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

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Enhanced LFR-toolbox for MATLAB 增强的MATLAB lfr工具箱
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393845
S. Hecker, A. Varga, J. Magni
{"title":"Enhanced LFR-toolbox for MATLAB","authors":"S. Hecker, A. Varga, J. Magni","doi":"10.1109/CACSD.2004.1393845","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393845","url":null,"abstract":"We describe recent developments and enhancements of the LFR-toolbox for MATLAB for building LFT-based uncertainty models. A major development is the new LFT-object definition supporting a large class of uncertainty descriptions: continuous- and discrete-time uncertain models, regular and singular parametric expressions, more general uncertainty blocks (nonlinear, time-varying, etc.). By associating names to uncertainty blocks the reusability of generated LFT-models and the user friendliness of manipulation of LFR-descriptions have been highly increased. Significant enhancements of the computational efficiency and of numerical accuracy have been achieved by employing efficient and numerically robust FORTRAN implementations of order reduction tools via Mex-function interfaces. The new enhancements in conjunction with improved symbolical preprocessing lead generally to a faster generation of LFT-models with significantly lower orders","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":"134011246","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: 86
Sampled-data control toolbox: object-oriented software for sampled-data feedback control systems 采样数据控制工具箱:用于采样数据反馈控制系统的面向对象软件
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393844
Hisaya Fujioka, S. Hara, Y. Yamamoto
{"title":"Sampled-data control toolbox: object-oriented software for sampled-data feedback control systems","authors":"Hisaya Fujioka, S. Hara, Y. Yamamoto","doi":"10.1109/CACSD.2004.1393844","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393844","url":null,"abstract":"A MATLAB toolbox for analysis and design of sampled-data feedback control systems is developed. The package is an object-oriented library: several classes are defined for concerning systems and signals including sampled-data systems. Functions and operators are overloaded in the class definitions. Moreover, the implementation of analysis and design algorithms for sampled-data systems is also in an object-oriented fashion. Hence the implemented codes keeps high readability even for a general setting of sampled-data systems including multirate and delayed control/measurement cases, by using the class for systems with two point boundary conditions developed as a part of this library","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":"114724534","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: 8
Scheduling with start time related deadlines 安排与开始时间相关的截止日期
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393887
P. Šůcha, Z. Hanzálek
{"title":"Scheduling with start time related deadlines","authors":"P. Šůcha, Z. Hanzálek","doi":"10.1109/CACSD.2004.1393887","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393887","url":null,"abstract":"This paper presents a scheduling problem for a monoprocessor without preemption with timing constraints given by a task-on-node graph. The precedence relations are given by an oriented graph where edges are related either to the minimum time or to the maximum time elapsed between start times of the tasks. The processing time of a given task is associated to a given node in the oriented graph. The problem, finding an optimal schedule satisfying the timing constraints while minimizing makespan Cmax, is solved by two approaches. The first is implemented as a B&B algorithm using a critical path estimation and estimation of remaining processing time. Since the objective is to find a feasible schedule with minimal Cmax, the bounding procedure uses the best known solution as a new dynamic timing constraint. It considers also the scheduling anomaly while deciding the feasibility of the given solution. The second solution is based on ILP. Experimental results show comparison of the B&B and ILP solution","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"28 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":"130737964","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: 6
Meta-modelling hybrid formalisms 元建模混合形式
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393852
Simon Lacoste-Julien, H. Vangheluwe, Juan de Lara, P. Mosterman
{"title":"Meta-modelling hybrid formalisms","authors":"Simon Lacoste-Julien, H. Vangheluwe, Juan de Lara, P. Mosterman","doi":"10.1109/CACSD.2004.1393852","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393852","url":null,"abstract":"This article demonstrates how meta-modelling can simplify the construction of domain-and formalism-specific modelling environments. Using AToM3 (a tool for multi-formalism and meta-modelling developed at McGill University), a model is constructed of a hybrid formalism, HS, that combines event scheduling constructs with ordinary differential equations. From this specification, an HS-specific visual modelling environment is synthesized. For the purpose of this demonstration, a simple hybrid model of a bouncing ball is modelled in this environment. It is envisioned that the future of modelling and simulation in general, and more specifically in hybrid dynamic systems design lies in domain-specific computer automated multi-paradigm modelling (CAMPaM) which combines multi-abstraction, multi-formalism, and meta-modelling. The small example presented in this article demonstrates the feasibility of this approach","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"111 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":"130774025","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: 13
A polynomial based first course in digital control 基于多项式的数字控制第一课程
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393874
K. Moudgalya, S. L. Shah
{"title":"A polynomial based first course in digital control","authors":"K. Moudgalya, S. L. Shah","doi":"10.1109/CACSD.2004.1393874","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393874","url":null,"abstract":"A Matlab based software package to design control algorithms, such as LQG, for systems with general noise models, and to study the performance of control loops, is presented. It is argued that a digital control course should be taught from scratch. The advantages of the polynomial approach are highlighted. The use of the control design package for the proposed course is illustrated along with a schedule of lectures and a summary of experience at two different institutions","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"25 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":"121629725","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
The H/sub 2/ control problem with internal stability 具有内部稳定性的H/sub /控制问题
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393859
V. Kucere
