Abstract: A method and system for controlling a temperature of an exhaust gas being introduced to a catalyst is provided. Using an adjustable flow controller, an adjustable amount of tempering fluid is provided to the exhaust gas prior to the exhaust gas proceeding to the catalyst. A sensor senses a parameter indicative of a temperature of the exhaust gas being introduced to the catalyst. A computer processor uses a relationship to relate the parameter to an adjustment of the adjustable flow controller that will adjust the amount of tempering fluid provided to the exhaust gas and change the temperature of the exhaust gas being introduced to the catalyst toward a target temperature. Adjustment of the adjustable flow controller is initiated by the computer processor to change the flow of the tempering fluid, and the relationship between the parameter and the adjustment of the adjustable flow controller is updated.

Abstract: A method for performing diagnostics or software maintenance on a vehicle comprises storing components of configuration files in a central processing system. An update of the configuration files is requested for the vehicle from a central electronic data processing system based on a user request. The requested update of components of configuration files are received from the central electronic data processing system based on a comparison of a record of the vehicle-installed configuration files and target configuration information on configuration files stored at the central electronic data processing system.

Abstract: A method for executing mechanical overload protection to prevent commanding a control signal to a linear actuator that may mechanically overload the linear actuator when an overload condition of the linear actuator is detected, the linear actuator utilized for controlling a movable element associated with the linear actuator responsive to the control signal, includes monitoring an overload condition based on position change of the movable element associated with the linear actuator during an integration period and excess energy during the integration period, de-energizing the linear actuator when an overload condition has been detected, monitoring an overload retry counter based on the number of cycles the overload condition is detected, comparing the overload retry counter to an overload retry threshold, an reenergizing the linear actuator when the overload retry counter is less than the overload retry threshold and maintaining de-energizing of the linear actuator when the overload retry counter is at least

Abstract: A multi-dimensional energy control system is provided with an energy management software application that organizes the consumption of energy by a device as an n-dimensional energy space, where n is an integer greater than 2, and each axis in the energy space represents an energy consumption characteristic. The energy management application generates instructions for a device in response to calculating a compromise operating point in the energy space. A user interface (UI) connected to the energy management application has a display to receive a graphical representation of the energy space and compromise operating point, and an input to receive user commands for moving the represented compromise operating point in the represented energy space. The energy management application calculates the compromise operating point in the energy space to match the displayed compromise operating point.

Abstract: A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.

Abstract: In some embodiments, a method of using feedforward to control a system component may include determining if a feedforward term exists in a feedforward table for a received operating set point. If a feedforward term does not exist, the system component may be incremented until the system is within a first acceptable tolerance of the desired set point. In some embodiments, a measure of steady state error may be determined and compared to a second acceptable tolerance. If within the acceptable tolerance, the corresponding feedforward term may be recorded in the feedforward table. In some embodiments, if the feedforward term exists for the operating set point, the system component may be controlled using controller output that corresponds to the feedforward term. When a change to the system is detected that is associated with possible changes to the feedforward values, new feedforward values may be generated for the feedforward table.

Abstract: An extremum seeking control method optimizes a control process for a plant such as an air handling unit. The method compensates for abrupt changes in the operation of the plant by resetting the extremum seeking control strategy in response to a detection of the abrupt change.

Abstract: System and method for managing fermentation feed in a biofuel production process, comprising a dynamic multivariate predictive model-based controller coupled to a dynamic multivariate predictive model. The model is executable to: receive process information, including water inventory and biomass information, from the biofuel production process; receive a specified objective for the fermentation feed specifying a target biomass concentration; and generate model output comprising target values for a plurality of manipulated variables of the biofuel production process, including target flow rates of water and/or biomass contributing to the fermentation feed in accordance with the specified objective.

Abstract: A method includes identifying an initial solution to a quadratic programming (QP) problem associated with a process. The method also includes performing an iterative procedure having one or more iterations. Each iteration includes determining whether any constraint associated with the process is violated in the solution. Each iteration also includes selecting a violated constraint, determining a step direction and a step length associated with the selected violated constraint, and updating the solution based on the step direction and the step length. Determining the step direction and the step length includes using a Schur complement based on an active set of constraints associated with the solution. The Schur complement is nonsingular during all iterations of the iterative procedure except when the active set is empty.

