Fault tolerant gripper in robotics

OATAO is an open access repository that collects the work of Toulouse

researchers and makes it freely available over the web where possible

Any correspondence concerning this service should be sent

to the repository administrator:

tech-oatao@listes-diff.inp-toulouse.fr

This is an author’s version published in:

http://oatao.univ-toulouse.fr/22978

To cite this version:

Noureddine, Rachid and Noureddine, Farid

and Benamar,

Ali Fault tolerant gripper in robotics. (2013) In: 9th

France-Japan, 21 November 2012 - 23 November 2012 (Paris,

France).

Official URL:

https://doi.org/10.1109/MECATRONICS.2012.6450997

)DXOW TROHUDQW GULSSHU LQ RRERWLFV

5DFKLG 1RXUHGGLQH 8QLYHUVLW\ RI 2UDQ ,06, %3  (O0¶1DRXHU  2UDQ $OJpULH (PDLOQRXUHGGLQHUDFKLG#XQLYRUDQG] )DULG 1RXUHGGLQH (1,7 /*3  $YHQXH G¶$]HUHL[  7DUEHV )UDQFH (PDLOIDULGQRXUHGGLQH#HQLWIU $OL %HQDPDU (16(7 /D57)0 %3  (O0¶1DRXHU  2UDQ $OJpULH (PDLODOLEHQDPDU#HQVHWRUDQG]

$EVWUDFW²7KH ZRUN SUHVHQWHG LQ WKLV DUWLFOH VKRZV WKURXJK

D FDVH VWXG\ WKH GLIIHUHQW VWDJHV RI GHVLJQLQJ D IDXOW WROHUDQW V\VWHP D V\VWHP ZKLFK FDQ WROHUDWH IDXOWV ZLWKRXW ORVLQJ LWV RSHUDWLRQDO FDSDELOLW\ 7KLV V\VWHP LQFOXGHV D JULSSHU PRXQWHG RQ WKH ZULVW RI D URERW PDQLSXODWRU )LUVW WKH IDXOWV ZHUH LGHQWL¿HG WKHQ WKH UHVLGXDO JHQHUDWLRQ VWDJH ZDV GHVLJQHG $QDO\]LQJ WKLV UHVLGXDO DOORZV XV WR VKRZ WKDW DUWL¿FLDOO\ LQMHFWHG IDXOWV FDQ EH GHWHFWHG DQG DQ DODUP LV JHQHUDWHG IRU DQ HPHUJHQF\ VWRS FRP PDQG :LWK UHJDUGV WR WKH JULSSHU ZH KDYH RQO\ GHDOW ZLWK WKH IDXOWV ZH ZHUH DEOH WR VROYH WKDQNV WR WKH DFFRPPRGDWLRQ VWDJH ZKLFK PXVW FRQWURO ERWK KDUGZDUH DQG VRIWZDUH UHFRQ¿JXUDWLRQV 7KH FRQVLGHUHG IDXOWV RULJLQDWHG LQ WKH HOHFWURQLF LQWHUIDFHV DQG IRU DQ HI¿FLHQW VXSHUYLVLRQ ZH KDYH GHVLJQHG WKH ZKROH JULSSHU FRQWURO 7KH HOHFWURQLF LQWHUIDFHV FRQFHUQHG E\ IDXOW RFFXUUHQFH DUH GXSOLFDWHG WR HQVXUH URERW WDVN FRQWLQXLW\

,QGH[ 7HUPV²0RGHO EDVHG IDXOW GHWHFWLRQ IDXOW DFFRPPRGD

WLRQ HOHFWURQLF UHGXQGDQF\ IDXOW WROHUDQFH LQ URERWLFV

, ,1752'8&7,21

,QFUHDVLQJ SURGXFWLYLW\ JDLQV KDV DOZD\V EHHQ D FRQVWDQW FRQFHUQ LQ WKH LQGXVWU\ 2QH RI WKH HQKDQFLQJ VROXWLRQV LV WKHUHIRUH WR UHGXFH FRVWV FDXVHG E\ WKH XQDYDLODELOLW\ RI WKH SURGXFWLRQ WRRO 7KLV XQDYDLODELOLW\ LV RIWHQ GXH WR WKH IDLOXUHV RI VRPH PDFKLQHV RQ WKH SURGXFWLRQ OLQH 9DULRXV VROXWLRQV WR HQKDQFH WKH DYDLODELOLW\ RI PDFKLQHV DQG PRUH JHQHUDOO\ VSHDNLQJ RI V\VWHPV FDQ EH LPSOHPHQWHG GHSHQGLQJ RQ WKH LQGXVWULDO ¿HOG 7KH\ DOVR GHSHQG RQ KRZ FRPSOH[ WKH HTXLS PHQW DUH DQG RQ WKHLU QDWXUH DV ZHOO RQ KRZ IDU HQKDQFLQJ VROXWLRQV FDQ EH LPSOHPHQWHG RQ HTXLSPHQW WKDW DUH DOUHDG\ GHVLJQHG DQG LQ RSHUDWLRQ $ PLOHVWRQH UHSRUW LV SUHVHQWHG LQ >@ DQG VWUHVVHV WKH QHHGV IRU UHOLDELOLW\ DQG VHFXULW\ LQ LQGXVWULDO SURFHVVHV 1XPHURXV DFKLHYHPHQWV ZKHUH WKH SODQW PDLQWDLQV VDIH SURFHVV RSHUDWLRQV DUH SUHVHQWHG LQ VHYHUDO GRPDLQV VXFK DV SRZHU SODQWV FKHPLFDO SODQWV PLQHUDO SUR FHVVLQJ WUDQVSRUWDWLRQ V\VWHPV HOHFWURQLF HPEHGGHG V\VWHPV DQG PHFKDWURQLFV

$V UHJDUGV WR HQKDQFLQJ WKH DYDLODELOLW\ RI WKH V\VWHPV LW LV IXQGDPHQWDO WR NQRZ DW ZKDW VWHS RI WKH GHVLJQ ZH FDQ LQWHUYHQH 1XPHURXV GHJUHHV RI IUHHGRP DUH REYLRXVO\ DYDLODEOH LQ FKRRVLQJ VROXWLRQV LI VSHFL¿FDWLRQV DUH WDNHQ LQWR DFFRXQW IURP WKH GHVLJQ VWDJH RI WKH V\VWHP 2Q WKH FRQWUDU\ LI WKH V\VWHP LV DOUHDG\ GHVLJQHG TXLWH RIWHQ LQ RSHUDWLRQ DQG LI ZH ZDQW WR RYHUFRPH RSHUDWLQJ SUREOHPV GHWHFWHG LQ WKH RSHUDWLRQDO SKDVH WKH VROXWLRQV ZLOO EH PXFK PRUH OLPLWHG

