IEEE Transactions on Industrial Electronics 

Volume 50,  Number 1, Feb. 2003           Access to the journal on IEEE XPLORE     IE Transactions Home Page

Special Sections on Soft Computing techniques for Intelligent Vehicle Systems

1. 1.     M. Wada, Kang Sup Yoon, H. Hashimoto, "Development of advanced parking assistance system," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 4- 17, Feb. 2003.  Full Text Link
Abstract : This paper is the first to apply a multilevel driver assistance system in the development of a system to aid in the parking process. The development of this system is described within the iCAN (intelligent car navigation systems) project framework. A parking assistance system, parking administration system, and employed sensor system are described. The general architecture of a driver assistance system based on path planning and human-machine interface (HMI) modules is proposed. The paper follows describing the parking assistance system development using this architecture. The parking possibility region-based path-planning method proposed for implementing the proposed architecture is described, as is the design of the system's HMI. A prototype of the parking assistance system based on the proposed architecture was constructed. The adopted hardware, software, and implementation solutions in this prototype construction are described. Finally, the results of lane and row parking experiments conducted using the prototype system are shown.

1. 2.     A. Broggi, M. Cellario, P. Lombardi, M. Porta, "An evolutionary approach to visual sensing for vehicle navigation," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 18- 29, Feb. 2003.  Full Text Link
Abstract : This paper presents an evolutionary approach able to process a digital image and detect tracks left by preceding vehicles on ice and snow in Antarctica. Biologically inspired by a colony of ants able to interact and cooperate to determine the shortest path to the food, this approach is based on autonomous agents moving along the image pixels and iteratively improving an initial coarse solution. The unfriendly Antarctic environment makes this image analysis problem extremely challenging, since light reflections, abruptly varying brightness conditions, and different terrain slopes must be considered as well. The ant-based approach is compared to a more traditional Hough-based solution and the results are discussed.

1. 3.     Jae Weon Choi, Tae Hyun Fang, S. Kwong, Young Ho Kim, "Remote-controlled platoon merging via coder-estimator sequence algorithm for a communication network," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 30- 36, Feb. 2003.  Full Text Link
Abstract : In this paper, a platoon-merging control system is considered as a remotely located system with a state represented by a stochastic process. In this system, it is common to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons, the lead vehicle of the following platoon is controlled by a remote control station. Using the coder-estimator sequence, the remote control station designs the feedback controller. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.

1. 4.     Hyeongcheol Lee, M. Tomizuka, "Adaptive vehicle traction force control for intelligent vehicle highway systems (IVHSs)," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 37- 47, Feb. 2003.  Full Text Link
Abstract : This paper is concerned with robust longitudinal control of vehicles in intelligent vehicle highway systems by adaptive vehicle traction force control. Two different traction force controllers, adaptive fuzzy logic control and adaptive sliding-mode control, are proposed and applied to the fastest stable acceleration/deceleration and robust vehicle platooning problems. The motivation for investigating adaptive techniques arises from the unknown time-varying nature of the tire/road surface interaction that governs vehicle traction. Synchronous application of the engine or brake torques is also proposed for more stable vehicle maneuvers. The lack of controllability during braking (only one net input torque for the two control objectives, i.e., front and rear wheel slips) is partly overcome by applying auxiliary engine torque. Simulations of the two control methods are conducted using a complex nonlinear vehicle model which fully describes the dynamic behavior of the vehicle. Both controllers result in good performance under time-varying operating conditions.

1. 5.     W. Rattasiri, S.K. Halgamuge, "Computationally advantageous and stable hierarchical fuzzy systems for active suspension," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 48- 61, Feb. 2003.  Full Text Link
Abstract : A new type of hierarchical fuzzy system (HFS), namely, hierarchical classifying-type fuzzy system (HCTFS), is developed and proposed in the paper. While the HCTFS enjoys the full benefits of a traditional HFS, one of which is to suppress the effects of the unwanted phenomenon, "the curse of dimensionality," it also offers one great advantage that all rule strengths are preserved when passing through subsystem layers. To demonstrate the potential of the HCTFS, computational complexity analysis will be conducted on the complete rule-base models of a conventional fuzzy system and the HCTFS. Furthermore, a methodology of stability analysis is proposed incorporating the use of the the HCTFS, providing the reader with another option of hierarchical fuzzy controller design upon stability concerns. To verify and conclude our proposal, a mathematical example and simulations are provided. In our simulated example, the the HCTFS controller incorporating the proposed stability analysis technique are applied to the active suspension system. The results obtained from the active suspension system are then discussed and compared with the results of the ideal and passive suspension systems.

1. 6.     T. Bucher, C. Curio, J. Edelbrunner, C. Igel, D. Kastrup, I. Leefken, G. Lorenz, A. Steinhage, W. von Seelen, "Image processing and behavior planning for intelligent vehicles," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 62- 75, Feb. 2003.  Full Text Link
Abstract : Since the potential of soft computing for driver assistance systems has been recognized, much effort has been spent in the development of appropriate techniques for robust lane detection, object classification, tracking, and representation of task relevant objects. For such systems in order to be able to perform their tasks the environment must be sensed by one or more sensors. Usually a complex processing, fusion, and interpretation of the sensor data is required and imposes a modular architecture for the overall system. In this paper, we present specific approaches considering the main components of such systems. We concentrate on image processing as the main source of relevant object information, representation and fusion of data that might arise from different sensors, and behavior planning and generation as a basis for autonomous driving. Within our system components most paradigms of soft computing are employed; in this article we focus on Kalman filtering for sensor fusion, neural field dynamics for behavior generation, and evolutionary algorithms for optimization of parts of the system.

1. 7.     G.G. Rigatos, "Fuzzy stochastic automata for intelligent vehicle control," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 76- 79, Feb. 2003.  Full Text Link
Abstract : Fuzzy stochastic automata (FSA) are proposed for the control of autonomous vehicles. FSA merge the concept of sliding-mode control with fuzzy logic and have interesting robustness properties. Sufficient conditions for the convergence of the FSA control are provided.

1. 8.     J. Rodriguez, L. Moran, J. Pontt, P. Correa, C. Silva, "A high-performance vector control of an 11-level inverter," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 80- 85, Feb. 2003.  Full Text Link

Abstract : This paper presents a switching strategy for multilevel cascade inverters, based on the space-vector theory. The proposed high-performance strategy generates a voltage vector across the load with minimum error with respect to the sinusoidal reference. In addition, it generates very low harmonic distortion operating with reduced switching frequency, without the use of traditional sinusoidal pulsewidth modulation techniques or more sophisticated vector modulation methods.