Abstract: In a method for controlling an operation of a coordinate measuring device, at least one operational parameter is determined. One value of the operational parameter is allocated to a plurality of components. A sequence for determining the operational parameter is provided for the majority of the components. The method for determining the operational parameter in the predetermined sequence for each component is now described. It starts with the component that is first in the sequence: i) if the value of the operational parameter is allocated to the component, the value is adopted as a value of the operational parameter that is available for the operation, ii) if no value of the operational parameter is allocated to the components, one available value of the operational parameter that was available until then still remains available, iii) if another component is provided in the sequence, the method is carried out with the component.

Abstract: The present invention relates to a conversational automatic programming device or the like capable of generating an NC program in a simpler manner and in a shorter period of time. The automatic programming device is provided with, a machining-profile setting processor in which based on data for specifying a geometric entity selected as a contour shape of a machined portion, out of geometric entities of a geometry defined by two-dimensional CAD data, the geometric entity corresponding to the data is recognized, and based on the recognized geometric entity, a machining profile which is the contour shape of the machined portion is set; a CL-data generating processor for generating tool path data based on the set machining profile; and an NC-program generating processor for generating an NC program based on the generated tool path data.

Abstract: A method for using a system to compute a solution to a partial differential equation (PDE) broadly comprises the steps of determining the true accuracy required (TAR) to solve the PDE, determining an architecture according to the TAR that performs a plurality of calculations to solve the PDE, determining a time allowed (TA) and a time required (TR) based on the architecture to solve the PDE, rejecting the PDE if the TR is less than or equal to the TA, configuring a plurality of programmable devices with the architecture, initiating the calculations, and ceasing the calculations when an accuracy criteria is met or when the TA expires. The system broadly comprises a plurality of programmable devices, a plurality of storage elements, a device bus, a plurality of printed circuit (PC) boards, and a board to board bus.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Abstract: A thermal manager has a digital filter whose input is to receive raw temperature values from a sensor and whose output is to provide processed or filtered temperature values according to a filter function that correlates temperature at the sensor with temperature at another location in the device. The thermal manager has a look-up table that further correlates temperature at the sensor with temperature at the other location. The look-up table contains a list of processed temperature sensor values, and/or a list of temperatures representing the temperature at the other location, and their respective power consumption change commands. The thermal manager accesses the look-up table using selected, filtered temperature values, to identify their respective power consumption change commands. The latter are then evaluated and may be applied, to mitigate a thermal at the other location. Other embodiments are also described and claimed.

Abstract: A method for automatically identifying an optimal endpoint algorithm for qualifying a process endpoint during substrate processing within a plasma processing system is provided. The method includes receiving sensor data from a plurality of sensors during substrate processing of at least one substrate within the plasma processing system, wherein the sensor data includes a plurality of signal streams from a plurality of sensor channels. The method also includes identifying an endpoint domain, wherein the endpoint domain is an approximate period within which the process endpoint is expected to occur. The method further includes analyzing the sensor data to generate a set of potential endpoint signatures. The method yet also includes converting the set of potential endpoint signatures into a set of optimal endpoint algorithms. The method yet further includes importing one optimal endpoint algorithm of the set of optimal endpoint algorithms into production environment.

Abstract: A control unit of a system stabilization device uses a fluctuation detection block (60) to determine fluctuation components included in the active component and reactive component currents of a system current and fluctuation components included in the frequency signal and the amplitude signal of a system voltage. The high frequency cut-off of the fluctuation detection block (60) is set to be f1; the low frequency cut-off is set to be f2. The fluctuation detection block (60) is composed of a low-pass filter (61) with a time constant of T1, a low-pass filter (62) with a time constant of T2, a subtracter (63) which outputs the difference, between the output signals of the filter (61) and the filter (62), and a feedback circuit (64) which provides feedback on the output of the subtracter (63) to the filters (61, 62). Thus, stability is ensured without using a current detector.

