Signals and control systems: application for home health monitoring
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| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
London
ISTE
2016
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| Series: | Digital signal and image processing series
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| Subjects: | |
| Online Access: | Inhaltsverzeichnis Klappentext |
| Physical Description: | xx, 311 Seiten Diagramme |
| ISBN: | 9781786301277 178630127X |
Staff View
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Record in the Search Index
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| adam_text | Contents
f)
Preface..................................................................... ix
Chapter 1. Control, Servo-mechanisms and
System Regulation ........................................................... 1
1.1. Introduction ....................................................... 1
1-1.1- Generalities and definitions.................................... 1
1.1.2. Control law synthesis.......................................... 5
1.1.3. Comprehension and application exercises................... . 7
1.2. Process control.................................................... 11
1.2.1. Correction in the frequency domain............................. 11
1.2.2. Phase advance controller and PD controller .................. 12
1.2.3. Phase delay controller and integrator compensator............ 14
1.2.4. Proportional, integral and derivative (PID) control............ 17
1.3. Some application exercises......................................... 23
1.3.1. Identification of the transfer function and control............ 23
1.3.2. PI control..................................................... 30
1.3.3. Phase advance control.......................................... 33
1.4. Some application exercises......................................... 36
1.5. Application 1: stabilization of a rigid robot with pneumatic
actuator ............................................................... 39
1.5.1. Conventional approach.......................................... 41
1.6. Application 2: temperature control of an oven...................... 51
1.6.1. Modeling and identification study.............................. 51
Chapter 2. System Process Control .......................................... 55
2.1. Introduction ...................................................... 55
2.2. Modeling........................................................... 55
2.2.1. Introduction................................................... 55
vi Signals and Control Systems
2.3. Governability, controllability and observability................... 56
2.3.1. Characteristic polynomial, minimal polynomial and
Cayley—Hamilton theorem.................................................. 56
2.3.2. Governability or controllability ................................. 56
2.3.3. Observability..................................................... 63
2.3.4. Observer.......................................................... 68
2.3.5. Observer for state reconstruction................................. 69
2.3.6. Minimal state-space representation................................ 76
2.4. State feedback, control by poles placement and stability........... 79
2.4.1. State feedback control......................................... 79
2.4.2. Poles placement and stabilizability ........................... 80
2.4.3. Finite֊time response for a discrete system, deadbeat response ... 83
2.4.4. Use of observers in control: separation principle.............. 85
2.5. Linear quadratic (LQ) control ..................................... 86
2.5.1. Linear quadratic regulator .................................... 89
2.6. Optimal control (LQ).................................................. 90
2.7. Comprehension and application exercises............................... 94
Chapter 3. Actuators: Modeling and Analysis ................................ 117
3.1. Introduction: electric, hydraulic and pneumatic actuators.......... 117
3.1.1. Representation methods for physical systems ................... 118
3.1.2. Modeling of a few constituents of physical systems............. 120
3.2. Transmission chains, actuators and sensors......................... 126
3.2.1. Electric actuators in robotics................................... 126
3.2.2. Motor speed torque characteristic................................ 131
3.2.3. Dynamic behavior or transient behavior........................... 131
3.2.4. Electric systems motor load ..................................... 134
3.3. Pneumatic actuators.................................................. 137
3.3.1. Pneumatic system modeling........................................ 137
3.3.2. Frictions model.................................................. 145
3.4. Hydraulic actuators.................................................. 149
3.4.1. System description .............................................. 149
3.4.2. Mechanical model................................................. 151
3.4.3. Hydraulic actuator model......................................... 152
3.5. Application exercises................................................ 155
Contents vii
Chapter 4. Digital Control and Polynomial Approach........................ 161
4.1. Introduction to digital control ................................. 161
4.1.1. Digital controller synthesis by transposition................ 162
4.1.2. Euler’s transposition.......................................... 164
4.1.3. Choice of the sampling period (Shannon’s theorem)............ . 170
4.2. PID controller synthesis and its equivalent digital RST.......... 171
4.2.1. Standard controllers........................................... 171
4.2.2. Study of digital PIDs.......................................... 172
4.2.3. Digital RST controller synthesis............................... 178
4.2.4. Choice of poles and zeros to compensate...................... 179
4.2.5. Computation of polynomials R, S and T ....................... 180
4.2.6. Additional objectives for synthesis ........................... 181
4.3. Digital control by poles placement............................... 182
4.3.1. Choice of the sampling period ............................... 183
4.4. Diophantine, Bézout, greatest common divisor, least common multiple
and division............................................................ 183
4.4.1. Polynomial arithmetic.......................................... 183
4.4.2. Diophantine equation ax 4- by = c and Bachet-Bézout theorem . . 184
4.4.3. Bézout’s identity.............................................. 185
4.4.4. Greatest common divisor...................................... 185
4.4.5. Least common multiple........................................ 185
4.5. A few comprehension and application exercises..................... 186
Chapter 5. NAO Robot ....................................................... 193
5.1. Introduction ...................................................... 193
5.2. Home care project.................................................. 194
5.2.1. Chorégraphe software........................................... 194
5.2.2. Nao Matlab SDK research........................................ 199
5.2.3. Nao and home care.............................................. 206