1. 9.     Y. Fujimoto, T. Sekiguchi, "Fault-tolerant configuration of distributed discrete controllers," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 86- 93, Feb. 2003.  Full Text Link
Abstract : This paper presents a fault-tolerant configuration for a multiple discrete control system. The distributed control nodes, such as programmable logic controllers, communicate over networks. The design methodology of an additional redundant controller using Galois field and an error-detecting code is proposed. The proposed method is implemented and tested on distributed controllers connected on a network. It is shown that the system is functional even if one of the controllers fails. From a reliability analysis, it is also shown that the proposed design method drastically improves the mean time to failure of the discrete control system.

1. 10.     J.Y. Hung, "Feedback control with Posicast," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 94- 99, Feb. 2003.  Full Text Link
Abstract : An alternative way to use Posicast to damp oscillations in lightly damped control systems is proposed in this paper. Specifically, it is suggested that the Posicast technique be used within a feedback system, instead of the classical feedforward configuration. There are many types of Posicast, but discussion and analysis are focused here on the classical "half-cycle" Posicast form. Theoretical analysis and a design example are used to compare classical Posicast and the proposed feedback control method. An experimental result from a power converter application is also presented.

1. 11.     Chongming Qiao, K.M. Smedley, "Unified constant-frequency integration control of three-phase standard bridge boost rectifiers with power-factor correction," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 100- 107, Feb. 2003.  Full Text Link
Abstract : In this paper, a three-phase six-switch standard boost rectifier with unity-power-factor correction is investigated. A general equation is derived that relates the input phase voltages, output DC voltage, and duty ratios of the switches in continuous conduction mode. Based on one of the solutions and using one-cycle control, a unified constant-frequency integration controller for PFC is proposed. For the standard bridge boost rectifier, a unity power factor and low total harmonic distortion can be realized in all three phases with a simple circuit that is composed of one integrator with reset along with several flips-flops, comparators, and some logic and linear components. It does not require multipliers and three-phase voltage sensors, which are required in many other control approaches. In addition, it employs constant-switching-frequency modulation that is desirable for industrial applications. The proposed control approach is simple and reliable. All findings are supported by experiments.

1. 12.     Qi Hao, Ruifeng Chen, Guoxiao Guo, Shixin Chen, Teck Seng Low, "A gradient-based track-following controller optimization for hard disk drive," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 108- 115, Feb. 2003.  Full Text Link
Abstract : This paper presents a gradient-based parameter optimization method to find the optimal compensator that minimizes the standard deviation (/spl sigma//sub PES/) of the position error signal (PES) in a hard disk drive servo system. By using the plant response data and the PES gradient information based on the nominal plant model, optimal digital controllers that minimized the 3/spl sigma//sub PES/ of a plant with uncertainty were selected within a pre-found robust stable region. As a result, an optimal track-following controller that minimized the standard deviation of the measured PES (/spl sigma//sub PESm/) was able to be obtained without the prior knowledge of the disturbance and noise model. Furthermore, we proved that if the measurement noise is white, an optimal controller that minimizes the 3/spl sigma//sub PESm/ also minimizes the 3/spl sigma//sub PES/. Both simulation and implementation results suggest that such a gradient-based search process is faster than nongradient optimization methods such as random neighborhood search and genetic algorithms.

1. 13.     Yeong-Chau Kuo, Tsorng-Juu Liang, Jiann-Fuh Chen, "A high-efficiency single-phase three-wire photovoltaic energy conversion system," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 116- 122, Feb. 2003.  Full Text Link
Abstract : A single-phase three-wire photovoltaic energy conversion system with single-stage structure using a novel maximum power-point tracking (MPPT) algorithm is presented. An equivalent model of the proposed system is derived to analyze the characteristics of the system and to design the controller. Owing to the linear relation of the PV array parameters versus insolation, the model is easy to analyze. The proposed system employs a three-leg inverter to control the MPPT process, the line current, and neutral line current. A current-controlled MPPT algorithm controls the MPPT. A neutral line-mode controller maintains a utility neutral line current of zero. A line-mode controller controls the line current so as to provide power to the utility with a unity power factor. The proposed system acts as a solar generator on sunny days and functions as an active power filter on rainy days. Computer simulation and experimental results demonstrate the accuracy and the superior performance of the proposed technique.

1. 14.     S.Z. Jiang, K.T. Chau, C.C. Chan, "Spectral analysis of a new six-phase pole-changing induction motor drive for electric vehicles," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 123- 131, Feb. 2003.  Full Text Link
Abstract : In this paper, a new six-phase pole-changing induction motor drive is proposed to extend the constant-power operating range for electric vehicle application. The double Fourier series is newly employed to analyze the spectra of the motor phase voltage and current. Consequently, the harmonic expression of the inverter DC-link current can be derived. In order to reduce the DC-link harmonics, a new sinusoidal pulsewidth-modulation strategy is developed for the proposed six-phase inverter. Experimental results, particularly the spectra of the phase current and the DC-link current, are given to verify the theoretical analysis.

1. 15.     Youhao Xi, P.K. Jain, "A forward converter topology employing a resonant auxiliary circuit to achieve soft switching and power transformer resetting," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 132- 140, Feb. 2003.  Full Text Link
Abstract : This paper presents a forward converter topology that employs a small resonant auxiliary circuit. The advantages of the proposed topology include soft switching in both the main and auxiliary switches, recovery of the leakage inductance energy, simplified power transformer achieving self-reset without using the conventional reset winding, simple gate drive and control circuit, etc. Steady-state analysis is performed herein, and a design procedure is presented for general applications. A 35-75-Vdc to 5 Vdc 100-W prototype converter switched at a frequency of 200 kHz is built to verify the design, and 90% overall efficiency has been obtained experimentally at full load.
 

Power Electronics

1. 22.     Yaow-Ming Chen, "Passive filter design using genetic algorithms," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 202- 207, Feb. 2003.  Full Text Link
Abstract : The objective of this paper is to propose a new approach for designing a passive LC filter of the full-bridge rectifier by using genetic algorithms (GAs). The performance of the cost-effective passive LC filter for a constant load depends on the appropriate inductor and capacitor selection. Several design methods are reviewed and a novel design methodology using GAs is proposed in this paper. By using the proposed GA program, designer can quickly find appropriate parameter values to meet the desired circuit performance. Experimental results show that an appropriate combination of the inductor and capacitor selected by the proposed GA program can meet the desired power quality requirement. Different cases of design examples are shown in this paper to verify the performance of the proposed design methodology.

