Authors: Hendrawan, Yusuf

Abstract: A novel technique suitable for noninvasive measurements of moss water content is presented. In this paper, colour image sensing is applied for measuring moss water content. Sunagoke moss Rhacomitrium canescens has been utilized as an active greening material to mitigate the urban heat island effect. The goal of this paper is to develop an intelligent image analysis system for water irrigation optimal control in Sunagoke moss. The combination of RGB components (green:red ratio, blue index, blue value and green index) using statistical pattern recognition can estimate water content and define the distribution of water condition in every pixel of Sunagoke moss images. The combination of colour image sensing and Artificial Neural Network (ANN) successfully described the relationship between water content and colour features i.e. average green index, average blue index, blue mean value, browning area index, green canopy index and average green:red ratio. This system is helpful to explore a new way of water spraying in Sunagoke moss plant factories based on computer vision. We propose a water irrigation technology of plant factory to realize the automation and precision farming. Precision water spraying system based on computer vision is important, not only for spraying the water scientifically, but also for improving the efficiency of spraying and decreasing the non- or off-target spraying to prevent over watering.

Keywords: Image analysis in agriculture; Artificial neural nets in agriculture; Optimal control in agriculture

Identifier: 10.3182/20080706-5-KR-1001.00497

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Geng, Lihui; Zhang, Tao; Xiao, Deyun; Song, Jingyan

Abstract: Based on wavelet representation theory, this paper proposes a novel identification algorithm with random missing data under the condition that the identified dynamic process can be described as an output error (OE) model structure. This new algorithm mainly consists of two stages: one is the wavelet reconstruction, the other the prediction for missing data using the identified model. For the sake of its application, selection of the final iteration number and the adopted wavelet category is also considered. Finally, numerical simulations are given to verify the satisfactory effectiveness of the proposed algorithm.

Keywords: Recursive identification; Time series modelling

Identifier: 10.3182/20080706-5-KR-1001.00684

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: None

Abstract:

Keywords:

Identifier: 10.3182/20080706-5-KR-1001.90002

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Camlibel, Kanat

Abstract: The phenomenon of infinitely mode transitions in a finite time interval is called Zeno behavior in hybrid systems literature. It plays a critical role in the study of numerical methods and fundamental system and control theoretic properties of hybrid systems. This paper studies Zeno behavior for bimodal piecewise linear systems with possibly discontinuous dynamics. Our treatment is inspired by the work of Imura and Van der Schaft on the well-posedness of the same type of systems. The main contribution of the paper is two folded. Firstly, we show that Imura-Van der Schaft conditions for well-posedness guarantee that Filippov solutions have certain local properties. Secondly, we employ these in order to prove that bimodal piecewise linear systems do not exhibit Zeno behavior.

Keywords: Hybrid systems modeling and control; Switched discrete and hybrid systems

Identifier: 10.3182/20080706-5-KR-1001.01347

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Stuetzle, Thorsten; Engelhardt, Thomas; Enning, Manfred; Abel, Dirk

Abstract: In this paper, the dynamic behaviour of a rail vehicle with single-wheel drive and brake modules is analysed. It is shown that in the wheelslide or wheelskid case, the linearised plant obtains an unstable pole whose location is determined by the shape of the current creep force curve. By considering possible variations in the shape of the creep force curve, the corresponding variation of the pole location in the right-half plane is calculated and a controller structure for creepage control and creep velocity control is suggested. If the controller design takes the worst-case pole location into account, the resulting controller stabilises the closed loop even at small velocities. This fact is finally illustrated through simulation results.

Keywords: Modeling and simulation of transportation systems; Simulation

Identifier: 10.3182/20080706-5-KR-1001.02713

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Gessing, Ryszard

Abstract: In the paper, using some MATLAB fuzzy logic toolbox Demos, in which the fuzzy controllers are compared with the classical PID ones, it is shown that the well tuned classical PID are significantly better than those fuzzy presented in the Demos. It is shown, that using fuzzy approach, it is very difficult to shape the input-output nonlinearity, describing the so called fuzzy block of the fuzzy controller. It is also shown, that the linear fuzzy block (created to obtain comparable results with the classical PID controllers) is not justified at all, because it may be replaced by the usual summing junction connection, which is significantly simpler. The considerations of the paper do not support the idea of fuzzy controllers.

Keywords: Control education

Identifier: 10.3182/20080706-5-KR-1001.01750

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Rapisarda, Paolo; Markovsky, Ivan

Abstract: We study the linear quadratic control problem from a representation-free point of view, and we show that this formulation brings forth two self-contained and original proofs of the optimality of state feedback control laws; these proofs which do not depend on an a priori state-space representation. Moreover, we show an orthogonality property characterizing the set of optimal trajectory of a LQ-control problem.

