Pub Date : 2000-01-19DOI: 10.1109/ICIT.2000.854257
Dhananjay Karandikar, B. Bandyopadhyay
Flexible manipulators possess a lot of advantages over their traditional rigid link counterparts, like less weight, less power input, higher speed of response etc. But efficient control methods are required to control such a system. The strategy adopted here is to control the manipulator using the nonlinear model till the required terminal joint angle is reached. In the vicinity of the terminal joint angle both the nonlinear and the linearized model are used. Use of the nonlinear model ensures tracking and linear model damps the vibrations. Variable structure control in sliding mode has been used for both the models. This technique has been applied to a single link flexible manipulator.
{"title":"Sliding mode control of single link flexible manipulator","authors":"Dhananjay Karandikar, B. Bandyopadhyay","doi":"10.1109/ICIT.2000.854257","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854257","url":null,"abstract":"Flexible manipulators possess a lot of advantages over their traditional rigid link counterparts, like less weight, less power input, higher speed of response etc. But efficient control methods are required to control such a system. The strategy adopted here is to control the manipulator using the nonlinear model till the required terminal joint angle is reached. In the vicinity of the terminal joint angle both the nonlinear and the linearized model are used. Use of the nonlinear model ensures tracking and linear model damps the vibrations. Variable structure control in sliding mode has been used for both the models. This technique has been applied to a single link flexible manipulator.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122490384","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854111
Marcos A. Rodrigues, Yonghuai Liu
We report on the design and validation of a method for correspondenceless estimation of transformation parameters. The problem we are tackling is connected with the verification of dimensional specifications of filter components in a manufacturing line. Our proposed method consists of acquiring range images of the same object's region from known, different viewpoints and use this information to calibrate camera parameters. Calibration errors can then be used to reason about actual physical dimensions and compare these with given specifications. We are investigating a correspondenceless method because the establishment of point to point correspondences between real images is a truly challenging task. Our proposed algorithm is based on geometric properties of image points which can be defined as invariants uniquely determined by the specific rigid transformation. The same invariants are also defined for a small subset of data, providing that the subset contains at least three data points. The algorithm is based on computing two sets of possible transformation parameters using different subsets of image data. The algorithm makes full use of rigid geometric constraints of image points synthesised into a single coordinate system and provides a closed form solution to all parameters of interest. We also implemented another well known correspondenceless calibration algorithm based on the scatter matrix. Experimental results have shown that the proposed algorithm is generally more accurate than the scatter matrix based algorithm and that it can be effectively used in the context of the described industrial inspection task.
{"title":"A new correspondenceless geometric algorithm for automatic inspection of filter components","authors":"Marcos A. Rodrigues, Yonghuai Liu","doi":"10.1109/ICIT.2000.854111","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854111","url":null,"abstract":"We report on the design and validation of a method for correspondenceless estimation of transformation parameters. The problem we are tackling is connected with the verification of dimensional specifications of filter components in a manufacturing line. Our proposed method consists of acquiring range images of the same object's region from known, different viewpoints and use this information to calibrate camera parameters. Calibration errors can then be used to reason about actual physical dimensions and compare these with given specifications. We are investigating a correspondenceless method because the establishment of point to point correspondences between real images is a truly challenging task. Our proposed algorithm is based on geometric properties of image points which can be defined as invariants uniquely determined by the specific rigid transformation. The same invariants are also defined for a small subset of data, providing that the subset contains at least three data points. The algorithm is based on computing two sets of possible transformation parameters using different subsets of image data. The algorithm makes full use of rigid geometric constraints of image points synthesised into a single coordinate system and provides a closed form solution to all parameters of interest. We also implemented another well known correspondenceless calibration algorithm based on the scatter matrix. Experimental results have shown that the proposed algorithm is generally more accurate than the scatter matrix based algorithm and that it can be effectively used in the context of the described industrial inspection task.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114294394","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854124
L. Keel, S. P. Bhattacharyya
In this paper, the authors develop an analytical criterion for determining the stabilizing gains of a digital control system. The criterion is based on analysis of the behaviour of a real polynomial X(u) constructed from the plant transfer function G(z). It is shown that the real zeros u/sub i/ of X(u)/spl isin/(-1, +1) and the signs of X/spl dot/(u)|/sub u=ui/ determine the range of stabilizing gains K completely, and in closed form. Besides providing a nongraphical and computationally simpler alternative to the Nyquist criterion and root locus techniques, this solution is a first step towards investigating stabilizability by higher order controllers.
{"title":"On stabilizing gains far digital control systems","authors":"L. Keel, S. P. Bhattacharyya","doi":"10.1109/ICIT.2000.854124","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854124","url":null,"abstract":"In this paper, the authors develop an analytical criterion for determining the stabilizing gains of a digital control system. The criterion is based on analysis of the behaviour of a real polynomial X(u) constructed from the plant transfer function G(z). It is shown that the real zeros u/sub i/ of X(u)/spl isin/(-1, +1) and the signs of X/spl dot/(u)|/sub u=ui/ determine the range of stabilizing gains K completely, and in closed form. Besides providing a nongraphical and computationally simpler alternative to the Nyquist criterion and root locus techniques, this solution is a first step towards investigating stabilizability by higher order controllers.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":" 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113951785","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854085
M. Vidyasagar
In this talk, a brief overview is given of the evolution of robotics to date. It is argued that unless robots are equipped with some 'intelligence,' further progress in robotics will not be possible. Some of the challenges in building intelligent robotic systems, especially in an Indian context, are discussed.