$V IRU WKH GHVLJQ UHOLDELOLW\ LPSHUDWLYHV LPSRVH D ULJRURXV GHVLJQ DQG WKH PRVW UHOLDEOH DQG DYDLODEOH FRPSRQHQWV PXVW

EH XVHG 'HVSLWH WKHVH SURFHGXUHV IDXOWV GXH WR WKH UDQGRP QDWXUH RI RSHUDWLRQV DV ZHOO DV WR WKH SUHPDWXUH ZHDU RI VRPH FRPSRQHQWV UHPDLQ SRVVLEOH 6R IDXOW WROHUDQW PHWKRGV PXVW EH LPSOHPHQWHG DQG DQ RYHUYLHZ RI WKHVH PHWKRGV LV SUHVHQWHG LQ WKH ERRN RI >@

6HYHUDO VWHSV KDYH WR EH WDNHQ LQ RUGHU WR GHVLJQ IDXOW WROHUDQW V\VWHPV $Q HVVHQWLDO SULPDU\ VWHS LV WKH GHVLJQ RI IDXOW GHWHFWLRQ DQG ORFDWLRQ 0RUHRYHU D GLDJQRVLV FDQ EH FDUULHG RXW LQ VRPH FDVHV VXFK DV PHDVXULQJ WKH IDXOW DPSOLWXGH

'LIIHUHQW DSSURDFKHV FDQ EH OHG WR GHVLJQ IDXOW GHWHFWLRQ DQG ORFDWLRQ DOJRULWKPV DQG VRPH RI WKHVH DSSURDFKHV XVH WKH DQDO\WLFDO PRGHO RI WKH FRQVLGHUHG V\VWHP 7KLV PRGHO LV VRPHWLPHV HVWDEOLVKHG DV HDUO\ DV WKH FRQWURO GHVLJQ SKDVH 6R >@ SUHVHQW IRU WKLV NLQG RI DSSURDFK WKH EDVLF FRQFHSWV RI IDXOW GHWHFWLRQ 0RVW RI WKH GHYHORSPHQWV GHDO ZLWK FDVHV ZKHUH WKH V\VWHPV DUH OLQHDU DQG WLPH LQYDULDQW $ PRUH UHFHQW VWXG\ LQ >@ VXPV XS D TXLWH FRPSOHWH VWDWH RI WKH DUW RI WKH TXDQWLWDWLYH PRGHOEDVHG PHWKRGV DQG VWUHVVHV WKH DGYDQWDJHV DQG GLVDYDQWDJHV RI WKLV DSSURDFK ,W XVHV WKH DQDO\WLFDO PRGHO WKDW LV ZHOO DSSURSULDWH ZKHQ WKH V\VWHP LV PRGHOOHG E\ D OLQHDU PRGHO DQG ZKHQ WKH GLVWXUEDQFHV FDQ EH PRGHOOHG E\ DQ DGGLWLYH WHUP LQ WKH VWDWH HTXDWLRQ 7KH OLQHDU PRGHO FDQ EH REWDLQHG E\ DQ LGHQWL¿FDWLRQ VFKHPH DV LQ >@ (UURUVLQ9DULDEOHV (,9 PRGHOV DQG WKH UHODWHG DOJRULWKPV ZHUH LPSOHPHQWHG WR PDNH WKH GLDJQRVLV RI D JDV WXUELQH SURWRW\SH LQ WKLV SUHYLRXV ZRUN VRPH LQGLFHV KDYH EHHQ XVHG DQG GHVFULEHG LQ >@ LQ RUGHU WR HYDOXDWH WKH HI¿FLHQF\ RI WKH IDXOW GLDJQRVWLF VFKHPH $QRWKHU ZD\ WR SURFHHG LQ RUGHU WR XVH DOO XVHIXO WRROV LQ OLQHDU V\VWHPV LV WR FRQVLGHU GLIIHUHQW RSHUDWLQJ SRLQWV DQG WR GHGXFH IURP WKHP D PXOWLSOH OLQHDU VXEV\VWHP 7KLV DSSURDFK ZDV XVHG LQ >@ WR GHWHFW IDXOWV LQ WKH VWDUWXS WUDQVLWLRQ RI D S+ QHXWUDOL]DWLRQ UHDFWRU LQ D ODERUDWRU\ DQG LQ >@ ZKHUH PXOWLPRGHOV DUH XVHG WR GHVLJQ D )DXOW 'HWHFWLRQ DQG ,VRODWLRQ )', VFKHPH DSSOLHG WR D K\GUDXOLF V\VWHP

,Q >@ D )', VFKHPH FRPSDWLEOH ZLWK GLVWULEXWHG FRQWURO V\VWHP ZDV VXJJHVWHG IRU D WZRWDQN V\VWHP ,Q WKLV ZRUN %RQG JUDSKV DUH XVHG WR PRGHO WKH V\VWHP DQG WR REWDLQ WKH DQDO\WLFDO UHGXQGDQF\ UHODWLRQV ZKLFK DUH GHULYHG IURP WKH OLQHDU PRGHO ,Q >@ D /LQHDU 0DWUL[ ,QHTXDOLW\ /0, EDVHG RQ WKH ¿OWHU GHVLJQ PHWKRGRORJ\ IRU IDXOW GHWHFWLRQ LV VXJJHVWHG WKLV ZRUN LV RULJLQDO LQ VR IDU DV LW IRUPXODWHV WKH IDXOW GHWHFWLRQ SUREOHP DV D ¿OWHUEDVHG PXOWLREMHFWLYH Mecatronics-REM 2012

RSWLPL]DWLRQ SUREOHP DQG DV LW LV DSSOLHG WR DQ DHURFUDIW¶V FORVHGORRS V\VWHP

7R FRPSOHWH WKLV VWDWH RI WKH DUW IRU )', PHWKRGV OHW XV TXRWH WKH PHWKRGV XVLQJ TXDOLWDWLYH PRGHOEDVHG RU GDWDEDVHG PHWKRGV 7KH\ DUH DOO WKH PRUH LQWHUHVWLQJ DV WKH DQDO\WLFDO PRGHO LV QRW DYDLODEOH RU WRR FRPSOH[ 5HFHQW ZRUNV FDQ EH IRXQG LQ >@ >@ >@ WKH\ UHYLHZ PHWKRGV EDVHG RQ DUWL¿FLDO LQWHOOLJHQFH DQG OHDUQLQJ FRQWURO VWUDWHJLHV

,Q WKH PDQXIDFWXULQJ LQGXVWU\ ZKLFK RXU SDSHU GHDOV ZLWK WKH SURGXFWLRQ WRRO LV PDLQO\ FRPSRVHG RI PDFKLQH WRROV URERWV FRQYH\RUV DQG WKHVH HOHPHQWV DUH SURQH WR XQDYRLGDEOH IDXOWV DV ZHOO DV LQDGYHUWHQFH RSHUDWRU HUURUV ,Q >@ DQG >@ IDXOW WROHUDQW FRQFHSWV KDYH EHHQ DSSOLHG LQ WKH ¿HOG RI URERWLFV ,Q WKH ODVW PHQWLRQHG SDSHU WKH DQDO\VLV VWDJH VKRZV DOO WKH SDUWV RI WKH URERW ZKLFK DUH FRQFHUQHG E\ IDLOXUHV )DXOW DFFRPPRGDWLRQ LV FRQVLGHUHG DQG EDVHG RQ WKH NLQHPDWLF UHGXQGDQF\ SULQFLSOH &DOFXODWLQJ WKH LQYHUVH NLQHPDWLF PRGHO RI WKH URERW XQGHU VRPH FRQGLWLRQV RI MRLQW IDLOXUH HQDEOHV WKH JHQHUDWLRQ RI DQ DOWHUQDWLYH WUDMHFWRU\ WR HQVXUH WKH URERW FRQWLQXHV WR ZRUN

