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Dynamic Relative Gain Array Estimation using Local Polynomial Approximation Approach 基于局部多项式逼近的动态相对增益阵列估计
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2016-01-10 DOI: 10.4173/MIC.2016.4.5
Ali M. H. Kadhim, W. Birk, Miguel Castano Arranz
{"title":"Dynamic Relative Gain Array Estimation using Local Polynomial Approximation Approach","authors":"Ali M. H. Kadhim, W. Birk, Miguel Castano Arranz","doi":"10.4173/MIC.2016.4.5","DOIUrl":"https://doi.org/10.4173/MIC.2016.4.5","url":null,"abstract":"This article presents a procedure that utilizes the local polynomial approximation approach in the estimation of the Dynamic Relative Gain Array (DRGA) matrix and its uncertainty bounds for weakly ...","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"5 1","pages":"247-259"},"PeriodicalIF":1.7,"publicationDate":"2016-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75648363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Rate of Penetration Optimization using Moving Horizon Estimation 基于移动地平线估计的突防速度优化
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2016-01-07 DOI: 10.4173/MIC.2016.3.1
D. Sui, B. Aadnøy
{"title":"Rate of Penetration Optimization using Moving Horizon Estimation","authors":"D. Sui, B. Aadnøy","doi":"10.4173/MIC.2016.3.1","DOIUrl":"https://doi.org/10.4173/MIC.2016.3.1","url":null,"abstract":"Increase of drilling safety and reduction of drilling operation costs, especially improvement of drilling eciency, are two important considerations in the oil and gas industry. The rate of penetration (ROP, alternatively called as drilling speed) is a critical drilling parameter to evaluate and improve drilling safety and eciency. ROP estimation has an important role in drilling optimization as well as interpretation of all stages of the well life cycle. In this paper, we use a moving horizon estimation (MHE) method to estimate ROP as well as other drilling parameters. In the MHE formulation the states are estimated by a forward simulation with a pre-estimating observer. Moreover, it considers the constraints of states/outputs in the MHE problem. It is shown that the estimation error is with input-to-state stability. Furthermore, the ROP optimization (to achieve minimum drilling cost/drilling energy) concerning with the ecient hole cleaning condition and downhole environmental stability is presented. The performance of the methodology is demonstrated by one case study.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"11 1","pages":"149-158"},"PeriodicalIF":1.7,"publicationDate":"2016-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86496575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Online Identification of a Two-Mass System in Frequency Domain using a Kalman Filter 基于卡尔曼滤波的双质量系统频域在线辨识
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2016-01-04 DOI: 10.4173/MIC.2016.2.5
N. Nevaranta, S. Derammelaere, J. Parkkinen, B. Vervisch, T. Lindh, M. Niemela, O. Pyrhönen
{"title":"Online Identification of a Two-Mass System in Frequency Domain using a Kalman Filter","authors":"N. Nevaranta, S. Derammelaere, J. Parkkinen, B. Vervisch, T. Lindh, M. Niemela, O. Pyrhönen","doi":"10.4173/MIC.2016.2.5","DOIUrl":"https://doi.org/10.4173/MIC.2016.2.5","url":null,"abstract":"Some of the most widely recognized online parameter estimation techniques used in different servomechanism are the extended Kalman filter (EKF) and recursive least squares (RLS) methods. Without loss of generality, these methods are based on a prior knowledge of the model structure of the system to be identified, and thus, they can be regarded as parametric identification methods. This paper proposes an on-line non-parametric frequency response identification routine that is based on a fixed-coefficient Kalman filter, which is configured to perform like a Fourier transform. The approach exploits the knowledge of the excitation signal by updating the Kalman filter gains with the known time-varying frequency of chirp signal. The experimental results demonstrate the effectiveness of the proposed online identification method to estimate a non-parametric model of the closed loop controlled servomechanism in a selected band of frequencies.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"21 1","pages":"133-147"},"PeriodicalIF":1.7,"publicationDate":"2016-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73679313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity 弹簧加载、电缆驱动、可穿戴上肢外骨骼的建模与设计
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2015-01-07 DOI: 10.4173/MIC.2015.3.4
Lelai Zhou, S. Bai, M. Andersen, J. Rasmussen
{"title":"Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity","authors":"Lelai Zhou, S. Bai, M. Andersen, J. Rasmussen","doi":"10.4173/MIC.2015.3.4","DOIUrl":"https://doi.org/10.4173/MIC.2015.3.4","url":null,"abstract":"An approach to the design of wearable exoskeletons on the basis of simulation of the exoskeleton and a human body model is proposed in this paper. The new approach, addressing the problem of physical human-exoskeleton interactions, models and simulates the mechanics of both the exoskeleton and the human body, which allows designers to eectively analyze and evaluate an exoskeleton design for their function in concert with the human body. A simulation platform is developed by integrating a biomechanical model of the human body and the exoskeleton. With the proposed approach, an exoskeleton is designed for assisting patients with neuromuscular injuries. Results of the analysis and optimization are included.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"136 1","pages":"167-177"},"PeriodicalIF":1.7,"publicationDate":"2015-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88856799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 34
Path generation for high-performance motion of ROVs based on a reference model 基于参考模型的机器人高性能运动路径生成
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2015-01-04 DOI: 10.4173/MIC.2015.2.2
D. D. A. Fernandes, A. Sørensen, D. Donha
