Search

versuchte er, die moderne Robotertechnik, welche durch intelligente, kooperative, mobile Roboter gekennzeichnet ist, und insbesondere die Rolle Osterreichs darzustellen. Er konzentrierte sich dabei auf ,,Multi-Agent-Systems" - kooperierende intelligente Roboter - sowie auf Entwicklungen in Richtung menschenahnlicher (humanoider) Roboter. Professor Heinz-Bernd Matthias von der Technischen Universit~it Wien widmete sich den Zusammenhangen zwischen Automatisierungstechnik und Energie. Die Automatisierungstechnik spielt derzeit sowohl in der hydraulischen Messtechnik als auch bei Entwicklungs- und Reengineering-Software von Wasserkraftanlagen eine immer bedeutendere Rolle. Entwicklungen auf dem Gebiet der modemen Messtechnik behandelte Professor P. Herbert Osanna in seinem Vortrag. Er spannte dabei den Bogen von der Mikro- und Nanotechnologie und dabei auftretenden Messproblemen im atomaren Bereich bis hin zu den Messproblemen in der Automatisierung und Produktion sowie bei biomedizinischen Anwendungen.

In this paper the term "Computer Aided Systems Engineering (CASE)" is introduced. As a logical consequence of the fields of "Cybernetics", "Systems Theory" and "Computer Aided Systems Theory (CAST)" which are more or less related to theoretical methods — CASE should be practical oriented.

Dealing with robotics means dealing with very much different subjects. Therefore CA methods are proper to help finding qualified solutions. The paper presents an overview about the problems, which arise in robotics. Furthermore some software-packages dealing with these problems are described.

There are three possible options for considering appropriate models tor static and dynamic behaviour of nations and for the interactions between them, namely the ‘macroeconomical’ approach, the ‘power’- approach and the ‘ideological’ approach. Control engineering is frequently used to build up mathematical models, consisting e.g. of differential or difference equations, transfer functions, state space equations, etc. especially for preferably technical systems. Therefore in this paper an overview about mathematical models for systems of different complexity is given. These models are well known in contral engineering and have to be adapted for the purposes of international stability. Fundamentals of application ot appropriate control. algurithms will also discussed.

The aim of the paper is the comparison of three known identification and parameter estimation methods for linear timevarying systems. These three methods are a filter algorithm, a modification of the method of instrumental variables and a correlation method described by the author at the last symposium. With each method tests were carried out on a first-order lag element with stochastically varying gain, as well as a secondorder lag element, also with stochastically varying damping. The time-dependent parametes were changed relative to the system behaviour at low, medium and fast rates. Results of tests performed under equal conditions on these simulated processes with the above-mentioned identification methods permit a comparison of methods for accuracy, time taken for evaluation and necessary a priori information.

Conflict resolution was dominated by more or less verbal approaches some years ago. Nowadays system engineering methods are applied to such problems. These methods based on well known principles of control engineering, mathematics, and statistics and offer the possibilty to obtain a quantitative solution. One of the main problems arising is the description of the static and dynamic behavior of conflict partners or systems in form of mathematical methods. Such models are determined either in theoretical or experimental way. Theoretical model building yields to complicated models difficult to handle. Therefore simple models are mostly used determined in a heuristic way. A efficient tool for the verification of such models is simulation. Starting with some remarks on modelling in conflict resolution in this paper as an example a simple model, well known from the literature, is discussed. First the model is formulated in terms of system engineering. Simulation results give a deeper insight in the advantages and disadvantages of using such simple models.

For complex assembling machines a handling device and a microcomputer controller will be presented first. The microcomputer controller based on commercial microprocessors is designed in plug-in technique of standard size. In its complete form 108 inputs, 48 outputs and 14 interrupt possibilities are available. The microcomputer controller was mainly designed for assembling machines - it can also be used for other machines or processes. A complete assembling machine consists of the frame, the feeding devices including the devices for separation, the handling devices and the control unit. The control unit monitors the handling devices as well as the feeding devices, the work transfer and all the other functions of the machine. Finally application examples of these microcomputer controllers on assembling machines for 2, 5 and 7 pieces are discussed.

Today most of the industrial robots applied in practice are controlled by means of conventional, linear control algorithms which are implemented in the control computer. The development of faster, weight weight robots yields to additional control problems. For this new generation of robots advanced digital control algorithms are necessary and have to be available in the nearest future. The model for the dynamic behavior is those of a nonlinear, timevarying, multivariable system. Such models are too complicated for the development of control algorithms. Further difficulties arise from the choice of optimal algorithms as well as parameters. A powerful tool for solving these problems is simulation. Therefore, a sufficient accurate model of an industrial robot with simple kinematic structure including the drives and gears was implemented at the analogue part of a hybrid computer system. Various digital control algorithms with the same structure but of different order have been simulated at the digital part. The resulting paths were plotted and offered the possibility to compare these.