1. 23.     Chin-Der Wey, Tai-Lang Jong, Ching-Tsai Pan, "Design and analysis of an SLPT-based CCFL driver," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 208- 217, Feb. 2003.  Full Text Link
Abstract : In this paper, a single-layer piezoelectric-transformer (SLPT)-based driver is realized for driving a cold-cathode fluorescent lamp (CCFL). First, a half-bridge resonant inverter is adopted for driving the SLPT and the CCFL to achieve zero-voltage-switching (ZVS) effect. In addition, a PQ-plane-design-oriented approach is presented for determining the power circuit parameters. Second, a feedback controller is proposed to match the power circuit control requirement. The feedback controller provides the proper switching frequency for the drive to be operated at the most efficient frequency. In addition, functions of dimming control and no-load protection are also available from the controller. Third, a small-signal model is derived and the closed-loop stability analysis is made to guarantee the stable tracking of the command signal of the controller. Finally, a hardware prototype is also constructed to verify the effectiveness of the proposed driver.

1. 24.     Rong-Jong Wai, "Development of intelligent position control system using optimal design technique," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 218- 231, Feb. 2003.  Full Text Link
Abstract : This paper addresses the application of an intelligent optimal control system (IOCS) to control an indirect field-oriented induction servo motor drive for tracking periodic commands via a wavelet neural network. With the field orientation mechanism, the dynamic behavior of an induction motor is rather similar to a linear system. However, the uncertainties, such as mechanical parametric variation, external load disturbance and unmodeled dynamics in practical applications, influence the designed control performance seriously. Therefore, an IOCS is proposed to confront these uncertainties existing in the control of the induction servo motor drive. The control laws for the IOCS are derived in the sense of the optimal control technique and Lyapunov stability theorem, so that system-tracking stability can be guaranteed in the closed-loop system. With the proposed IOCS, the controlled induction servo motor drive possesses the advantages of good tracking control performance and robustness to uncertainties under wide operating ranges. The effectiveness of the proposed control scheme is verified by both simulated and experimental results. Moreover, the advantages of the proposed control system are indicated in comparison with the sliding-mode control system.

1. 25.     P. Baranyi, Yeung Yam, A.R. Varkonyi-Koczy, R.J. Patton, "SVD-based reduction to MISO TS models," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 232- 242, Feb. 2003.  Full Text Link
Abstract : The main objective of this paper is to expound the singular-value-decomposition (SVD)-based reduction technique proposed to single-input-single-output Takagi-Sugeno (TS) fuzzy models to multivariable cases. The use of higher order singular value decomposition is proposed in this paper for the complexity reduction of multiple-input-single-output TS fuzzy model approximation. A detailed illustrative example of a nonlinear dynamic model is also discussed.

1. 26.     Yen Ju Wang, R.M. O'Connell, "Experimental evaluation of a novel switch control scheme for an active power line conditioner," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 243- 246, Feb. 2003.  Full Text Link
Abstract : Measurements on an experimental active power line conditioner with a novel switch control scheme for the neural network controller, called "fixed-frequency with variable slope" control, are described. The results agree with simulations and show that the new system is a simple yet effective approach to line current harmonic compensation.

Letter to the Editor

1. 27.     Chung-Ming Young, Chao-Cheng Wu, Chih-Hua Lu, "Constant-switching-frequency control of three-phase/switch/level boost-type rectifiers without current sensors," IEEE Trans. on Industrial Electronics, vol. 50, no. 1, pp. 246- 248, Feb. 2003.  Full Text Link
Abstract : A new control scheme for a three-phase/switch/level boost-type rectifier is proposed. The digital-signal-processor-based controller decouples the rectifier into a cascade-connected dual-boost topology within each 60/spl deg/ interval of the line cycle. By taking advantage of the simple structure and that no current sensors are required, it provides an effective solution to applications where high power/low -cost are concerned.

Volume 50,  Number 2, April 2003           Access to the journal on IEEE XPLORE     IE Transactions Home Page

Drive Control

2. 1.     D. Telford, M.W. Dunnigan, B.W. Williams, "Online identification of induction machine electrical parameters for vector control loop tuning," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 253- 261, April 2003.  Full Text Link
Abstract : In a vector-controlled induction machine drive, accurate knowledge of the machine electrical parameters is required to ensure correct alignment of the stator current vector relative to the rotor flux vector, to decouple the fluxand torque-producing currents and to tune the current control loops. This paper presents a new method for online identification of the induction machine parameters required to tune a rotor-flux-oriented (RFO) vector control scheme. Accuracy of the slip frequency estimation required for RFO vector control is achieved by utilizing the parameter independent "flux pulse" rotor time constant estimation scheme, which utilizes short-duration pulses injected into the flux-producing current. The parameters required to tune the synchronous frame current control loops with a decoupling circuit are estimated using a recursive estimation scheme derived from the synchronous frame voltage equations. As the "flux pulse" scheme requires signal injection into the flux-producing current a new rotor time constant estimation scheme is presented, based on the sensitivity analysis of the recursive parameter estimation scheme. Simulation and experimental results are presented which demonstrate the effectiveness of the online parameter identification and control loop tuning technique.

2. 2.     J. Faiz, S.H. Mohseni-Zonoozi, "A novel technique for estimation and control of stator flux of a salient-pole PMSM in DTC method based on MTPF," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 262- 271, April 2003.  Full Text Link
Abstract : A permanent-magnet synchronous machine (PMSM) can be controlled using the direct torque control (DTC) technique in three different ways, i.e., by controlling flux, reactive torque and rotor d-axis current. Frequently, the DTC technique controls the speed of the motor by controlling stator flux with the aim of obtaining an optimal torque. A varying flux, proportional to the torque, may be used instead of a fixed flux, resulting in a maximum torque per ampere or maximum torque per flux (MTPF). In this paper, a reference-flux-generating method is followed to achieve the MTPF. An approximate equation is then derived using numerical techniques in order to obtain the reference flux from the torque. This equation is then applied to the DTC control system in order to obtain the reference flux. The control scheme has been verified by simulation and tests on a salient-pole permanent-magnet synchronous motor.

2. 3.     Wai-Chuen Gan, Li Qiu, "Design and analysis of a plug-in robust compensator: an application to indirect-field-oriented-control induction machine drives," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 272- 282, April 2003.  Full Text Link
Abstract : It is well known that the system performance for an indirect-field-oriented-control induction motor drive degrades under the variation of rotor resistance and in the presence of external load torque. In this paper, a plug-in robust compensator for speed and position control enhancement of an indirect-field-oriented-control induction machine drive is developed. In the case where a controller for the induction machine already exists or is in operation with satisfactory nominal tracking performance, this plug-in compensator, designed using the H/sub /spl infin// loop-shaping techniques, can be plugged into the existing controller without affecting the already satisfactory nominal tracking performance of the existing closed-loop system but with the capability to improve the system performance under plant parameter variations and in the presence of external disturbances. Simulation and experimental results are given to validate the proposed plug-in robust compensator.

