Robot learning through task identification

The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear and partly unpredictable process. Lacking a theory of robot–environment interaction that allows the design of robot control code based on theoretical analysis, roboticists still have to resort to trial-and-error methods in mobile robotics.The RobotMODIC project aims to develop a theoretical understanding of a robot’s interaction with its environment, and uses system identification techniques to identify the system robot–task–environment. In this paper, we present two practical examples of the RobotMODIC process: mobile robot self-localisation and mobile robot training to achieve door traversal.In both examples, a transparent mathematical function is obtained that maps inputs–sensory perception in both cases–to output — location and steering velocity respectively. Analysis of the obtained models reveals further information about the way in which a task is achieved, the relevance of individual sensors, possible ways of obtaining more parsimonious models, etc.     

WWTP dynamic disturbance modelling--an essential module for long-term benchmarking development.

Intensive use of the benchmark simulation model No. 1 (BSM1), a protocol for objective comparison of the effectiveness of control strategies in biological nitrogen removal activated sludge plants, has also revealed a number of limitations. Preliminary definitions of the long-term benchmark simulation model No. 1 (BSM1_LT) and the benchmark simulation model No. 2 (BSM2) have been made to extend BSM1 for evaluation of process monitoring methods and plant-wide control strategies, respectively. Influent-related disturbances for BSM1_LT/BSM2 are to be generated with a model, and this paper provides a general overview of the modelling methods used. Typical influent dynamic phenomena generated with the BSM1_LT/BSM2 influent disturbance model, including diurnal, weekend, seasonal and holiday effects, as well as rainfall, are illustrated with simulation results. As a result of the work described in this paper, a proposed influent model/file has been released to the benchmark developers for evaluation purposes. Pending this evaluation, a final BSM1_LT/BSM2 influent disturbance model definition is foreseen. Preliminary simulations with dynamic influent data generated by the influent disturbance model indicate that default BSM1 activated sludge plant control strategies will need extensions for BSM1_LT/BSM2 to efficiently handle 1 year of influent dynamics.     

OPAH a model for optimal design of multipurpose small hydropower plants

The investment in small hydropower plants requires the analysis of hydrological, technical, operational, budgetary, economical and financial aspects. The analysis of each possible configuration demands the joint action of several technicians, consuming substantial time and money. During initial design of the project, simplified procedures are usually adopted which may compromise the quality of the base configuration.In this paper we will present a global overview of the OPAH model, which was developed to surpass these limitations. This global model performs the optimization of project configuration. This model uses non-linear programming optimization to analyze the multipurpose operation of the hydropower plant. It uses a numeric simulation model of unsteady flow under pressure to analyze the hydraulic circuit. It uses an economical and financial simulation model that takes in to account the project risk associated to hydrologic and market variability, the financial capacity of the investor and the fiscal aspects.     

Generalized difference control of parallel streams temperatures

A furnace with multiple parallel passes and multiple burners is commonly seen in petroleum refineries. In order to maintain the furnace running in a safe, stable, and high-efficiency state it is necessary to control the outlet temperatures of the multiple passes to be the same. Due to the fact that the process of the oil heating in such furnace is nonlinear, multivariable, time varying, has serious coupling among passes, has frequent dynamic changes and a large time delay, traditional control methods have trouble in controlling these temperatures, and some advanced control methods, including predictive control, adaptive control, and robust control, are usually too complex for convenient use. In this paper, a control technique, called differences control technique (DsCT), is proposed to distribute the stream flowrates such that the stream temperatures are as identical as possible. The principle of the proposed technique is explained and demonstrated, and the results of its application to a real-life petroleum refinery furnace are also reported. The DsCT technique has the following advantages: it does not need complicated design procedures, the controller structure is simple, it is easy to apply, and it can be canonically applied to furnaces with different number of passes.     

Optimal and self‐tuning fusion Kalman filters for discrete‐time stochastic singular systems

Based on the optimal fusion estimation algorithm weighted by scalars in the linear minimum variance sense, a distributed optimal fusion Kalman filter weighted by scalars is presented for discrete‐time stochastic singular systems with multiple sensors and correlated noises. A cross‐covariance matrix of filtering errors between any two sensors is derived. When the noise statistical information is unknown, a distributed identification approach is presented based on correlation functions and the weighted average method. Further, a distributed self‐tuning fusion filter is given, which includes two stage fusions where the first‐stage fusion is used to identify the noise covariance and the second‐stage fusion is used to obtain the fusion state filter. A simulation verifies the effectiveness of the proposed algorithm. Copyright © 2008 John Wiley & Sons, Ltd.     

Tracking-error model-based predictive control for mobile robots in real time

In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying state-feedback controller is given. The proposed controller includes velocity and acceleration constraints to prevent the mobile robot from slipping and a Smith predictor is used to compensate for the vision-system dead-time. Some ideas for future work are also discussed.     

转炉炼钢静态模型的初步探讨

根据转炉炼钢的物理化学反应机理，从质量平衡和能量平衡的计算出发，通过小参数变动，导出了增量式静态模型中矿石方程和供氧方程的系数。所得结论与新日铁资料基本相符。同时，还进行了炉料和产物的计算，分析了改变废钢比对生产的影响。     

Magnetic Field Analysis of Disk Coreless Permanent Magnet Synchronous Motor Based on Thickness Variation Halbach Array

Being a new permanent magnets(PMs) arrangement, the Halbach array could approve the magnetic flux density effectively, through weakening the magnetic flux density in one side of the PMs array, meanwhile strengthening the magnetic flux density in the other side. In the disk coreless PM synchronous motor (PMSM), the magnetic flux density is required to be sine wave and the peak value should be as high as possible. The paper deals with the application of the 90° Halbach array in the disk coreless PMSM, adopting NdFeB PMs. For the thickness of PMs influences the magnetic flux density in the air gap, the thickness variation technology is adopted. Through altering the adjacent PMs thickness, nine different PMs thickness combination is analyzed by FEM methods. And the conclusion is that when the thickness of tangential magnetization PMs is great than that of the radial magnetization PMs, the magnetic flux density wave is closer to sine wave than when the thickness of the tangential magnetization PMs is smaller than that of the radial magnetization PMs. Furthermore, when the thickness of the tangential magnetization PMs is great than that of the radial magnetization PMs, keeping the thickness of the tangential magnetization PMs being 0.006 m and the thickness of the radial magnetization PMs variation from 0.0048 m to 0.006 m, the magnetic flux density in the air gap will become closer to sine wave gradually, and then it becomes nonsinusoidal again. And when the thickness of radial magnetization PMs is 0.0054 m and 0.0055 m, the waves of magnetic flux density in the air gap are better than others.     

On the relationship between parity space and approaches to fault detection

Parity space approach and H₂ approach are two important fault detection approaches. This paper studies the relationship between these two approaches, which reveals frequency domain characteristics of the optimal solution of the parity space approach on the one side and provides a numerical solution of the H₂-optimal design of residual generators on the other side.