Pub Date : 2013-09-23DOI: 10.1109/ASCC.2013.6606336
S. Das, H. Pota, I. Petersen
This paper presents the design and implementation of a multi-variable double resonant controller with a multivariable integral controller on the piezoelectric tube scanner (PTS) of an atomic force microscope (AFM) to damp the resonant mode of the scanner, reduce the cross coupling between the axes of the scanner, increase the bandwidth of the overall closed-loop system, and improve the high speed imaging performance of the AFM. The lateral and longitudinal positioning system of the PTS is treated as a multi-input multi-output system and the system is identified by using the measured open-loop data. The controller parameters are obtained by minimizing the H2 norm of the difference between the desired and the actual closed-loop transfer function and the performance improvement achieved by the proposed controller is shown by comparing the scanned images obtained by implementing the proposed controller and the built-in proportional-integral (PI) controller of the AFM.
{"title":"Multi-variable double resonant controller for fast image scanning of atomic force microscope","authors":"S. Das, H. Pota, I. Petersen","doi":"10.1109/ASCC.2013.6606336","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606336","url":null,"abstract":"This paper presents the design and implementation of a multi-variable double resonant controller with a multivariable integral controller on the piezoelectric tube scanner (PTS) of an atomic force microscope (AFM) to damp the resonant mode of the scanner, reduce the cross coupling between the axes of the scanner, increase the bandwidth of the overall closed-loop system, and improve the high speed imaging performance of the AFM. The lateral and longitudinal positioning system of the PTS is treated as a multi-input multi-output system and the system is identified by using the measured open-loop data. The controller parameters are obtained by minimizing the H2 norm of the difference between the desired and the actual closed-loop transfer function and the performance improvement achieved by the proposed controller is shown by comparing the scanned images obtained by implementing the proposed controller and the built-in proportional-integral (PI) controller of the AFM.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87761601","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 : 2013-09-23DOI: 10.1109/ASCC.2013.6606258
Young-Ho Choi, Jungwoo Lee, Sung-Jo Yun, J. Suh, Sung-Ho Hong, Jongdeuk Lee
This paper describes FA system integration procedure using Robotic Intelligent Components and the customized Open Software Platform for Robotic Services (OProS) component development tool which are the 4th year research results of our project, "The development of Robotic Intelligent S/W Component and its performance test". In our previous paper, we suggested a unified system integration method to build an intelligent robotic system using robotic intelligent components(RIC) and introduced the concept of a robotic intelligent component which consists of an embedded hardware module adopting EtherCAT bus and a software module based on Open Software Platform for Robotic Services (OPRoS) in the first paper and then we described the easy system integration procedure to develop a mobile manipulator using RIC in the second paper. In this paper, we address the FA system integration procedure using FA H/W module and S/W modules developed toward the commercialization and popularization of RIC. We expect that RIC is applicable to the industrial filed as well as the intelligent robotic field.
{"title":"FA system integration using robotic intelligent componets","authors":"Young-Ho Choi, Jungwoo Lee, Sung-Jo Yun, J. Suh, Sung-Ho Hong, Jongdeuk Lee","doi":"10.1109/ASCC.2013.6606258","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606258","url":null,"abstract":"This paper describes FA system integration procedure using Robotic Intelligent Components and the customized Open Software Platform for Robotic Services (OProS) component development tool which are the 4th year research results of our project, \"The development of Robotic Intelligent S/W Component and its performance test\". In our previous paper, we suggested a unified system integration method to build an intelligent robotic system using robotic intelligent components(RIC) and introduced the concept of a robotic intelligent component which consists of an embedded hardware module adopting EtherCAT bus and a software module based on Open Software Platform for Robotic Services (OPRoS) in the first paper and then we described the easy system integration procedure to develop a mobile manipulator using RIC in the second paper. In this paper, we address the FA system integration procedure using FA H/W module and S/W modules developed toward the commercialization and popularization of RIC. We expect that RIC is applicable to the industrial filed as well as the intelligent robotic field.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91113336","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606096
M. Ahsen, M. Vidyasagar
Mixing coefficients between two random variables act as a measure of their dependence. For stochastic processes mixing is another way of saying that the process is asymptotically independent. To measure mixing different types of mixing coefficients are introduced. In the literature, three kinds of mixing coefficients are commonly used, namely α-, β- and φ-mixing coefficients. While it is easy to derive an explicit closed-form formula for the β-mixing coefficient, no such formulas exist for the a- and the φ-mixing coefficients. We study the case where the two random variables assume values in a finite set. Under this setup, we show that the computation of alpha-mixing coefficient is NP-hard. Moreover, by using a semi-definite relaxation we obtain lower and upper bounds for the alpha-mixing coefficient. We also derive a closed form expression for the phi-mixing coefficient between two random variables. These results generalize earlier results by the authors.