2. 4.     J. Luukko, M. Niemela, J. Pyrhonen, "Estimation of the flux linkage in a direct-torque-controlled drive," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 283- 287, April 2003.  Full Text Link
Abstract : An improved integration method is presented for the estimation of the stator flux linkage for speed- and position-sensorless direct-torque-controlled AC machine drives. The method is based on monitoring the scalar product of the estimated stator flux linkage and the measured stator current. The AC part of the scalar product is extracted using filtering and the correction for the estimated stator flux linkage is formed from that part. Adequate performance is obtained by using simple low-pass filtering. By using adaptive filtering in the extraction, the performance of the drive is excellent. Both simulation and laboratory test results are presented, which show that the presented method works well both in steady state and in transients.

2. 5.     Zhiqian Chen, M. Tomita, S. Doki, S. Okuma, "An extended electromotive force model for sensorless control of interior permanent-magnet synchronous motors," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 288- 295, April 2003.  Full Text Link
Abstract : During the last decade, many sensorless control methods have been proposed for surface permanent-magnet synchronous motors (SPMSMs) based on the estimation of electromotive force (EMF) in which the motor's position information is contained. However, these methods cannot be applied to interior PMSMs (IPMSMs) directly, because the position information is contained in not only the EMF, but also the inductance of stators. In this paper, a new mathematical model for IPMSMs is proposed and an extended EMF is defined, which includes both position information from the EMF and the stator inductance. By using the newly proposed model, sensorless controls proposed for SPMSMs can easily be applied to IPMSMs. As an example, a disturbance observer is studied and the experimental results show that the proposed method on the proposed model is very effective.

2. 6.     G.G. Yen, Liang-Wei Ho, "Online multiple-model-based fault diagnosis and accommodation," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 296- 312, April 2003.  Full Text Link
Abstract : While most research attention has been focused on fault detection and diagnosis, much less research effort has been devoted to failure accommodation. Due to the inherent complexity of nonlinear systems, most model-based analytical redundancy fault diagnosis and accommodation (FDA) studies deal with the linear systems, which are subjected to simple additive or multiplicative faults. This assumption has limited the effectiveness and usefulness in practical applications. In this paper, the online fault accommodation (FA) control problems under multiple catastrophic or incipient failures are investigated. The main interest is focused on dealing with the unanticipated component failures in the most general formulation. Through discrete-time Lyapunov stability theory, the sufficient conditions to guarantee the system online stability and to meet performance criteria under failures are derived. A systematic procedure for proper FA under the unanticipated failures is developed. The approach is to combine the control technique derived from discrete-time Lyapunov theory with the modern intelligent technique that is capable of self-optimization and online adaptation for real-time failure estimation. In addition, a complete architecture of FDA is proposed by incorporating the intelligent fault tolerant control strategy with a cost-effective fault detection scheme and a multiple-model based failure diagnosis process to efficiently handle the false alarms and the accommodation of both the anticipated and unanticipated failures in online situations. The simulation results, including a three-tank benchmark problem, substantiate the feasibility study of the proposed FDA framework and provide a promising potential to spin-off applications in industrial and aerospace engineering.

2. 7.     M. Salo, H. Tuusa, "A novel open-loop control method for a current-source active power filter," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 313- 321, April 2003.  Full Text Link
Abstract : This paper presents a new control system for a current-source active power filter. The harmonic current compensation is realized using only a feedforward control of the load currents. The LC filter resonance of the converter is damped in an open-loop manner using the dynamic equations of the supply filter. The benefits of the proposed control system are that it is simple and straightforward, the number of measurements and sensors can be minimized, and also that the LC filter size can be optimized according to proper harmonic distortion level of the supply currents without care about the stability issues of the closed-loop system. This usually leads to reduction of the filter size. Also, the changes in fundamental current components of the active filter can be effectively realized when the active power filter can also be used as a fast reactive power compensator. The control system also includes the calculation delay compensation of the digital control system. The control system is realized using a single-chip Motorola MPC555 microcontroller. The tests with the prototype show effective current harmonic compensating performance of the nonlinear loads.

2. 8.     O. Garcia, M.D. Martinez-Avial, J.A. Cobos, J. Uceda, J. Gonzalez, J.A. Navas, "Harmonic reducer converter," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 322- 327, April 2003.  Full Text Link

Abstract : A new strategy to accomplish low-frequency Regulation EN 61000-3-2 at system level is proposed in this paper. By means of a simple converter, connected in parallel with the loads, the harmonic currents generated by them are greatly reduced, it being unnecessary to include additional power-factor-correction converters. This approach is based on the well-known parallel active power filters, but the difference is that it is placed on the DC side. Its position, at the rectified line voltage, produces some important advantages such as a simple power stage, a simple analog control, and flexibility in the design of the system. Moreover, this converter features high efficiency and small size. The experimental results show the benefits of this solution.


2. 9.     Sangsun Kim, P.N. Enjeti, "A modular single-phase power-factor-correction scheme with a harmonic filtering function," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 328- 335, April 2003.  Full Text Link
Abstract : Power supply systems in telecommunication applications employ several parallel-connected AC-to-DC and DC-to-DC power converters. Such a system offers modularity, redundancy, and is easily scalable to higher power levels. Such parallel-connected systems normally consist of several single-phase power-factor-correction (PFC) stages connected to the same input utility. In this paper, a modular single-phase PFC scheme with an integrated harmonic filtering function is presented. The proposed approach demonstrates that, with suitable modifications to the PFC control, harmonic filtering capability can be added. In other words, the PFC stage can compensate for harmonics generated by other rectifier loads connected to the same AC input terminals. The paper presents an example employing three AC-DC rectifier stages with only one AC-DC rectifier stage with PFC capability. It is shown that one PFC stage with the proposed control can compensate for harmonics generated by the other two uncompensated rectifier stages. Results from a laboratory prototype system demonstrate that the overall system meets the EN 61000-3-2 harmonic limits.

2. 10.     Chien-Ming Wang, Guan-Chyun Hsieh, "Nonlinear-control strategy for the half-bridge series-resonant inverter," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 336- 348, April 2003.  Full Text Link
Abstract : This paper concerns the analysis and design of the half-bridge series-resonant inverter with nonlinear-control strategy. A zero-current-switching (ZCS) half-bridge series-resonant inverter with nonlinear control is built. The presented circuit topology is simply configured by two power switches and one output filter. Only one conduction loss of the power switch is present in the power flow path during the inversion period. A turn-on ZCS for the power switch is achieved by an auxiliary resonant cell built before the output choke. The nonlinear-control strategy is designed against the input DC perturbation and achieves good dynamic regulation for the sinusoidal pulsewidth-modulation control. A state-space averaging approach is employed to analyze the system. A design example of a 500-W inverter is examined to assess the inverter performance and it provides high power efficiency above 91% under the rated power.