Abstract: The PROCESS TRANSFORMATION AND TRANSITIONING APPARATUSES, METHODS AND SYSTEMS (“PTT”) transform unoptimized locally-deployable baseline processes via PTT components into custom globally optimized processes and transition materials. In one implementation, the PTT obtains a baseline process optimization request via a processor, including a unoptimized locally-deployable baseline process. The PTT provides a notification of receipt of the baseline process optimization request, obtains a sub-process identification input, and resolves, via the processor, the unoptimized locally-deployable baseline process into one or more baseline sub-processes. Also, the PTT accesses a process template database for sub-process templates matching the resolved baseline sub-processes, and identifies, via the processor, sub-process templates matching the resolved baseline sub-processes using a matching procedure.

Abstract: A system and method are provided for integrated management of a biofuel distillation process and a biofuel dehydration process of a biofuel production process, comprising a dynamic multivariate model-based controller coupled to a dynamic multivariate predictive model. The model is executable to: receive distillation and dehydration process information including biofuel compositions, receive an objective for biofuel production output from the distillation and dehydration processes, e.g., target product composition, production rate, and/or feed rate, and generate model output comprising target values for a plurality of manipulated variables related to the distillation and dehydration processes in accordance with the objective. The controller is operable to dynamically control the biofuel production process by adjusting the plurality of manipulated variables to the model-determined target values in accordance with the objective for biofuel production.

Abstract: A technique is disclosed for asymmetrically controlling a process parameter based upon the direction of a prediction error between a predicted value determined using an inferential model and a laboratory measurement of the parameter. The present technique provides for the adaptive biasing of the predicted value based upon the direction of the prediction error. In one embodiment, a biasing factor may be determined by filtering the prediction error, such that the prediction error is emphasized more heavily in the biasing factor if the prediction error is in a less tolerable direction and emphasized less heavily if the prediction error is in the opposite direction. The biasing factor may further be determined as a function of a previous biasing factor computed during the process. Asymmetric control of the process parameter may be performed by controlling the parameter using model predictive control techniques based on the biased predicted values of the parameter.

Abstract: A method, system and computer program product for generating an optimized solution for a process in a manufacturing under a set of constraints. A solution is evaluated under the set of constraints and first violation metrics and first states corresponding to one or more solution elements are generated, based on at least one constraint. At least one candidate solution is generated from the solution. Thereafter, the candidate solution is evaluated at one or more change-points and the solution elements positioned subsequent to the change points. Subsequently, the candidate solution is accepted based on the acceptance criterion. The selected candidate solution is then evaluated again a pre-defined number of times to generate the optimized solution.

Abstract: A device receives a control system model that includes a fixed portion that models elements of a control system to be controlled and a tunable portion that models elements of the control system used to control the elements modeled by the fixed portion. The device receives information that identifies a tunable parameter of the tunable portion of the control system model, a hard constraint associated with the control system model, and a soft constraint associated with the control system model. The hard constraint identifies a first constraint that is to be satisfied, and the soft constraint identifies a second constraint that is to be reduced. The device calculates a parameter value for the tunable parameter by applying an optimization algorithm to the control system model, based on the control system model, the tunable parameter, the hard constraint, and the soft constraint. The device provides the parameter value.

Abstract: In a controller and method for preventing sending saturated control signals to an actuator, the controller receives parameters of controlling the actuator. The parameters include: a limit capacity value of the actuator, a predefined value which the status value of the plant needs to obtain, a ratio of the ideal control signal value to the limit capacity value, and a ratio of the actual control signal value to the limit capacity value. The controller calculates an ideal control signal value and an actual control signal value by applying a hyperbolic tangent function. And then the controller sends a control signal to the actuator according to the actual control signal value. The actuator drives a plant to move according to the control signal.

Abstract: A method for the computer-assisted exploration of states of a technical system is provided. The states of the technical system are run by carrying out an action in a respective state of the technical system, the action leading to a new state. A safety function and a feedback rule are used to ensure that a large volume of data of states and actions is run during exploration and that at the same time no inadmissible actions occur which could lead directly or indirectly to the technical system being damaged or to a defective operating state. The method allows a large number of states and actions relating to the technical system to be collected and may be used for any technical system, especially the exploration of states in a gas turbine. The method may be used both in the real operation and during simulation of the operation of a technical system.