,Q WKLV DUWLFOH WKH V\VWHP ZH DUH ZRUNLQJ RQ LV FRPSRVHG RI D URERW JULSSHU DWWDFKHG WR WKH ZULVW RI DQ LQGXVWULDO URERW PDQLSXODWRU 7KLV SDSHU LV RUJDQL]HG DV IROORZV LQ VHFWLRQ ,, DQ DQDO\VLV RI IDXOWV WKDW FDQ RFFXU RQ WKH JULSSHU PRXQWHG RQ WKH ZULVW LV SUHVHQWHG 7KH QH[W VHFWLRQ WUHDWV WKH IDXOW GHWHFWLRQ SUREOHP RQ WKH ZULVW URERW 7KH ODVW VHFWLRQ LV GHGLFDWHG WR WKH GHVLJQLQJ RI D IDXOW WROHUDQW JULSSHU LQFOXGLQJ IDXOW GHWHFWLRQ DQG IDXOW DFFRPPRGDWLRQ XVLQJ UHFRQ¿JXUDWLRQ FDSDELOLWLHV $ FRQFOXVLRQ HQGV WKLV DUWLFOH

,, 6<67(0 '(6&5,37,21 $1' )$8/7 $1$/<6,6

7KH V\VWHP ZH DUH ZRUNLQJ RQ LV VKRZQ LQ )LJXUH  ,W LV FRPSRVHG RI D JULSSHU  ¿QJHUV DWWDFKHG WR WKH ZULVW RI D ¿YH URWDU\ MRLQWV URERW 2QO\ WKH ZULVW UROO URWDWLRQ LV WDNHQ LQWR DFFRXQW

)LJXUH  )UHH URWDWLRQ RI WKH JULSSHU

,Q RUGHU WR

• IXOO\ DVVXPH WKH PRQLWRULQJ RI DOO WKH FRQWURO SURFHVVHV • LPSOHPHQW WKH DUWL¿FLDO IDXOW LQMHFWLRQ DQG WKH IDXOW DF

FRPPRGDWLRQ VWDJH

ZH KDYH GHVLJQHG WKH FRQWUROOHU DQG DOO WKH HOHFWURQLF LQWHU IDFHV DQG DVVRFLDWHG VRIWZDUH

$ )DXOW DQDO\VLV

7KH IDLOXUH RI WKH JULSSHU FDQ UHVXOW LQ YDULRXV ZD\V

• $ IDXOW RI WKH GULYH PHFKDQLVPV • $ FODPSLQJ IDXOW RQ WKH JULSSHU

7R LGHQWLI\ IDXOW FDXVHV DQG GHGXFH WKHLU FRQVHTXHQFHV PHWK RGV RI V\VWHPLF DQDO\VLV H[LVW $SSO\LQJ VWDQGDUG DSSURDFKHV VXFK DV )DLOXUH 0RGH (IIHFWV $QDO\VLV )0($ )DXOW 7UHH $QDO\VLV )7$ DUH RIWHQ V\QRQ\PRXV ZLWK HI¿FLHQF\ DQG ULJRXU )UHTXHQWO\ XVHG LQ WKH LQGXVWU\ )0($ LV D TXDOLWDWLYH PHWKRG XVHG WR LGHQWLI\ SRWHQWLDO IDLOXUHV RI D V\VWHP RU VXEV\VWHP DQG WKHQ GHWHUPLQH WKH IUHTXHQF\ DQG WKH LPSDFW RI WKH IDLOXUH 7KH PDLQ REMHFWLYH LV WR JHQHUDWH D 5LVN 3ULRULW\ 1XPEHU 531 IRU HDFK IDLOXUH PRGH 7KH KLJKHU WKH 531 WKH PRUH VHULRXV WKH IDLOXUH 7KHUHIRUH VSHFLDO DWWHQWLRQ PXVW EH SDLG WR WKH IDLOXUH PRGH 7KH )0($ WHFKQLTXH LV H[SODLQHG LQ >@ DQG WZR H[DPSOHV RI LQGXVWULDO URERWV  OLQHDU MRLQWV DQG  URWDU\ MRLQWV DUH DQDO\VHG DQG WKHLU 531 DUH FDOFXODWHG &DUU\LQJ RXW )0($ UHTXLUHV DQ LQLWLDO IXQFWLRQDO DQDO\VLV 7KLV IXQFWLRQDO DQDO\VLV ZLOO GHSHQG RQ WKH GHVLUHG GHJUHH RI SUHFLVLRQ ZKLFK ZLOO EH OLQNHG WR WKH VL]H RI WKH VHOHFWHG VXEV\VWHPV 7KXV IURP D YHU\ KLJK OHYHO WKH V\VWHP ZH DUH ZRUNLQJ RQ FDQ EH GHFRPSRVHG LQWR WZR VXEV\VWHPV

 $ FRQWUROOHU VXEV\VWHP LQFOXGLQJ D FRPSXWHU PLFURFRQ WUROOHUV FRPPXQLFDWLRQ OLQNV HOHFWURQLF ERDUGV SRZHU VXSSOLHUV 

 $ JULSSHU ZLWK MRLQW ZKLFK FDQ EH GHFRPSRVHG LQ LWV WXUQ LQWR WKUHH VXEV\VWHPV

• $ PHFKDQLFDO VXEV\VWHP LQFOXGLQJ OLQNV MRLQWV JHDUV

¿QJHUV 

• $FWXDWRU VXEV\VWHPV LQFOXGLQJ PRWRUV EUDNHV  • 6HQVRUV LQFOXGLQJ RSWLFDO HQFRGHUV OLPLW VZLWFKHV

,,, )$8/7 '(7(&7,21 21 7+( 52%27 :5,67

7KH ZULVW UROO URWDWLRQ LV DFKLHYHG E\ WKH ¿IWK MRLQW ZKLFK LV HTXLSSHG ZLWK D '& PRWRU 7KH DQJXODU YHORFLW\ RI WKH MRLQW LV FRQWUROOHG WR HQVXUH JLYHQ SHUIRUPDQFHV LWV PD[LPXP YDOXH LV 2.2 rad/s $Q DEVROXWH RSWLFDO HQFRGHU LV XVHG WR PHDVXUH WKH DQJXODU SRVLWLRQ VR WKH DQJXODU YHORFLW\ LV REWDLQHG E\ FDFXODWLQJ WKH GHULYDWLYH 7KH SRZHU DPSOL¿HU LV D IDVW VZLWFKLQJ ¿HOG HIIHFW WUDQVLVWRU XVHG LQ D EULGJH FRQ¿JXUDWLRQ $ SURFHVVRU ERDUG LV GHVLJQHG XVLQJ D PLFURFRQWUROOHU RI WKH &) IDPLO\ >@ $Q RQERDUG -7$* GHEXJ VXSSRUW DOORZV DQ HI¿FLHQW DQG TXLFN DOJRULWKPV GHYHORSPHQW