The differential equations describing the dynamic behaviour of a robotic arm lncluding drives and gears are strongly coupled and highly nonlinear especially in case of an articulated arm. In order to allow the application of the well developed theory and control synthesis procedures for linear systems, a low order, coupled, linear and autonomous model is derived by linearization and order reduction which is - at least for nowadays stiff robots equipped with powerful drives - accurate enough for controller design and - if necessary - path prediction. The suggested procedure is simple and allows to estimate the influence of coupling terms as well as an easy updating of the model and/or controller parameters according to the actual working area

The working group "Educational Programs in Robotics" of the Technical Comittee on Education (EDCOM) started with the preparation of a worldwide survey report on this topic in 1984. This report should present educational programs in robotics at universities and other schools. In the following preliminary results will be given and discussed. Finally, as an example. the education in robotics in Austria is shortly described

A new concept for the control of air-conditioning plants will be presented. In contrast to well-known methods, static as well as dynamic nonlinearities of the air-conditioning device and the air-conditioned room are considered. The basic idea of the control concept consists in controlling the set values of conventional controllers by means of a superimposed “multivaiable cascade controller”. The basic model structure for the synthesis of the controller is a onesided coupled nonlinear two variable system, i.e. with two inputs and two outputs. The superimposed controller was also utilized for the decoupling of relative humidity from temperature and for the adjustment of its own parameters in dependence on the working point characterized by room temperature. It will be conveniently designed as a microcomputer-controller. Test results show an essentially better control accuracy and control performance with respect to the conventionally controlled pilot plant.

Industrial robots and handling devices will be of great importance in future. Today robots are used for various purposes in different industries. Main disadvantages of the robots used today are the very heavy construction, the relatively slow speed and the “unintelligence”. Therefore the next generation of robots will be more “intelligent”. Such robots have to be equipped with external sensors giving them additional information about their surroundings. In addition these robots will be faster and therefore they have to be lightweight constructions. The last two features will lead to socalled “flexible” robots which are very complicated to describe mathematically and to control The paper starts with a short description of the main parts of an industrial robot. After some general considerations on the construction of lightweight robots, some methods for the mechanical modelling of flexible robot structures are discussed and compared. Based on these various models for the dynamic behavior an overview of possible control methods and strategies is given

Microcomputers will be applied more intensively for the speed governing of water turbines. One advantage of these digital controllers is the possibility to design arbitrary control algorithms. For the determination of the optimal structure of the digital control algorithm and the calculation of the controller constants ("controller parameters") simple but accurate mathematical models for the dynamic behavior of the water turbine are necessary. Therefore more exact nonlinear and simple linear models are compared by simulation on a hybrid computer system. For a Francis turbine, a simple linear model was finally used for the design of an appropriate digital control algorithm. This complex digital algorithm was also simulated on the digital part of the hybrid computer system. For the determination of the controller parameters a synthesis method was programmed on the computer. Finally an outline of adjusting rules and the robustness of this algorithm is given.

The paper deals with the kinematics of an hydraulic driven robot arm which has been developed for teaching purposes. This robot has five rotational degrees of freedom and is controlled by means of a teach panel including a microprocessor. This teach panel was replaced by a personal computer with an appropriate interface. Various additional possibilities can be realized with this personal computer, e.g. calculation of connections between the stroke of the hydraulic pistons and the angles of the links, determination of the nonlinearities in these equations, connections between the robot coordinates and the cartesian world coordinates, programming of the robot in cartesian coordinates and more accurate positioning. After a short description of the robot and the commercial control panel as well as the personal computer the main part of the paper deals with the derivation of the dependence of the robot coordinates from the cartesian world coordinates and vice versa in form of equations. Due to these equations the connections between the measured relative coordinates and the robot coordinates are given. With these equations the calculation of the cartesian coordinates from the robot coordinates is possible. Based on these equations points of the working space of the robot may be calculated and plotted. The control-software for replacinq the teach panel by the personal computer is treated in the followino chapters. By means of these software-modules the programming of the robot in cartesian coordinates with a greater accuracy is possible. Finally a short outline concerning future works on this robot is given.

