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New frequency domain based stability tests for 2D linear systems

New frequency domain based stability tests for 2D linear sys...

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international conference on methods and models in automation and robotics (MMAR)

作者： Wojciech Paszke Eric Rogers Paolo Rapisarda Krzysztof Gałkowski Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Wuppertal Germany

this paper develops a new set of stability conditions for asymptotic stability of two-dimensional linear systems described by Roesser and Fornasini-Marchesini state-space models through extensive use of the Kalman-Yakubovich-Popov lemma. the resulting tests are formulated in terms of a convex optimization problem over linear matrix inequality constraints. Testing the resulting conditions only requires computations on matrices with constant entries with consequent computational load advantages when compared with alternatives, especially when direct extension to stabilizing control law design is required. Illustrative numerical examples are also given.

关键词： Linear systems Stability analysis Asymptotic stability Numerical stability Polynomials Vectors State-space methods

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Biopsychically inspired cognitive control for autonomous agents based on motivated learning

Biopsychically inspired cognitive control for autonomous age...

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international conference on methods and models in automation and robotics (MMAR)

作者： J. Jim Zhu Xudan Xu School of Electrical Engineering & Computer Science Ohio University Athens OH USA School of Automation Science and Electrical Engineering Beihang University Beijing China

A biopsychically inspired integrated cognitive control system architecture for autonomous agents is proposed in this paper, whose hardware is modeled after the biological Central Nervous System (CNS) of human's, and algorithms are modeled after human psychological processes. the pain-driven system architecture and motivated learning algorithms allow the agent to set goals autonomously so as not only to survive but also thrive in uncertain or unknown environment and they endow the agent with the ability of improvisation, innovation and imagination. Familiar concepts in control engineering will be reexamined in the context of human cognition and psychological behaviors. the control law for decision making derived from psychological process is exemplified with case studies of three psychological behaviors by the method of Linear Quadratic Regulator (LQR) with a state-dependent quadratic loss function. this paper is mainly an inquiry outside of the box of conventional control paradigms; therefore it provides more questions than answers.

关键词： Psychology Humans Pain Process control Planning Educational institutions Control systems

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Transporting objects only by collision with group robots

Transporting objects only by collision with group robots

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international conference on methods and models in automation and robotics (MMAR)

作者： Teturo Itami Department of Mechanics and Robotics Hiroshima International University Kure Hiroshima Japan

A scheme of microscopic Brownian motion is applied to macroscopic transportation systems by group of robots. Continuum mechanical picture of group robots so far developed by the author is extended to systems with energy dissipation. Taking Hamiltonian with specified exponential function of time allows us to deal with friction appearing in motion of robots by canonical equation. Rubbing of robots against floor where they moves around is representd as proportional to velocity of each robot. In applying movement of group robots to transportation systems, we give methods how to explicitly calculate force between robots and the object that is to be transported. We make practical use of the formula of the force in simulation studies. three combinations of the proportionality constants for velocity of robots and that of objects are set to simulate how to move the object in the transportation systems. Physically adequate results that the small/large frictional coefficient values lead to good/bad transportation characteristics are brought. Comparison of our results based on continuum picture of robots with those by Newtonian mechanics for robots and objects leads to good agreement.

关键词： Collision avoidance Force Robot kinematics Equations Mathematical model Robot sensing systems

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Multistage pattern recognition of signals represented in wavelet bases with reject option

Multistage pattern recognition of signals represented in wav...

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international conference on methods and models in automation and robotics (MMAR)

作者： Urszula Libal Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

We propose a multistage pattern recognition algorithm with a reject option. On every stage, the presented algorithm chooses a class of signal or rejects the signal, i.e. refuses to make a decision. If a class is assigned to the signal on some stage, then the algorithm stops. In the opposite case of a signal rejection, the decision of assigning to a class is made on the next stage. the multiresolution signal representation in wavelet bases allows to take a more accurate signal representation on every following stage. Our approach saves the computation time, when the algorithm selects a class on an early stage basing on a coarse wavelet representation. If the inaccurate representation is insufficient to point out one of classes (e.g. when the a posteriori probability of every class is lower than a fixed bound, in case of Bayesian classifier), the reject option protects from choosing a wrong class. We show that a risk of misclassification for the Bayesian decision rule with a reject option is lower or equal to a risk of the one-stage optimal Bayesian rule.

关键词： Bayesian methods Approximation methods Signal resolution Vectors Pattern recognition Signal representations Approximation algorithms

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Identity of a companion, migrating between robots significantly different in terms of expressive capabilities: Initial results of VHRI study

Identity of a companion, migrating between robots significan...

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international conference on methods and models in automation and robotics (MMAR)

作者： Krzysztof Arent Bogdan Kreczmer Łukasz Małek Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

In this paper we deal with a companion that is capable of migration to variety of embodiments in order to fulfil its tasks (including the social one) and to achieve its goals. It is important that identity of a companion in each utilised embodiment can be recognised by the user regardless technological constraints and own capabilities of a robotic platform. We are focused on the case when one companion uses two robots, embodied in different degrees, whereby one robot is poorly embodied. In this context the concept of unfalsified identity is introduced. In video-based user studies the less embodied robot companion reveals a certain set of characteristic behaviours relevant the context and the currently carried out task. these behaviours are consistent with behaviours observed by the user earlier, in similar contexts, when the companion was more embodied. It follows from the study that the user can properly recognise the identity of this companion with a certain level of confidence. A number of observations relevant to behaviours as identity cues are presented and discussed.

