• Plenary Talk I Methods of Computational Intelligence for Nonlinear Control Systems
• Name Bodgan M. Wilamowski
• Affiliation Auburn University, USA
• Abstract Conventional controllers like PID and many advanced control methods are useful to control linear processes. In practice, most processes are nonlinear. Nonlinear control is one of the biggest challenges in modern control theory. While linear control system theory has been well developed, it is the nonlinear control problems that cause most headaches. Nonlinear processes are difficult to control because there can be so many variations of the nonlinear behavior. Traditionally, a nonlinear process has to be linearized first before an automatic controller can be effectively applied. This is typically achieved by adding a reverse nonlinear function to compensate for the nonlinear behavior so the overall process input-output relationship becomes somewhat linear.
The issue becomes more complicated if a nonlinear characteristic of the system changes with time and there is a need for an adaptive change of the nonlinear behavior. These adaptive systems are best handled with methods of computational intelligence such as neural networks and fuzzy system. The problem is that development of neural or fuzzy systems are not trivial. The presentation will focus on several methods of developing close to optimal architectures and on finding efficient learning algorithms. The problem becomes even more complex if the methods of computational intelligence have to be implemented in hardware. Various practical solutions will be presented and compared.


• Plenary Talk II Automotive Mechatronic Systems
• Name Rolf. Isermann
• Affiliation The Darmstadt University of Technology, Germany
• Abstract Automobiles are showing an increasing integration of mechanics with digital electronics and information processing. This integration is between the components (hardware) and by the information-driven functions (software), resulting in integrated systems called mechatronic systems. Their development involves finding an optimal balance between the basic mechanical structure, sensor and actuator implementation, automatic information processing and overall control. Frequently, formerly mechanical functions are replaced by electronically controlled functions, resulting in simpler mechanical structures and increased functionality. Of major importance are the simultaneous design of mechanics and electronics, hardware and software and embedded control functions resulting in an integrated component or system. This development of mechatronic systems opens a way to many innovative solutions and synergetic effects that are not possible with mechanics or electronics alone. This technical progress has a major influence on automotive innovations.

This contribution summarizes ongoing developments for mechatronic systems in automobiles, shows design approaches and examples and considers the various embedded control functions and systems integrity.

An introduction summarizes the development, gives definitions for mechatronic systems and considers the influenced mechanical, the distribution of functions between mechanics and electronics, the realization of new functions and the kinds of integration, by hardware and software.

Then the design methodology of mechatronic systems is considered, taking into account the design steps of simultaneous, integrated engineering. Typical development models, known a V-models, are shown, including specification, off-line simulation, control prototyping, code generation, function and system testing with hardware-in-the-loop simulation, calibration/tuning of control functions, validation and verification and field testing.

Then some examples of automotive mechatronic systems are shown. Great progress can be observed in braking systems (ABS, ESP), the first brake-by-wire electro-hydraulic brake system (EHB), steering systems (active front steering) and active suspension systems. Modern combustion engines include several mechatronic components, like common rail injection systems, variable valve control systems, variable geometry turbochargers and are coupled and controlled together with various kinds of automatic gears.

An outlook describes the development to intelligent automotive mechatronic systems, fault-tolerant systems and drive-by-wire vehicles.

 
• Plenary Talk III Haptic Forceps for Minimally Invasive Surgery
• Name Kouhei Ohnishi
• Affiliation Keio University ,   Japan
• Abstract The endoscopic surgery was a revolution in the history of surgery. However it is very hard for surgeons to operate the forceps skillfully. The demand of robotic surgery has arisen since the beginning of endoscopic surgery. The famous DaVinci has been released and the similar machines have been put into the market since the late ¡® 90s, and they have brought easy operations of the end-effectors. However no machines could realize vivid tactile sensations. It is requisite to give the haptic ability to such surgery robots for safety reasons, better operations and traceable records. The difficulty comes from the complex reasons including sensor problems, controllers, mechanical structures, ability of computers and so on.

The talk here focuses on the haptic forceps. The basic concept of the haptic controller depends on wide frequency range. For the purpose, criteria for vivid sensation are given. The operationality and the reproducibility are defined to describe the haptic performance. They are represented as the performance indices and the two indices are treated independently by applying the 2 nd order Hadamard matrix to the controller. The experimental systems do not have any force sensors however the master forceps generates the vivid sensation of the reactive force of the slave forceps. The video demonstrations will be also presented.