Authors: Kotaro Hirasawa; Jinglu Hu; Junichi Murata

Abstract: This paper proposes a stability analysis method based on the higher order derivatives of ULNs. In the proposed method, the following are proposed. Firstly, ij the absolute values of the first order derivatives of any coordinates of the original trajectory with respect to any initial disturbances approach zero at time infinity, then the trajectory is locally asymptotically stable. Secondly, the (n, ε) locally asymptotically stable region, where asymptotical stability is secured approximately, is obtained by neglecting the higher order derivatives until nth order with ε approximation.

Keywords: nonlinear system,learning network,stability analysis,high order derivatives

Identifier: 10.3182/20020721-6-ES-1901.00693

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Jorge Pomares Baeza; Fernando Torres Medina; Pablo Gil Vazquez

Abstract: In this paper, a visual servoing for the tracking of objects in a plane using a fixed camera system is shown. The method proposed of tracking makes use of a variable number of trackers determined automatically. The integration of the predictions of each of them affords a flexible and robust system of tracking. The studies of efficiency carried out reflect that the delays produced are suitable for use in visual servoing. The proposed system can be generalized to tracking three-dimensional objects with movable cameras.

Keywords: tracking,visual motion,automatic control (closed-loop),delay analysis,estimation algorithms,image processing,prediction methods

Identifier: 10.3182/20020721-6-ES-1901.00910

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: S. Boverie; M. Devy; F. Lerasle

Abstract: Providing new generations of airbags with reliable information about the vehicle inner space occupancy in order to minimize inappropriate inflation is a real challenge. Within this paper 2 techniques to rebuilt the 3D cockpit scene, are presented; beside the well-known stereoscopic vision principles, 3D reconstruction based on matricial sensor combined with an infrared structured light emitter is described. From the 3D points acquired by these sensors a 3D description of the seat area is built, pertinent attributes are extracted, and using a previously learnt data base, the current seat situation is identified amongst the learnt situations (empty seat, baby seat in normal or rear position, occupant,...). First promising results are depicted.

Keywords: video sensing,airbag,classification,3D reconstruction

Identifier: 10.3182/20020721-6-ES-1901.01471

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Seung Bong Hong; Doo Yong Lee; Hyun Joong Yoon

Abstract: This paper presents a 3D simulation environment for track systems in semiconductor fabrication. The track systems together with exposure tools carry out important functions of the photolithography process of semiconductor fabrication. The developed 3D track simulator can be used for design and evaluation of track systems, and their performance analysis. The main goal of the 3D track simulator is to provide a user with more accurate simulation environment for track systems. The developed 3D simulator consists of GUI (Graphic User Interface), scheduler, animator, and performance analyzer, where the animator part is constructed based on a discrete event simulation software, AutoMod, of Autosimulations.

Keywords: simulator,semiconductor manufacturing,virtual reality

Identifier: 10.3182/20020721-6-ES-1901.00035

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Andre C. G. Rodrigues; Augusto H. Bruciapaglia; Julio E. N. Rico; Luiz Fernando B. Melgarejo

Abstract: The relevance of the conceptual learning in control education is analyzed in this paper. It indicates a concepts-on view of control education. This approach, that already is the tacit model of classroom education, tries to complement recent control educational trends. In this context, it presents a recent project called "Virtual Control School" in development at the Federal University of Santa Catarina. This project tries to integrate pedagogical, computational and epistemological aspects in order to assist the control teaching and learning processes.

Keywords: control education,cognitive systems,control engineering,control theory,information technology

Identifier: 10.3182/20020721-6-ES-1901.01439

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Yann Guezennec; Shawn Midlam-Mohler; Makoto Tateno; Mike Hopka

Abstract: A two-stage approach to Diesel emission management in Diesel Hybrid Electric Vehicles is presented. The first aspect of this work focuses on a supervisory control strategy for charge-sustaining, parallel HEV drivetrains, which provides the a real-time control policy for the use of a CIDI engine and an electric motor, while simultaneously minimizing fuel consumption and reducing NOx emissions. Results show that only limited, although not negligible, gains in NOx emission levels can be achieved through the optimal control of the HEV drivetrain, necessitating an aggressive aftertreatment strategy. In the second facet of the work, an aftertreatment system is presented consisting of a set of parallel Lean NOx traps and a novel set of actuators for providing heat and/or hydrocarbons independent of the engine control strategy. The proper control of this system is obtained by a relatively simple dynamic model of the NOx absorbers, coupled with a real-time estimator of the NOx engine-out emissions based on the engine operating points (set by the control strategy) and their transient behavior. The system shows the potential to decrease NOx emissions by 90%.