{"title":"On the computation of mixing coefficients between discrete-valued random variables","authors":"M. Ahsen, M. Vidyasagar","doi":"10.1109/ASCC.2013.6606096","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606096","url":null,"abstract":"Mixing coefficients between two random variables act as a measure of their dependence. For stochastic processes mixing is another way of saying that the process is asymptotically independent. To measure mixing different types of mixing coefficients are introduced. In the literature, three kinds of mixing coefficients are commonly used, namely α-, β- and φ-mixing coefficients. While it is easy to derive an explicit closed-form formula for the β-mixing coefficient, no such formulas exist for the a- and the φ-mixing coefficients. We study the case where the two random variables assume values in a finite set. Under this setup, we show that the computation of alpha-mixing coefficient is NP-hard. Moreover, by using a semi-definite relaxation we obtain lower and upper bounds for the alpha-mixing coefficient. We also derive a closed form expression for the phi-mixing coefficient between two random variables. These results generalize earlier results by the authors.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73550265","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606338
Z. K. Kocabicak, E. E. Topcu, I. Yuksel
Electromechanical valve actuators (EVAs) are new technology devices used in gasoline engines. They improve engine performance via flexibility in valves timings at all engine operating conditions. In this paper a suitable model of the EVA used disc type of cylindrical magnetic circuits is designed and compared with the conventional camshaft driven system. The static and dynamic equations of the system are derived and their numerical solutions are obtained in order to identify the static and dynamic performance of the EVA. A prototype of the EVA was built and some preliminary tests were carried out on it.
{"title":"The development of electromechanical valve actuator and the comparison with the camshaft driven system","authors":"Z. K. Kocabicak, E. E. Topcu, I. Yuksel","doi":"10.1109/ASCC.2013.6606338","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606338","url":null,"abstract":"Electromechanical valve actuators (EVAs) are new technology devices used in gasoline engines. They improve engine performance via flexibility in valves timings at all engine operating conditions. In this paper a suitable model of the EVA used disc type of cylindrical magnetic circuits is designed and compared with the conventional camshaft driven system. The static and dynamic equations of the system are derived and their numerical solutions are obtained in order to identify the static and dynamic performance of the EVA. A prototype of the EVA was built and some preliminary tests were carried out on it.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73761614","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606035
Minh N. Dao, D. Noll
Consider a stable linear time-invariant system G(x) with tunable parameters x ϵ Rn, which maps inputs w ϵ L2(Rm) to outputs z ϵ L2(Rp). Our goal is to find a choice of the tunable parameters x* which avoids undesirable responses of the system to past excitations known as system ringing. We address this problem by minimizing the Hankel norm ∥G(x)∥H of G(x), which quantifies the influence of past inputs on future outputs.
