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15th World congress of the international Federation of Automatic Control, 2002

作者： Galkowski, K. Paszke, W. Rogers, E. Owens, D.H. Institute of Control and Computation Engineering University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783902661746

Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main feature which makes them distinct from other classes of 2D linear systems is that information propagation in one of the two independent directions only occurs over a finite duration. This, in turn, means that a distinct systems theory must be developed for them, which can then be translated (if appropriate) into efficient routinely applicable controller design algorithms for applications domains. In this paper, we give some new results on LMI based stabilization and robust control of so-called discrete linear repetitive processes and illustrate them by application to a metal rolling process. Copyright © 2002 IFAC.

关键词： Rolling

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A method for the study of position in highly redundant multibody systems in environments with obstacles

A method for the study of position in highly redundant multi...

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2001 ASME international Mechanical engineering congress and Exposition

作者： Zelaia, Josu Agirrebeitia De Bustos, Igor Fernandez Gonzalez, Rafael Avilés San Martin, Enrique Amezua Department of Mechanical Engineering University of the Basque Country San Sebastian Spain

The present article looks at a method of analysing the behaviour of highly redundant multibody systems (e.g. in the case of cellular adaptive structures of variable geometry) in environments with obstacles. It is sought to solve the inverse problem in successive positions of variable-geometry structures, avoiding the obstacles in its work environment;i.e. the computation of the increment that has to be assigned to the actuators throughout the movement of the multibody system so that it does not collide with obstacles, as one or more nodes perform a pre-established function (e.g. a certain path). The multibody systems are modelled via rod-type finite elements, both deformable and indeformable, and the coordinates of their nodes are chosen as variables. The obstacles are modelled via a mesh of points that exert repulsive forces on the nodes of the multibody, so that interference between the two is avoided. Such forces have been chosen inversely proportional to the Nth power of the distance between the corresponding points of the obstacle and of the multibody system. The method is based on a potential function and on its minimization using the Lagrange Multiplier Method. The solution of the resulting equations is undertaken iteratively with the Newton-Raphson Method. The 2D and 3D examples provided attest to the good performance of the algorithms and procedure here set forth.

关键词： Mechanical engineering

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Positive realness and the analysis of a class of 2D linear systems 15th

Positive realness and the analysis of a class of 2D linear s...

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15th World congress of the international Federation of Automatic Control, 2002

作者： Galkowski, K. Paszke, W. Sulikowski, B. Rogers, E. Xu, S. Lam, J. Lin, Z. Owens, D.H. Institute of Control and Computation Engineering University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Departament of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2V4 Canada Department of Mechanical Engineering University of Hong Kong Hong Kong School of EEE Nanyang Technological University Nanyang Ave. Singapore639798 Singapore Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783902661746

Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main feature which makes them distinct from other classes of 2D linear systems is that information propagation in one of the two independent directions only occurs over a finite duration. This, in turn, means that a distinct systems theory must be developed for them, which can then be translated into efficient routinely applicable controller design algorithms for applications domains. In this paper, we give the first significant results on a positive realness based approach to the analysis of these processes. Copyright © 2002 IFAC.

关键词： Linear systems

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Optimizing highway networks: Genetic algorithms and swarm intelligence based approach

Optimizing highway networks: Genetic algorithms and swarm in...

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Proceedings of the international Workshop on Information Technology in Civil engineering: Computing in Civil engineering

作者： Jha, Manoj K. Department of Civil Engineering Morgan State University Baltimore MD 21251 United States

Optimizing highway alignments between given end points is a complex problem since there are numerous alternatives to connect two points in space. The initial efforts to design a highway were primarily manual and based on human judgment. Later, a number of search algorithms were developed to find an optimum alignment after formulating a number of alignment significant costs such as earthwork and pavement costs. Genetic algorithms (GAs) were recently used to optimize highway alignments and were proven to be very effective due to their ability to avoid getting trapped in local optima while searching for a global optimum solution. A Geographic Information System (GIS) was integrated with GAs for practical application, which allowed working directly with real maps. The genetic approach however, had two main weaknesses: (1) a predetermined number of generations through which the search for an optimal solution was to be carried out, was necessary. It was a usual practice to continue searching through sufficiently large number of generations to ensure that global optimal solution was reached, which increased the computational burden considerably, (2) the integration with GIS while allowed working directly with real maps, further increased the computational burden due to the additional computation necessary in the GIS environment. In order to address the computational burden issue, here we introduce an alternative approach using Swarm Intelligence (SI) for highway alignment optimization. We perform a test example which indicates that swarm intelligence reduces the computational burden significantly.

