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IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE最新文献

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Control system for 1DOF vibrating machine for soil scale model by centrifugal forces 一自由度土壤比例模型离心力振动机控制系统
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086836
O. Garcia, M. Duque, B. Caicedo
{"title":"Control system for 1DOF vibrating machine for soil scale model by centrifugal forces","authors":"O. Garcia, M. Duque, B. Caicedo","doi":"10.1109/LARC.2011.6086836","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086836","url":null,"abstract":"This article presents the non-linear mathematical model of a one-freedom degree electro-hydraulic shaking table for simulating earthquakes in soil scale models that are influenced by a centrifugal force. The problem presents two challenges: The first one is that when a body is exposed to a certain centrifugal force to simulate gravity force on it, the time and the magnitude of the displacement should be divided by the gravity number (N) that is being applied to get a model N times bigger; and the second one, is that the friction in the servo valves will increase, therefore, the hydraulic system will require a high bandwidth. The model is used to design two feedback control techniques: Linear Quadratic Gaussian with loop transfer recovery (LQG-LTR) and Model Predictive Control. Simulations with the non-linear model are presented for the earthquakes of Umbria Italy in 29/04/1984, Mammoth Lakes — Aftershock USA in 26/05/1980 and Mexico in 19/09/1985. To implement the mentioned control techniques, software architecture and a “black box” model is presented which is obtained by using a closed loop algorithm (CLOE) that is used to recalculate the controllers and obtain experimental results.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124062033","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
Cascade monitoring of temperature and dissolved oxygen in the growth of pichia pastoris in a bioreactor 毕赤酵母在生物反应器中生长的温度和溶解氧级联监测
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086841
Juan Medina, F. Ruiz
{"title":"Cascade monitoring of temperature and dissolved oxygen in the growth of pichia pastoris in a bioreactor","authors":"Juan Medina, F. Ruiz","doi":"10.1109/LARC.2011.6086841","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086841","url":null,"abstract":"It presents the modeling and control of oxygen dissolved in the growth phase of the Pichia Pastoris yeast in a bioreactor through the manipulation of the temperature in the growth environment. Four models of non-minimum phase are obtained from experimental data for different operation conditions and design a PI type controller, which is capable of stabilizing all models. The performance of the controller is verified through HIL (Hardware in the Loop) simulations in a real culture. The results obtained are satisfactory for the regulation of the dissolved oxygen in the growth phase of the culture.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122664555","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
Switching control and modeling of mobile robots formation 移动机器人编队切换控制与建模
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086830
Flor Angela Bravo Sánchez, D. Patiño, Kamilo Melo, C. Parra
{"title":"Switching control and modeling of mobile robots formation","authors":"Flor Angela Bravo Sánchez, D. Patiño, Kamilo Melo, C. Parra","doi":"10.1109/LARC.2011.6086830","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086830","url":null,"abstract":"This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the continuous and discrete dynamics of the leader-following approach, we model the formation control as a switching control. This allows any robot to be part of the formation as leader or follower any time. The control law is validated through simulation.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127703317","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
Cooperative architecture for multi-agent systems in robotic soccer (CAMASS) 机器人足球(CAMASS)中多智能体系统的协同架构
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086799
J. Angel, M. Rosero, G. Bravo
{"title":"Cooperative architecture for multi-agent systems in robotic soccer (CAMASS)","authors":"J. Angel, M. Rosero, G. Bravo","doi":"10.1109/LARC.2011.6086799","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086799","url":null,"abstract":"In order to create a cooperative architecture for multi-agent systems in robotic soccer, it is necessary to model and understand the human soccer concepts to use and express them computationally. This work presents the main features for a multi-agent cooperative architecture based on human soccer concepts. The architecture can be applied to different categories of RoboCup. To test its performance, an initial development was accomplished for the RoboCup 2D simulation category, obtaining a system able to execute synchronized simple tactics.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115095416","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
State and unknown input estimation in a CSTR using higher-order sliding mode observer 基于高阶滑模观测器的CSTR状态和未知输入估计