7R YDOLGDWH RXU GHWHFWLRQ DOJRULWKPV DUWL¿FLDO IDXOWV KDYH WR EH LQMHFWHG LQWR RXU V\VWHP 7ZR W\SHV RI DUWL¿FLDO IDXOWV ZHUH FRQVLGHUHG 7KH ¿UVW W\SH RI IDXOW (fs) LV FDOOHG VHQVRU IDXOW RU

PHDVXUHPHQW IDXOW 7KH VHQVRU LV DQ DEVROXWH RSWLFDO SRVLWLRQ HQFRGHU $ SRRU UHDGLQJ RI RQH WUDFN RI WKH HQFRGHU FDQ OHDG WR DQ RIIVHW RQ WKH PHDVXUHG SRVLWLRQ 7KH PRGHOOLQJ RI WKLV IDXOW UHVXOWV LQ D VWHS VLJQDO LQ WKH PHDVXUHPHQW HTXDWLRQ RI WKH VWDWH PRGHOOLQJ 7KLV IDXOW LV LQWURGXFHG YLD D VRIWZDUH PRGLI\LQJ WKH YDOXH JLYHQ E\ WKH SRVLWLRQ HQFRGHU

7KH VHFRQG W\SH LV RIWHQ TXDOL¿HG DV D G\QDPLF IDXOW (fd)

EHFDXVH LW RFFXUV LQ WKH VWDWH PRGHO DV D WHUP RQ WKH G\QDPLF VWDWH HTXDWLRQ 7ZR G\QDPLF IDXOWV ZHUH FRQVLGHUHG WKH ¿UVW RQH (fd1) FRQFHUQV WKH HOHFWURQLF FRQWURO RI WKH VHUYRPRWRU

RI MRLQW  7KH VHFRQG W\SH (fd2) LV D PHFKDQLFDO IDXOW DQG

LV LPSOHPHQWHG E\ D SDUWLDO PDQXDO ORFNLQJ RI MRLQW  $ GLJLWDO FRQWUROOHU LV LPSOHPHQWHG DQG WKH GLVFUHWHWLPH VWDWH HTXDWLRQV ZKHUH DOO YDULDEOHV ∈ R DUH JLYHQ E\_

xk+1= Axk+ Buk+ fdjk

yk= xk+ fsk , 

ZKHUH ERWK G\QDPLF DQG VHQVRU IDXOWV DUH PRGHOOHG E\ DQ DGGLWLYH WHUP LQ WKH VWDWH HTXDWLRQ 7KLV W\SH RI PRGHOOLQJ LV VXI¿FLHQW ZKHQ RQH GRHV QRW FRQVLGHU WKH ORFDWLRQ SUREOHP :LWK D UHDOLVWLF DSSURDFK ZH FRQVLGHU WKDW WKHUH FDQ QRW EH  RU  VLPXOWDQHRXV IDXOWV

$ 5HVLGXDO JHQHUDWLRQ

2XU JRDO LV WR SURYLGH WKH GHFLVLRQ DOJRULWKPV ZLWK D VLJQDO LQGLFDWLQJ WKH IDXOW RFFXUUHQFH NQRZQ DV D UHVLGXDO *HQHUDOO\ VSHDNLQJ WKH DOJRULWKPV XVH FDQ EH GHSHQGLQJ RQ WKH FDVH MXVW WR GHWHFW RU WR GHWHFW DQG ORFDWH RU HOVH LQ D FRPSOHWH ZD\ WR GHWHFW ORFDWH DQG PDNH D GLDJQRVLV 7KHQ WKH GHFLVLRQ V\VWHP PXVW FRPPXWH WKH UHGXQGDQW DUFKLWHFWXUH LQ UHDO WLPH WR HQVXUH FRQWLQXHG RSHUDWLRQ

7KH PRGHO EDVHG PHWKRGV IRU WKH GHWHFWLRQ DUH ZLGHO\ GH VFULEHG LQ WKH OLWHUDWXUH LQ VRPH VXUYH\V JLYHQ LQ >@ >@ >@

7KH SULQFLSOH RI WKH FKRVHQ PHWKRG LV WR HVWLPDWH WKH VWDWH RI WKH V\VWHP DQG WKHQ WR JHQHUDWH DQ HVWLPDWHG RXWSXW ZKLFK ZLOO EH VXEWUDFWHG IURP WKH UHDO RXWSXW RI WKH V\VWHP :KHQ QR IDXOW RFFXUV WKH GLIIHUHQFH ZKLFK LV WKH UHVLGXDO VKRXOG EH QHDU ]HUR 7KH FRQVLGHUHG V\VWHP LV OLQHDU QRW YHU\ QRLV\ VR D GHWHUPLQLVWLF DSSURDFK ZRXOG WKHUHIRUH EH DSSURSULDWH

7KH REVHUYHU LV GH¿QHG E\ 

ˆxk+1=(A − L)ˆxk+Buk+ Lyk

ˆyk= ˆxk .

7KLV REVHUYHU LV VXFK WKDW LWV HUURU IROORZV WKH HTXDWLRQ ek+1= ˆxk+1− xkDQG OHDGV WR 0 ZLWK D G\QDPLFV ¿[HG E\ WKH FKRLFH RI (A − L) 7KH HUURU HVWLPDWLRQ LQ RXU FDVH PD\ EH FRQIXVHG ZLWK WKH UHVLGXDO ZKLFK ZH GH¿QH DV rk= ek. 7KH HUURU IROORZV ek+1= (A − L)ek+ Lfsk+ B(1 − fdjk). 7KH REVHUYHU G\QDPLFV LV FKRVHQ WR EH JUHDWHU WKDQ A VR (A − L) = 1.25A 7KH QXPHULFDO YDOXHV FRUUHVSRQGLQJ WR WKH V\VWHP DQG REVHUYHU SDUDPHWHUV DUH VXPPDUL]HG LQ 7DEOH ,

A B L T τ1 a

0.7 0.3 −0.175 ms  ms 75 ms 0.7

7DEOH ,

6<67(0 $1' 2%6(59(5 3$5$0(7(56

% ([SHULPHQWDO UHVXOWV

:H LQWURGXFHG LQWR WKH V\VWHP WKH DERYH PHQWLRQHG DUWL¿FLDO IDXOWV GHVFULEHG LQ WKH VHFWLRQ ,,$ DQG ZH DQDO\VHG WKH UHVLGXDO HYROXWLRQ ZKLFK LV WKH PDLQ GHFLVLYH HOHPHQW RQ IDXOW RFFXUUHQFH

