the very simple structure assumed as the model of the servo motor and its nonlinear load.<>
{"title":"Robust tracking control based on long range prediction","authors":"O. Kaynak, H. Hashimoto, H. Kuroyanagi, F. Harashima","doi":"10.1109/IECON.1989.69649","DOIUrl":"https://doi.org/10.1109/IECON.1989.69649","url":null,"abstract":"The design and implementation of long-range predictive control for accurate trajectory control of a servo system with a highly nonlinear load are described. The experimental set-up imitates a joint of an industrial manipulator. The control system is implemented around a digital signal processor, which is used to calculate the voltage to be applied to the servo motor. The control algorithm aims for the minimization of a performance index which is chosen as the norm of the tracking error over a future control horizon. For the prediction of the future output, a very simple approach with a physical meaning is followed, and it is shown that this results in the same predicted values as an optimal predictor widely reported in the literature. The experimental results presented show that highly accurate trajectory following is possible in spite of the very simple structure assumed as the model of the servo motor and its nonlinear load.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131571497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69734
S. Liu, C.X. Liu, Z. Ding
The authors have developed a novel procedure for the optimum design of the magnetic field of a fluxgate magnetometer. The procedure uses the finite element method for the analysis of the magnetic field in various driving current conditions. This includes the analysis of the combined effect of the earth's magnetic field and other time-varying magnetic fields, the digitizing of the nonlinear conditional variation equation for ease of digital computation, and the fast Fourier transform for calculating output signals. The procedure also features computer-aided optimum design software for the magnetic field. The system has been implemented with a single-chip microcomputer which can determine the optimal driving current for the magnetometer online in real time. Experimental results show that that the procedure is significantly better than traditional ones.<>
{"title":"Finite element analysis and computer-aided optimal design of the magnetic field of fluxgate magnetometers","authors":"S. Liu, C.X. Liu, Z. Ding","doi":"10.1109/IECON.1989.69734","DOIUrl":"https://doi.org/10.1109/IECON.1989.69734","url":null,"abstract":"The authors have developed a novel procedure for the optimum design of the magnetic field of a fluxgate magnetometer. The procedure uses the finite element method for the analysis of the magnetic field in various driving current conditions. This includes the analysis of the combined effect of the earth's magnetic field and other time-varying magnetic fields, the digitizing of the nonlinear conditional variation equation for ease of digital computation, and the fast Fourier transform for calculating output signals. The procedure also features computer-aided optimum design software for the magnetic field. The system has been implemented with a single-chip microcomputer which can determine the optimal driving current for the magnetometer online in real time. Experimental results show that that the procedure is significantly better than traditional ones.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114640538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69605
E. Nho, G. Cho
The authors propose a novel soft switching DC/DC converter with combined zero-voltage and zero-current switching. The power transfer mechanism of the proposed converter is different from that of such resonant-type converters as the resonant converter and quasi-resonant converter. The VAr (volt-ampere reactive) rating of the resonant capacitor of the proposed converter is very small compared with that of the resonant-type converter. The applied voltages to all the devices are limited to the supply voltage. This converter can operate in both constant and variable frequency with simple control. The basic operation of the proposed converter is described. Simulation was performed at 100 kHz and several-kilowatt output power, and experimental results are presented.<>
{"title":"A new zero-voltage zero-current mixed mode switching DC/DC converter with low device stresses","authors":"E. Nho, G. Cho","doi":"10.1109/IECON.1989.69605","DOIUrl":"https://doi.org/10.1109/IECON.1989.69605","url":null,"abstract":"The authors propose a novel soft switching DC/DC converter with combined zero-voltage and zero-current switching. The power transfer mechanism of the proposed converter is different from that of such resonant-type converters as the resonant converter and quasi-resonant converter. The VAr (volt-ampere reactive) rating of the resonant capacitor of the proposed converter is very small compared with that of the resonant-type converter. The applied voltages to all the devices are limited to the supply voltage. This converter can operate in both constant and variable frequency with simple control. The basic operation of the proposed converter is described. Simulation was performed at 100 kHz and several-kilowatt output power, and experimental results are presented.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123860046","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69707
S. Shinohara, M. Andou, M. Miyata, H. Yoshida, H. Ikeda, J. Yoshida, K. Nishide, T. Kondo, M. Sumi
The authors describe a compact range-finder that uses a frequency-modulated self-mixing laser diode which measures the averaged time interval of successive external-mode hops to give a short distance from the laser diode to a resting target with rough surface. With a triangular current modulation of an optimum amplitude, the measured dynamic range is from 0.2 m to 0.5 m; the standard deviation and the repeatability are less than +or-0.25 mm and +or-1.1 mm, respectively. With a decreased amplitude, i.e. half of the optimum, the dynamic range is widened to the range of 0.2 m to 1 m; the standard deviation and the repeatability are less than +or-1.6 mm and +or-2.8 mm, respectively. This type of range-finder is suitable for application as a visual sensor of an industrial robot.<>