Keywords: Data-based control; Time-invariant systems; Optimal control theory

Identifier: 10.3182/20080706-5-KR-1001.02080

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Nebylov, Vladimir; Nebylov, Alexander

Abstract: Wing-in-Ground Effect vehicle (WIG-craft) or ekranoplane landing direction optimization criteria is suggested which heeds the irregular sea waves features and provides the minimal mechanical strain on the vehicle body at hydrodynamic braking. The problem of automatic choice of the landing trajectory direction regarding the main direction of sea waves spread is under consideration. The peculiarities of marine landing at different characteristics of three-dimensional irregular model of sea waves and flying vehicle characters are investigated1. Recommendations concerning the implementation of ekranoplane soft landing depending on the number of sea roughness, wind velocity and vehicle landing velocity are given

Keywords: Guidance, navigation and control of vehicles; Avionics and on-board equipments; Decision making and autonomy, sensor data fusion

Identifier: 10.3182/20080706-5-KR-1001.00185

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Viera Curbelo, Teodora Aleida; Zuluaga, Pablo; Reyes, Marcos; Núñez, Miguel; Castro Lopez-Tarruella, Fco. Javier

Abstract: The WEB (Wind Evaluation Breadborad) for the European ELT (Extremely Large Telescope) Design Study is a primary mirror and telescope simulator formed by seven segments, including position sensors, electromechanical support systems and support structures. The purpose of the WEB is to study the effects of wind on the control of the positions of the segments. This paper describes the Control Architecture, the dynamic model generated based on the Finite Element Model and the performances achieved in simulations

Keywords: Controller constraints and structure

Identifier: 10.3182/20080706-5-KR-1001.01303

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Villanueva, Juvenal; Alvarez-Icaza, Luis

Abstract: The mechanical power in a wind turbine is modeled from a friction phenomenon perspective. Two models for the available power are derived based on a relative speed between the wind speed and turbine blades. The models are compared with a heuristic reference model showing good performance.

Keywords: Continuous time system estimation; Identification for control; Mechanical and aerospace estimation

Identifier: 10.3182/20080706-5-KR-1001.00341

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Nebylov, Alexander

Abstract: A trouble-free flight at low altitude over the disturbed sea surface and also marine landing require the application of the special methods and means of motion control which are capable to solve the corresponding specific problems. Methods of stability provision and solving some other problems of WIG flight by means of automatic control are analyzed . The requirements of motion control systems are analyzed and the criteria for their improvement are given. The statement of the main problems of equipment and software design for flight control at small altitude above the disturbed surface is performed. The aim of investigation is to define the way for operational performance improvement of the vehicles of advanced design. An important way is by implementation of modern navigation and motion control systems. The experience and achievements in this field of high technology are described. Probable areas of the most effective application of vehicles with such equipment are indicated.

Keywords: Control of systems in vehicles; Guidance, navigation and control of vehicles; Avionics and on-board equipments

Identifier: 10.3182/20080706-5-KR-1001.00187

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Campa, Ricardo; Kelly, Rafael

Abstract: Real-time control of industrial processes has become an important issue in the recent years. Advances in hardware and software technologies allow the use of single-processor computers to perform real—time tasks. The paper first explains the basic elements of PC—based real—time control systems. Then, it describes the general operation of WinMechLab, a real—time single—processor platform for the simulation and control of mechanisms based on MS—Windows. Finally, we show the application of this software tool in a simple control task of a direct—drive didactic robot arm.

Keywords: Control education

Identifier: 10.3182/20080706-5-KR-1001.01650

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Toussaint, Mickael; Andreu, David; Fraisse, Philippe

Abstract: This paper presents a Functional Electro-Stimulation distributed architecture based on a wireless network, for therapeutic training of disabled patients. On this distributed architecture, the movement (of disabled members) is artificially controlled by means of a global controller which pilots a set of stimulation units. The closed loop control system we developed for controlling muscle is based on a high order sliding mode method. In such wireless network-based control, the variable delay introduced by the network must be taken into account to ensure the stability of the closed loop. Thus, in order to characterize the medium on which the control is performed, we carried out accurate measurements of the architecture performances (stack-crossing, round-trip time, etc.). We then propose the use of a Kalman filter to predict the communication delay evolution, with the aim to exploit it within the closed loop control.

Keywords: Control under communication constraints; Distributed control and estimation

Identifier: 10.3182/20080706-5-KR-1001.01964

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Rauchhaupt, Lutz; Lakkundi, Vishwas

Abstract: Wireless automation is today an emerging topic. Industrial wireless solutions are based on Bluetooth, Wireless LAN, IEEE 802.15.4 or even proprietary radio technologies. This paper describes the functions of different wireless technologies within a Virtual Automation Network (VAN). It is shown how the VAN device architecture is applied to wireless solutions. This includes the definition of generic parameters and exemplification for IEEE 802.15.4 based systems of specific parameters. Finally, the purpose of the formal description is explained in brief.