Abstract: A feed apparatus has a ball screw, a nut, a drive motor, a braking mechanism and a controller and moves a movable body vertically. When recognizing a movement command for rapid traverse relating to the movable body, the controller, when the movable body is to be moved upward, moves the movable body past a target position according to the movement command and then reverses the moving direction thereof and moves the movable body to the target position and stops it there, and, when the movable body is to be moved downward, moves the movable body directly to the target position and stops it there. After moving the movable body to the target position and stopping it there, the controller causes the drive motor to keep the position of the movable body at the stop position and causes the braking mechanism to brake the movement of the movable body.

Abstract: Methods, apparatuses, and computer readable media for remotely managing an environmental control and monitoring device are provided. Remote management of an environmental control and monitoring device may be implemented by receiving, via a network, a device action including notification of at least one of an environmental, maintenance, repair or usage status of an environmental control and monitoring device. A management action is determined based on the device action, and the management action is transmitted, wherein the management action includes a command to execute an operation of the environmental control and monitoring device.

Abstract: An integral laser imaging and coagulation apparatus, and associated systems and methods that allow an ophthalmologist to perform laser retinal surgical procedures with an integral laser imaging and coagulation apparatus disposed at a first (i.e. local) location from a control system disposed at a second (i.e. remote) location, e.g., a physician's office. In some embodiments, communication between the integral laser imaging and coagulation apparatus and control system is achieved via the Internet®.

Abstract: Carbon footprint management for structures is disclosed. In an example, a method includes determining a value of a first carbon footprint of the structure when operated at an existing demand for a first time period, and comparing the value of the first carbon footprint to a value of a prorated carbon cap of the structure for the first time period. If the first carbon footprint is less than or equal to the prorated carbon cap, the structure is operated for a second time period according to the existing demand or other demand that keeps a second carbon footprint of the structure below a prorated carbon cap for the second time period. Otherwise, the demand is adjusted to bring the second carbon footprint to approximate the prorated carbon cap for the second time period, and the structure is operated according to the adjusted demand for the second time period.

Abstract: A method, system, apparatus, and media are directed to tuning a device. Values are stored for each of a plurality of device parameters based on device metrics. The device parameters are constraint-matched over changes to settings of the device parameters to identify at least one point within each range of the device parameters that optimizes a performance measure for the device. Tuning values are selected for each device parameter based on the identified point. The tuning values are provided for tuning the device. The device is tuned with roll-back based on the running values.

Abstract: An optimization and control system for a utility plant that uses fan based air cooled condensers controls the operation of the power generation system at the plant in conjunction with the operation of the air cooled condensers so as to run the power plant at an optimum operating point associated with minimizing or reducing the cost energy produced by the plant. The optimization and control system includes an optimizer having a numerical solver that determines values for a set of control variables associated with an optimal operating point of the plant and an expert system that oversees and modifies the control variable settings prior to providing these settings to a plant controller. The numerical solver uses an objective function and one or more models of plant equipment to determine the operating point of the plant that minimizes the cost per unit of useful energy generated by the plant.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Abstract: The present invention provides novel techniques for graphically modeling, displaying, and interacting with parametric hybrid models used to optimize and control components of industrial plants and enterprises. In particular, a graphical modeling tool of a control/optimization system for controlling a plant or enterprise is configured to transmit a graphical user interface to a user, wherein the graphical user interface enables a plurality of command inputs relating to a plurality of parametric hybrid models based on a security access level of the user. The parametric hybrid models may be displayed by the graphical user interface as nodes of a network with connections connecting the nodes. The user may graphically manipulate the nodes and connections associated with the parametric hybrids models to either modify optimization constraints of the model network, or actually modify the manner in which the parametric hybrid models function (e.g.

Abstract: A vibration-type measuring device includes an exciter arrangement which exerts a time-dependent force with at least one sinusoidal component at an adjustable excitation frequency on a measuring tube, through which a medium can flow, and causes the measuring tube to oscillate. The measuring device includes first and second sensors which are fitted to the measuring tube at different locations. The first and second sensors output first and second measurement signals, respectively. The measuring device includes an evaluation unit which determines a first phase shift between the first and second measurement signals and uses the determined phase shift to determine a measurement variable of the medium. The measuring device includes a phase comparator, which determines a second phase shift between the force and the average value of the first and second measurement signals, and a frequency generator which sets the excitation frequency on the basis of the second phase shift.