2. 11.     Hee-Jhung Park, Myung-Joong Youn, "A new time-domain discontinuous space-vector PWM technique in overmodulation region," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 349- 355, April 2003.  Full Text Link
Abstract : A new discontinuous modulation method based on space-vector control is proposed and analyzed. The proposed technique employs a pulse-dropping method and is designed in the time domain. It features a very wide modulation range while maintaining the required waveform qualities and switching numbers in the overmodulation region. Since the modulation method and modulation index equation are simple, the proposed technique can be easily implemented by software and is applicable to the overmodulation region in ac motor drives. The performance indexes are discussed and experiments have been performed.

2. 12.     M. Ochiai, H. Matsuo, "An AC/DC converter with high power factor," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 356- 361, April 2003.  Full Text Link
Abstract : The television receiver often employs a capacitor-input-type rectifier. In this case, it is regulated as a class D piece of equipment. This paper presents a novel ringing-choke-converter-type switching regulator, which functions as an active filter. The proposed circuit features a simple circuit configuration and cost effectiveness. It achieves a high power factor of about 0.95 and reduces current harmonics (third, fifth, and seventh) in the AC input current to less than 40% of the limit value for class D. The voltage across the input smoothing capacitor does not show large variations and the components in the conventional ringing-choke converter can be used unmodified. Ripple content of the DC output voltage shows a slight increase and is the subject for future research.

2. 13.     P.J.C. Branco, J.A. Dente, R.V. Mendes, "Using immunology principles for fault detection," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 362- 373, April 2003.  Full Text Link
Abstract : The immune system is a cognitive system of complexity comparable to the brain and its computational algorithms suggest new solutions to engineering problems or new ways of looking at these problems. Using immunological principles, a two- (or three-) module algorithm is developed which is capable of launching a specific response to an anomalous situation for diagnostic purposes. Experimental results concerning fault detection in an induction motor are presented as an example illustrating how the immune-based system operates, discussing its capabilities, drawbacks, and future developments.

Emerging Technology

2. 14.     Oui-Serg Kim, Sang-Ho Lee, Dong-Chul Han, "Positioning performance and straightness error compensation of the magnetic levitation stage supported by the linear magnetic bearing," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 374- 378, April 2003.  Full Text Link
Abstract : This paper reports high-precision motion control at the target position and the offline compensation of the straightness error occurring during the motion of the magnetically levitated stage supported by the linear magnetic bearing. The linear magnetic bearing is composed of electromagnets and sensors in the same module to enable easy maintenance and to reduce the machining error, and the conventional linear quadratic Gaussian control is adopted for the motion control of the stage. The test results show that the stage can compensate the straightness error precisely, so that it is expected that this stage can be applied to high-precision linear motion applications.

2. 15.     Ki-Hyeon Park, Dong Eon Kim, Seong-Hoon Jeong, Bongkoo Kang, "Laminated magnetic flux sensor for thick-steel-plate control," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 379- 384, April 2003.  Full Text Link
Abstract : This paper presents a rugged magnetic flux sensor, which can measure the thickness of steel plates and can operate reliably in the poor environment of a warehouse for thick steel plates. The sensor, consisting of a laminated sensing plate and a sensing coil, has a size of 6/spl times/6 cm/sup 2/, and it is embedded inside the core of a lifting magnet. Depending on the thickness of steel plates attached on the lifting magnet, the magnetic permeability of the core and the sensing plate changes. The thickness of steel plates is indirectly measured by measuring the changes in the magnetic flux density of the sensor. The measurement sensitivity of the magnetic flux sensor with laminated sensing plate is much better than that of a sensor with a solid sensing plate. With a proper procedure for securing measurement reliability, it is demonstrated that the sensor can measure up to 13 sheets of 6-mm steel plate.

2. 16.     Kao-Shing Hwang, Ming-Yi Ju, Yu-Jen Chen, "Speed alteration strategy for multijoint robots in co-working environment," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 385- 393, April 2003.  Full Text Link
Abstract : A collision-free trajectory planning method based on speed alternation strategy for multijoint manipulators in overlapped working envelopes is proposed. Since the shape of a robot's link is usually rectangular or cylindrical approximately, the proposed method models a robot's link mathematically by quadric primitives, such as ellipsoids and spheres. The occurrence of collisions between links can be predicted easily by means of relative coordinate transformations and geometric deformations between those ellipsoids. Furthermore, the collision-trend index which is defined by projecting the ellipsoids geometrically onto the Gaussian distribution plays a significant role in searching the optimal resolution in the proposed collision-avoidance method. Experiments with two Motoman robots from the YASUKAWAI Company are conducted to demonstrate the performance of the proposed methods.

2. 17.     M. Ghone, M. Schubert, J.R. Wagner, "Development of a mechatronics laboratory-eliminating barriers to manufacturing instrumentation and control," IEEE Trans. on Industrial Electronics, vol. 50, no. 2, pp. 394- 397, April 2003.  Full Text Link

Abstract : The integration of electronics, sensors, actuators, and microprocessor technology into manufacturing processes and consumer products is requiring engineers to possess greater mechatronics knowledge. Students must be encouraged to embrace a mechatronics perspective through combined classroom and "hands-on" laboratory activities to develop critical systems skills for multidisciplinary teams. In this paper, laboratory experiments and their accompanying learning objectives are introduced and discussed which highlight key industrial technologies and establish a foundation for skill achievement.
 

Letter to the Editor

Volume 50,  Number 3, June 2003           Access to the journal on IEEE XPLORE     IE Transactions Home Page

Special Sections on Industrial Informatics

3. 1.     A.C. Weaver, M.W. Condry, "Distributing Internet services to the network's edge," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 404- 411, June 2003.  Full Text Link
Abstract : In the context of industrial information technology, the Internet and World Wide Web increasingly are seen as a solution to the problem of providing "anywhere, anytime" services. In the classical view of an Internet-enabled IT infrastructure, services are requested and consumed by a user (e.g., a human requesting plant production data from his or her desktop) and data are provided by an origin server (e.g., a Web server located in a plant that can authenticate users, implement encryption, serve data, and source multimedia streams). This rather simplistic view works well if the number of users is small, the complexity of services required is modest, and the real-time response requirements are lax. However, it fails to scale when one accounts for the complexities of modern networking: many simultaneous users, potentially operating in multiple languages; many complex data types, including incompatible display formats; many differing schemes for implementing privacy and security through many combinations of authentication and encryption. In this paper we propose an alternative-a client/edge server/origin server architecture that can distribute some complex data processing and device interface tasks to a network edge device, the NetEdge. We show how this device can support services thought to be useful to the industrial environment, such as language translation, image transcoding, access device adaptation, virus scanning, content assembly, local content insertion, and caching. The proposal is a win-win situation for all participants: industrial content providers need maintain only one copy of their content, yet consumers are provided with richer services and device-independent interfaces. Although the services provided define the utility of the product, the heart of the NetEdge is its rule engine. Rules specify which service requests, crossing specified processing points, invoke which service callouts. We explore how a proxylet interface connects the rule engine, through Java and C APIs, to the callout engine. We close with performance measurements of the NetEdge throughput and latency characteristics.