7KH PRQLWRULQJ RI WKH URERW JULSSHU LV RSHUDWHG DIWHU WKH YHORFLW\ KDV UHDFKHG LWV VWHDG\VWDWH YDOXH

7KH UHVXOWV RI HDFK H[SHULPHQW DUH LOOXVWUDWHG E\ WKUHH FXUYHV VKRZLQJ WKH HYROXWLRQ RI WKH UHDO YHORFLW\ RI WKH JULSSHU WKH HYROXWLRQ RI LWV HVWLPDWHG YHORFLW\ DQG ¿QDOO\ WKH HYROXWLRQ RI WKH UHVLGXDO 7KH GHVLUHG YHORFLW\ YDULHV IURP 0.5rd/s WR 1rd/s $OO H[SHULPHQWV DUH VKRZQ LQ )LJXUHV   DQG 

 ,QMHFWLRQ RI VHQVRU IDXOW fs 7KH UHVXOWV DUH VKRZQ LQ

)LJXUH  7KH LQWURGXFHG VWHS FRUUHVSRQGLQJ WR WKH VLPXODWHG VRIWZDUH IDXOW PRGL¿HV WKH PHDVXUHPHQW RI WKH YHORFLW\ RQO\ DW WKH HGJHV RI WKH VLJQDO $W WKHVH WZR PRPHQWV WKH UHVLGXDO EHFRPHV VLJQL¿FDQW VKRZLQJ WKH IDXOW LQÀXHQFH 7KH DPSOLWXGH RI WKLV VWHS LV VHW WR 5.24rd/s GXULQJ D SHULRG RI 1.25s 7KH EHKDYLRXU RI WKH V\VWHP IDFHG ZLWK D VWHS VLJQDO LV IXOO\ ORJLFDO EHFDXVH WKH LQWURGXFWLRQ RI WKH IDXOW LV FDUULHG RXW DW WKH OHYHO RI WKH SRVLWLRQ VHQVRU DQG WKH YHORFLW\ LV REWDLQHG E\ GLJLWDO GHULYDWLRQ RI WKLV SRVLWLRQ

7KH YHORFLW\ UHJXODWLRQ WKURXJK D SRVLWLRQ HQFRGHU KDV WKH DGYDQWDJH RI JHWWLQJ ULG RI WKH VWHS IDXOW

)LJXUH  9HORFLWLHV DQG UHVLGXDO HYROXWLRQ ZLWK VHQVRU IDXOW

 ,QMHFWLRQ RI WKH HOHFWURQLF IDXOW fd1 7KLV DUWL¿FLDO IDXOW

FDXVHG E\ D QRQGHVWUXFWLYH VKRUWFLUFXLW KDV D VDWXUDWLRQ HIIHFW RQ WKH RXWSXW RI DQ RSHUDWLRQDO DPSOL¿HU 7KH SHUPDQHQW IDXOW LV LQWURGXFHG DW DERXW t = 4.25s DV VKRZQ LQ )LJXUH  7KH JULSSHU UHDFWV FRQVLVWHQWO\ EHFDXVH LWV YHORFLW\ UHDFKHV WKH PD[LPDO UHIHUHQFH 2.2rd/s 7KH HVWLPDWHG YHORFLW\ ZKLFK

~

.L____D_J

Mnsurcd velocity (rad/1) f..slimate,;lveloci1y(rad/s) me(sJ I o.s _j timc:(1) 2,S 3 3,S -4 l,S 2 3 J,S -4 timc{s)

IROORZHG WKH PHDVXUHG YHORFLW\ DW WKH WLPH SUHYLRXV WR WKH LQFLSLHQW IDXOW GHYLDWHV FOHDUO\ IURP LW

7KH YDOXH RI WKH UHVLGXDO SURYHV WKH RFFXUUHQFH RI D IDXOW 3UHYLRXVO\ WR WKH RFFXUUHQFH RI D IDXOW WKH UHVLGXDO LV YLUWXDOO\ ]HUR $W WLPH t = 1s WLPH RI WKH FKDQJH UHIHUHQFH ZH QRWH LWV UHODWLYHO\ ORZ YDOXH

)LJXUH  9HORFLWLHV DQG UHVLGXDO HYROXWLRQ ZLWK HOHFWURQLF IDXOW

 ,QMHFWLRQ RI WKH PHFKDQLFDO IDXOW fd2 7KLV IDXOW LV

LQWURGXFHG E\ D YDULDEOH PDQXDO EUDNH RQ WKH JULSSHU 7KLV KDUG EUDNLQJ GLVSOD\V D KLJK LQFUHDVH LQ WKH IULFWLRQ FRHI¿FLHQW DQG WKXV D PRGL¿FDWLRQ RI WKH A SDUDPHWHU RI 

7KLV IDXOW LV LQWURGXFHG DW DERXW WLPH t = 3s DOO FXUYHV DUH VKRZQ LQ )LJXUH  DQG IURP WKLV PRPHQW WKH YHORFLW\ GHFUHDVHV WKHQ DQG GXH WR WKLV YDULDEOH EUDNLQJ WKH YHORFLW\ EHKDYHV LQ D IXOO\ XQFRQWUROOHG ZD\

7KH LQÀXHQFH RI WKH IDXOW FDQ EH VHHQ LQ WKH HYROXWLRQ RI WKH HVWLPDWHG YHORFLW\ DV ZHOO WKH RXWFRPLQJ UHVLGXDO LV LQGLFDWLYH RI WKH RFFXUUHQFH RI D IDXOW DQG VKRXOG WKHQ EH WUHDWHG

& 5HVLGXDO HYDOXDWLRQ

:KHQ WDNLQJ RQO\ GHWHFWLRQ LQWR DFFRXQW D VLPSOH ZD\ RI GRLQJ VR LV WR FRPSDUH WKH UHVLGXDO ZLWK D WKUHVKROG 7KH WKUHVKROG FURVVLQJ E\ WKH UHVLGXDO LQGLFDWHV WKH RFFXUUHQFH RI D IDXOW WKLV SURFHGXUH LV XVHG LQ D ORW RI LQGXVWULDO FDVHV ,I ZH QHHG WR LGHQWLI\ WKH IDXOW RULJLQ GHYHORSPHQWV KDYH WR EH FDUULHG RXW XVLQJ EDQNV RI UHVLGXDOV ZKHUH HDFK UHVLGXDO UHIHUV WR RQO\ RQH JLYHQ IDXOW >@ ,Q IDFW LW DOO GHSHQGV RQ WKH VROXWLRQV LPSOHPHQWHG DIWHU WKH GHFLVLRQ VWHS :KDW VROXWLRQ FDQ EH EURXJKW WR WKH DFFRPPRGDWLRQ SUREOHP" ,Q WKH FDVH ZKHQ WKH PHFKDQLFDO VWUXFWXUH PXVW EH FDOOHG LQWR TXHVWLRQ LW KDUGO\ VHHPV SRVVLEOH WR SURYLGH UHFRQ¿JXUDWLRQ VROXWLRQV WKHUHIRUH DQ HPHUJHQF\ VWRS RI WKH V\VWHP LV DFWLYDWHG 7KLV VROXWLRQ LV IXQGDPHQWDO EHFDXVH LW QRQHWKHOHVV DOORZV WKH VWRSSLQJ RI WKH V\VWHP DQG WR UHGXFH SRVVLEOH GDPDJHV DQG LQGHHG DYRLG GDQJHURXV VLWXDWLRQV IRU WKH RSHUDWRUV

