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Estimation and control of robotic ra...

Zeng, Fan.

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Estimation and control of robotic radiation-based processes.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Estimation and control of robotic radiation-based processes./
作者:	Zeng, Fan.
面頁冊數:	158 p.
附註:	Source: Dissertation Abstracts International, Volume: 71-10, Section: B, page: 6254.
Contained By:	Dissertation Abstracts International71-10B.
標題:	Engineering, Automotive. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3419313
ISBN:	9781124191164

Estimation and control of robotic radiation-based processes.
Zeng, Fan.

Estimation and control of robotic radiation-based processes. - 158 p.

Source: Dissertation Abstracts International, Volume: 71-10, Section: B, page: 6254.

Thesis (Ph.D.)--Clemson University, 2010.

This dissertation presents a closed-loop control and state estimation framework for a class of distributed-parameter processes employing a moving radiant actuator. These radiation-based processes have the potential to significantly reduce the energy consumption and environmental impact of traditional industrial processes. Successful implementation of these approaches in large-scale applications requires precise control systems. This dissertation provides a comprehensive framework for: (1) integration of trajectory generation and feedback control, (2) online distributed state and parameter estimation, and (3) optimal coordination of multiple manipulated variables, so as to achieve elaborate control of these radiation-based processes for improved process quality and energy efficiency.

ISBN: 9781124191164Subjects--Topical Terms:

1018477
Engineering, Automotive.

Estimation and control of robotic radiation-based processes.
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245 1 0 $a Estimation and control of robotic radiation-based processes.
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500 $a Source: Dissertation Abstracts International, Volume: 71-10, Section: B, page: 6254.
500 $a Adviser: Beshahwired Ayalew.
502 $a Thesis (Ph.D.)--Clemson University, 2010.
520 $a This dissertation presents a closed-loop control and state estimation framework for a class of distributed-parameter processes employing a moving radiant actuator. These radiation-based processes have the potential to significantly reduce the energy consumption and environmental impact of traditional industrial processes. Successful implementation of these approaches in large-scale applications requires precise control systems. This dissertation provides a comprehensive framework for: (1) integration of trajectory generation and feedback control, (2) online distributed state and parameter estimation, and (3) optimal coordination of multiple manipulated variables, so as to achieve elaborate control of these radiation-based processes for improved process quality and energy efficiency.
520 $a The developed framework addresses important issues for estimation and control of processes employing a moving radiant actuator from both practical and theoretical aspects. For practical systems, an integrated motion and process control approach is first developed to compensate for disturbances by adjusting either the radiant power of the actuator or the speed of the robot end effector based on available process measurements, such as temperature distribution. The control problem is then generalized by using a 1D scanning formulation that describes common characteristics of typical radiant source actuated processes. Based on this 1D scanning formulation, a distributed state and parameter estimation scheme that incorporates a dual extended Kalman filter (DEKF) approach is developed to provide real-time process estimation. In this estimation scheme, an activating policy accompanying the moving actuator is applied in order to reduce the computational cost and compensate for observability changes caused by the actuator's movement. To achieve further improvements in process quality, a static optimization and a rule-based feedback control strategy are used to coordinate multiple manipulated variables in open-loop and closed-loop manners. Finally, a distributed model predictive control (MPC) framework is developed to integrate process optimization and closed-loop coordination of manipulated variables. Simulation studies conducted on a robotic ultraviolet (UV) paint curing process show that the developed estimation and control framework for radiant source actuated processes provide improved process quality and energy efficiency by adaptively compensating for disturbances and optimally coordinating multiple manipulated variables.
590 $a School code: 0050.
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650 4 $a Engineering, Robotics. $3 1018454
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773 0 $t Dissertation Abstracts International $g 71-10B.
790 1 0 $a Ayalew, Beshahwired, $e advisor
790 1 0 $a Kurfess, Thomas R. $e committee member
790 1 0 $a Hubing, Todd H. $e committee member
790 1 0 $a Vahidi, Ardalan $e committee member
790 1 0 $a Omar, Mohammed A. $e committee member
790 $a 0050
791 $a Ph.D.
792 $a 2010
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3419313