3. 2.     A. Speck, "Reusable industrial control systems," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 412- 418, June 2003.  Full Text Link
Abstract : Industrial control hardware may be reused for several purposes. The same industrial PC type may control the drives of a portal system, act as a programmable logic controller, or control any other device. Moreover the same piece of hardware may control different device types at the same time in concurrency. In this paper, we discuss four successive software engineering approaches to exploit the possibilities provided by the control hardware: an object-oriented architecture, an architectural pattern, a control framework, and an architectural model for component-based frameworks. Each of these approaches provides means of different levels to structure a system and to reuse concepts, patterns, or real code. All presented approaches are used to build control systems controlling different types of robot arms and other devices. Additionally, in the component-based system a new component has been introduced to enable a network connection of the control system.

3. 3.     G. Cena, A. Valenzano, "A protocol for automatic node discovery in CANopen networks," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 419- 430, June 2003.  Full Text Link
Abstract : The correct operation of the CANopen protocol relies on the assumption that each node in the network be identified uniquely. To this extent, the CANopen specifications provide a means to remotely configure the addresses of the slave devices attached to the CAN bus. This technique, however, requires that each device has to be connected separately to a configuration tool. CANopen, in fact, does not have a mechanism to identify, in an efficient and reliable way, the nodes that do not have an associated address when they have already been connected to the network. In this paper, we present a new automatic node discovery protocol, which is able to eliminate such drawbacks. Our technique can be used to identify the nonconfigured nodes directly in the final system and is conceived as an extension of the basic layer setting services of CANopen, so as to provide a very good degree of compatibility with the existing devices.

3. 4.     Jin-Shyan Lee, Pau-Lo Hsu, "Remote supervisory control of the human-in-the-loop system by using Petri nets and Java," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 431- 439, June 2003.  Full Text Link
Abstract : For Internet-based remote control systems, certain human operations may violate desired safety requirements and result in catastrophic failure. For such human-in-the-loop systems, this paper proposes a systematic approach to developing supervisory agents which guarantee that remote manual operations meet safety specifications. By applying the mutual exclusion concept, the Petri net approach is used to model, design, and verify a supervisory system which prevents human errors. Then, Java technology is adopted to implement the supervisor as an intelligent agent for online supervision of the remote control system. To demonstrate the feasibility and practicability of the developed supervisory approach, we apply it to a rapid thermal processor controlled over the Internet.

3. 5.     V.M. Sempere, J. Silvestre, "Multimedia applications in industrial networks: integration of image processing in Profibus," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 440- 448, June 2003.  Full Text Link
Abstract : This paper analyzes the transmission of images through Profibus for applications concerned with the processing of images integrated in control systems, by means of a detailed study of two real cases with different bandwidth requirements. We analyze the special features of an artificial vision system making use of Profibus as a transport system, the scheduling of the traffic in order to guarantee the delivery of the images and the control traffic before their deadlines, the protocol used, and the compression techniques usable in this kind of system, which enable us to reduce the necessary bandwidth for the applications without degrading the operation of the image processing application. We prove that this integration is currently viable in applications with medium-sized bandwidth requirements, above 17 Mb/s, and coexisting with control traffic, while current control techniques prevent its use in systems with greater bandwidth requirements, in particular in the application with 53 Mb/s requirements.

3. 6.     L.H.W. Yeung, W.K.S. Tang, "A hybrid genetic approach for garment cutting in the clothing industry," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 449- 455, June 2003.  Full Text Link
Abstract : A hybrid genetic approach is proposed for the cutting operation in the clothing industry. Garment cutting is a typical strip-packing problem, which is considered to be NP-complete. With a combination of genetic algorithm (GA) and a novel heuristic algorithm, "lowest-fit-left-aligned," the cutting problem is transformed into a simple permutation problem which can be effectively solved by the GA and the searching domain is greatly reduced. From the simulation results, it is demonstrated that the optimal results can be obtained in a reasonably short period of time.
 

 Drive Control

Power Electronics

Emerging Technology

3. 21.  Xianrong Chang, V. Cocquempot, C. Christophe, "A model of asynchronous machines for stator fault detection and isolation," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 578- 584, June 2003.  Full Text Link
Abstract : This paper presents a new model of asynchronous machines. This model allows one to take into account unbalanced stator situations which can be produced by stator faults like short circuits in windings. A mathematical transformation is defined and applied to the classical abc model equations. All parameters which affect this new model can be known online. This makes the model very useful for control algorithms and fault detection and isolation algorithms. The model is checked by comparing simulation data with actual data obtained from laboratory experiments.

3. 22.     M.R.G. Meireles, P.E.M. Almeida, M.G. Simoes, "A comprehensive review for industrial applicability of artificial neural networks," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 585- 601, June 2003.  Full Text Link
Abstract : This paper presents a comprehensive review of the industrial applications of artificial neural networks (ANNs), in the last 12 years. Common questions that arise to practitioners and control engineers while deciding how to use NNs for specific industrial tasks are answered. Workable issues regarding implementation details, training and performance evaluation of such algorithms are also discussed, based on a judiciously chronological organization of topologies and training methods effectively used in the past years. The most popular ANN topologies and training methods are listed and briefly discussed, as a reference to the application engineer. Finally, ANN industrial applications are grouped and tabulated by their main functions and what they actually performed on the referenced papers. The authors prepared this paper bearing in mind that an organized and normalized review would be suitable to help industrial managing and operational personnel decide which kind of ANN topology and training method would be adequate for their specific problems.

3. 23.     G. Papa, B. Korousic-Seljak, B. Benedicic, T. Kmecl, "Universal motor efficiency improvement using evolutionary optimization," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 602- 611, June 2003.  Full Text Link
Abstract : We present a new design procedure that improves the efficiency of a universal motor, the type of motor that is typically used in home appliances and power tools. The goal of our optimization was to find the independent geometrical parameters of the rotor and the stator with the aim of reducing the motor's power losses, which occur in the iron and the copper. Our procedure is based on a genetic algorithm (GA) and by using this procedure we were able to significantly improve the motor's efficiency-the ratio of the motor's output power to its input power. The GA proved to be a simple and efficient search-and-optimization method for solving this day-to-day design problem in industry. It significantly outperformed a conventional "direct" design procedure that we had used previously.