{"title":"Challenges in building intelligent robotic systems","authors":"M. Vidyasagar","doi":"10.1109/ICIT.2000.854085","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854085","url":null,"abstract":"In this talk, a brief overview is given of the evolution of robotics to date. It is argued that unless robots are equipped with some 'intelligence,' further progress in robotics will not be possible. Some of the challenges in building intelligent robotic systems, especially in an Indian context, are discussed.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"30 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133971071","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854112
C. Vijayakumar, R. Rajagopal
Tracking of multiple targets by using only the bearing information is an important problem in passive sensing scenarios such as passive sonar or infrared seeker applications. In this paper, a new algorithm is presented to adaptively estimate the DOAs of multiple moving targets when linear equispace array (LES) is used for making the measurements. These algorithms are based on the differential MUSIC method. The results obtained by these algorithms are then applied as input to a nonlinear state linear measurement unscented filter. The unscented filter based tracker is compared with the EKF based tracker. Simulation results show that the former is superior to the latter.
{"title":"Passive target tracking by unscented filters","authors":"C. Vijayakumar, R. Rajagopal","doi":"10.1109/ICIT.2000.854112","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854112","url":null,"abstract":"Tracking of multiple targets by using only the bearing information is an important problem in passive sensing scenarios such as passive sonar or infrared seeker applications. In this paper, a new algorithm is presented to adaptively estimate the DOAs of multiple moving targets when linear equispace array (LES) is used for making the measurements. These algorithms are based on the differential MUSIC method. The results obtained by these algorithms are then applied as input to a nonlinear state linear measurement unscented filter. The unscented filter based tracker is compared with the EKF based tracker. Simulation results show that the former is superior to the latter.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"431 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133279889","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854170
U. Bergant, N. Zimic, I. Lapanja
Using electronic devices in the gambling industry has become increasingly popular over the last few years. First machines employing electromechanical principles were slot machines. Recently, electronic gambling machines which use mechanical motion of various types to produce random numbers have emerged and are used with an increasing interest. Typical representatives are electronic roulette and electronic dice machines. The most important module of an electronic dice machine is detection of dice location and throw-the electronic read-out process of random numbers produced by mechanically thrown dices. Such machines are extremely attractive to users and moreover they provide results visually giving no room to fraudulently acquired numbers. For this purpose the machine as well has to be able to reliably and precisely read the numbers produced. Older detection systems for this kind of machine did not achieve acceptable levels of precision, for example, 99.8% read-out precision is simply not enough. This precision is the single most important factor for such a machine and the authors' approach produced 100% precision and reliability. In their article, they present a novel detection method based on contactless electronic ID keys which are positioned (inserted) on the facets of dice(s). They are identified (read-out) using an array of contactless read-out points implemented as electronic ID key scanners. In this way, one is able to implement highly precise and reliable electronic gambling machines, which use mechanical random number generators (dice throwers)-all in an extremely cost effective manner.
{"title":"Design considerations of an electromechanical dice gambling machine","authors":"U. Bergant, N. Zimic, I. Lapanja","doi":"10.1109/ICIT.2000.854170","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854170","url":null,"abstract":"Using electronic devices in the gambling industry has become increasingly popular over the last few years. First machines employing electromechanical principles were slot machines. Recently, electronic gambling machines which use mechanical motion of various types to produce random numbers have emerged and are used with an increasing interest. Typical representatives are electronic roulette and electronic dice machines. The most important module of an electronic dice machine is detection of dice location and throw-the electronic read-out process of random numbers produced by mechanically thrown dices. Such machines are extremely attractive to users and moreover they provide results visually giving no room to fraudulently acquired numbers. For this purpose the machine as well has to be able to reliably and precisely read the numbers produced. Older detection systems for this kind of machine did not achieve acceptable levels of precision, for example, 99.8% read-out precision is simply not enough. This precision is the single most important factor for such a machine and the authors' approach produced 100% precision and reliability. In their article, they present a novel detection method based on contactless electronic ID keys which are positioned (inserted) on the facets of dice(s). They are identified (read-out) using an array of contactless read-out points implemented as electronic ID key scanners. In this way, one is able to implement highly precise and reliable electronic gambling machines, which use mechanical random number generators (dice throwers)-all in an extremely cost effective manner.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132127255","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854098
F. Jiménez, M. Courvoisier, A. Garcia, G. Muñoz, N. Harchani, M. Al-Mohamed, D. Esteve
The improvement of micro-technologies in the microelectronics world has allowed the creation of ultra miniaturised devices, which are called MEMS-micro electro mechanical systems or microsystems. A major problem concerns the design of these heterogeneous circuits because it associates disciplines such as electronics, mechanics, chemistry, etc. This paper presents models and tools developed for system design and synthesis of MEMS based on SDL (specification description language), structured analysis for real time (SA-RT) and Petri nets (PN).