{"title":"The H/sub 2/ control problem with internal stability","authors":"V. Kucere","doi":"10.1109/CACSD.2004.1393859","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393859","url":null,"abstract":"A solution of the H/sub 2/ control problem is presented for linear systems described by rational transfer matrices. These rational matrices are not required to be proper and no assumption is made on the location of their poles and zeros. The control system is considered in the standard configuration, which includes the synthesis model of the plant and the controller. The H/sub 2/ control problem consists of internally stabilizing the control system while minimizing the H/sub 2/ norm of its transfer function. The notion of internal stability is based on input-output stability and means that the subsystems defined by any pair of input and output terminals within the control system all are input-output stable. The solution proceeds in three steps. Firstly, the set of all controllers that stabilize internally the control system is parametrized. Then the subset of the stabilizing controllers that achieve a finite value of the H/sub 2/ norm of the system transfer function is described, also in parametric form. Finally, the optimal controller is obtained by selecting the parameter that minimizes the norm. The existence of these three sets of controllers is established in terms of the given data. The mathematical tool applied are doubly coprime, proper stable factorizations of rational matrices. Based on this description of the plant, two synthesis algorithms are derived: the primal and the dual one. The construction of the optimal controller requires two specific operations with proper stable rational matrices: inner-outer factorization and proper stable projection. The solution obtained is general in the sense that no assumptions on the plant are made other than those securing the outer factors to be square.","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"27 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":"116874048","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
Robot control system implementation with rapid control prototyping technique 利用快速控制原型技术实现机器人控制系统
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393889
Chwan-Hsen Chen, Hsu-Lun Tsai, J. Tu
{"title":"Robot control system implementation with rapid control prototyping technique","authors":"Chwan-Hsen Chen, Hsu-Lun Tsai, J. Tu","doi":"10.1109/CACSD.2004.1393889","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393889","url":null,"abstract":"This paper describes a rapid control prototyping (RCP) approach to design and implement a robot control system in a motion simulator. Different from most RCP applications, we apply RCP not only to design the feedback loop control level, but also to the supervisory control level for command-mode switching, event monitoring, and fault detection. All real time software running in the robot controller is developed with MATLAB, SIMULINK, real time workshopreg and xPCTarget from mathworks. The supervisory control functions are presented by the stateflow block diagrams. The complete control system is supplemented with a networked user interface host computer for remote operation, the host computer provides video display, data monitoring, data logging, and real-time 3-D animation to display current robot gesture. The completed system becomes a fully operational system with little modification. The proposed control system could serve as a framework for control applications using the RCP technique","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":"131993465","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: 6
Accurate sum and dot product with applications 精确的和和点积与应用
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393867
T. Ogita, S. M. Rump, S. Oishi
{"title":"Accurate sum and dot product with applications","authors":"T. Ogita, S. M. Rump, S. Oishi","doi":"10.1109/CACSD.2004.1393867","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393867","url":null,"abstract":"In a recent paper the authors presented a new and very fast algorithm for accurate computation and inclusion of the sum and dot product of floating point numbers. In this paper we show that the algorithms can be used to compute a very accurate inclusion of the solution of systems of linear equations. As a basic building block, accurate solution of linear equations has applications in very many areas","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"41 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":"124824591","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: 8
Automatic design of QFT prefilter using interval analysis 基于区间分析的QFT预滤波器自动设计
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393868
P. Nataraj, S. Tharewal
{"title":"Automatic design of QFT prefilter using interval analysis","authors":"P. Nataraj, S. Tharewal","doi":"10.1109/CACSD.2004.1393868","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393868","url":null,"abstract":"An algorithm is proposed for automation of the prefilter design step of Horowitz's quantitative feedback theory (QFT) to robust feedback system synthesis. The proposed algorithm uses interval global optimization techniques to give an 'optimal' (to a user specified accuracy) minimum phase prefilter. The proposed algorithm is demonstrated on a QFT benchmark example","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"21 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":"124000932","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
Advanced axis control implementation within a virtual machine-tool environment 先进的轴控制实现在虚拟机床环境
2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI: 10.1109/CACSD.2004.1393842
M. Susanu, D. Dumur
{"title":"Advanced axis control implementation within a virtual machine-tool environment","authors":"M. Susanu, D. Dumur","doi":"10.1109/CACSD.2004.1393842","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393842","url":null,"abstract":"Improvements in tracking performances are significant using generalized predictive control laws as machine tool feed drives control. Nevertheless, testing user-built control modules within a real CNC machine tool designed under a closed architecture is not straightforward. The creation of a virtual machining centre appears therefore as a solution to this problem. The paper presents developments of a three-axis machine tool simulator. It includes visualization facilities and allows relevant comparisons between different control strategies, proving to be a useful CACSD (computer aided control systems design) tool. Within this framework, the advantages of the predictive law can be easily underlined. Moreover, the advanced control structure fits the innovative demands of the open architecture","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"50 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":"117169145","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
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