{"title":"High-resolution range finder with wide dynamic range of 0.2 m to 1 m using a frequency-modulated laser diode","authors":"S. Shinohara, M. Andou, M. Miyata, H. Yoshida, H. Ikeda, J. Yoshida, K. Nishide, T. Kondo, M. Sumi","doi":"10.1109/IECON.1989.69707","DOIUrl":"https://doi.org/10.1109/IECON.1989.69707","url":null,"abstract":"The authors describe a compact range-finder that uses a frequency-modulated self-mixing laser diode which measures the averaged time interval of successive external-mode hops to give a short distance from the laser diode to a resting target with rough surface. With a triangular current modulation of an optimum amplitude, the measured dynamic range is from 0.2 m to 0.5 m; the standard deviation and the repeatability are less than +or-0.25 mm and +or-1.1 mm, respectively. With a decreased amplitude, i.e. half of the optimum, the dynamic range is widened to the range of 0.2 m to 1 m; the standard deviation and the repeatability are less than +or-1.6 mm and +or-2.8 mm, respectively. This type of range-finder is suitable for application as a visual sensor of an industrial robot.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124323580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69639
H. Jin, B. Wu, J. Lavers, S. Dewan
A general and efficient simulation program for switched-mode power electronic circuit analysis is introduced, and several of its salient features are discussed. It uses a nodal approach which is efficient in handling circuit topology changes and in simulating feedback control circuits. Control strategies such as a PWM (pulse-width modulated) generator or a zero-crossing detector can be easily implemented. It also allows variable time steps, which is useful in long-time simulation study. By using this program, the steady-state and dynamic performances of a PWM CSI (current source inverter) induction motor drive system with a special control strategy are simulated. Simulation results are experimentally verified.<>
{"title":"Simulation of PWM CSI induction motor drive system","authors":"H. Jin, B. Wu, J. Lavers, S. Dewan","doi":"10.1109/IECON.1989.69639","DOIUrl":"https://doi.org/10.1109/IECON.1989.69639","url":null,"abstract":"A general and efficient simulation program for switched-mode power electronic circuit analysis is introduced, and several of its salient features are discussed. It uses a nodal approach which is efficient in handling circuit topology changes and in simulating feedback control circuits. Control strategies such as a PWM (pulse-width modulated) generator or a zero-crossing detector can be easily implemented. It also allows variable time steps, which is useful in long-time simulation study. By using this program, the steady-state and dynamic performances of a PWM CSI (current source inverter) induction motor drive system with a special control strategy are simulated. Simulation results are experimentally verified.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128820554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69717
K. Ohishi
The authors propose a simple robust temperature control system for a thermostatic oven based on a fuzzy I-P controller and a fuzzy passive adaptive compensator. The proposed control algorithm suppresses the state error caused by dynamics variation, disturbances, and dead time. Numerical results that confirm the validity of the proposed robust temperature control of a thermostatic oven are presented.<>
{"title":"Robust temperature control of thermostatic oven based on adaptive and fuzzy algorithm","authors":"K. Ohishi","doi":"10.1109/IECON.1989.69717","DOIUrl":"https://doi.org/10.1109/IECON.1989.69717","url":null,"abstract":"The authors propose a simple robust temperature control system for a thermostatic oven based on a fuzzy I-P controller and a fuzzy passive adaptive compensator. The proposed control algorithm suppresses the state error caused by dynamics variation, disturbances, and dead time. Numerical results that confirm the validity of the proposed robust temperature control of a thermostatic oven are presented.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130229592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69702
Maki Habib, S. Yuta
An intelligent navigation system for a autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.<>
{"title":"Development and implementation of navigation system for an autonomous mobile robot working in a building environment with its real time application","authors":"Maki Habib, S. Yuta","doi":"10.1109/IECON.1989.69702","DOIUrl":"https://doi.org/10.1109/IECON.1989.69702","url":null,"abstract":"An intelligent navigation system for a autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126774172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69694
J. Fraile-Marinero, V. Gutierrez-Diez, J. Pérez-Turiel
The authors describe the concept, development, and operation of an arc-welding industrial robot to which have been joined a vision system and a computer for controlling and synchronizing the integration. The vision system makes it possible to determine the exact point where the robot must perform the arc-weldings. A communications protocol makes it possible to communicate between the robot and the computer and to synchronize the operation of the vision system (robot-computer). It is concluded that the arc-welding robot integrated with a vision system allows improved control of the weld process and the total elimination of welding errors caused by deformations on the weld-piece geometry.<>
{"title":"Integrated robotic system development for arc-welding application with artificial vision","authors":"J. Fraile-Marinero, V. Gutierrez-Diez, J. Pérez-Turiel","doi":"10.1109/IECON.1989.69694","DOIUrl":"https://doi.org/10.1109/IECON.1989.69694","url":null,"abstract":"The authors describe the concept, development, and operation of an arc-welding industrial robot to which have been joined a vision system and a computer for controlling and synchronizing the integration. The vision system makes it possible to determine the exact point where the robot must perform the arc-weldings. A communications protocol makes it possible to communicate between the robot and the computer and to synchronize the operation of the vision system (robot-computer). It is concluded that the arc-welding robot integrated with a vision system allows improved control of the weld process and the total elimination of welding errors caused by deformations on the weld-piece geometry.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125810756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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