{"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}
{"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}
{"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}
{"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}
{"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}
{"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}
{"title":"System analysis using redundancy of descriptor representation","authors":"Gan Chen","doi":"10.1109/CACSD.2004.1393881","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393881","url":null,"abstract":"Recently, by adopting redundant descriptor variables, several researchers have proposed less conservative analysis and synthesis conditions for the systems that could be described in framework of state space equations. In this paper, we introduce their researches about applications of redundant descriptor representations","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"5 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":"114219841","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}
{"title":"Application of local consistency techniques to the design of controllers with robust performance","authors":"J. Monreal, J. Bondia, J. Picó","doi":"10.1109/CACSD.2004.1393870","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393870","url":null,"abstract":"The synthesis of controllers with robust performance is addressed. Tracking specifications are defined by a family of reference models describing the desired frequency response. The synthesis problem is then formulated as a set inclusion problem in the frequency domain. It is shown that the problem can be cast as a constraint satisfaction problem and solved by branch-and-prune algorithms. Different branching and pruning methodologies are explored and compared","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":"131316874","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}
{"title":"P-D feedback eigenstructure assignment with minimum control effort in second-order dynamic systems","authors":"G. Duan, Guo-sheng Wang","doi":"10.1109/CACSD.2004.1393900","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393900","url":null,"abstract":"The design of proportional plus derivative (P-D) feedback eigenstructure assignment with minimum control effort is considered in a class of second-order dynamic systems. By utilizing the result of parametric eigenstructure assignment via P-D feedback proposed in, the design problem is formulated as a constrained minimization problem and a corresponding algorithm for this minimization problem is then proposed. This minimization involves the closed-loop eigenvalues as well as a group of parameter vectors when the closed-loop eigenvalues are not prescribed. Due to the simplicity, explicity and completeness of eigenstructure assignment, the proposed algorithm is simple and efficient. A three lumped mass-spring dashpot system and the simulation results show the effect of this proposed algorithm","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"46 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":"127920789","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}
{"title":"A skew mu toolbox (SMT) for robustness analysis","authors":"G. Ferreres, J. Biannic, J. Magni","doi":"10.1109/CACSD.2004.1393894","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393894","url":null,"abstract":"The aim of this freeware is to provide computational (skew) mu methods for analysing the robust stability and performance properties of an uncertain closed loop. It could also be considered as a software complement to the book. The toolbox contains low-level routines as well as fully automated procedures which allow a non specialist to obtain guaranteed robustness margins. Different realistic engineering applications are included (missile, rigid and flexible aircraft, telescope mock-up), which illustrate the efficiency and reliability of the proposed tools","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"59 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":"132876397","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}