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2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)最新文献

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A formal method to guarantee a deterministic behaviour of switched Ethernet networks for time-critical applications 一种保证时间关键应用中交换以太网的确定性行为的形式化方法
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393885
J. Georges, Thieny Divoux, É. Rondeau
{"title":"A formal method to guarantee a deterministic behaviour of switched Ethernet networks for time-critical applications","authors":"J. Georges, Thieny Divoux, É. Rondeau","doi":"10.1109/CACSD.2004.1393885","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393885","url":null,"abstract":"The objective of this work is to model a switched Ethernet architecture in order to be able to evaluate the maximum end to end delays. The major interest is to apply these results in an industrial or technical context, where some of the communications are strongly time-constrained. In this paper, we have chosen the network calculus theory, because it enables a good representation of the exchanges between the equipment which are connected to the network, and also to determine the maximum end to end delays. Previous models presented are improved in order to take into account the implementation of a classification of service (CoS) mechanism which enables to define priorities for the messages regarding the time constraints they have to respect This paper describes a new model of a IEEE 802.1p switch. It also presents the analytical formulas which upper bound the maximum time for crossing such a switch, and an algorithm to determine the maximum end to end delays of the time-critical messages over the whole network. A typical application shows the interest of this approach","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127882492","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}
引用次数: 11
LEARN2CONTROL: a project-oriented approach to teaching control engineering LEARN2CONTROL:项目导向的控制工程教学方法
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393873
M. Volker, A. Liefeldt, S. Engell, C. Schmid
{"title":"LEARN2CONTROL: a project-oriented approach to teaching control engineering","authors":"M. Volker, A. Liefeldt, S. Engell, C. Schmid","doi":"10.1109/CACSD.2004.1393873","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393873","url":null,"abstract":"LEARN2CONTROL is a new computer-based learning system, that can be used to deepen basic knowledge in control engineering by self-study in a project-oriented environment. The didactic concept aims at teaching the dependencies and interactions between various methods for modelling, analysis and control system design","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129256640","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}
引用次数: 4
Scilab tools for PDE's: application to time-reversal PDE的Scilab工具:应用于时间反转
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393865
B. Pinçon, K. Ramdani
{"title":"Scilab tools for PDE's: application to time-reversal","authors":"B. Pinçon, K. Ramdani","doi":"10.1109/CACSD.2004.1393865","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393865","url":null,"abstract":"Scilab is a software which is quite rich in tools for the numerical approximation of control problems for ordinary differential equations (ODE's). On the contrary, it is less practical when dealing with partial differential equations (PDE's). In this work, we present some recent developments to (partly) fill this gap. These new tools be used to address problems related to the phenomenon of time-reversal, and in particular the problem of focusing acoustic time-harmonic waves in waveguides","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115955967","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}
引用次数: 1
Library of adaptive MIMO controllers based on polynomial methods 基于多项式方法的自适应MIMO控制器库
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393858
M. Kubalcik, V. Bobál
{"title":"Library of adaptive MIMO controllers based on polynomial methods","authors":"M. Kubalcik, V. Bobál","doi":"10.1109/CACSD.2004.1393858","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393858","url":null,"abstract":"The contribution deals with a self-tuning controllers library designed under MATLAB-Simulink environment. The library enables design and verification of two input-two output (TITO) discrete self-tuning controllers. It is a completely open system based on Simulink features. The controllers are implemented as encapsulated Simulink blocks and that enables their simple incorporation into existing Simulink schemes. Design of the TITO controllers that are included into the library is based on polynomial methods. The controllers are based on various configurations of the closed loop system. Several decoupling compensators are also applied. The main idea of self-tuning controllers is discussed. In this paper, several examples are also presented. The possibility of developing real-time applications using MATLAB real-time workshop is discussed","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123819902","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}
引用次数: 0
The development of finite element method package in CEMTool 在CEMTool中开发有限元方法包
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393846
C. Ahn, Soohee Han, W. Kwon
{"title":"The development of finite element method package in CEMTool","authors":"C. Ahn, Soohee Han, W. Kwon","doi":"10.1109/CACSD.2004.1393846","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393846","url":null,"abstract":"CEMTool is a command style design and analyzing package for scientific and technological algorithm and a matrix based computation language. In this paper, we present new FEM (finite element method) package in CEMTool environment. In contrast to the existing MATLAB PDE Toolbox, our proposed FEM package can deal with the combination of the reserved words. Also, we can control the mesh in a very effective way. With the introduction of new mesh generation algorithm and NDM (nested dissection method), our FEM package can guarantee the shorter computational time than MATLAB PDE Toolbox. In addition, using the advanced electromagnetics library of CEMTool FEM package, we can analyze the practical problems such as the motor field analysis. Consequently, with our new FEM package, we can overcome some disadvantages of the existing MATLAB PDE Toolbox","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131869362","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}