3. 24.     Jang Myung Lee, K. Son, M.C. Lee, J.W. Choi, S.H. Han, Man Hyung Lee, "Localization of a mobile robot using the image of a moving object," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 612- 619, June 2003.  Full Text Link

Abstract : This paper proposes a new approach for determining the location of a mobile robot using the image of a moving object. This scheme combines data from the observed position, using dead-reckoning sensors, and the estimated position, using images of moving objects captured by a fixed camera to determine the location of a mobile robot. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated robot's position are derived. Since the equations are based on estimated position, measurement error may exist. However, the proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used for the estimation of the mobile robot location. The proposed approach is applied for a moving object on the wall to show the
reduction of uncertainty in the determining of mobile robot location.
3. 25.     Meng Joo Er, Yang Gao, "Robust adaptive control of robot manipulators using generalized fuzzy neural networks," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 620- 628, June 2003.  Full Text Link
Abstract : This paper presents a robust adaptive fuzzy neural controller (AFNC) suitable for motion control of multilink robot manipulators. The proposed controller has the following salient features: (1) self-organizing fuzzy neural structure, i.e., fuzzy control rules can be generated or deleted automatically according to their significance to the control system and the complexity of the mapped system and no predefined fuzzy rules are required; (2) fast online learning ability, i.e., no prescribed training models are needed for online learning and weights of the fuzzy neural controller are modified without any iterations; (3) fast convergence of tracking errors, i.e., manipulator joints can track the desired trajectories very quickly; (4) adaptive control, i.e., structure and parameters of the AFNC can be self-adaptive in the presence of disturbances to maintain high control performance; and (5) robust control, where asymptotic stability of the control system is established using the Lyapunov theorem. Experimental evaluation conducted on an industrial selectively compliant assembly robot arm demonstrates that excellent tracking performance can be achieved under time-varying conditions.

3. 26.     P. Stewart, V. Kadirkamanathan, "Commutation of permanent-magnet synchronous AC motors for military and traction applications," IEEE Trans. on Industrial Electronics, vol. 50, no. 3, pp. 629- 630, June 2003.  Full Text Link

Abstract : A commutation method for the permanent-magnet AC motor is presented, which combines a Hall-effect encoder with a quadratic extrapolation scheme, and reduced-order state estimation in order to satisfy the design constraints prescribed by certain military and traction applications.

Volume 50,  Number 4, Aug. 2003           Access to the journal on IEEE XPLORE     IE Transactions Home Page

Special Section on Robot-Human Interactive Communication

4. 1.     M. Imai, T. Ono, H. Ishiguro, "Physical relation and expression: joint attention for human-robot interaction," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 636- 643, Aug. 2003.  Full Text Link
Abstract : This paper investigates situated utterance generation in human-robot interaction. In addition, we study the achievement of joint attention because a person must have joint attention with a robot to identify the object indicated by a situated utterance description generated by the robot. This paper proposes a joint attention mechanism to achieve such joint attention as well as a speech generation system named Linta-III. By using the joint attention mechanism, Linta-III can omit obvious information in the situation from an utterance description. The joint attention mechanism employs eye contact and attention expression functions. These functions are the robot's physical expressions, and they allow the joint attention mechanism to draw the person's attention to the same sensor information as that noticed by the robot. We have also conducted a psychological experiment to evaluate the joint attention mechanism. The results indicated that the eye contact and attention expression functions were effective methods in the development of joint attention.

4. 2.     A. Green, K.S. Eklundh, "Designing for learnability in human-robot communication," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 644- 650, Aug. 2003.  Full Text Link
Abstract : In a future scenario where many devices can be controlled using the voice, easy and intuitive access will be crucial for avoiding cognitive overload when users are faced with many different systems and interaction models. We propose a model for interaction with spoken language interfaces applied to heterogeneous tasks for service robots, based on the idea of using a family of lifelike characters. We argue that we can signal important features of the speech interface by using certain visual cues. The aim is to facilitate learning and transfer between interfaces. We discuss challenges for dialogue design affecting learnability in the light of the speech interface constructed for our full-scale robot prototype CERO.

4. 3.     Jianwei Zhang, A. Knoll, "A two-arm situated artificial communicator for human-robot cooperative assembly," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 651- 658, Aug. 2003.  Full Text Link
Abstract : We present the development of a robot system with some cognitive capabilities, as well as experimental results. We focus on two topics: assembly by two hands and understanding human instructions in nonconstrained natural language. These two features distinguish human beings from animals, and are, thus, the means leading to high-level intelligence. A typical application of such a system is a human-robot cooperative assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a child whose common-sense knowledge is limited. His instructions can be underspecified, incomplete, and/or context dependent. After introducing the general purpose of our research project, we present the hardware and software components of our robots needed for interactive assembly tasks. We then discuss the control architecture of the robot system with two stationary robot arms by describing the functionalities of perception, instruction understanding, and execution. To show how our robot learns from humans, the implementations of a layered learning methodology, memory, and monitoring functions are introduced. Finally, we outline a list of future research topics related to the enhancement of such systems.

4. 4.     G. Grunwald, G. Schreiber, A. Albu-Schaffer, G. Hirzinger, "Programming by touch: the different way of human-robot interaction," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 659- 666, Aug. 2003.  Full Text Link
Abstract : Mobile service robots will share their workspaces, e.g., offices, hospitals, or households, with humans. Thus, a direct contact between man and machine is inevitable. Robots equipped with appropriate sensors can sense the touch. In this paper, we present how an unskilled user can intuitively teach the lightweight robot at the German Aerospace Center (DLR), We/spl szlig/ling, Germany, just by touching the arm. Programming by "touch" is very intuitive as you take the robot by the hand and demonstrate the movements. This feature can also be used to interact with the service robot while executing a task. Therefore, if our seven-degrees-of-freedom robot arm senses a touch, it will react by an evasive motion of the touched links while keeping the orientation of the tool center point.