Abstract: A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion.

Abstract: A control of a multi-variable process throughout a plurality of successive, distinct operational phases of the process involves accumulation of sets of values of the process and quality variables (a-j) from previous multiple operations of the process through all its phases, as respective datasets of a historical record. Each dataset includes an identifier (p) of the phase to which it relates. The current values of the applicable process variables (Qa-Qh) during each phase and the phase identifier (p) are indicated on respective axes (Xp,Xa-Xh) of a multi-dimensional display in relation to an operational envelope which defines bounds (UL,LL) for the values of the individual process and quality variables (a-j) relevant to that phase and which is derived from the datasets of the historical record identified with that phase. Changes in the current process variables (Qa-Qh) result in changes of the bounds (UL,LL), and alarm is given when a current value departs from within them.

Abstract: A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.

Abstract: An alarm system controller is provided, having a packet data network interface; a security alarm system interface configured to communicate with security alarm sensors; and a controller configured to receive at least one input from the security alarm system interface, to process the at least one input to determine an alarm condition, and to communicate the alarm condition and a markup language interface through the packet data network interface. The packet data network interface may communicate with the Internet. An environmental control system interface may also be provided to communicate with an environmental control system and to communicate the markup language interface through the packet data network interface, wherein the packet data network interface is configured to control the environmental control system. The markup language interface may be, for example HTML or XML.

Abstract: A power model that relates the settings of resource actuators to power consumption levels of the resource actuators and a condition model that relates the settings of the resource actuators to an environmental condition at the location of the at least one entity and a power consumption level of the at least one entity are developed. A constraint optimization problem having an objective function and at least one constraint is formulated, where the objective function computes at least a proportional quantity of a total power consumption level of the resource actuators and the at least one constraint comprises a setpoint environmental condition at a location of the at least entity. A solution to the constraint optimization problem is determined, where the solution provides optimal values for the resource actuator settings.

Abstract: In a case where a request for changing a maximum value of active power and a newly defined maximum value of active power are received from the utility grid side, a maximum value of an active power demand value set to a rated value is changed to the newly defined maximum value of active power at a predetermined change rate or less.

Abstract: The invention is a process for finding the accurate masses of subfragments comprising an unknown compound from the accurate-mass mass spectral data of the unknown compound obtained on a mass spectrometer. This process generates these accurate masses of subfragments using mass differences of fragment ions and a listing of plausible masses. In this way, the accurate masses of subfragments, useful for generating modular structures, can be obtained very rapidly.

Abstract: A computer implemented method of conducting closed-loop control of a physical system comprising the steps of carrying out an initialization of the physical system to commencing closed-loop control, evaluating the optimal constrained control move using the system error and the initial normalized matrix using a control move solver; calculating a first control action by the sum of delta u(0) and the initial control action; and implementing the result to the physical system by converting the control action to an output control signal to effect a change in at least one operating variable.

Abstract: Real-time condition-based analysis is performed on a machine for providing diagnostic and prognostic outputs indicative of machine status includes a signal processor for receiving signals from sensors adapted for measuring machine performance parameters. The signal processor conditions and shapes at least some of the received signals into an input form for a neural network. A fuzzy adaptive resonance theory neural network receives at least some of the conditioned and shaped signals, and detects and classifies a state of the machine based upon the received conditioned and shaped signals, and upon a predetermined ontology of machine states, diagnostics, and prognostics. The neural network can also determine from the machine state a health status thereof, which can comprise an anomaly, and output a signal representative of the determined health status. A Bayesian intelligence network receives the machine state from the neural network and determines a fault probability at a future time.

Abstract: A method of controlling an automobile clutch in an automated transmission system with a CMPC control is disclosed having application to vehicle clutch control in an AMT system. The driver's request is translated in terms of sliding velocity ?sl. Constraints on the engine and clutch actuators are defined to respect their operating limits, and driving quality constraints are defined to guarantee comfort during the clutch engagement phase. In order to meet these quality constraints, a reference trajectory is defined for ?sl as a function of the clutch engagement time. An analytical expression allowing real-time calculation of a set of control trajectories with a CMPC control law is then defined from the expression of this reference trajectory. The trajectory respecting the constraints on the actuators is selected from among all these control trajectories. Finally, the clutch is controlled with the selected control trajectory.