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-10-01 DOI: 10.1109/LARC.2011.6086829
Bertulfo Giraldo Osorio, Hector A. Botero Castro, J. Sánchez‐Torres
{"title":"State and unknown input estimation in a CSTR using higher-order sliding mode observer","authors":"Bertulfo Giraldo Osorio, Hector A. Botero Castro, J. Sánchez‐Torres","doi":"10.1109/LARC.2011.6086829","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086829","url":null,"abstract":"The aim of this paper is to design and analyze an observer based on high-order sliding mode to estimate states and unknown inputs in a continuous stirred tank reactor (CSTR). Additionally, the designed HOSM allows to reduce the chattering. The performance of HOSM observer is compared with a 1-order sliding mode observer.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121997021","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
Center of mass displacements using rolling gaits for modular robots on the outside of pipes 采用滚动步态的模块化机器人在管道外的质心位移
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-10-01 DOI: 10.1109/LARC.2011.6188614
L. Paez, Kamilo Melo, C. Parra
{"title":"Center of mass displacements using rolling gaits for modular robots on the outside of pipes","authors":"L. Paez, Kamilo Melo, C. Parra","doi":"10.1109/LARC.2011.6188614","DOIUrl":"https://doi.org/10.1109/LARC.2011.6188614","url":null,"abstract":"This paper addresses the problem of find modular robot's center of mass displacements when a rolling gait is executed on the outside of a pipe. Parametrization of the gait and a complete forward kinematic model was determined in order to find the center of mass position. The displacements the robot's center of mass during a gait will be used as a energy efficiency metric. A stability issue also will be studied, defining a stability margin for this specific gait. Travel in joint space of the actuators depending of the pipe's radius during the locomotion, will also serve as a metric of energy efficiency and at the same time, a measure of gait smoothness. Considerations for energy efficiency, stability and performance of the gait are presented.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132203092","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
Experiences from over 15 years of on-line partial discharge (OLPD) testing of in-service MV and HV cables, switchgear, transformers and rotating machines 有超过15年的在线局部放电(OLPD)测试经验，包括在役中压和高压电缆、开关设备、变压器和旋转机械
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-10-01 DOI: 10.1109/LARC.2011.6086862
L. Renforth, M. Seltzer-Grant, R. Mackinlay, S. Goodfellow, D. Clark, R. Shuttleworth
{"title":"Experiences from over 15 years of on-line partial discharge (OLPD) testing of in-service MV and HV cables, switchgear, transformers and rotating machines","authors":"L. Renforth, M. Seltzer-Grant, R. Mackinlay, S. Goodfellow, D. Clark, R. Shuttleworth","doi":"10.1109/LARC.2011.6086862","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086862","url":null,"abstract":"The authors present a paper on the application of online partial discharge (PD) testing and monitoring technology for the insulation condition assessment of in service medium voltage (MV — 3.3kV to 45kV)) and high voltage (HV — 66kV to 750kV) cables and plant. The paper begins with a short summary of the different economic ‘DRIVERS’ which apply to both public utility and industrial HV networks. The paper presents some of the test techniques employed and the on-line PD sensor technology used to test in-service power cables, switchgear, transformers, rotating machines, CTs/VTs and other HV plant. The paper concludes with some case studies of past projects carried out by the authors from on-line PD test projects testing a wide range of MV & HV assets in electricity networks around the world.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125726645","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
A distributed model predictive control (D-MPC) for modular robots in chain configuration 链式模块化机器人的分布式模型预测控制
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-10-01 DOI: 10.1109/LARC.2011.6086843
F. Cortes, D. Linares, D. Patiño, Kamilo Melo
{"title":"A distributed model predictive control (D-MPC) for modular robots in chain configuration","authors":"F. Cortes, D. Linares, D. Patiño, Kamilo Melo","doi":"10.1109/LARC.2011.6086843","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086843","url":null,"abstract":"This paper shows the design of a distributed predictive control, applied to a robotic chain of six modules. The dynamic model is obtained for a single module which is validated through the SimMechanics blockset of MATLAB. With the obtained model, a controller is designed using different predictive control strategies to choose the one that shows a better performance in terms of overshoot and settling time. Finally, the predictive control is distributed up to six modules, and its performance is evaluated by varying typical parameters of the predictive control such as the horizons of prediction, the control horizon, and the weights among others.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129907299","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: 5
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