关键词： Highway systems

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Symmetric connectivity with minimum power consumption in radio networks

IFIP Advances in Information and Communication Technology

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IFIP Advances in Information and Communication Technology 2002年 96卷 119-130页

作者： CǍlinescu, G. MǍndoiu, I.I. Zelikovsky, A. Department of Computer Science Illinois Institute of Technology Chicago IL 60616 United States Department of Computer Science and Engineering UC San Diego La Jolla CA 92093 United States Department of Computer Science Georgia State University Atlanta GA 30303 United States

ISBN: (纸本)9781475752755

We study the problem of assigning transmission ranges to the nodes of a multi-hop packet radio network (also known as static ad hoc wireless network) so as to minimize the total power consumed under the constraint that enough power is provided to the nodes to ensure that the network is connected. Precisely, we require that the bidirectional links established by the transmission range of every node form a connected graph. We call this problem MIN-PoWER SYMMETRIC CONNECTIVITY. Implicit in previous work on transmission range assignment under asymmetric connectivity requirements is the proof that Min-Power Symmetric Connectivity is NP-hard and that a simple algorithm has approximation ratio of 2. In this paper we establish the similarity between Min-Power Symmetric Connectivity and the classic Steiner Tree problem in graphs, give a polynomial-time approximation scheme with performance ratio approaching 1+in 2 ≈ 1.69, and present a more practical 15/8 approximation algorithm. We also show that the related Min-Power Symmetric Unicast problem can be solved efficiently by a shortest-path computation in an appropriately constructed graph.

关键词： Approximation algorithms

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A method for the study of position in highly redundant multibody systems in environments with obstacles

A method for the study of position in highly redundant multi...

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2001 ASME international Mechanical engineering congress and Exposition

作者： Zelaia, Josu Agirrebeitia De Bustos, Igor Fernandez González, Rafael Avilés Martin, Enrique Amezua San Department of Mechanical Engineering University of the Basque Country Spain

关键词： Mechanical engineering

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A hybrid neural network based vision-guided robotic system

A hybrid neural network based vision-guided robotic system

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Joint 9th IFSA World congress and 20th NAFIPS international Conference

作者： Stanley, Kevin Wu, Jonathan Gruver, William A. Innovation Centre National Research Council of Canada 3250 East Mall Vancouver BC Canada School of Engineering Science Simon Fraser University Burnaby BC Canada

There are two primary methods for mapping an input image to robot motion: computed kinematics and visual servoing. Computed kinematics uses a kinematic transform between the image plane and the world frame. Computed kinematics algorithms require only a single iteration, but are sensitive to calibration errors. Visual servoing uses a control law to regulate the image to a desired state. Visual servoing is more robust, but requires more computation to reach a solution. To balance these opposing factors, we proposed a hybrid system that uses an initial computed kinematics move followed by a visual servoing correction, thereby providing a compromise between speed and accuracy. A linear approximation model and a neural network were used to approximate the kinematic transform between the image and world frames. A PD control system is used to regulate the image to its final state.

关键词： Neural networks

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GA-based approaches to linguistic modeling of nonlinear functions

GA-based approaches to linguistic modeling of nonlinear func...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： H. Ishibuchi D. Takeuchi T. Nakashima Department of Industrial Engineering Osaka Prefecture University Sakai Osaka Japan

We show two GA-based approaches to the linguistic modeling of nonlinear functions from numerical input-output data. Our task is to find a small number of linguistic rules for approximately realizing nonlinear functions. In both approaches, the fitness value of each rule set is defined by the weighted sum of three criteria: the total squared error, the number of linguistic rules, and their total length. The length of each rule is defined by the number of antecedent conditions. One approach is rule selection where a small number of linguistic rules are selected from a large number of candidate rules by genetic algorithms. The other approach is fuzzy genetics-based machine learning (GBML) where each linguistic rule is coded as a symbolic substring by its antecedent and consequent linguistic values. A rule set is represented by a concatenated string of variable length. The two approaches are compared with each other through computer simulations on numerical examples.

关键词： Data mining Genetic algorithms Machine learning Training data Machine learning algorithms Industrial engineering Concatenated codes Computer simulation Evolutionary computation Fuzzy systems

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A multi-objective evolutionary algorithm for fuzzy modeling

A multi-objective evolutionary algorithm for fuzzy modeling

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： F. Jimenez A.F. Gomez-Skarmeta H. Roubos R. Babuska Dept. Ingeniería de la Información y las Comunicaciones University of Murcia Spain Control Engineering Laboratory Delft University of Technology The Netherlands

In this paper a multi-objective evolutionary algorithm with a single run is proposed in order to consider several objectives dealing with transparency and compactness in obtaining a fuzzy model besides the standard accuracy objective. In this way the use of Pareto-optimal solutions within the evolutionary algorithm let us obtain attractive fuzzy models with respect to compactness, transparency and also accuracy. The results of the combination of Pareto-based multi-objective evolutionary algorithms and fuzzy modeling are compared with other approaches in the literature.

关键词： Evolutionary computation Fuzzy sets Fuzzy neural networks Neural networks Pareto optimization Control engineering Laboratories Fuzzy control Takagi-Sugeno model Unsupervised learning

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A type-2 fuzzy C-means clustering algorithm

A type-2 fuzzy C-means clustering algorithm

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： F.C.H. Rhee Cheul Hwang Computation Vision and Fuzzy Systems Laboratory Department of Electrical Engineering Hanyang University Ansan South Korea

This paper presents a type-2 fuzzy C-means (FCM) algorithm that is an extension of the conventional fuzzy C-means algorithm. In our proposed method, the membership values for each pattern are extended as type-2 fuzzy memberships by assigning membership grades to the type-1 memberships. In doing so, cluster centers that are estimated by type-2 memberships may converge to a more desirable location than cluster centers obtained by a type-1 FCM method in the presence of noise. Experimental results are given to show the effectiveness of our method.

关键词： Clustering algorithms Uncertainty Computer vision Machine vision Fuzzy systems Laboratories Equations

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