Keywords: diesel emissions,diesel after-treatment,lean NOx traps,hybrid electric vehicles,supervisory control strategy

Identifier: 10.3182/20020721-6-ES-1901.01520

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: D. Y. Yoon; S. R. Oh; G. T. Park; B. J. You

Abstract: This paper proposes a new effective behaviour-based reactive navigation methodology for autonomous mobile robot. Its main contribution is based on newly proposed egocentric 'homeostatic' approach by which behaviours are coordinated while taking advantages of both competitive and cooperative method. In order to accomplish autonomous navigation, direction and velocity are modulated automatically by single real value, 'satisfaction level' without any central or additional module so that this method becomes simple, consistent, and flexible. The validities of the proposed methodology are shown by graphic simulation and experiments with wheeled mobile robot.

Keywords: robot navigation,robot programming,mobile robots,behaviour,robotics

Identifier: 10.3182/20020721-6-ES-1901.00830

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Er-Wei Bai

Abstract: In this paper, we propose a blind approach to the sampled Hammerstein-Wiener model identification. By using the blind approach, it is shown that all internal variables can be recovered solely based on the output measurements. Then, identification of linear and nonlinear parts can be carried out. No a priori structural knowledge about the input nonlinearity is assumed and no white noise assumption is imposed on the input.

Keywords: system identification,parameterestimation,nonlinear systems,Wiener system,Hammerstein system

Identifier: 10.3182/20020721-6-ES-1901.00419

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Raymond H. W. Lam; Imad Elhajj; Wen J. Li; Ning Xi

Abstract: A bone reaming system with temperature tactile sensation display was developed for potential use during bone internal fixation surgery. The developed reaming system will allow tracking of the amount of heat generated inside fractured bones by surgeons throughout the reaming process. It consists of a temperature sensing system to measure the bone cavity temperature, a rotor system to provide the rotational motion to the system, which emulates the rotational motion during a surgical bone-drilling procedure, and a RF receiver for receiving the wireless signal representing the measured temperature. The performance of the temperature sensing system was analyzed, including temperature signal linearity and wireless temperature signal transmission. Experiments were also conducted to play the temperature data from the sensing system over the Internet and allow a remote operator to feel the temperature sensation by using a thermoelectric heating/cooling device. Implementation of the new reaming system will allow surgeons to perform feedback control of temperature generation inside bone cavities, and hence, reduce the potential risks of bone internal fixation surgery significantly.

Keywords: bone reaming system,internal fixation,tactile temperature sensation,thermoelectric device,medical systems,temperature control

Identifier: 10.3182/20020721-6-ES-1901.00826

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Emanuele Carpanzano; Luca Ferrarini; Claudio Maffezzoni

Abstract: In the present work a modular simulation-based technique for the automatic verification of logic control functions is introduced and exploited to define a structured bottom-up methodology for the testing of the overall control functions of process and power plants. The proposed method has been implemented in a CACSD environment which uses the Matlab toolboxes Simulink and Stateflow for the control functions testing via simulation. The testing of the logic control functions of a portion of a thermal power plant is considered as an application example of the proposed framework.

Keywords: power plants,testing,simulation,CACSD,logic control

Identifier: 10.3182/20020721-6-ES-1901.01212

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Marcin Witczak; Jozef Korbicz; Ron J. Patton

Abstract: This paper focuses on the problem of designing unknown input observers for both linear and non-linear stochastic systems. The main objective is to show how to employ the bounded-error state estimation technique and some transformations of the system equations to form a new bounded-error unknown input observer. It is shown how to extend the proposed approach to tackle the problem of state estimation of nun-linear stochastic systems. The final part of this paper shows an example, concerning fault detection of an apparatus that is a part of the evaporation station at the Lublin sugar factory, which confirms the effectiveness of the approach.

Keywords: observers,bounded noise,non-linear systems,fault diagnosis

Identifier: 10.3182/20020721-6-ES-1901.00406

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Joŝko Deur

Abstract: A dynamic tire friction model based on the LuGre friction model has been developed recently. The model includes the longitudinal and lateral forces, as well as the self aligning torque. It has originally been derived in distibuted form, and then transformed to simpler lumped form with only three internal states. The lumped model has been based on uniform normal pressure distribution. It is extended in this paper for the more realistic case of a non-uniform normal pressure distribution, in order to provide a consistent prediction of the self aligning torque static curves.

