Pub Date : 2000-01-19DOI: 10.1109/ICIT.2000.854255
A.B. Katake, A. Mahindrakar, R. Banavar
Underactuated mechanical systems are mechanical systems with fewer actuators than degrees-of-freedom. Examples of underactuated mechanisms of engineering importance are mobile robots, wheeled vehicles and space robotics. One such example of interest is the Acrobot. In this paper the Acrobot is modified so as to impose holonomic constraints on the system. The problem of formulating the equations of motions of the system along with the holonomic constraints using traditional methods is then addressed. An alternate method is then used to incorporate the holonomic constraints. This is followed by design of a control law for the swing up of the constrained Acrobot.
{"title":"Study of underactuated mechanisms in the presence of holonomic constraints: the constrained Acrobot","authors":"A.B. Katake, A. Mahindrakar, R. Banavar","doi":"10.1109/ICIT.2000.854255","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854255","url":null,"abstract":"Underactuated mechanical systems are mechanical systems with fewer actuators than degrees-of-freedom. Examples of underactuated mechanisms of engineering importance are mobile robots, wheeled vehicles and space robotics. One such example of interest is the Acrobot. In this paper the Acrobot is modified so as to impose holonomic constraints on the system. The problem of formulating the equations of motions of the system along with the holonomic constraints using traditional methods is then addressed. An alternate method is then used to incorporate the holonomic constraints. This is followed by design of a control law for the swing up of the constrained Acrobot.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"1 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":"130958181","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.2000.854123
Madhu N. Belur, Ravi N. Banavar, A. Mahindrakar
The noise cancellation problem has been studied extensively. Low frequency (acoustic) noise attenuation has faced attention in industrial environments and in automobile applications. The modeling of the one-dimensional case (where sound travels in a duct and hence between 'wave guides') is relatively straightforward for example. In this paper, a laboratory experimentation of canceling noise using the H/sub /spl infin// control algorithm is presented. The setup consists of a rectangular wooden duct fitted with speakers (for actuation and noise) and microphones (for sensing). The system is interfaced to a stand-alone DSP board (dSPACE) with a TMS 320C31 chip and the control algorithm is implemented digitally on the DSP.
{"title":"Active noise cancellation using H/sub /spl infin// control techniques","authors":"Madhu N. Belur, Ravi N. Banavar, A. Mahindrakar","doi":"10.1109/ICIT.2000.854123","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854123","url":null,"abstract":"The noise cancellation problem has been studied extensively. Low frequency (acoustic) noise attenuation has faced attention in industrial environments and in automobile applications. The modeling of the one-dimensional case (where sound travels in a duct and hence between 'wave guides') is relatively straightforward for example. In this paper, a laboratory experimentation of canceling noise using the H/sub /spl infin// control algorithm is presented. The setup consists of a rectangular wooden duct fitted with speakers (for actuation and noise) and microphones (for sensing). The system is interfaced to a stand-alone DSP board (dSPACE) with a TMS 320C31 chip and the control algorithm is implemented digitally on the DSP.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"42 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":"132850730","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.2000.854088
J. Raol, G. Girija
In this paper the square-root information filter is studied for possible application to sensor data fusion process. Sensor data fusion is gaining increasing importance in modern technologies. The merit of the information fusion approach is that the fusion at measurement level is quite straightforward. The implementation of a square-root filter should be useful for numerical accuracy, reliability and stability. A typical result of fusion using simulated and real data is given.
{"title":"Square-root information filter based sensor data fusion algorithm","authors":"J. Raol, G. Girija","doi":"10.1109/ICIT.2000.854088","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854088","url":null,"abstract":"In this paper the square-root information filter is studied for possible application to sensor data fusion process. Sensor data fusion is gaining increasing importance in modern technologies. The merit of the information fusion approach is that the fusion at measurement level is quite straightforward. The implementation of a square-root filter should be useful for numerical accuracy, reliability and stability. A typical result of fusion using simulated and real data is given.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"3 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":"133695413","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.2000.854150
B. Chaudhari, B. G. Fernandes
The objective of sinusoidal PWM technique is to synthesize the motor currents as near to a sinusoid as possible economically. Traditionally, PWM control is accomplished using a natural sampling technique. Though its implementation is simple and in real time, it cannot give good performance in the entire operating range. Microprocessor-based PWM generation can offer significant advantages but suffer from computational time limitations. Moreover, it is not economical for general-purpose variable speed drives. A novel technique of PWM signal generation is addressed in this paper. While different requirements of high performance SPWM are fulfilled, the circuit configuration is reduced compared with conventional circuits. A regular sampled, asymmetric, synchronized SPWM with variable gear ratio and third harmonic injection at higher modulation depth, is realized with much reduced hardware. Such reduction in complexity, cost and space are essential to boost the changeover from constant speed to variable speed drive for energy saving in general applications. This was the motivation of work presented. The technique is well suited even for dedicated implementation using a microcontroller.