Abstract: A thermal manager has a digital filter whose input is to receive raw temperature values from a sensor and whose output is to provide processed or filtered temperature values according to a filter function that correlates temperature at the sensor with temperature at another location in the device. The thermal manager has a look-up table that further correlates temperature at the sensor with temperature at the other location. The look-up table contains a list of processed temperature sensor values, and/or a list of temperatures representing the temperature at the other location, and their respective power consumption change commands. The thermal manager accesses the look-up table using selected, filtered temperature values, to identify their respective power consumption change commands. The latter are then evaluated and may be applied, to mitigate a thermal at the other location. Other embodiments are also described and claimed.

Abstract: One method includes obtaining a preliminary model associated with a system to be controlled and constructing a weighted model using one or more weighting factors. The method also includes identifying a final model of the system using the preliminary and weighted models, where the final model has a stability margin that is greater than an uncertainty associated with the final model. The method further includes controlling the system using a controller designed based on the final model. Another method includes identifying a first model associated with a system to be controlled, performing model order reduction to identify a second model, and controlling the system using a controller designed based on the second model. Performing the model order reduction includes reducing a weighted coprime factor model uncertainty between the first and second models.

Abstract: Example methods and apparatus to limit a change of a drive value in an electro-pneumatic controller are disclosed. A disclosed example method includes receiving a control signal and a feedback signal, calculating from the control signal and the feedback signal a drive value, determining if a difference between the drive value and a previous drive value is greater than a slew limit of the electro-pneumatic controller, and changing the calculated drive value based on the slew limit.

Abstract: Disclosed is a route creation method capable of creating a travel route which reduces the travel quantity of a robot and achieves the efficient travel of the robot. The route creation method and route creation device creates a plurality of candidate routes by using an intermediate point generated between the initial position and the final position set in advance, and thereafter evaluates the travel quantity of a traveling part of a robot with respect to each candidate route to select a candidate route, which achieves the most efficient travel, as a travel route.

Abstract: Enables minimization of steady-state objective function P(z?), subject to a set of constraints zmin?z??zmax, and under the assumption that the values of the state vector, z, at different points in time related via a model expressed in dynamic open equation format Q(z?, zk, zk-1, zk-2, . . . , zk-n)=0, where z? is predicted final value of state vector, z, and zk, zk-1, zk-2, . . . , zk-n are current and previous values of state vector, z. Determines optimum operation of an industrial process having steady-state objective function P(z?), including: receiving outputs from the process; minimizing steady-state objective function P(z?) subject to set of constraints zmin?z??zmax; wherein values of state vector at different times are related via model of form Q(z?, zk, zk-1, zk-2, . . . , zk-n)=0; to minimize objective function P(z?). Industrial process to be optimised may include measured and unmeasured process variables.

Abstract: The present invention relates to a system for processing a signal from an electric device, e.g. a touch sensitive key. The system comprises a reference value for the signal, wherein said reference value is continuously updated, and an arithmetic unit for determining a difference value between the signal and the reference value, so that difference value corresponds with a change of the signal. The system comprises further a spectrum of the possible difference values, wherein said spectrum is subdivided into ranges corresponding with possible causations for the change of the signal in said system. Additionally, the system comprises a comparing unit for associating the difference value with the corresponding range of the spectrum and for identifying, if the difference value results from a disturbance or from a relevant change in the electric device. Further, the present invention relates to a corresponding method.

Abstract: The invention proposes a fully automated, computer-aided intervention apparatus (80) with an operational stabilization apparatus (10) and an appropriate method for operational apparatuses (41), where appropriate intervention means (40) are activated by means of an activation apparatus (203) if an intervention event detected by means of at least one pickup apparatus (401) is picked up. The intervention means (40) may comprise, in particular, automated alarm, monitoring and/or control apparatuses.

Abstract: An extremum seeking control method optimizes a control process for a plant such as an air handling unit. The method compensates for abrupt changes in the operation of the plant by resetting the extremum seeking control strategy in response to a detection of the abrupt change.