Keywords: tire,modeling,friction,vehicle dynamics,simulation

Identifier: 10.3182/20020721-6-ES-1901.01536

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Kang Li; Steve Thompson; Gareth-Guan R. Duan; Jian-Xun Peng

Abstract: Fundamental grey-box modeling is an approach that can be used to model complex nonlinear dynamic systems for which the underlying mechanisms are either too complex or only partially known a priori. In this paper, further discussion is made on the motivations behind this method and the framework of this method is also extended. As a case study, it is used to model the NOx emission in a coal-fired power generation plant.

Keywords: nonlinear systems,modeling,power plants,power generation,pollution

Identifier: 10.3182/20020721-6-ES-1901.00432

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Kai-Sheng Lu

Abstract: In this paper, a definition of a class of rational function matrices called a type-1 matrix is given. Two illustrative examples show that the type-1 matrix can describe most of linear physical systems. It is proven that the type-1 matrix satisfies two properties that its characteristic polynomial in the ring F(z)[λ] has no nonzero constant eigenvalues or nonzero multiple factors in F(z)[λ]. The author present some controllability criteria of the linear systems whose characteristic polynomials have no nonzero multiple factors in F(z)[λ]. The applications of the type-1 matrix and system to structural controllability are indicated.

Keywords: rational matrix,linear systems,controllability

Identifier: 10.3182/20020721-6-ES-1901.00160

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Yajie Tian; Nobuo Sannomiya; Changzheng Xie; Tetsuo Sawaragi

Abstract: In this paper, a combined algorithm consisting of two stages of approaches is proposed for solving a Job Shop Scheduling Problem (JSSP). The first stage of approach called Semi-active Scheduling Approach (SSA) is proposed for obtaining a local optimal solution in a short time by using the improved local search algorithm and the neighborhood search technique proposed in our earlier paper. The second stage of approach called Active Scheduling Approach (ASA) is proposed for improving the solution obtained from SSA and preventing the solution from trapping in the local minimum by reducing the idle time in the processes and making good use of the resources. Both of the approaches focus their improvement efforts on reducing production expense. The proposed algorithm is applied to solving JSSPs. A large number of computational experiments show that the combined algorithm can overcome the disadvantages of the respective approaches, SSA and ASA, and obtain a better solution as compared with single use of such approaches for solving the complicated JSSPs. In addition, the proposed algorithm is compared with Genetic Algorithm (GA), and the result shows that in the case of limited total search points, the proposed algorithm can converge to a suboptimal solution faster than GA.

Keywords: optimization,local search method,job shop scheduling problem,semi-active scheduling,active scheduling

Identifier: 10.3182/20020721-6-ES-1901.00495

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: I. Chairez; A. Cabrera; A. Poznyak; T. Poznyak

Abstract: The continuous time observer design based on differential neural networks (DNN) is presented. It is tested by the application to an immunological interaction model for HIV. To give the corresponding data interpretation and to justify the observability property the Kirschner's model is used. The suggested observer estimates the model's variables behavior providing the evolution of the number of infected and not infected lymphocyte T-CD4 cells during 10 days approximately starting from the treatment using Zidovuina (AZT). This approach does not require any model of this process to be in use. The obtained results are shown to allow the programming a high-quality medication protocol for zero-positive patients or AIDS patients.

Keywords: differential neural networks,neuro-observer,observability,HIV,AIDS

Identifier: 10.3182/20020721-6-ES-1901.01346

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Yi Liu; Elling W. Jacobsen

Abstract: Moving mesh methods is a class of methods for model reduction of PDE models, based on a dynamically moving discretization mesh. Moving mesh methods have been widely used for solving differential equations involving large solution variations. The methods can roughly be divided into moving finite difference methods (MFD) and moving finite element methods (MFEM). In this paper we consider these methods from a feedback control point of view and use results from control theory to provide a plausible explanation for the robustness problems encountered in most of the methods. Based on these results we also propose a novel moving finite element method, OCMFE, in which the error introduced by the spatial discretization is estimated based on residual calculations and a simple feedback control algorithm is employed to adjust the size of the various elements Such that the estimated model reduction error is equidistributed over the spatial domain.

Keywords:

Identifier: 10.3182/20020721-6-ES-1901.00460

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: S. O. Reza Moheimani; Dunant Halim

Abstract: The purpose of this paper is to introduce an alternative procedure to the mode acceleration method when the underlying structure model includes damping. We will show that the problem can be cast as a convex optimization problem that can be solved via linear matrix inequalities.