{"title":"EPROM-based modulator for synchronized asymmetric regular-sampled SPWM technique","authors":"B. Chaudhari, B. G. Fernandes","doi":"10.1109/ICIT.2000.854150","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854150","url":null,"abstract":"The objective of sinusoidal PWM technique is to synthesize the motor currents as near to a sinusoid as possible economically. Traditionally, PWM control is accomplished using a natural sampling technique. Though its implementation is simple and in real time, it cannot give good performance in the entire operating range. Microprocessor-based PWM generation can offer significant advantages but suffer from computational time limitations. Moreover, it is not economical for general-purpose variable speed drives. A novel technique of PWM signal generation is addressed in this paper. While different requirements of high performance SPWM are fulfilled, the circuit configuration is reduced compared with conventional circuits. A regular sampled, asymmetric, synchronized SPWM with variable gear ratio and third harmonic injection at higher modulation depth, is realized with much reduced hardware. Such reduction in complexity, cost and space are essential to boost the changeover from constant speed to variable speed drive for energy saving in general applications. This was the motivation of work presented. The technique is well suited even for dedicated implementation using a microcontroller.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"80 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":"131845304","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.2000.854232
C. Bohn
The problem of recursively estimating the states and parameters of a nonlinear continuous-time system with discrete measurements is investigated. As a new method, an adaptive extended Kalman filter is proposed and compared to an existing approach, an innovations model filter. By means of a simulation example, it is illustrated that both methods are capable of estimating the parameters of a nonlinear system, but that due to the time-varying filter gain in the new method, better state estimates are obtained. The new method is therefore considered a valuable alternative to existing methods.
{"title":"Parameter estimation for nonlinear systems: adaptive innovations model filters vs. adaptive extended Kalman filters","authors":"C. Bohn","doi":"10.1109/ICIT.2000.854232","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854232","url":null,"abstract":"The problem of recursively estimating the states and parameters of a nonlinear continuous-time system with discrete measurements is investigated. As a new method, an adaptive extended Kalman filter is proposed and compared to an existing approach, an innovations model filter. By means of a simulation example, it is illustrated that both methods are capable of estimating the parameters of a nonlinear system, but that due to the time-varying filter gain in the new method, better state estimates are obtained. The new method is therefore considered a valuable alternative to existing methods.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"1 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":"133764769","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.2000.854156
S. Bingulac, N. F. Al-Muthairi
This paper presents a MIMO system identification algorithm based on calculating Markov parameters directly from available input-output data. The identification algorithm discussed in the paper can be considered as a version of the subspace model identification schemes. In selecting a state space model corresponding to input-output data, the algorithm makes use of recently introduced concept of pseudo-observability indices, which greatly increases the flexibility of the procedure. An illustrative computational example is included.
{"title":"MIMO D-T system identification using subspace based methods","authors":"S. Bingulac, N. F. Al-Muthairi","doi":"10.1109/ICIT.2000.854156","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854156","url":null,"abstract":"This paper presents a MIMO system identification algorithm based on calculating Markov parameters directly from available input-output data. The identification algorithm discussed in the paper can be considered as a version of the subspace model identification schemes. In selecting a state space model corresponding to input-output data, the algorithm makes use of recently introduced concept of pseudo-observability indices, which greatly increases the flexibility of the procedure. An illustrative computational example is included.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"875 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":"133765068","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.2000.854208
O. Hammami, K. Kuroda, Q. Zhao, K. Saito
This paper proposes a system for the automatic hardware design of neural networks based on cooperative coevolutionary paradigms and multiple reconfigurable devices. The authors' system is composed of a logic synthesis tool, multiple reconfigurable devices and an embedded processor executing the coevolutionary algorithm. The partitioning of the engineering design process follows current practices in hardware/software codesign based on both information on arrival rate /spl lambda/ of requests and the service time /spl mu/ of the reconfigurable devices. The system is suitable under some conditions for industrial applications such as a reactive system but also because it can be connected to multiple systems in a totally networked industrial environment which allows download of the same hardware configuration on multiple on ine devices.