{"title":"Tools and models for systems design and synthesis of MEMS based on asynchronous circuits","authors":"F. Jiménez, M. Courvoisier, A. Garcia, G. Muñoz, N. Harchani, M. Al-Mohamed, D. Esteve","doi":"10.1109/ICIT.2000.854098","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854098","url":null,"abstract":"The improvement of micro-technologies in the microelectronics world has allowed the creation of ultra miniaturised devices, which are called MEMS-micro electro mechanical systems or microsystems. A major problem concerns the design of these heterogeneous circuits because it associates disciplines such as electronics, mechanics, chemistry, etc. This paper presents models and tools developed for system design and synthesis of MEMS based on SDL (specification description language), structured analysis for real time (SA-RT) and Petri nets (PN).","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"316 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132104033","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854166
P. Doraraju, R. K. Nondy
In this paper, a new approach to decentralized adaptive stabilization using a minimal control synthesis algorithm for a multimachine power system is proposed. This controller uses proportional plus integral type adaptation to satisfy the hyperstability conditions for taking care of parameter changes of the system. The stabilization signals are synthesized at the excitation input of each machine such that desired system performance as specified in terms of reference model are satisfied. The reference model parameters are chosen to elicit a well defined closed loop performance. A guarantee of stability to the overall system is also presented. The proposed adaptive control scheme avoids the difficulty of satisfying the Erzberger's model matching conditions and the burden of implementing an online parameter estimator. Above all, the hyperstability guarantees asymptotical stability of the machines under a disturbance. Simulation results of a multi-machine power system are presented which show that the controller works well under system parameter changes and with different disturbances.
{"title":"A decentralized adaptive stabilizer based on minimal control synthesis algorithm for a multi-machine power system","authors":"P. Doraraju, R. K. Nondy","doi":"10.1109/ICIT.2000.854166","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854166","url":null,"abstract":"In this paper, a new approach to decentralized adaptive stabilization using a minimal control synthesis algorithm for a multimachine power system is proposed. This controller uses proportional plus integral type adaptation to satisfy the hyperstability conditions for taking care of parameter changes of the system. The stabilization signals are synthesized at the excitation input of each machine such that desired system performance as specified in terms of reference model are satisfied. The reference model parameters are chosen to elicit a well defined closed loop performance. A guarantee of stability to the overall system is also presented. The proposed adaptive control scheme avoids the difficulty of satisfying the Erzberger's model matching conditions and the burden of implementing an online parameter estimator. Above all, the hyperstability guarantees asymptotical stability of the machines under a disturbance. Simulation results of a multi-machine power system are presented which show that the controller works well under system parameter changes and with different disturbances.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130143927","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854219
P. Sensarma, K. Padiyar, Vikram Ramanarayanan
Although the desirability of active filters is universally accepted, equipment cost can still be an impediment for usage. This aspect can be somewhat redeemed by incorporating multiple mitigatory functions on the same hardware platform. In this paper, the inclusion of two compensatory functions on a single STATCOM is discussed. All analytical designs are supported by experimental results.
{"title":"A STATCOM for composite power line conditioning","authors":"P. Sensarma, K. Padiyar, Vikram Ramanarayanan","doi":"10.1109/ICIT.2000.854219","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854219","url":null,"abstract":"Although the desirability of active filters is universally accepted, equipment cost can still be an impediment for usage. This aspect can be somewhat redeemed by incorporating multiple mitigatory functions on the same hardware platform. In this paper, the inclusion of two compensatory functions on a single STATCOM is discussed. All analytical designs are supported by experimental results.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127135547","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 : 2000-01-19DOI: 10.1109/ICIT.2000.854261
K. Sundareswaran, S. Palani
The tracking of maximum efficiency point of a lightly loaded induction motor is generally obtained using search technique which is time consuming and the machine is subjected to many step changes of voltage which is undesirable. This paper presents a novel technique for energy efficient operation of voltage controlled induction motor drive using artificial neural networks (ANN). In the proposed method, the time required to converge to the best efficiency point of the drive is minimum and the machine is subjected to only one step change of voltage, irrespective of operating point. The back-propagation neural network is trained off-line to identify the optimal efficiency point of the motor in the entire operating range with a no priori knowledge of the machine parameters.
{"title":"Performance enhancement of AC voltage controller-fed induction motor drive using neural networks","authors":"K. Sundareswaran, S. Palani","doi":"10.1109/ICIT.2000.854261","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854261","url":null,"abstract":"The tracking of maximum efficiency point of a lightly loaded induction motor is generally obtained using search technique which is time consuming and the machine is subjected to many step changes of voltage which is undesirable. This paper presents a novel technique for energy efficient operation of voltage controlled induction motor drive using artificial neural networks (ANN). In the proposed method, the time required to converge to the best efficiency point of the drive is minimum and the machine is subjected to only one step change of voltage, irrespective of operating point. The back-propagation neural network is trained off-line to identify the optimal efficiency point of the motor in the entire operating range with a no priori knowledge of the machine parameters.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131567754","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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