)LJXUH  9HORFLWLHV DQG UHVLGXDO HYROXWLRQ ZLWK PHFKDQLFDO IDXOW

%\ DQDO\]LQJ WKH  UHVLGXDOV ZH DUH DEOH WR VHH WKDW WKH VHWWLQJ RI D ¿[HG WKUHVKROG ZKLFK WDNHV WKH QRLVH LQWR DFFRXQW DOORZV WKH GHWHFWLRQ RI DQ RFFXUUHQFH RI RQH RI WKH WKUHH IDXOWV DQG VR SHUIRUP DQ HPHUJHQF\ VWRS $W WKLV SRLQW WKH PDLQWHQDQFH WHDP ZLOO EH LQ FKDUJH RI WKH GLDJQRVLV WR UHSDUH WKH V\VWHP

,9 )$8/7 72/(5$17 *5,33(5

2XU ZRUN LQ WKLV SDUW LV WR GHVLJQ WKH GLIIHUHQW VWDJHV RI D IDXOW WROHUDQW JULSSHU VKRZQ LQ )LJXUH  WKLV PHDQV WKH JULSSHU FDQ WROHUDWH IDXOWV ZLWKRXW ORVLQJ LWV RSHUDWLRQDO FDSDELOLW\

)LJXUH  7KH JULSSHU DQG LWV FRQWURO

:H KDYH RQO\ GHDOW ZLWK WKH IDXOWV ZH ZHUH DEOH WR VROYH GXH WR WKH DFFRPPRGDWLRQ VWDJH ZKLFK PXVW FRQWURO WKH KDUGZDUH time(,) O,~ INUIOUOI 11mc(S (S 1 1.S 2 2,S J J.S 4 4,S S S,S -I

\_

limt(f)) Electronic analog control Microcontroller Fault detection

DQG VRIWZDUH UHFRQ¿JXUDWLRQ 7KH FRQVLGHUHG IDXOWV RULJLQDWH LQ WKH HOHFWURQLF LQWHUIDFHV DQG IRU DQ HI¿FLHQW VXSHUYLVLRQ ZH KDYH GHVLJQHG WKH ZKROH FRQWURO RI WKH JULSSHU VRIWZDUH DQG KDUGZDUH 7KH HOHFWURQLF LQWHUIDFHV FRQFHUQHG E\ WKH IDXOW RFFXUUHQFH DUH GXSOLFDWHG WR HQVXUH D FRQWLQXHG URERW WDVN $OO WKH GXSOLFDWH HOHFWURQLF FRPSRQHQWV DUH PRXQWHG RQ DQ HOHFWURQLF ERDUG QDPHO\ WKH UHGXQGDQW ERDUG $ GHFLVLRQ V\VWHP KDV WR FRQWURO WKH VZLWFKLQJ EHWZHHQ WKH QRUPDO DQG WKH UHGXQGDQW ERDUGV DV VHHQ LQ )LJXUH 

)LJXUH  6ZLWFKLQJ SULQFLSOH

7KH IDLOXUH RI WKH JULSSHU FDQ EH VKRZQ LQ WZR GLIIHUHQW ZD\V

• HLWKHU WKH JUDVSLQJ IRUFH LV WRR ZHDN DQG FRQVHTXHQWO\

WKH REMHFW ZLOO IDOO

• RU WKH JUDVSLQJ IRUFH LV WRR VWURQJ DQG VRPH REMHFWV PD\

EH VPDVKHG

7KH IDXOW DQDO\VLV FDUULHG RXW LQ VHFWLRQ ,,$ RQ WKH ZKROH V\VWHP KDV HQDEOHG XV WR GH¿QH WKH NLQG RI IDXOWV ZKLFK FDQ RFFXU RQ WKH V\VWHP :H DUH DEOH WR EULQJ D FRQFUHWH UHFRQ¿JXUDWLRQ VROXWLRQ WR WKH HOHFWURQLF IDXOWV 7KHVH IDXOWV DUH JHQHUDWHG WKDQNV WR VZLWFKHV DOORZLQJ WKH VKRUWFLUFXLW RI LQSXWV RI VRPH RSHUDWLRQDO DPSOL¿HU HLWKHU WR WKH JURXQG RU WR WKH VXSSO\ YROWDJH ,W PXVW EH QRWHG WKDW VRPH IDXOWV RULJLQDWLQJ LQ HOHFWURQLF LQWHUIDFHV GR QRW FDXVH WKH PRGHO EUHDNGRZQ WKH V\VWHP UHPDLQV FRQVLVWHQW )RU H[DPSOH D VKRUWFLUFXLW RQ DQ RSHUDWLRQDO DPSOL¿HU ZLOO FDXVH D KLJK RU ORZ VDWXUDWLRQ LQ LWV RXWSXW 7KLV VDWXUDWHG VLJQDO FRXOG EH WKH LPDJH RI D PD[LPDO UHIHUHQFH LQSXW DQG WKXV EH LQWHUSUHWHG DV D QRUPDO RSHUDWLRQ

$ 0RWRU FXUUHQW FRQWURO

,W LV QHFHVVDU\ WR FRQWURO WKH WRUTXH GHYHORSSHG E\ WKH JULSSHU VR DV WR SHUIRUP PDQLSXODWLRQV RI GLIIHUHQW IRUFHV 7KH DQDORJ FRQWURO LV FDUULHG RXW LQ DGMXVWLQJ WKH PRWRU FXUUHQW ZKLFK SXWV D SUHVVXUH IRUFH RQ WKH JULSSHU WKURXJK D WUDQVPLVVLRQ V\VWHP 7KH PRWRU LV D '& PRWRU RI 15W XQGHU D 12V SRZHU VXSSO\ )URP DQ HOHFWULFDO SRLQW RI YLHZ WKH PRWRU FDQ EH VHHQ DV D ¿UVW RUGHU V\VWHP ZKHQ WKH JULSSHU JUDVSV WKH REMHFW 8S WR WKLV YHU\ SRLQW WKH PRWRU LV DW UHVW WKH YHORFLW\ Ω LV HTXDO WR  DQG WKXV KcΩ = 0 7KH WUDQVIHU IXQFWLRQ EHWZHHQ WKH

PRWRU FXUUHQW DQG WKH GHVLUHG FXUUHQW LV JLYHQ LQ WKH IROORZLQJ IRUPXOD imes ides = K1K3Ki+ pK1K3Kp Lp2+ (R + K2K3Kp) p + K2K3Ki, ZKHUH • _K1LV WKH JDLQ RI WKH GLJLWDOWRDQDORJ FRQYHUWHU • K2LV WKH JDLQ RI WKH IHHGEDFN ORRS • K3LV WKH JDLQ RI WKH SRZHU DPSOL¿HU