引用次数: 1
Control input synthesis for hybrid systems using informed search 基于知情搜索的混合系统控制输入综合
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393848
K. Schmidt, J. Kapinski, B. Krogh
{"title":"Control input synthesis for hybrid systems using informed search","authors":"K. Schmidt, J. Kapinski, B. Krogh","doi":"10.1109/CACSD.2004.1393848","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393848","url":null,"abstract":"We present a method for synthesizing a sequence of robust control inputs for a class of hybrid systems. Our goal is the generation of a control sequence that drives the system from a given initial state set to a pre-specified goal set without violating constraints on the system state, under the assumption that the hybrid system is exposed to bounded disturbances. We use a technique that combines dynamic programming and informed search. The control sequence generated by our synthesis procedure is guaranteed to meet safety requirements. An extension to nonlinear systems is presented and computational time is compared to a mixed-integer programming approach for computing an optimal but non-robust solution to the problem","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134508358","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}
引用次数: 1
DIRECTSD-a toolbox for polynomial design of multivariable sampled-data systems 多变量采样数据系统的多项式设计工具箱
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393857
K. Polyakov, E. Rosenwasser, B. Lampe
{"title":"DIRECTSD-a toolbox for polynomial design of multivariable sampled-data systems","authors":"K. Polyakov, E. Rosenwasser, B. Lampe","doi":"10.1109/CACSD.2004.1393857","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393857","url":null,"abstract":"A multivariable version of the DIRECTSD toolbox for MATLAB is presented. The software realizes recently developed polynomial methods for H2-and L2-optimal sampled-data systems design on the basis of matrix operations for polynomials and quasi-polynomials using object-oriented programming in MATLAB","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127918704","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}
引用次数: 3
Adaptive controller implementation into PLC library 自适应控制器实现成PLC库
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393888
T. Sysala, P. Dostál
{"title":"Adaptive controller implementation into PLC library","authors":"T. Sysala, P. Dostál","doi":"10.1109/CACSD.2004.1393888","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393888","url":null,"abstract":"This paper deals with the implementation of a self-tuning controller into a PLC (programmable logical controller) library. The polynomial method is used, and the parameters for controller are derived using delta-model together with the pole placement approach. The recursive least-squares method and directional forgetting are used to estimate the parameters of the delta-model. The algorithm was implemented in the Tecomat PLC library, product of Teco, Inc. The laboratory tests proved that the algorithm implementation was successful","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128771732","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}
引用次数: 0
Optimal hybrid control for switched affine systems under safety and liveness constraints 安全性和活动性约束下切换仿射系统的最优混合控制
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393847
D. Corona, C. Seatzu, A. Giua, D. Gromov, E. Mayer, J. Raisch
{"title":"Optimal hybrid control for switched affine systems under safety and liveness constraints","authors":"D. Corona, C. Seatzu, A. Giua, D. Gromov, E. Mayer, J. Raisch","doi":"10.1109/CACSD.2004.1393847","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393847","url":null,"abstract":"In this contribution, we propose a two-level hierarchical control strategy to solve the problem of minimising a cost function for a switched affine system under safety and liveness constraints. The constraints are handled on the lower level by a discrete supervisory controller designed using l-complete approximation. Its action can be represented as state invariants added to the plant model. In a bottom-up strategy, we can then synthesis a high-level controller, which computes a set of switching tables using the remaining degrees of freedom to optimise a quadratic performance index","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117346400","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}
引用次数: 9
Extensions of the linear fractional representation toolbox (LFRT) 线性分数表示工具箱(LFRT)的扩展
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393886
J. Magni
{"title":"Extensions of the linear fractional representation toolbox (LFRT)","authors":"J. Magni","doi":"10.1109/CACSD.2004.1393886","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393886","url":null,"abstract":"The initial version of linear fractional representation toolbox was mostly devoted to modelling with a special emphasis to LFT order reduction. An LFT representation can be viewed as the realization of a symbolic expression, therefore, scheduled gains are LFTs. This paper presents an extension of this toolbox to scheduled feedback design in LFT form. The well-posedness problem of such feedback gains is addressed. In addition, some classical analysis techniques (Nyquist, Bode, step responses...) are adapted to LFT objects via parameter gridding","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121556138","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}
引用次数: 2
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