{"title":"Coevolvable hardware platform for automatic hardware design of neural networks","authors":"O. Hammami, K. Kuroda, Q. Zhao, K. Saito","doi":"10.1109/ICIT.2000.854208","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854208","url":null,"abstract":"This paper proposes a system for the automatic hardware design of neural networks based on cooperative coevolutionary paradigms and multiple reconfigurable devices. The authors' system is composed of a logic synthesis tool, multiple reconfigurable devices and an embedded processor executing the coevolutionary algorithm. The partitioning of the engineering design process follows current practices in hardware/software codesign based on both information on arrival rate /spl lambda/ of requests and the service time /spl mu/ of the reconfigurable devices. The system is suitable under some conditions for industrial applications such as a reactive system but also because it can be connected to multiple systems in a totally networked industrial environment which allows download of the same hardware configuration on multiple on ine devices.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"146 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":"115740922","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.2000.854164
P. Sahu, A. Chaturvedi
In a frequency selective fading environment, use of a single carrier for the transmission of the encoded data from the transmitter to receiver, causes signal distortion resulting in poor performance. But if the same encoded data is transmitted using more than one carrier then the received data from each subcarrier can be combined to achieve improved performance. This type of transmission is called a multicarrier (MC) code-division multiple access (CDMA) scheme. The advantages of an MC-CDMA approach are presented by the authors in this paper.
{"title":"Application of multicarrier CDMA to mobile communication technology","authors":"P. Sahu, A. Chaturvedi","doi":"10.1109/ICIT.2000.854164","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854164","url":null,"abstract":"In a frequency selective fading environment, use of a single carrier for the transmission of the encoded data from the transmitter to receiver, causes signal distortion resulting in poor performance. But if the same encoded data is transmitted using more than one carrier then the received data from each subcarrier can be combined to achieve improved performance. This type of transmission is called a multicarrier (MC) code-division multiple access (CDMA) scheme. The advantages of an MC-CDMA approach are presented by the authors in this paper.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"97 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":"124548390","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.2000.854117
G. Panda, R. R. Mishra
Relays used in protection of power systems are pattern classifying devices as they give discrete trip/no trip decision depending upon applied input patterns. The performance of a relay is judged from its speed of operation and accuracy in classifying the input patterns. In this paper, a fuzzy Logic based intelligent relay is proposed which is fast acting, as well as simple hardware-wise. Simulation studies reveal that the proposed relay is accurate enough in classifying the input patterns for computing the correct decision of relay tripping.
{"title":"Fast intelligent relaying using fuzzy logic technique","authors":"G. Panda, R. R. Mishra","doi":"10.1109/ICIT.2000.854117","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854117","url":null,"abstract":"Relays used in protection of power systems are pattern classifying devices as they give discrete trip/no trip decision depending upon applied input patterns. The performance of a relay is judged from its speed of operation and accuracy in classifying the input patterns. In this paper, a fuzzy Logic based intelligent relay is proposed which is fast acting, as well as simple hardware-wise. Simulation studies reveal that the proposed relay is accurate enough in classifying the input patterns for computing the correct decision of relay tripping.","PeriodicalId":405648,"journal":{"name":"Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)","volume":"16 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":"114997785","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.2000.854237
M. V. Chary, N. Sreenivasulu, K. Nageswara Rao, D. Saibabu
This paper presents the experimental studies of VFD drives for conditioning of tobacco. In particular the classifier fan is operated with and without VFD. The speed of the fan is adjusted depending on the grade of tobacco. Three different classifier fans driven by different rating motors are chosen for experimental studies. The motors can be supplied either from grid supply or inverter. Measurements such as input current, power factor, running load are made on each drive at different speeds with and without damper control during the processing of tobacco for a given load cycle over the selected period. The reduction in the energy consumption of the VFD fan drives is obtained and cost benefit analysis is made. Further, the payback period is also computed. From the experimental studies it is found that the airflow varies according to the speed of the fan motor and use of damper circuit can be completely eliminated. Various performance characteristics are presented.
{"title":"Energy saving through VFDs for fan drives in tobacco threshing plants","authors":"M. V. Chary, N. Sreenivasulu, K. Nageswara Rao, D. Saibabu","doi":"10.1109/ICIT.2000.854237","DOIUrl":"https://doi.org/10.1109/ICIT.2000.854237","url":null,"abstract":"This paper presents the experimental studies of VFD drives for conditioning of tobacco. In particular the classifier fan is operated with and without VFD. The speed of the fan is adjusted depending on the grade of tobacco. Three different classifier fans driven by different rating motors are chosen for experimental studies. The motors can be supplied either from grid supply or inverter. Measurements such as input current, power factor, running load are made on each drive at different speeds with and without damper control during the processing of tobacco for a given load cycle over the selected period. The reduction in the energy consumption of the VFD fan drives is obtained and cost benefit analysis is made. Further, the payback period is also computed. From the experimental studies it is found that the airflow varies according to the speed of the fan motor and use of damper circuit can be completely eliminated. Various performance characteristics are presented.","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":"123468187","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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