4. 5.     K. Ogawara, J. Takamatsu, H. Kimura, K. Ikeuchi, "Extraction of essential interactions through multiple observations of human demonstrations," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 667- 675, Aug. 2003.  Full Text Link
Abstract : This paper describes a new approach on how to teach a robot everyday manipulation tasks under the "Learning from Observation" framework. In this approach, human demonstrations, which are made up of mutual interactions between a grasped object and an environmental object, are observed and a reusable manipulation task model is automatically generated. Most of the similar approaches so far assume that a demonstration can be well understood from a single demonstration. However, a single demonstration contains ambiguity, in that interactions which are essential to complete a task cannot be discerned without prior task dependent knowledge, which should be obtained from observation. To address these issues, a technique to integrate multiple observations of demonstrations is proposed. The demonstrations differ, but are virtually the same task. The shared interactions among all the demonstrations are considered to be essential and a task model is generated from their symbolic representations. Then, the relative trajectories corresponding to each essential interaction are generalized by calculating their mean and variance, and they are also stored in the task model, which is used to reproduce skilled behavior. This approach is examined by using a human-form robot, which successfully imitates human demonstrations of everyday tasks.

4. 6.     E. Ueda, Y. Matsumoto, M. Imai, T. Ogasawara, "A hand-pose estimation for vision-based human interfaces," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 676- 684, Aug. 2003.  Full Text Link
Abstract : This paper proposes a novel method for a hand-pose estimation that can be used for vision-based human interfaces. The aim of this method is to estimate all joint angles. In this method, the hand regions are extracted from multiple images obtained by a multiviewpoint camera system. By integrating these multiviewpoint silhouette images, a hand pose is reconstructed as a "voxel model." Then, all joint angles are estimated using a three-dimensional model fitting between the hand model and the voxel model. The following two experiments were performed: (1) an estimation of joint angles by the silhouette images from the hand-pose simulator and (2) hand-pose estimation using real hand images. The experimental results indicate the feasibility of the proposed algorithm for vision-based interfaces, although the algorithm requires faster implementation for real-time processing.

4. 7.     R. Chellali, V. Fremont, C. Maaoui, "A new approach to 3-D modeling of objects with axial symmetry," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 685- 691, Aug. 2003.  Full Text Link
Abstract : This paper describes a new method for building a three-dimensional geometrical model of objects from a single image. This method is based on a new concept, namely, the cylindrical projective geometry, which allows us to automatically compute the shape of objects with axial symmetry from one image and without any knowledge about the camera used. Mathematical concepts as well as their use in the modeling process are presented. Some results to show efficiency and accuracy of this method are included.

4. 8.     P. Chedmail, D. Chablat, C. Le Roy, "A distributed approach for access and visibility task with a manikin and a robot in a virtual reality environment," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 692- 698, Aug. 2003.  Full Text Link
Abstract : This paper presents a new method, based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for an access and visibility task taking into account ergonomic constraints or joint and mechanical limits. In order to solve this problem, the human operator is integrated in the process optimization to contribute to a global perception of the environment. This operator cooperates, in real time, with several automatic local elementary agents. The result of this work validates solutions through the digital mock-up; it can be applied to simulate maintainability and mountability tasks.

4. 9.     T. Fong, C. Thorpe, C. Baur, "Multi-robot remote driving with collaborative control," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 699- 704, Aug. 2003.  Full Text Link
Abstract : Multi-robot remote driving has traditionally been a difficult problem. Whenever an operator is forced to divide his limited resources (attention, cognition, etc.) among multiple robots, control becomes complicated and performance deteriorates as a result. Thus, we need to find ways to make command generation and coordination efficient, so that human-robot interaction becomes transparent and tasks are easy to perform. In this paper, we discuss how human-robot collaboration and dialogue provide an effective framework for achieving this.
 

Letter to Editor

Drive Control

Power Electronics

Robotics and Vision

4. 19.     Kyung Chang Lee, Suk Lee, Man Hyung Lee, "Remote fuzzy logic control of networked control system via Profibus-DP," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 784- 792, Aug. 2003.  Full Text Link

Abstract : This paper focuses on the feasibility of fuzzy logic control for networked control systems (NCSs). In order to evaluate its feasibility, a networked control system for servo motor control is implemented on a Profibus-DP network. The NCS consists of several independent, but interacting, processes running on two separate stations. By using this NCS, the network-induced delay is analyzed to find the cause of the delay. Furthermore, the fuzzy logic controller's performance is compared with that of conventional proportional-integral-derivative controllers. Based on the experimental results, it is found that the fuzzy logic controller can be a viable choice for an NCS due to its robustness against parameter uncertainty.

4. 20.     S.H. Ling, F.H.F. Leung, H.K. Lam, Yim-Shu Lee, P.K.S. Tam, "A novel genetic-algorithm-based neural network for short-term load forecasting," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 793- 799, Aug. 2003.  Full Text Link
Abstract : This paper presents a neural network with a novel neuron model. In this model, the neuron has two activation functions and exhibits a node-to-node relationship in the hidden layer. This neural network provides better performance than a traditional feedforward neural network, and fewer hidden nodes are needed. The parameters of the proposed neural network are tuned by a genetic algorithm with arithmetic crossover and nonuniform mutation. Some applications are given to show the merits of the proposed neural network.

4. 21.     I.W.C. Lee, P.K. Dash, "S-transform-based intelligent system for classification of power quality disturbance signals," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 800- 805, Aug. 2003.  Full Text Link
Abstract : In this paper, a new approach is presented for the detection and classification of nonstationary signals in power networks by combining the S-transform and neural networks. The S-transform provides frequency-dependent resolution that simultaneously localizes the real and imaginary spectra. The S-transform is similar to the wavelet transform but with a phase correction. This property is used to obtain useful features of the nonstationary signals that make the pattern recognition much simpler in comparison to the wavelet multiresolution analysis. Two neural network configurations are trained with features from the S-transform for recognizing the waveform class. The classification accuracy for a variety of power network disturbance signals for both types of neural networks is shown and is found to be a significant improvement over multiresolution wavelet analysis with multiple neural networks.

4. 22.     A. Willig, "Polling-based MAC protocols for improving real-time performance in a wireless PROFIBUS," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 806- 817, Aug. 2003.  Full Text Link
Abstract : The idea of having a wireless PROFIBUS is appealing, since this can bring benefits like reduced cabling need and mobile stations to the factory floor. However, unfortunately, wireless transmission is error prone, which affects the timeliness and reliability behavior users expect from a fieldbus system (hard real time). In this paper, we compare two different approaches for the medium access control (MAC) and link layer of a wireless PROFIBUS system with respect to their so-called real-time performance in the presence of transmission errors. Specifically, we compare the existing PROFIBUS MAC and link layer protocol with a simple round-robin protocol. It is shown that round-robin delivers significantly better real-time performance than the PROFIBUS protocol under bursty error conditions. In a second step, we propose three add-ons to round-robin and we show that they further increase the real-time performance of round-robin. The add-ons take certain characteristics of the wireless medium into account.
 

Letter to the Editor

Volume 50,  Number 5, Oct. 2003           Access to the journal on IEEE XPLORE     IE Transactions Home Page

Special Sections on Interaction and Intelligent Systems