http://www.ifac-papersonline.net/ en Copyright 05:34 PM Tuesday 07, 2012 IFAC-PapersOnline http://www.ifacpapersonline.com 05:34 PM Tuesday 07, 2012 05:34 PM Tuesday 07, 2012 ET webmaster@ifac-papersonline.net webmaster@ifac-papersonline.net http://www.ifac-papersonline.net/Detailed/26324.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26541.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/27102.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/25666.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/27070.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/27151.html 04:00 PM Wednesday 31, 1969 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%. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26461.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26050.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26457.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26843.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26037.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/27167.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26063.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/25791.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26126.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26977.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26091.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26094.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/25638.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/27062.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/27045.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/26790.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/25756.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/25759.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/25780.html 04:00 PM Wednesday 31, 1969 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. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif