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Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE

Date 27-30 Nov. 1990

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Displaying Results 1 - 25 of 230
  • IECON '90. 16th Annual Conference of IEEE Industrial Electronics Society (Cat. No.90CH2841-5)

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    Freely Available from IEEE
  • Real-time expert system for gas plant operation support (GAPOS)

    Page(s): 1287 - 1292 vol.2
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    High reliability and a quick and appropriate response to abnormal conditions are required for operation of city gas production plants. To respond to these needs, the real-time expert system GAPOS (gas advanced plant operation support system) has been developed by the Tokyo Gas Company on the basis of minicomputers and an inference engine with numeric analysis, man-machine functions, etc. This system links the analysis functions of process time series data and a rule-type knowledge base and not only investigates the causes of abnormalities but also makes predictions about the potential for abnormalities. Basic performance has been proven with a prototype of approximately 2000 rules for a calorie control plant, and development has begun on the practical application of such a system View full abstract»

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  • Robust constrained motion control of multi-arm robots holding a common object

    Page(s): 232 - 237 vol.1
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    A variable structure control (VSC) method is developed for robust constrained motion control of multiarm robots holding a common object in the presence of parametric uncertainties and external disturbances. By introducing a set of generalized coordinates, the closed-chain dynamic equation of robot system can be decomposed into position and force controlled subspace. In the controller design, position and force control are treated together and designed via VSC. For coordinating each robot, load distribution is carried out for minimizing weighted energy consumption View full abstract»

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  • Decomposing nonproduct from queueing lattices through simulated annealing

    Page(s): 372 - 375 vol.1
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    A simulated annealing technique is adapted to decompose the state transition lattice of a class of nonproduct form queueing models which are useful in studying the behaviour of computer systems. Only the lattices of type A structure are considered. Applying this technique, the lattice is decomposed into solvable subsets which can be solved sequentially. A large amount of computation time can be saved in this way View full abstract»

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  • Algorithms for treatment of locally stationary multichannel signals-proposition of a method for change detection based on histograms

    Page(s): 238 - 243 vol.1
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    To take into account slow changes of characteristics in signal which are only locally stationary, an adaptive process for parameter modeling is carried out. An adaptive parametric modeling technique using windows is described. A general process with two thresholds for change detection is discussed. A more general method based on the histograms of the prediction errors is suggested View full abstract»

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  • Fault tolerance of a multiprocessor-structured control system by reconfiguration, application to the control of electrical power converters

    Page(s): 376 - 379 vol.1
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    A novel type of redundancy, pseudo-redundancy, for multiprocessor-structured control system of electrical power converters is presented. Pseudo-redundancy can be used to reduce the number of components required by classical redundancies if operating security is necessary. Some problems in using pseudo-redundancy are presented, including: choice of the downgraded programs from the beginning of the design of control systems; fault detection by microdiagnoses and validation of exchanged information; calculation of initializing values of the downgraded programs; and the reconfiguration device View full abstract»

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  • Degradation defection methods for electronic circuits

    Page(s): 636 - 641 vol.1
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    A degradation diagnosis method that detects the degradation symptoms of electronic cards earlier and with higher sensitivity than previous techniques is presented. One type of degraded IC is obtained experimentally by applying a low surge voltage. For the case of the op-amps, there exists a quantitative relation between the degradation of the IC predicted from the increasing off-set current and the correlation with output noise. The root-mean-square value of the noise is an effective index of degradation detection. A method based on a measurement of the minimum value of supply voltage necessary to maintain the correct logical operation is effective in detecting degraded TTLs. An automatic instrument for degradation detection of electronic cards is developed, and its effectiveness is verified View full abstract»

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  • Minimum-time trajectory planning for two robots

    Page(s): 676 - 681 vol.1
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    The problem of time-optimum path planning for two robots working in the same workspace is discussed. The problem of planning minimum-time paths for robot manipulators becomes complicated when two manipulators are traveling in the same workspace, especially in intersecting paths. This problem is solved using a variational technique called the method of local variations (MLV), which allows constraints to be placed on both state and phase variables. To solve the problem, a collision-free path and a parameter are chosen for each manipulator. Each of these paths is then parameterized with respect to the parameter chosen for the manipulator. Geometric collision checking is then used with the MLV to ensure that the manipulator traveling at its maximum possible speed does not collide with the other. The proposed algorithm is tested through digital simulations View full abstract»

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  • Near-optimal Pareto coordination of composite systems

    Page(s): 108 - 113 vol.1
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    The Pareto-optimal coordination problem in a large-scale composite system when cooperation among decision makers is not expected is studied. Because of the existence of a small singular perturbation parameter in the composite system, the construction of the full-order coordinating strategy is parametrically stiff and ill-conditioned. Instead, it might be possible to use the reduced-order coordination design to overcome the difficulties arising in the full-order coordination design. The authors propose a reduced-order procedure to construct the coordinating strategy for the coordinator and prove that the method produces the well-posed coordinating strategy View full abstract»

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  • An approach for robot dynamic motion planning with control torques and obstacles constraints

    Page(s): 433 - 438 vol.1
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    There is no known general solution to the robot dynamic motion problem. The authors present a partial solution by considering the problem of moving the end-effector in minimum time subject to input torque constraints and meanwhile avoiding stationary obstacles. It is assumed that the robots are SCARA-type manipulators. First an ideal geometric path consisting of several line segments in the Cartesian work space is found. Second, a minimum time collision-free dynamic motion neighboring the ideal geometric path is determined. Finally, a numerical example of a two-link manipulator moving in the horizontal plane filled with polyhedral obstacles is presented View full abstract»

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  • New digital signal processing approach to the design of the algorithms for frequency deviation measurement

    Page(s): 17 - 22 vol.1
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    A novel approach to the design of frequency deviation measurement algorithms is defined. This approach is based on a signal processing scheme that uses quadratic forms of signal samples. The approach is general, and methods to use it as a design tool for developing new algorithms are presented. The performance of an algorithm developed to illustrate the design approach is evaluated using computer simulation tests View full abstract»

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  • Petri-net based representation and acquisition of knowledge in sequential control systems

    Page(s): 1293 - 1297 vol.2
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    The applications of Petri net modeling to the design and operations of sequential control systems (SCSs) are widely developed. Automatic Petri net generation is also possible. The bottleneck in SCS development is the acquisition of knowledge, as the adaptation and utilization of experience have not been done smoothly. The objective of this work is to simplify the acquisition of knowledge and the transition from the specification of the SCS design to Petri net modeling. A Petri-net-based representation is used to explain the acquisition of knowledge in SCSs by learning and to develop a system for Petri net generation View full abstract»

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  • A transformation approach for model order reduction of nonlinear systems

    Page(s): 380 - 383 vol.1
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    A novel technique for nonlinear model order reduction is developed. A transformation matrix is devised from a representative model of the original nonlinear system and applied to the nonlinear model to provide a reduced-order nonlinear model. Linearization is not necessary. Most methods used to compute the transformation matrix for linear system model reduction, such as balancing and aggregation, can be used. In certain situations, the linear system obtained by linearizing the nonlinear system about its equilibrium point can be used as the representative model. To illustrate the proposed procedure, a numerical example is included View full abstract»

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  • Measurement of particle size and fluid area of the burden in blast furnace

    Page(s): 642 - 647 vol.1
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    A system that calculates the particle size and fluid area from a blast furnace burden surface image is developed. Off-line test results of the calculation algorithms show that a spatial frequency calculation using the power spectrum of the image is sufficient for the particle size measurement. In addition, a spatial differential of maximum intensity of the sequential image is suitable for fluid area measurement. The system is installed and operating View full abstract»

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  • Current-free synthesis of parameter-free zero-impedance converter (an ideal adaptive and self-tuning control algorithm)

    Page(s): 318 - 324 vol.1
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    A current-free synthesis of a parameter-free zero-impedance converter is presented. The converter is used in synthesizing load-independent switch-mode power converters and electric motor drive systems of infinite disturbance rejection ratio and zero-order dynamics with adaptive/self-tuning control properties. The current-free and differentiation-free operation implies freedom from noise and ripple generated in switched circuits. Both computer simulation and experimental results confirm the theory and show the advantages of the proposed control method View full abstract»

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  • Fuzzy control and its industrial applications in Japan

    Page(s): 826 - 827 vol.1
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    It is noted that the number of industrial applications based on fuzzy theory has been rapidly increasing in Japan. These applications are demonstrated, and the fundamentals of fuzzy control theory are discussed. Other fuzzy topics in Japan are also introduced, including a project directed by the Science and Technology Agency and the Japan Society for Fuzzy Theory and Systems View full abstract»

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  • The coordinative decentralized control system based on local communications