• Kp DQG Ki DUH WKH SDUDPHWHUV RI WKH FRQWUROOHU XVLQJ D

SURSRUWLRQDO SOXV LQWHJUDEOH ODZ

Γ LV WKH ORDG WRUTXH DQG Γs LV WKH GU\ IULFWLRQ WRUTXH %RWK

DUH VHHQ DV GLVWXUEDQFHV 7KH SURFHGXUH WR FDOFXODWH Kp DQG

Ki LV EDVHG RQ WKH GLUHFW GHVLJQ PHWKRG RI 5DJD]]LQL >@ )URP WKH HTXDWLRQ imes ides = K1K3Ki+ pK1K3Kp Lp2+ (R + K2K3Kp) p + K2K3Ki = k 1 + τ2p,

ZKHUH k DQG τ2 DUH FKRVHQ DFFRUGLQJ WR WKH YDOXHV RI 7DEOH

,, ZH REWDLQ k = K2 K1 Ki = K2K31  −L τ22 + R+K2K3Kp τ2  DQG Kp= _K2K31  L τ2 

 7KH QXPHULFDO YDOXHV RI DOO SDUDPHWHUV DUH JLYHQ LQ 7DEOH ,, L R τ2 K1 K2 k K3 Kp Ki 13 mh 21 Ω 0.5 ms 11 11 1 1.85 1.27 2064 7DEOH ,, &855(17 &21752/ 3$5$0(7(56 % )DXOW GHWHFWLRQ DQG IDXOW DFFRPPRGDWLRQ

7KH JHQHUDWLRQ RI WKH UHVLGXDO LV REWDLQHG E\ FRPSDULQJ WKH GHVLUHG LQSXW ZLWK WKH PHDVXUHG RXWSXW ,W LV LQ IDFW WKH HUURU VLJQDO RI WKH FRQWURO ORRS H[SUHVVHG DV

r(t) = ides− imes 

7KH IDXOW LV PRQLWRUHG XQGHU VWHDG\VWDWH FRQGLWLRQV DQG LQ D GXUDWLRQ ORQJ HQRXJK VR WKDW WKHUH FDQQRW EH DQ\ FRQIXVLRQ ZLWK WKH DFWLYLW\ RI WKH UHJXODWRU UHVXOWLQJ IURP WKH WUHDWPHQW RI DQ\ GLVWXUEDQFH ,Q WKHVH RSHUDWLQJ FRQGLWLRQV WKH XVH RI D ¿[HG WKUHVKROG LV VXLWDEO\ DSSURSULDWH DV H[SUHVVHG LQ >@

7KLV VLPSOH UHVLGXDO HYDOXDWLRQ LV DFKLHYHG E\ FRPSDULQJ r(t) ZLWK D ¿[HG WKUHVKROG λ DV IROORZV



r(t) ≤ λ  QR IDXOW r(t) > λ  IDXOW RFFXUV.

7KH WKUHVKROG OHYHO ZDV GH¿QHG E\ H[SHULPHQWV ,I WKH UHVLGXDO r(t) H[FHHGV WKH WKUHVKROG D IDXOW ZLOO KDYH RFFXUUHG DQG D VLJQDO JHQHUDWHG WR VZLWFK WR WKH UHGXQGDQW ERDUG VHH )LJXUH  'LVFXVVLRQV DERXW WKH XVH RI FRPSDUDWRUV ZLWK GLIIHUHQW WKUHVKROG YROWDJHV DUH JLYHQ LQ >@ ZKHUH D PHWKRG RI IDXOW GLDJQRVLV RI DQDORJ SDUWV RI HOHFWURQLF HPEHGGGHG V\VWHPV LV SUHVHQWHG

7KH UHFRQ¿JXUDWLRQ SUREOHPV DUH WKDW PXFK HDVLHU WR VROYH DV ZH KDYH GHVLJQHG DOO WKH HOHFWURQLF FRQWURO ERDUGV DV ZHOO

Numerical control Artificial electronic~ - - ' - - - ~ ~ - - ' - - - ~ fault _Electronic analog control Redundant electronic analog control Switch Gripper

I I

)LJXUH  6ZLWFK FRQWURO

DV WKH UHGXQGDQW ERDUG LGHQWLFDO WR WKH QRUPDO ERDUG %RWK FDUGV DUH JDWKHUHG RQ D VLQJOH ERDUG 7KLV ERDUG LV FRQQHFWHG WR WKH & )'. GHYHORSPHQW NLW DQG DOO SURJUDPV DUH ZULWWHQ LQ & ODQJXDJH

9 &21&/86,21

$V IRU WKH ZULVW XVLQJ WKH PRGHO EDVHG PHWKRG DQG PRUH SUHFLVHO\ WKH REVHUYHU GHVLJQ ZH KDYH VKRZQ WKDW DOO DUWL¿FLDO LQMHFWHG IDXOWV ZHUH GHWHFWHG 7KLV WHFKQLTXH RI IDXOW GHWHFWLRQ LV DSSURSULDWH EHFDXVH WKH PRGHO LV DOUHDG\ LPSOHPHQWHG GXH WR WKH YHORFLW\ FRQWURO GHVLJQ 7KDQNV WR VHYHUDO UHVLGXDOV ZH ZHUH DEOH WR GLVWLQJXLVK EHWZHHQ HOHFWURQLF DQG PHFKDQLFDO IDXOWV

:LWK UHJDUGV WR WKH JULSSHU ZH KDYH RQO\ GHDOW ZLWK WKH IDXOWV ZH ZHUH DEOH WR VROYH DW WKH DFFRPPRGDWLRQ VWDJH 7KH FRQVLGHUHG IDXOWV RULJLQDWH LQ WKH HOHFWURQLF LQWHUIDFHV DQG IRU DQ HI¿FLHQW VXSHUYLVLRQ ZH GHVLJQHG WKH ZKROH FRQWURO RI WKH JULSSHU 7KRXJK WKLV ZRUN UHTXLUHG D JUHDW GHDO RI HQJLQHHU LQJ LQYHVWPHQW GXULQJ WZR \HDUV WKDW LV WKH FRQWULEXWLRQ RI VWXGHQWV LQWHUQVKLSV DQG WKH WHFKQLFLDQ LQYROYHPHQW LW DOVR EURXJKW WR WKH IRUH WKH FORVH OLQN WKDW LV DEVROXWHO\ QHFHVVDU\ EHWZHHQ QRUPDO PRGH GHVLJQ DQG DOO UHFRQ¿JXUDWLRQ SUREOHPV

5()(5(1&(6

>@ 0F $YR\ 7 -lPVl-RXQHOD 6 / 3DWWRQ 5 - 3HUULHU 0 :HEHU + DQG *HRUJDNLV &  0LOHVWRQH UHSRUW IRU DUHD  LQGXVWULDO DSSOLFDWLRQV &RQWURO (QJLQHHULQJ 3UDFWLFH  