{"title":"Minimizing the memory of a system","authors":"Minh N. Dao, D. Noll","doi":"10.1109/ASCC.2013.6606035","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606035","url":null,"abstract":"Consider a stable linear time-invariant system G(x) with tunable parameters x ϵ R<sup>n</sup>, which maps inputs w ϵ L<sup>2</sup>(R<sup>m</sup>) to outputs z ϵ L<sup>2</sup>(R<sup>p</sup>). Our goal is to find a choice of the tunable parameters x<sup>*</sup> which avoids undesirable responses of the system to past excitations known as system ringing. We address this problem by minimizing the Hankel norm ∥G(x)∥<sub>H</sub> of G(x), which quantifies the influence of past inputs on future outputs.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75430890","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606008
M. Inoue, J. Imura, K. Kashima, K. Aihara
This paper is concerned with instability analysis of uncertain large-scale networks. First, we present an instability counterpart of the small gain-type robust stability condition for uncertain linear systems without network structure. Next, we extend the instability condition to that for a class of uncertain large-scale networks. Every node in the network has certain homogeneous dynamics and uncertain heterogeneous dynamics. Finally, an illustrative example is presented for instability analysis of an uncertain cyclic gene network model.
{"title":"Instability of uncertain large-scale networks","authors":"M. Inoue, J. Imura, K. Kashima, K. Aihara","doi":"10.1109/ASCC.2013.6606008","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606008","url":null,"abstract":"This paper is concerned with instability analysis of uncertain large-scale networks. First, we present an instability counterpart of the small gain-type robust stability condition for uncertain linear systems without network structure. Next, we extend the instability condition to that for a class of uncertain large-scale networks. Every node in the network has certain homogeneous dynamics and uncertain heterogeneous dynamics. Finally, an illustrative example is presented for instability analysis of an uncertain cyclic gene network model.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75823129","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6605998
Huijun Gao, Xiaochen Xie, Shen Yin, O. Kaynak
This paper investigates the robust stabilization of uncertain time-delayed systems via delta operator approach. By introducing model transportation, the linear delta operator system with time-varying delays is reformulated into an interconnected system for which the uncertainties can become easy to deal with. Based on a two-term approximation and scaled small gain theorem, a new delay-dependent sufficient condition of state feed-back stabilization for an uncertain delta operator time-delayed system is established by using a novel Lyapunov-Krasovskii functional. The condition obtained can unify some previously suggested relevant methods seen in literature for achieving asymptotic stabilization of both continuous and discrete systems into the delta operator framework. Numerical examples presented explicitly demonstrate the advantages and effectiveness of the proposed method.
{"title":"Stabilization of uncertain discrete time-delayed systems via delta operator approach","authors":"Huijun Gao, Xiaochen Xie, Shen Yin, O. Kaynak","doi":"10.1109/ASCC.2013.6605998","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6605998","url":null,"abstract":"This paper investigates the robust stabilization of uncertain time-delayed systems via delta operator approach. By introducing model transportation, the linear delta operator system with time-varying delays is reformulated into an interconnected system for which the uncertainties can become easy to deal with. Based on a two-term approximation and scaled small gain theorem, a new delay-dependent sufficient condition of state feed-back stabilization for an uncertain delta operator time-delayed system is established by using a novel Lyapunov-Krasovskii functional. The condition obtained can unify some previously suggested relevant methods seen in literature for achieving asymptotic stabilization of both continuous and discrete systems into the delta operator framework. Numerical examples presented explicitly demonstrate the advantages and effectiveness of the proposed method.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72769361","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606317
U. Hasirci, T. Burg, R. Groff
A nonlinear adaptive backstepping controller for the anti-angiogenic tumor growth control problem is presented. The proposed control algorithm directly aims to drive the tumor volume along a desired trajectory as part of a treatment regimen. Toward this aim, we first present an exact-model knowledge controller that ensures the exponential tracking of a time-varying tumor volume profile, and then, an adaptive controller is shown that provides asymptotic tracking despite model uncertainties. A Lyapunov-based analysis approach is used to determine stability and performance results. Numerical simulation results are presented to demonstrate the performance of the proposed approach. Finally, the requirements of a real-time implementation of an in-vitro model of the overall system are discussed.