Keywords: convex optimization,mode analysis,model reduction,modelling errors,damping,simulation

Identifier: 10.3182/20020721-6-ES-1901.00463

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Thecle Lecompte; Rachid Alami; Jean-Christophe Deschamps; Jean-Paul Bourrieres

Abstract: MRP-like approach is not always enough efficient to manage distributed manufacturing systems performing various complex products. This paper proposes a model supporting the desegregation of technical data, in order to provide to any decision maker in a multi-level management structure, information required to perform planning and scheduling production activities.

Keywords: management systems,manufacturing systems,technical data models

Identifier: 10.3182/20020721-6-ES-1901.00005

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Amund Skavhaug; Trygve Lunheim; Bjørnar Vik; Thor I. Fossen

Abstract: In this paper we show how the development of software for control system experiments has changed in our department the last 10 years. Different solutions for rapid development and deployment are presented, with our evaluation of cost vs benefits of using these when learning time, acquisition cost and required coding are considered.

Keywords: control systems,software tools,laboratory education,operating systems,simulation,computer aided control system design

Identifier: 10.3182/20020721-6-ES-1901.01431

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Ascension Zafra-Cabeza; Miguel A. Ridao; Eduardo F. Camacho

Abstract: This article has been developed in the frame of an IST European Project, where Companies and Universities of several countries of Europe have collaborated. The work presents a Decision Support System (DSS) to provide help in the bidding process. Critical decisions as bid/no bid, make/buy or decision of best final proposal have been realised. The tool performs a risk analysis and it uses the results in all the DSS phases.

Keywords: decision support sysetms,risk,management systems,knoweledge engineering,busniess engineering

Identifier: 10.3182/20020721-6-ES-1901.01414

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Anna Soffia Hauksdottir; Marianthi Ierapetritou; Sirkka-Liisa Jamsa-Jounela; Ursula Zuhlke

Abstract: The problem of simultaneous decoupling and pole placement without cancelling invariant zeros is important, especially in the case of unstable invariant zeros. An experimental model developed of a primary grinding circuit contains such zeros. The simultaneous decoupling and pole-placement problem without cancelling the unstable invariant zeros of the primary grinding circuit is approached by searching for solutions of the nonlinear system of equations composed of the characteristic equation and the decoupling conditions using ideas of an α BB global optimization approach. The simultaneous steady-state decoupling and pole placement problem is then solved for the primary grinding circuit without cancelling invariant zeros using an eigenvector based approach as well as the steady-state decoupling condition.

Keywords: grinding circuit control,decoupling,global optimization

Identifier: 10.3182/20020721-6-ES-1901.01159

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Qing-Chang Zhong; Han-Xiong Li

Abstract: This paper presents a delay-type PID controller (shortened as dPID) or a PID controller which is implemented using two delay elements. The gains are analytically tuned; one of the delay is optimally tuned and the other one is chosen to be equal to the sampling time. The poles of the discrete version of the dPID controller lies inside the unit circle and far away from the point (-1,O). Hence, it is stable and ripple-free. This controller is then applied to a first-order model plus dead-time (FOPDT), which can represent the majority of typical industrial processes; it achieves much better performances than the classical PID controller.

Keywords: processes with dead-time,PID controller,dPID,moments of a process

Identifier: 10.3182/20020721-6-ES-1901.00125

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Wataru Kase; Yohsuke Azuma; Yasuhiko Mutoh

Abstract: This paper present a description of all stabilizing controllers by polynomial matrix approach. As the applications to proposed description, a model matching problem for a plant with measurement noise and a pole placement for a plant with perturbation will be considered. Some simulations studies will be shown to confirm the validity of the methods.

Keywords: stabilizing controllers,polynomial methods,pole assignment,white noise,robust stability

Identifier: 10.3182/20020721-6-ES-1901.00128

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002

Authors: Xin Xin

Abstract: For a non-square transfer matrix with zeros on the extended imaginary axis including infinity, this paper discusses how to dilate (augment) such transfer matrix to a square one without adding extra zeros on the extended imaginary axis. The state-space construction for the dilation is proposed by using the finite and infinite eigenstructures of the transfer matrix.

Keywords: zero,eigenvalue,singular system,infinite zeros,imaginary axis zeros,singular pencil,generalized eigenvalue problems,dilation,annihilator

Identifier: 10.3182/20020721-6-ES-1901.00149

Conference: Proceedings of the 15th IFAC World Congress, 2002

Location: , Barcelona, Spain

Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002