>@ %ODQNH 0 .LQQDHUW 0 /XQ]H - DQG 6WDURVZLHFNL 0  'LDJQRVLV DQG IDXOWWROHUDQW FRQWURO 6SULQJHU

>@ &KHQ - DQG 3DWWRQ 5 -  5REXVW PRGHOEDVHG IDXOW GLDJQRVLV IRU G\QDPLF V\VWHPV .OXZHU $FDGHPLF 3XEOLVKHUV

>@ 9HQNDWDVXEUDPDQLDQ 9 5HQJDVZDP\ 5 <LQ . DQG .DYXU\ 6 1  $ UHYLHZ RI SURFHVV IDXOW GHWHFWLRQ DQG GLDJQRVLV 3DUW , 4XDQ WLWDWLYH PRGHOEDVHG PHWKRGV &RPSXWHUV DQG &KHPLFDO (QJLQHHULQJ  

>@ 6LPDQL 6 DQG 3DWWRQ 5 -  )DXOW GLDJQRVLV RI DQ LQGXVWULDO JDV WXUELQH SURWRW\SH XVLQJ D V\VWHP LGHQWL¿FDWLRQ DSSURDFK &RQWURO (QJLQHHULQJ 3UDFWLFH  

>@ %DUW\V 0 3DWWRQ 5 6\IHUW 0 'H ODV +HUDV 6 DQG 4XHYHGR -  ,QWURGXFWLRQ WR WKH '$0$',&6 DFWXDWRU )', EHQFKPDUN VWXG\ &RQWURO (QJLQHHULQJ 3UDFWLFH  

>@ %KDJZDW $ 6ULQLYDVDQ 5 DQG .ULVKQDVZDP\ 3 5  0XOWL OLQHDU PRGHOEDVHG IDXOW GHWHFWLRQ GXULQJ SURFHVV WUDQVLWLRQV &KHPLFDO (QJLQHHULQJ 6FLHQFHV  

>@ 5RGULJXHV 0 7KHLOOLRO ' $GDP0HGLQD 0 DQG 6DXWHU '  $ IDXOW GHWHFWLRQ DQG LVRODWLRQ VFKHPH IRU LQGXVWULDO V\VWHPV EDVHG RQ PXOWLSOH RSHUDWLQJ PRGHOV &RQWURO (QJLQHHULQJ 3UDFWLFH   >@ 6DPDQWDUD\ $ . *KRVWDO 6 . DQG &KDNUDERUW\ 6  %RQG

JUDSK PRGHO EDVHG GHVLJQ RI VXSHUYLVLRQ DOJRULWKP IRU GLVWULEXWHG IDXOW WROHUDQW FRQWURO V\VWHPV ,QWHUQDWLRQDO -RXUQDO RI $XWRPDWLRQ DQG &RQWURO   

>@ =KRX - DQG +XDQJ ;  $SSOLFDWLRQ RI D QHZ IDXOW GHWHFWLRQ DSSURDFK WR DHURFUDIW¶V FORVHGORRS FRQWURO V\VWHP ,&,5$ 3DUW ,, 6SULQJHU9HUODJ  

>@ .HWWXQHQ 0 =KDQJ 3 DQG -lPVl-RXQHOD 6 /  $Q HPEHGGHG IDXOW GHWHFWLRQ LVRODWLRQ DQG DFFRPPRGDWLRQ V\VWHP LQ D PRGHO SUH GLFWLYH FRQWUROOHU IRU DQ LQGXVWULDO EHQFKPDUN SURFHVV &RPSXWHUV DQG &KHPLFDO (QJLQHHULQJ  

>@ 0DUFX 7 .|SSHQ6HOLJHU % 6WFKHU 5  'HVLJQ RI IDXOW GHWHFWLRQ IRU D K\GUDXOLF ORRSHU XVLQJ G\QDPLF QHXUDO QHWZRUNV &RQWURO (QJLQHHULQJ 3UDFWLFH  

>@ =DNL 2 %URZQ . )OHWFKHU - DQG /DQH '  'HWHFWLQJ IDXOWV LQ KHWHURJHQHRXV DQG G\QDPLF V\VWHPV XVLQJ '63 DQG DJHQWEDVHG DUFKLWHFWXUH (QJLQHHULQJ $SSOLFDWLRQV RI $UWL¿FLDO ,QWHOOLJHQFH  

>@ )LODUHWRY 9) 9XNREUDWRYLF 0. DQG =KLEDERE $1  3DULW\ UHODWLRQ DSSURDFK WR IDXOW GLDJQRVLV LQ PDQLSXODWLRQ URERWV 0HFKDWURQ LFV  

>@ 1RXUHGGLQH ) /DUURTXH % DQG 5RWHOOD )  )DXOW WROHUDQFH LQ URERWLFV ,QWHUQDWLRQDO -RXUQDO RI 0HFKDWURQLFV DQG 0DQXIDFWXULQJ 6\VWHPV YRO 1ƒ 

>@ .RUD\HP 0 DQG ,UDYDQL $  ,PSURYHPHQW RI S DQG U PHFKDQLFDO URERWV UHOLDELOLW\ DQG TXDOLW\ DSSO\LQJ )0($ DQG 4)' DSSURDFKHV 5RERWLFV DQG &RPSXWHU,QWHJUDWHG 0DQXIDFWXULQJ   

>@ 6LOLFRQ /DEV KWWSVZZZVLODEVFRP 0L[HG6LJQDO  .% ,63 )ODVK 0&8 )DPLOO\

>@ 3DWWRQ 5- DQG &KHQ -  2EVHUYHUEDVHG IDXOW GHWHFWLRQ DQG LVRODWLRQUREXVWQHVV DQG DSSOLFDWLRQV &RQWURO (QJLQHHULQJ 3UDFWLFH  

>@ ,VHUPDQQ  6XSHUYLVLRQ IDXOW GHWHFWLRQ DQG IDXOWGLDJQRVLV PHWKRGV$Q LQWURGXFWLRQ &RQWURO (QJLQHHULQJ 3UDFWLFH   >@ *DUFLD ($ DQG )UDQFN 30  'HWHUPLQLVWLF QRQ OLQHDU REVHUYHU EDVHG DSSURDFKHV WR IDXOW GLDJQRVLV  $ VXUYH\ &RQWURO (QJLQHHULQJ 3UDFWLFH  

>@ )UDQNOEURXJKW WR WKH IRUHLQ * ) 3RZHO - ' DQG :RUNPDQ 0 /  'LJLWDO &RQWURO RI '\QDPLF 6\VWHPV 6HFRQG (GLWLRQ $GGLVRQ :HVOH\

>@ &]DMD  $ PHWKRG RI IDXOW GLDJQRVLV RI DQDORJ SDUWV RI HOHFWURQLF HPEHGGHG V\VWHPV ZLWK WROHUDQFHV 0HDVXUHPHQW  

; _

~ switch

i,___':r-

r ~