    Page(s): 533 - 538 vol.1
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    Proposes a coordinative decentralized control system architecture (CODA) as a fault-tolerant industrial plant control system. The system can be reconfigured to adapt to its conditions and environment by the coordination of its controllers. To guarantee the appropriate coordination, coordination protocol was designed to be the rules of cooperation among the controllers. The coordination mechanism is a combination of intercontroller activity and intracontroller activity. To verify its coordinatability, a prototype of CODA was tested by simulation View full abstract»

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  • An outline of a modular and multiarm assembly cell with object-oriented control

    Page(s): 592 - 597 vol.1
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    A novel modular, multipurpose, and multiarm (M3) assembly robot cell type with high-level object-oriented control is presented. The M3 assembly cell is based on a modified orthogonal linear structure. The highest control levels are planned to be based on an object-oriented database by which product model, sensor data, and control programs are represented. The idea of the control scheme is to use past sensor information to fine-tune or adapt the cell to slightly changing situations or to detect and recover from errors. The controller is implemented on a PC network so that part of the control algorithms can be distributed View full abstract»

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  • Task assignment for a small batch flexible assembly cell incorporating multiple robots

    Page(s): 746 - 750 vol.1
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    A task assigner for a flexible assembly cell (FAC) incorporating multiple robots and a transport system is presented. The FAC can assembly a wide range of products in small batches. Parts are fed on pallets and assembled on fixtures, which can route through the cell. The FAC has a limited buffer capacity. The task assigner determines a schedule for each batch, with minimum assembly time as the main objective. Task assignment is done for a limited time horizon, using a goal-directed search. The time horizon is determined by the limited buffer capacity of the FAC. While assigning tasks to resources in the cell, the task assigner determines an appropriate assembly sequence and allocates tools, such as grippers, to workstations in the cell View full abstract»

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  • A tutorial on multisensor integration and fusion

    Page(s): 707 - 722 vol.1
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    A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented View full abstract»

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  • Resolving kinematic redundancy for robotic manipulators

    Page(s): 290 - 293 vol.1
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    The development of steering laws for robotic manipulators is considered. The generalized inverse is discussed in terms of its benefits and shortcomings. A design method which yields cyclic behavior is examined, and specific equations are developed for a planar three-link robotic manipulator. This work has reached the point where various expressions for performance measures may be introduced and the resulting steering law evaluated. The method is general and permits the evaluation of a wide range of performance measures View full abstract»

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  • On the simulation of the Space Shuttle main engine

    Page(s): 188 - 192 vol.1
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    The Space Shuttle main engine simulation is analyzed to determine the means to obtain a faster running simulation. In particular, the valve dynamics module is simulated using three different techniques: Euler's method, Adams-Bashforth two-step method, and the matrix stability region placement two-step method. It is shown that, by choosing the integration method appropriately, a speed-up factor of about five can be achieved. The valve dynamics module simulation results are then used to make recommendations about the simulation of the Space Shuttle main engine View full abstract»

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  • Force-position-velocity control of an industrial machine in computer integrated manufacturing

    Page(s): 439 - 444 vol.1
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    A simple heuristic approach for force-position-velocity control of an industrial robot in a CIM environment is presented. This strategy can be used in industrial operations such as milling, grinding, deburring, sanding, buffing, and polishing. As an example, a deburring operation under compliant control of a grinding machine is considered. The approach has been arrived at after a careful analysis of how a human operator would perform the task under manual control. A heuristic pseudocode is suggested to simulate the compliant force-position-velocity control applied by the human operator View full abstract»

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  • Applications of induction motors and stepping motors in small scale position control systems

    Page(s): 1002 - 1006 vol.2
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    A control system that can make an AC motor or stepping motor perform positioning simply was developed. This system can be satisfactorily applied to a positioning system with a minimum increment of 1.8 degrees/pulse, and if an encoder with 10000 pulses/rev is applied, positioning accuracy of even 1 μm can be possible with the use of a ball screw of 10 mm/rev. On the other hand, in stage position control with the use of a stepping motor, by absolute position control in combination with a light position sensor, a maximum error of within 1.8 μm can be realized even with a 2 mm/pitch ball screw View full abstract»

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  • A new scheduling system with assumption-based inference

    Page(s): 1298 - 1302 vol.2
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    An assumption-based inference system for solving scheduling problems in the steel-making process is proposed. Scheduling problems that are difficult to solve by an analytical method have been mainly solved by searching state space. However, the cost of solving the state-space problem is expensive. An assumption-based inference system that makes it possible to search state space effectively by the pair coils exchange method, and to avoid combinational explosion, was developed. To evaluate the approach, the system was applied to a steel production line for prototype use. It was confirmed that this system improved product quality View full abstract»

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