Networked Control Systems

Máster Universitario de Investigación en
Tecnologías y Procesos Avanzados en la
Industria (MITPA)
Departamento de Ingeniería de
Sistemas y Automática
Presentación de las líneas de investigación
Octubre 2010
Nonlinear Control Group
Members:
Antonio Barreiro ([email protected])
Cesáreo Raimúndez
Emma Delgado
Matías García Rivera
José Luís Camaño
Miguel Díaz-Cacho
José Antonio González
Research Lines:
Stability of Teleoperated Systems
Reset control for Passive Teleoperation
Networked Control Systems: delays and drops
Passivity-based crane control
Stability of Teleoperated Systems
• Stability in Teleoperation with variable time-delay using LMIs :
– Analysis of variable delay in Internet
– Stability conditions using Lyapunov-Krasovskii
– Encapsulations (IQCs) of variable delays
– Applications to crane teleoperation
Nonlinear Control Group
Valor
nominal
Desviación
0.05
0.005
0.116
0.055
0.2
0.055
0.5
0.04
1
0.035
2
0.02
E. Delgado, M. Díaz-Cacho, A. Barreiro, D. Bustelo, “Experimental analysis of delaydependent stability for Internet-teleoperation of a gantry crane”, IECON’09
Nonlinear Control Group [email protected]
Networked Control Systems: delays and drops
•
Stability technique for networked control systems:
– Drops and/or variable delays
– Discrete syst., Uncertain coefs. → Infinite no. LMIs
– Convex Hull→ Finite no. LMIs
M. Díaz-Cacho, A. Barreiro, M. García, “Bidireccionalidad y eficiencia de transporte de
datos de teleoperación a través de redes IP ”, RIAI, Vol 7, pp 99-110 (2010)
Nonlinear Control Group [email protected]
Passivity-based crane control
PC Master:
PC Slave:
Communications 
Communications
S-functions
HandShake proSENSE
VirtualTouch Toolbox
(Network Option)
Simulink
Humusoft RTT
Env Visual  VR Toolbox
Simulink RTW+RTWT
Operator Aid:
Pantalla de Operador
- Visual: Env Virtual 
Crane and obstacles
* Plant (blue)
* Desired (magenta)
-Táctile: Force Feedback 
- Haptic device:
* contact enhacem,: F  k*F5
* Virtual walls
Vídeo
Nonlinear Control Group [email protected]
Colaboraciones
•
Centro Tecnológico de
Automoción (CTAG)
Medidas
u
Proyecto Autonómico 07DPI005CT: “Desarrollo
de un sistema ICC con observador de estados”
Cuadrado, Dopico, Barreiro, Delgado, "Real-time state
observers based on multibody models and the EKF",
Int. J. Mech. Sci. and Tech., 23, 894-900 (2009).
y
u
Modelo
Filtro Kalman
•
Observatorio Astronómico de
Forcarei (OAF)
R. Ramos and M. Díaz-Cacho, “Test platform for
telescopic robotic observatories”. Workshop on Robotic
Autonomous Observatories, Málaga, 18-21 May 2009.
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Estados corregidos
Arbitraje
Señal de
disparo
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e
Referencia
Nonlinear Control Group [email protected]
Error
Orden
control
Automation Systems Engineering
Group
Members:
Ricardo Marín ([email protected])
Julio Garrido
Juan Saez
J. Ignacio Armesto
Jose Luis Trillo
Research Lines:
Industrial information systems and traceability
Embedded control systems and mechatronics
10/03/2011
7
Industrial information systems and traceability
• Collaboration with the Rensselaer Polichecnic Institute, NewYork:
industrial information formal models based on the STEP norm.
• A group member belongs to ISO/STEP NC (AP 238) committee and
leads the proposal about traceability.
Embedded control systems and mechatronics
•
•
•
On this line has started to collaborate with companies manufacturer of serially
equipment goods.
Particularly, has developed 6 different stone cutting machines models including
innovations on the sector as Web maintenance or embedded control systems.
Parallel Delta Robot
10/03/2011
8
Industrial information systems and
traceability
• I+D with companies
– Traceability system
for seats frame lines.
Grupo Faurecia
– Traceability system
for airbag bags.
Grupo Dalphi Metal
10/03/2011
9
Embedded control systems and
mechatronics
• I+D with companies
– Automatic control
system framework for
stone processing with
technology based on
Windows CE .
Grupo Esypro
– Stacker cranes control
systems based on PAC
architecture.
ABN Engineering
10/03/2011
10
Embedded control systems and
mechatronics
• Parallel Delta Robot
Mobile Robotics and Intelligent
Systems Group
Members:
Rafael Sanz Domínguez ([email protected])
Enrique Paz Domonte
Joaquín López Fernández
Amador Rodríguez Diéguez
Diego Pérez Losada
Research Lines:
Robotics and Mobile robotics
Industrial design
Research issues
Mobile robotics:
Inspection and surveillance systems
Guided robots for events and museums
Attendance robots in offices
Robots for autonomous transport of
materials in industrial environments
Industrial design:
Machine design and automation: advanced machine design for different
industrial applications.
Sensor information integration.
ISA-NAV Mobile Robot Architecture
Mobile robot graphic programming
environment:
Robot tasks are programmed with a graphic
tool based on Petri Nets.
Custom made electronic control boards
Sensor and actuator interface and control
boards in CAN bus
Some developments in mobile robots
Mobile robots are designed using a CAN bus to
integrate all sensor and actuators in the mobile
platform.
Automatic battery charging system. It is designed for
the complete autonomy of the mobile robots.
Social robot applications:
ShowBot is a tour-guide robot.
BellBot is a service robot that can
transport documents requested by
means of a web interface.
WatchBot is a surveillance and remote
inspection robot.
Máster de Investigación en Tecnologías y
Procesos Avanzados en la Industria
Dpto. de Ingeniería de Sistemas y Automática
Asignaturas en el Máster MITPA:
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•
•
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Herramientas informáticas para la investigación (OB)
Técnicas Avanzadas de Diseño de Sistemas de Control
Ingeniería de Sistemas para la Automatización
Avances en Robótica y Visión Artificial