5.2.4. The actions to be made......................................... 207
5.3. Details of the various programs ................................... 208
5.3.1. Ask for news................................................... 208
5.3.2. CallFirefighters box........................................... 212
5.3.3. CallNeighbor box............................................... 213
5.3.4. CallFamily box ................................................ 215
5.3.5. Collision detection............................................ 215
5.3.6. Special actions: waking-up..................................... 216
5.3.7. Morning hygiene ............................................... 220
5.3.8. Gymnastics..................................................... 221
5.3.9. Nurse call..................................................... 225
5.3.10. Memory game................................................... 227
5.3.11. Drugs reminder................................................ 232
5.3.12. Reading..................................................... 233
viii Signals and Control Systems
53.13. Listening to music........................................... 235
53.14. Multiplication game.......................................... 239
53.15. Nao’s dance.................................................. 243
53.16. Memory game.................................................. 245
53.17. Detect person on the ground ................................. 247
53.18. At any time.................................................. 251
5.4. Conclusion....................................................... 253
5.4.1. Nao’s limitations and possible improvements ................ 253
Chapter 6. Application Problems with Solutions........................... 255
6.1. Exercise 6.1: car suspension.................................... 255
6.1.1. Modeling..................................................... 256
6.1.2. Analysis .................................................. 257
6.2. Exercise 6.2: electromechanical system........................... 259
6.2.1. Modeling..................................................... 260
6.2.2. Analysis .................................................... 262
6.3. Exercises: identification and state-space representation......... 263
63.1. Exercise 63 ................................................. 263
63.2. Exercise 6.4................................................. 265
6.33. Exercise 6.5.................................................. 268
6.3.4. Exercise 6.6................................................. 270
6.3.5. Exercise 6.7 ................................................ 276
6.4. Exercises: observation and control of nonlinear systems......... 278
6.4.1. Exercise 6.8 .............................................. 278
6.4.2. Exercise 6.9................................................. 280
6.43. Exercise 6.10 288
6.4.4. Exercise 6.11 291
6.4.5. Exercise 6.12 293
6.4.6. Exercise 6.13 296
6.4.7. Exercise 6.14 300
6.4.8. Exercise 6.15 300
Bibliography ............................................................. 307
Index
. . . 313
The purpose of this book is the study of signals and
deterministic, linear, time-invariant, finite and causal
dimension systems. A set of practical tools is presented for
automatic and signal processing. Methods of representation
of dynamic linear systems and the analysis of their behavior
are put forward. The identification and synthesis of control
laws for stabilization and regulation is then discussed.
The study of characteristic signal properties and systems,
and knowledge of mathematical tools and treatment
methods and analysis are of increasing importance, and
continue to evolve. The reason for this is that the current
state of technology, in particular electronics and computing,
enables the production of increasingly advanced and
effective processing systems which are becoming less and
less expensive, despite their complexity. The aims and
requirements of these systems generally depends on their
applications, and this book discusses an application in home
assistance: the NAO robot.
Smain Femmam received his MSc and PhD in Signal
Processing and Computers from Versailles University in
France. He is currently Senior Director of Research at the
University of Haute-Alsace and is on the editorial board of
several journals. His research interests include signal
processing for wireless communication-computers,
estimation theory, adaptive filtering, array processing,
distributed and embedding systems, complex theory and
robotics.
*^= it= Wiley
www.iste.co.uk
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| indexdate | 2024-07-10T07:40:51Z |
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| isbn | 9781786301277 178630127X |
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| spelling | Femmam, Smain Verfasser aut Signals and control systems application for home health monitoring Smain Femmam London ISTE 2016 xx, 311 Seiten Diagramme txt rdacontent n rdamedia nc rdacarrier Digital signal and image processing series Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Pflegehilfe (DE-588)4121470-5 gnd rswk-swf Regelungssystem (DE-588)4134712-2 gnd rswk-swf Systementwurf (DE-588)4261480-6 gnd rswk-swf Systementwurf (DE-588)4261480-6 s Regelungssystem (DE-588)4134712-2 s Robotik (DE-588)4261462-4 s DE-604 Mobiler Roboter (DE-588)4191911-7 s Pflegehilfe (DE-588)4121470-5 s Digitalisierung UB Bayreuth - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029409470&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Bayreuth - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029409470&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext |
| spellingShingle | Femmam, Smain Signals and control systems application for home health monitoring Mobiler Roboter (DE-588)4191911-7 gnd Robotik (DE-588)4261462-4 gnd Pflegehilfe (DE-588)4121470-5 gnd Regelungssystem (DE-588)4134712-2 gnd Systementwurf (DE-588)4261480-6 gnd |
| subject_GND | (DE-588)4191911-7 (DE-588)4261462-4 (DE-588)4121470-5 (DE-588)4134712-2 (DE-588)4261480-6 |
| title | Signals and control systems application for home health monitoring |
| title_auth | Signals and control systems application for home health monitoring |
| title_exact_search | Signals and control systems application for home health monitoring |
| title_full | Signals and control systems application for home health monitoring Smain Femmam |
| title_fullStr | Signals and control systems application for home health monitoring Smain Femmam |
| title_full_unstemmed | Signals and control systems application for home health monitoring Smain Femmam |
| title_short | Signals and control systems |
| title_sort | signals and control systems application for home health monitoring |
| title_sub | application for home health monitoring |
| topic | Mobiler Roboter (DE-588)4191911-7 gnd Robotik (DE-588)4261462-4 gnd Pflegehilfe (DE-588)4121470-5 gnd Regelungssystem (DE-588)4134712-2 gnd Systementwurf (DE-588)4261480-6 gnd |
| topic_facet | Mobiler Roboter Robotik Pflegehilfe Regelungssystem Systementwurf |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029409470&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029409470&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
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