{"title":"Path generation for high-performance motion of ROVs based on a reference model","authors":"D. D. A. Fernandes, A. Sørensen, D. Donha","doi":"10.4173/MIC.2015.2.2","DOIUrl":"https://doi.org/10.4173/MIC.2015.2.2","url":null,"abstract":"This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU’s ROV Minerva, are presented and discussed.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"26 1","pages":"81-101"},"PeriodicalIF":1.7,"publicationDate":"2015-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84526178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Towards Qualifiable Code Generation from a Clocked Synchronous Subset of Modelica 从Modelica的定时同步子集生成合格的代码
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2015-01-01 DOI: 10.4173/MIC.2015.1.3
Bernhard Thiele, A. Knoll, P. Fritzson
{"title":"Towards Qualifiable Code Generation from a Clocked Synchronous Subset of Modelica","authors":"Bernhard Thiele, A. Knoll, P. Fritzson","doi":"10.4173/MIC.2015.1.3","DOIUrl":"https://doi.org/10.4173/MIC.2015.1.3","url":null,"abstract":"So far no qualifiable automatic code generators (ACGs) are available for Modelica. Hence, digital control applications can be modeled and simulated in Modelica, but require tedious additional effor ...","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"25 1","pages":"23-52"},"PeriodicalIF":1.7,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76092008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis 基于简化风险分析的主动安全人机协作策略
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2015-01-01 DOI: 10.4173/MIC.2015.1.2
A. Sanderud, Trygve Thomessen, H. Osumi, M. Niitsuma
{"title":"A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis","authors":"A. Sanderud, Trygve Thomessen, H. Osumi, M. Niitsuma","doi":"10.4173/MIC.2015.1.2","DOIUrl":"https://doi.org/10.4173/MIC.2015.1.2","url":null,"abstract":"In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk eld that can be used to evaluate the risk of a collaborative task. Based on this risk eld, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"94 3","pages":"11-21"},"PeriodicalIF":1.7,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72565409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Pre-stabilized Energy-optimal Model Predictive Control 预稳定能量最优模型预测控制
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2014-02-17 DOI: 10.2316/P.2014.809-058
Xin Wang, J. Stoev, J. Swevers
{"title":"Pre-stabilized Energy-optimal Model Predictive Control","authors":"Xin Wang, J. Stoev, J. Swevers","doi":"10.2316/P.2014.809-058","DOIUrl":"https://doi.org/10.2316/P.2014.809-058","url":null,"abstract":"This paper presents Pre-stabilized Energy-optimal Model Predictive Control which is developed based on the existing Energy-Optimal Model Predictive Control (EOMPC) approach. EOMPC is a control method to realize energyoptimal point-to-point motions within a required motion time. In order to obtain a sufficiently large prediction time horizon with a limited number of decision variables resulting in less computational load and solving the optimization problem within the chosen sampling time, nonequidistant time intervals are used over the prediction horizon. This approach is called blocking. However blocking yields a non-smooth optimal solution and as a result the energy-optimality is only approximately achieved. In order to overcome this drawback, this paper proposes a prestabilization strategy to reduce the computational load of EOMPC. Pre-stabilization uses deadbeat state feedback to modify the system models employed in the formulation of MPC and yields a much sparser optimization problem. The significant advantage of the pre-stabilization on computational speed of MPC optimization problems is clarified. The computational efficiency and performance of EOMPC with pre-stabilization is validated through numerical simulations.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"28 1","pages":"244-251"},"PeriodicalIF":1.7,"publicationDate":"2014-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83609228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring 利用自主水下航行器作为冰层监测传感器平台
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2014-01-10 DOI: 10.4173/MIC.2014.4.4
Petter Norgren, R. Skjetne
{"title":"Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring","authors":"Petter Norgren, R. Skjetne","doi":"10.4173/MIC.2014.4.4","DOIUrl":"https://doi.org/10.4173/MIC.2014.4.4","url":null,"abstract":"(c) 2014 Norwegian Society of Automatic Control. Creative Commons Attribution 3.0 Unported (CC BY 3.0) license. See: http://creativecommons.org/licenses/by/3.0/.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"83 1","pages":"263-277"},"PeriodicalIF":1.7,"publicationDate":"2014-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77922742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 20
Integrated Debugging of Modelica Models Modelica模型的集成调试
IF 1.7 4区 计算机科学
Modeling Identification and Control Pub Date : 2014-01-04 DOI: 10.4173/MIC.2014.2.3
Adrian Pop, Martin Sjölund, Adeel Asghar, P. Fritzson, F. Casella
{"title":"Integrated Debugging of Modelica Models","authors":"Adrian Pop, Martin Sjölund, Adeel Asghar, P. Fritzson, F. Casella","doi":"10.4173/MIC.2014.2.3","DOIUrl":"https://doi.org/10.4173/MIC.2014.2.3","url":null,"abstract":"The high abstraction level of equation-based object-oriented (EOO) languages such as Modelica has the drawback that programming and modeling errors are often hard to nd. In this paper we present integrated static and dynamic debugging methods for Modelica models and a debugger prototype that addresses several of those problems. The goal is an integrated debugging framework that combines classical debugging techniques with special techniques for equation-based languages partly based on graph visualization and interaction. To our knowledge, this is the rst Modelica debugger that supports both equation-based transformational and algorithmic code debugging in an integrated fashion.","PeriodicalId":49801,"journal":{"name":"Modeling Identification and Control","volume":"98 11 1","pages":"93-107"},"PeriodicalIF":1.7,"publicationDate":"2014-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91154024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
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