How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Two-level optimal output feedback stabilizer design

The paper addresses the design of two-level power system stabilizers using an optimal reduced order model whose state variables are torque angles and speeds. The reduced order model retains their physical meaning and is used to design a two-level linear feedback controller that takes into account the realities and constraints of electrical power systems. The two-level control strategy is used, and a global control signal is generated from the output variables to minimize the effect of interactions. The effectiveness of this controller is evaluated and a multimachine system is given as an example to illustrate the advantages of the proposed method. Responses of the system with a two-level scheme and an optimal reduced order scheme are included for comparative analysis.     

Control of the quality of polymer products in continuous reactors: comparison of performance of state estimators with and without updating of parameters

In the paper the control of the product quality in polymerization reactors is analysed in the presence of persistent perturbations (unmodeled disturbances, modeling errors), as met in industrial reactors. The free radical polymerization of methyl-methacrylate in a continuous stirred tank reactor is studied. It is shown that state estimators (Extended Kalman Filters) with constant parameters cannot give offset free performance. Criteria for the selection of a set of parameters to be updated as additional states in the filter and to evaluate their effectiveness in opposing the action of realistic perturbations are given by an analysis of the linearized model of the system. Performance of different types of estimators, including one and two-time scale filters, with and without updating of parameters, is analysed by simulation on the full order process and the predictions made by previous analysis are confirmed. In the most common case of presence of perturbations affecting the energy balance and the concentration of initiator in the reactor, offset free control of the molecular weight of the product can be achieved by means of a filter which is based only on measurements of temperature and conversion and makes an update of two parameters. In the case that also the kinetic model of the polymerization reaction is affected by errors, a two-time scale filter, which makes use also of Molecular Weight values and updates three parameters, becomes necessary to obtain offset free performance.     

Neural Network Feedback Control: Work at UTA’s Automation and Robotics Research Institute

This is an outline of research in neural networks for feedback control done since the mid 1990s at the Automation and Robotics Research Institute (ARRI) of The University of Texas at Arlington (UTA). It shows how the developments of Intelligent Control Systems based on neural networks have followed three main generations. This statement provides a short, broad-brush perspective on the development of intelligent neural feedback controllers.     

前馈和反馈相结合的控制策略在宝钢线材厂控冷轧线上的应用实践

在详细分析料坯在水箱内冷却热过程特点的基础上，提出了前馈和反馈相结合的水流量优化控制策略，并将该策略应用于宝钢线材厂控冷轧线上。实际运行结果表明：该策略能够合理地控制水箱水流量，从而保证了线材水箱出口处的温度满足工艺要求，大大提高了线材成品的质量。所做工作对国内同类企业有重要的意义。     

化工企业环境因素的评价

化工企业环境因素评价是建立环境管理体系的核心任务，化工企业生产过程的特点决定了其环境因素数量多、环境影响大、识别评价难、控制难度大。本文介绍了化工企业环境因素评价的技术方法和过程，可以为提高环境因素评价的科学性、客观性和充分性提供参考。     

煤矿矿井水检测质量控制措施探讨

探讨了影响煤矿矿井水检测质量的主要因素,按照全过程、全要素控制的理念提出了检测前、检测中和检测后的控制措施。     

乌江渡水电站扩建工程开挖爆破对原水电站建筑物震动影响的控制研究

为确保原有的乌江渡水电站水工建筑物和发电设备以及扩建工程建筑物的施工安全,加快扩建工程施工进度,本扩建工程施工中对关键部位开挖所产生的爆破震动影响实施全面而有效的实时爆破监控,并根据监控成果的研究指导开挖爆破作业,以确定符合实际的安全爆破震动参数。     

肝单光子发射计算机断层若干物理因素的讨论

我们于1985年对我院1984年开展肝单光子发射计算机断层以来的52例肝病人进行了分析总结。结果表明,肝单光子发射断层在诊断肝内占位性病变方面比普通肝静态γ照相有许多优点。需要指出的是,肝单光予发射断层的若干优点及诊断的准确性是与物理条件的正确选择和应用密切相关的。本文根据至今积累的近100例断层经验,从技术方面介绍了影响单