This survey gives a short introduction to the today robot structure and problems of motion control and some remarks for future aspects of lightweight, high performance robots, that will include parts with non negligible flexibilities. How the modelling of this time variant elastic deformations, a substantial part of any control strategy, can principally be done is shown based on the recent literature. The quasistatic method uses substitutive springs to describe the elastic deformations at special locations. For the dynamic behaviour of vibrating flexible links FE-methods, a vibration mode or shape functions approach or other combined methods may be applied. The characteristics of the FE-methods are their advantage of a realistic modelling of complex shaped links but with the drow back of high evaluation time. The vibration mode methods need a special knowledge to select the right set of functions but lead to short evaluation time. Combined methods are also based on a fracturizing of the deformable elements into smaller units, whose elastic properties can be described more easily. The modelling of the elastic properties and an adequate control will be an essential basis for a future time and energy efficient robot performance.

In this paper a method for controlling an air conditioning pilot plant will be presented. A multivariable cascade controller with two inputs and two outputs was superimposed upon a conventional controlled air conditioning device. The control accuracy for the temperature in the climatic chamber was essentially improved and the relative humidity was decoupled from the temperature. The realisation of the control algorithm for the cascade controller was performed with an especially developed microcomputer which calculates arithmetical terms in a simple manner.

The concepts of linearization and order reduction are used to derive low order linear autonomous models for the dynamic behaviour of a robot including drives and gears. As the parameters depend on the actual working point an easy updating of the model and/or the controller parameters is possible if necessary. Further, the influence of coupling terms can be also estimated easily.

Today peace research is mostly concentrated on non-mathematical and non-technical describing methods. In the paper first steps in the direction of a mathematical approach based on methods of cybernetics, system theory and control engineering will be given. Various ideas for model concepts are shortly discussed and reviewed and also ‘conventional’ as well as ‘advanced’ control concepts are introduced for these purposes. An outline of applications conclude the investigations.

Es wird uber Simulationsergebnisse betreffnd diz Lageregelung eines Industhieroboters berichtet. An dem simulierten Modell eines Industrie- roboters mit einer Dreh- und zwzi Schubbewegungen (DSS) wild die Effizienz einiger angewandter konventioneller Regelalgorithmen untersucht. Simulation results concerning the position control of an industrial robot are presented. An industrial robot with three degrees of freedom is simulated on a hybrid computer and various control algorithms are tested.

Im ersten Kapitel wurde meist vorausgesetzt, das alle auftretenden Signale (Ein- und Ausgangssignale) und Parameteranderungen determinierte Zeitfunktionen sind. Weiters galten die Uberlegungen nur fur ungestorte Systeme. In Regelsystemen konnen jedoch Eingangssignale, Storsignale und in zeitvarianten Systemen auserdem die Parameter nach zufalligen Zeitfunktionen variieren — sie konnen stochastische Prozesse sein.

Die Kraft \( \vec{F} \) (force) ist eine gerichtete Grose (ein Vektor), graphisch darstellbar durch einen Pfeil (Lange entspricht dem Betrag der Kraft). Die Krafteinheit im internationalen Einheitensystem ist das Newton (N), mit dem Kilogramm (kg) als zugehoriger Masseneinheit: $$ 1N=1kg.m/{{s}^{2}} $$ (2.1) 1 Newton ist jene Kraft, durch die einer Masse von 1 kg eine Beschleunigung von 1 m/s2 erteilt wird.

Dieses Kapitel dient der Zusammenstellung und dem Vergleich von bisherigen Arbeiten uber die Identifikation zeitvarianter Systeme. Nach Wissen des Verfassers sind erst in jungster Zeit Ansatze einer zusammenfassenden Darstellung dieses Problemkreises festzustellen. Wenn es gelingen sollte, diese Lucke teilweise zu schliesen, ist das Hauptanliegen des vorliegenden Buches erfullt.

Ausgangspunkt fur die regelungstechnische Behandlung jedes industriellen Prozesses ist sein mathematisches Modell. Es hat die Aufgabe, den Prozes oder das System bezuglich seiner statischen und dynamischen Eigenschaften (Signalubertragungseigenschaften, zeitliche Anderung der Zustandsvariablen) zu beschreiben und kann die verschiedensten Formen (Differential-, Integral-, Differenzengleichungen, Operatoren usw.) aufweisen. Diese Eigenschaften, welche im wesentlichen die Struktur und den Aufbau des mathematischen Modells bestimmen, sind von physikalischen Grosen (Weg, Geschwindigkeit, Masse, Spannung, Strom, Widerstand usw.) abhangig. Einige wichtige Modelleigenschaften sind: a) kausal: Befindet sich ein System in Ruhe, andert sich der Systemausgang nicht vor einer Anderung des Systemeinganges. b) linear: Wirken auf einen Systemeingang zwei Eingangssignale, fuhren diese auf zwei Ausgangssignale. Wirkt die Summe beider Eingangssignale, tritt am Ausgang die Summe der beiden Ausgangssignale auf (Superpositionsprinzip). Wirkt ein Vielfaches des Eingangssignals, tritt am Ausgang das gleiche Vielfache des Ausgangssignals auf (Homogenitatsprinzip). c) zeitinvariant: Die Parameter aller Systemelemente, und somit des Gesamtsystems sind zeitunabhangig. d) konzentriert: Die Parameter aller Systemelemente und somit des Gesamtsystems sind ortsunabhangig. Wahrend die Kausalitat bei allen regelungstechnischen Systemen vorausgesetzt wird, konnen die unter b) — d) genannten Eigenschaften zu einer Klassifizierung herangezogen werden.

