2011 2nd International Conference on Instrumentation Control and Automation最新文献_第4页

Just-in-time control method for a free-joint manipulator 自由关节机械臂的实时控制方法

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130140

Yuji Usui, S. Majima

{"title":"Just-in-time control method for a free-joint manipulator","authors":"Yuji Usui, S. Majima","doi":"10.1109/ICA.2011.6130140","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130140","url":null,"abstract":"The present paper proposes a just-in-time (JIT) control method for a free-joint manipulator moving in a horizontal plane. The manipulator consists of two links, where only the first link at the base is driven and the second link has a passive joint. Although it is difficult to control the manipulator by conventional methods, a human can operate the manipulator at a certain level. The input of a human operator is observed and is regarded as a rectangular signal. The control input is then represented in terms of the parameters of the rectangular signal. The database for the proposed JIT control system is constructed using these input parameters. Experimental and simulation results reveal that, by using the proposed control method, both of these links successfully reach the target angles. However, the control method is only useful when the target angle for the free link is relatively small. The simulation results reveal that the performance of the control method depends on the target angle and on the parameters of the manipulator. The reason for this dependency is discussed based on the distribution of the database. The discussion suggests that the performance may be improved by modifying the database such that data will be distributed throughout the range of the target position.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123965845","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

Modified feedback configuration via observer based sensor compensation 通过基于观测器的传感器补偿改进反馈配置

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130188

E. C. Mid, S. Yang

{"title":"Modified feedback configuration via observer based sensor compensation","authors":"E. C. Mid, S. Yang","doi":"10.1109/ICA.2011.6130188","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130188","url":null,"abstract":"Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used in a feedback control system. This paper presents an observer based sensor fault tolerant control system for practical implementation on modified feedback configuration for close loop control systems. The purpose of this system is to maintain the safety of the system and reliability of the process even in presence of sensor fault by adjusting or modifying the control laws based on a comparison with the state observer. The observer based sensor fault compensating element that is physically connected in parallel with the nominal closed loop system does not interfere with nominal operations i.e. when sensors are not faulty, but will implicitly provide sensor fault compensation signals when sensor fault occurs. An augmentation of an observer based element is required to generate sensor fault compensating signals to a typical feedback control system when sensor fault occurs. In effect, sensor fault tolerance is introduced thus improving control system reliability. A temperature control system is used as a case study. Results of simulation and real time implementation for temperature control system concur and demonstrate the applicability and the obvious improvement of typical closed loop control system reliability via the proposed scheme.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128044634","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

Hybrid modeling and discrete controller design of three-tank benchmark system 三缸基准系统的混合建模与离散控制器设计

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130150

C. Joseph, V. I. George, P. R. Venkateswaran

引用次数: 3

Optimality conditions for a hierarchical control problem governed by a PDE 由PDE控制的层次控制问题的最优性条件

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130161

Anthony J. Kearsley

引用次数: 1

Imaging tools for the analysis of microvessel and angiogenesis development in a tridimensional cell culture system 三维细胞培养系统中微血管和血管生成发育分析的成像工具

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130152

I. Sukmana

引用次数: 1

Algorithm payload for test load Rocket lapan 2009 using atmega 128 算法有效载荷测试负载火箭lapan 2009使用atmega128

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130160

A. Maulana, Yahan Nuryadi, Naniek Anidani

引用次数: 1

Dynamic uav path planning for moving target intercept in 3D 三维移动目标拦截无人机动态路径规划

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130148

H. H. Triharminto, T. B. Adji, N. A. Setiawan

引用次数: 8

Simulation and analysis of acoustical comfort in an Intensive Care Unit 重症监护病房声学舒适性的模拟与分析

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130186

Febi Rhiana, J. Sarwono, F. Soelami

{"title":"Simulation and analysis of acoustical comfort in an Intensive Care Unit","authors":"Febi Rhiana, J. Sarwono, F. Soelami","doi":"10.1109/ICA.2011.6130186","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130186","url":null,"abstract":"Acoustical comfort in a hospital is required for recovering process, improving quality of sleep, improving patient's comfort factor, and also to enhance medical staff's working quality. A research related to acoustical comfort was conducted at the Intensive Care Unit (ICU) Hospital in Bandung, Indonesia. Acoustic parameters that are discussed in this paper are definition-50 (D-50), sound pressure level (SPL), and reverberation time (T-30). These parameters are measured and modified by simulation, actual measurement, subjective observation, and passive acoustic recommendation. Data from simulation shows that both T-30 and D-50 values (especially in speech frequency) are just slightly around the standard value, while simulation and actual measurement show that SPL value is above the standard of 35 dBA. On the other hand, subjective observation shows that noise sources are dominated by speech (250Hz–1,000Hz) and intermittent noise from alarm (1,000Hz–2,000Hz). Recommendation was determined through simulation by changing/coating concrete wall with fiberglass board. After recommendation, the values for D-50 and T-30 are 17.6%–88.7% and 0.3s–1.0s, respectively. For SPL (and Leq) parameter, there is a decrease of 7.7dBA (in patient's area) and 2.5dBA (in nurse's area). Overall, D-50 parameter is increased while both T-30 and SPL parameters are decreased, which considered better for acoustic environment in a hospital.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132036600","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

Comparison of two sagittal pelvic tilt measurement protocols using newly calibrated novel pelvic sensor 使用新校准的新型骨盆传感器的两种矢状骨盆倾斜测量方案的比较

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130153

Isniza Ismail, A. L. Narayanan, D. Wicaksono

引用次数: 1

Performance-guaranteed distributed coverage control for robotic visual sensor network with limited energy storage 有限储能机器人视觉传感器网络的性能保证分布式覆盖控制

2011 2nd International Conference on Instrumentation Control and Automation Pub Date : 2011-11-01 DOI: 10.1109/ICA.2011.6130182

R. Dirza, Azwirman Gusrialdi

{"title":"Performance-guaranteed distributed coverage control for robotic visual sensor network with limited energy storage","authors":"R. Dirza, Azwirman Gusrialdi","doi":"10.1109/ICA.2011.6130182","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130182","url":null,"abstract":"A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network due to its ability to self-deploy and self-reconfigure. However, due to the limited sensing range, when mobile sensors are initially deployed, sensors located far away from the area of interest may not be able to participate in the coverage task. Furthermore, since in reality the mobile sensors have only a limited energy storage, the movement of the sensors have to be as efficient as possible. In this paper, we consider a robotic sensor network with a limited anisotropic sensing range and energy storage. The sensing performance is assumed to be dependent on both the position and orientation of the target to the sensor and its range is reduced along with the movement of the mobile sensor. This paper proposes a new algorithm that guarantees the participation of all sensors in the network while at the same time maintains the energy utilization as optimum as possible. We combine the standard coverage algorithm with the leader-following algorithm where the standard coverage algorithm is further modified in order to take into account the energy consumption of the sensors. Simulations show the effectiveness of the proposed algorithm.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115569476","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