{"title":"Closed-loop nonlinear adaptive control of anti-angiogenic tumor therapy","authors":"U. Hasirci, T. Burg, R. Groff","doi":"10.1109/ASCC.2013.6606317","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606317","url":null,"abstract":"A nonlinear adaptive backstepping controller for the anti-angiogenic tumor growth control problem is presented. The proposed control algorithm directly aims to drive the tumor volume along a desired trajectory as part of a treatment regimen. Toward this aim, we first present an exact-model knowledge controller that ensures the exponential tracking of a time-varying tumor volume profile, and then, an adaptive controller is shown that provides asymptotic tracking despite model uncertainties. A Lyapunov-based analysis approach is used to determine stability and performance results. Numerical simulation results are presented to demonstrate the performance of the proposed approach. Finally, the requirements of a real-time implementation of an in-vitro model of the overall system are discussed.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75325968","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606095
Z. Lassoued, K. Abderrahim
This paper addresses the problem of clustering-based procedure for the identification of PWARX models. It consists in estimating both the parameter vector of each submodel and the coefficients of each partition. It exploits three main techniques which are clustering, linear identification and pattern recognition. The performance of this approach depends on the used clustering technique. However, most of existing methods are based on classical approaches which are sensible to poor initialization and suffer from the presence of outliers. To overcome these problems, we propose to exploit the Chiu's clustering technique. Simulation results are presented to illustrate the performance of the proposed method.
{"title":"A new clustering technique for the identification of PWARX hybrid models","authors":"Z. Lassoued, K. Abderrahim","doi":"10.1109/ASCC.2013.6606095","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606095","url":null,"abstract":"This paper addresses the problem of clustering-based procedure for the identification of PWARX models. It consists in estimating both the parameter vector of each submodel and the coefficients of each partition. It exploits three main techniques which are clustering, linear identification and pattern recognition. The performance of this approach depends on the used clustering technique. However, most of existing methods are based on classical approaches which are sensible to poor initialization and suffer from the presence of outliers. To overcome these problems, we propose to exploit the Chiu's clustering technique. Simulation results are presented to illustrate the performance of the proposed method.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74259335","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606058
Xin Qi, Shi Zhongke, Z. Hongyu
Attitude determination is strongly coupled with the estimation of unknown vibration parameters when the output of the inertial measurement unit (IMU) is corrupted by the vibration induced by the piston engine. The unknown vibration parameters in the attitude dynamics can degrade attitude accuracy of dead reckoning. In this paper, a dual estimation of attitude and parameters considering vibration is investigated for small UAV. The dynamic model contained attitude and parameters is established by state augmentation, and the observations are chosen as GPS velocity and heading. In order to employ hybrid extended kalman filter for dual estimation, Jacobian matrixes are formulated by linearizing the estimation model to propagate and update error variance. Since joint state estimation has tremendous computational loads, based on matrix blocking a state and parameter separated estimation is proposed to decouple the estimation of attitude and parameters. Simulation results show that the proposed method can give high precision attitude than the common filter without considering vibration.
{"title":"Dual estimation of attitude and parameters considering vibration based on GPS and IMU","authors":"Xin Qi, Shi Zhongke, Z. Hongyu","doi":"10.1109/ASCC.2013.6606058","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606058","url":null,"abstract":"Attitude determination is strongly coupled with the estimation of unknown vibration parameters when the output of the inertial measurement unit (IMU) is corrupted by the vibration induced by the piston engine. The unknown vibration parameters in the attitude dynamics can degrade attitude accuracy of dead reckoning. In this paper, a dual estimation of attitude and parameters considering vibration is investigated for small UAV. The dynamic model contained attitude and parameters is established by state augmentation, and the observations are chosen as GPS velocity and heading. In order to employ hybrid extended kalman filter for dual estimation, Jacobian matrixes are formulated by linearizing the estimation model to propagate and update error variance. Since joint state estimation has tremendous computational loads, based on matrix blocking a state and parameter separated estimation is proposed to decouple the estimation of attitude and parameters. Simulation results show that the proposed method can give high precision attitude than the common filter without considering vibration.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74338846","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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