Als stabformig bezeichnet man einen Korper (oder Bauteil), wenn seine Lange wesentlich groser als seine groste Querschnittsabmessung ist. Wir setzen voraus, das der Stab im Gleichgewicht ist. Um zunachst ein Bild von der Beanspruchung der Querschnitte eines solchen Stabes zu gewinnen, benutzt man das sogenannte „Schnittprinzip“: Man denkt sich den Stab im betrachteten Querschnitt in zwei Teile zerschnitten und bildet die vektorielle Summe \( \vec{F} \) aller Krafte, die an dem weggeschnitten gedachten Teil angreifen, und die vektorielle Summe \( \vec{M} \)M aller Drehmomente dieser Krafte bezuglich des geometrischen Schwerpunktes S der Querschnittsflache.

The authors have been teaching since 5 years fundamentals of Industrial Robots and Handling Devices for students of Mechanical Engineering, Electrical Engineering as well as Applied Mathematics and Computer Sciences. These fundamentals include mechanics, model building, simulation and control. For the practical education mainly in laboratory courses two personal computers, a little hydraulic driven robot and a hybrid computer system for simulations is available. At a lower level the students solve the kinematic and kinetic equations with the personal computer for different structures of robots. The hybrid computer system is applied for simulations of the controlled robot. The hydraulic driven robot can be controlled by means of a control box with pushbuttons for movements (e.g. up/down, rotate and grip and for start/stop). Another programming possibility for robot movements consists by using a special language which is different for each robot. Both possibilities are little efficient for education at a higher level. Therefore the control box of our robot is replaced by a personal computer for advanced studies. For all laboratory experiments the necessary software packages are written in dialoge form like a CAD system.

Today most of the industrial robots applied in practice are controlled by means of conventional, linear control algorithms which are implemented in the control computer. The development of faster, leight weight robots yields to additional control problems. For this new generation of robots advanced digital control algorithms are necessary and have to be available in the nearest future. The model for the dynamic behavior is those of a nonlinear, timevarying, multivariable system. Such models are too complicated for the development of control algorithms. Further difficulties arise from the choice of optimal algorithms as well as parameters. A powerful tool for solving these problems is simulation. Therefore, a sufficient accurate model of an industrial robot with simple kinematic structure including the drives and gears was implemented at the analogue part of a hybrid computer system. Various digital control algorithms with the same structure but of different order have been simulated at the digital part. The resulting paths were plotted and offered the possibility to compare these.

The Production of electric energy is one of the most important factors to stabilize the economy of a developing country in the Western World. The loss reduction, on Energy Power System (technical and commercial losses), is absolutely necessary objective for management performance measurement on every Energy Company in the world. In this paper the importance of minimizing technical as well as commercial losses will be outlined at the example of Kosovo. Suggestions are given based on statistical data. Finally the impacts for developing countries for improve the stability will be discussed on the example Kosovo.

Engineering Management postgraduate programs aim to develop executives with knowledge in technical subjects as well as in business administration and legal matters. This paper investigates management skills required by industry and participants. Previously obtained results are combined in order to draw conclusions regarding structure and curriculum of an Engineering Management program that equally satisfies industries and participants needs, with particular emphasis upon post-conflict country in transition. It demonstrates the role of Engineering Management education in improving international stability and as an effective aid intervention.

This keynote paper provides a control systems perspective of failed internationalised institutional arrangements. In the past years we have experienced dramatic international systems failure across important institutions. Banks, religious institutions and governmental systems have all experienced catastrophic crises which have proven difficult to assess and address. This paper examines these failures as complex systems failures and highlights the role of socio-cultural systems in their failure. Firstly, the institutional arrangements are formally defined as complex systems. Secondly, the paper proposes the systemic failure as a failure of institutional culture which can be accounted for by certain systemic aspects of the cultural systems which underpin institutional life. The paper utilises a three layer model of culture to demonstrate systems effects in the institutional arrangements. The paper then presents empirical findings from a study of a large scale medical system implementation to demonstrate the role of cultural symbolic factors in the system implementation.