Keywords: Remote and distributed control; Remote sensor data acquisition; Remote industrial production

Identifier: 10.3182/20080706-5-KR-1001.02367

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Iino, Yutaka; Hatanaka, Takeshi; Fujita, Masayuki

Abstract: This paper is discussed on some new control methodologies for wireless sensor network based control system, minimizing communication energy consumption. Some control problems with communication cost saving are defined. Then, a heuristic control method based on the Model Predictive Control strategy with a receding horizon cost function including control performance and communication cost is proposed. For a state feedback control problem, a sufficient condition to keep stability of the closed loop system is obtained. Some numerical examples are also illustrated.

Keywords: Remote sensor data acquisition; Telecommunication-based automation systems; Remote industrial production

Identifier: 10.3182/20080706-5-KR-1001.02537

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Kim, Tae-Wan; Lee, Kyu-Yeul; Kim, Jongwon; Oh, Min-Jae; Lee, Jie Hyeung

Abstract: The teach pendant is a hand-held robot control terminal that provides a convenient means to move the robot, teach locations, and run robot programs. Nowadays, almost teaching pendant is connected with a robot controller using cable. The cable connection and the size of teaching pendant are not problems because a robot controller is separated with robot. However, a large size and wired teaching pendant is not suitable for a self-deriving mobile welding robot which has a controller inside.In this paper, using a personal data assistant, the wireless teaching pendant is developed for the mobile welding robot which can weld and move autonomously in the double hull structure of the ship. We also verify the functions and performance of wireless teaching pendant from the experiments.

Keywords: Automation in shipbuilding

Identifier: 10.3182/20080706-5-KR-1001.00724

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Roehrig, Christof; Kuenemund, Frank

Abstract: Nowadays, many buildings are equipped with a WLAN infrastructure, as an inexpensive communication technology. In this paper a method to estimate position and heading (pose) of a mobile robot using WLAN technology is described. The proposed technique for localizing a mobile robot is based on the use of received signal strength values of WLAN access points in range. A radio map based method and Euclidean distance in combination with Delaunay triangulation and interpolation is proposed. Measured signal strength values of an omnidirectional antenna and a beam antenna are compared with the values of a radio map, in order to estimate the pose of a mobile robot, whereby the directionality of the beam antenna is used to estimate the heading of the robot. The paper presents the experimental results of measurements in an office building.

Keywords: Mobile robots; Perception and sensing; Guidance navigation and control

Identifier: 10.3182/20080706-5-KR-1001.01768

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Ohman, Matti; Kalmari, Jouko; Visala, Arto

Abstract: Graphical user interface design is a very visual process which requires graphical tools. Modern integrated development environments have text editors for writing code and graphical user interface editors for designing the user interface. In ISO 11783 systems this distinction between the program logic and the user interface elements is even more pronounced as the program is executed by the electronic control unit on the agricultural implement while the user interface is being loaded to the virtual terminal in the tractor cabin. The ISO 11783 standard defines a binary format for loading user interfaces to the virtual terminal. However, using XML format for manipulating and storing user interfaces has many advantages. XML files can be validated and parsed by standard tools and libraries. They are human readable which makes debugging relatively easy. XML files can also be extended to contain new information without breaking existing implementations. Most importantly, describing user interfaces as structured documents allows efficient reuse of composite user interface objects such as entire displays.

Keywords: Man-machine systems in agriculture; Standardisation in agriculture

Identifier: 10.3182/20080706-5-KR-1001.00269

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Zhao, Xingang; Han, Jianda

Abstract: The problem of robust H∞ tracking control is considered for a class of linear system with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. Using adaptive method, a new variable gain controller is designed to compensate the effect of uncertainty on systems. Then an application of this result to rotorcraft-based unmanned Aerial Vehicles (RUAVs) mounted on an experiment platform has demonstrated the effectiveness of the proposed method.

Keywords: Flying robots; Autonomous robotic systems; Robotics technology

Identifier: 10.3182/20080706-5-KR-1001.00135

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008

Authors: Zhang, Fu; Yeddanapudi, Murali; Mosterman, Pieter

Abstract: Abstract: Computational models of embedded control systems often combine continuous-time with discrete-event behavior, mathematically representing hybrid dynamic systems. An essential element of numerical simulation of a hybrid dynamic system is the generation of discrete events from continuous variables that exceed thresholds. In particular, the occurrence of such an event has to be detected and the point in time where the threshold is first exceeded has to be located. This paper presents a number of problems that are encountered in event detection and location when using existing techniques. Solution strategies that balance efficiency and robustness are presented to address: (i) repeated detection of a zero-crossing event at consecutive time steps, (ii) masked zero-crossing events because of multiple zero-crossing functions, and (iii) chattering and Zeno behavior. Keywords: Zero crossings, Hybrid system, Zeno system, Simulation

Keywords: Hybrid systems modeling and control

Identifier: 10.3182/20080706-5-KR-1001.01346

Conference: Proceedings of the 17th IFAC World Congress, 2008

Location: COEX, Korea, South

Start Date: Sun Jul 06 2008 - End Date: Fri Jul 11 2008