关键词： Context Robot sensing systems Mobile communication Educational institutions Computers Electronic mail

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Observer-based predictive temperature control for distributed heating systems based on the method of integrodifferential relations

Observer-based predictive temperature control for distribute...

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international conference on methods and models in automation and robotics (MMAR)

作者： Andreas Rauh Luise Senkel Christina Dittrich Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

In many practical applications, the control design for thermal systems aims at either preventing local overtemperatures or at achieving temperature distributions which are homogeneous in the spatial coordinates. For the purpose of control synthesis, the nonstationary system model, which is naturally given by a parabolic partial differential equation, is commonly discretized in the spatial coordinate to derive realtime applicable control laws. However, classical finite volume discretization procedures as well as finite element techniques do not allow for a direct quantification of the resulting approximation quality of the finite-dimensional model that is used for the control synthesis. In contrast, the method of integrodifferential relations (MIDR) provides a direct possibility to quantify the approximation quality. In this paper, the MIDR is therefore employed to design an observer-based predictive control strategy for a distributed heating system. Moreover, experimental results are presented in which the advantages of the MIDR system formulation are highlighted in comparison with a cascaded state and output feedback control approach derived on the basis of a classical finite volume model.

关键词： Temperature measurement Irrigation Heating Approximation methods Temperature distribution Heat transfer Atmospheric modeling

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Kalman Filter based leak localization applied to pneumatic systems

Kalman Filter based leak localization applied to pneumatic s...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： Tim Nagel Chao Zhang Steven Liu Institute of Control Systems Department of Electrical and Computer Engineering University of Kaiserslautern Germany

ISBN: (纸本)9781467318716

An approach for a leak detection and localization scheme is presented. With respect to developing methods for diagnosis in commercial vehicles, applicability of existing approaches for leak diagnosis in pipelines has been evaluated. A leakage localization strategy using an Extended Kalman Filter (EKF) in combination with the Method of Characteristics (MOC) is adapted to pneumatic systems and implemented in Matlab/Simulink. To deal with boundary limitations due to possible sections for leak localization along the pipe, a methodical extension based on the idea of virtual pipes is proposed and integrated into the overall method. Verifications, resulting from a simulation model as well as from measurements at a real test bench, are presented. the promising results are discussed and suggestions for possible steps of further development are given.

关键词： Mathematical model Adaptation models Pneumatic systems Kalman filters Boundary conditions Sensors Equations

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Path planning methods for mobile robots with linear programming

Path planning methods for mobile robots with linear programm...

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4th international conference on Modelling,Identification and Control(ICMIC 2012)

作者： Liying Yang, Member, IEEE, Juntong Qi, Jianda Han the State Key Laboratory of robotics, Shenyang Institute of automation (SIA), Chinese Academy of Sciences (CAS),Member, IEEE,the State Key Laboratory of robotics, SIA, CAS the State Key Laboratory of robotics, SIA, CAS

In this paper, the path planning method with two different obstacle avoiding models are proposed to solve the target pursuit and obstacle avoid problem (TPOA). Both of the models are originated from linear programming (LP). One model introduced integer variable to describe the relative position of robot and obstacles, then MILP based obstacle-avoided model is built;the other used a tangent line to define the feasible and infeasible region of robot in obstacle area, thus LP based obstacle-avoided constraints are given. Simulations are demonstrated comparatively to show the effectiveness of the proposed methods.

关键词： Path planning, Target pursuit and obstacle avoiding (TPOA), Linear Programming (LP), Mixed integer linear programming

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Hyperspectral imaging for determination of some quality parameters for olive oil

Hyperspectral imaging for determination of some quality para...

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international conference on automation and Computing (ICAC)

作者： D. Martínez Gila P. Cano Marchal J. Gámez García J. Gómez Ortega Robotics Automation and Computer Vision Group Agrifood Campus of International Excellence (ceiA3) University of Jaén Jaen Spain

the analysis of the quality of a virgin olive oil involves the determination of a series of chemical indexes and organoleptic characteristics. In this work we propose an online prediction model for three chemical indexes: acidity, peroxide index and humidity content, based on an hyperspectral artificial vision system. Two methods have been developed for the construction of the model: (1) partial least squares regression (PLS) using all the captured spectral components, and (2) partial least squares regression over a subset of the components obtained applying a genetic algorithm (GA-PLS). the design and validation was carried out using olive oil samples from different seasons analysed by a renowned laboratory.

关键词： Hyperspectral imaging Predictive models Genetic algorithms Calibration Moisture Indexes Cameras

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An Error-In-Variables (EIV) based Bayesian probabilistic approach to estimating cell mechanical properties using Atomic Force Microscopy

An Error-In-Variables (EIV) based Bayesian probabilistic app...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Rajarshi Roy Lei Li Carol Keefer Jaydev P. Desai Robotics Automation and Medical Systems (RAMS) Laboratory University of Maryland College Park MD USA Department of Animal and Avian Sciences University of Maryland College Park MD USA

Contact mode Atomic Force Microscopy (AFM) is popularly used by the biophysics community to study mechanical properties of cells and tissue due to its ability to quantify biological processes like disease proliferation and stem cell differentiation. While AFM indentation experiments are relatively straightforward, interpretation of the AFM data is subject to some debate. three factors make the AFM force data prone to incorrect interpretation, namely, the appropriate contact model to use to fit the post-contact AFM data, identifying the point when the AFM probe contacts the cell, and variability in the stiffness of the probe used to estimate material properties of cells. A lot of research has been directed towards developing constitutive models based on sample material property assumptions, however, variability in the AFM probe stiffness and contact point uncertainty has received limited attention. this suggests the need to have an integrated probabilistic model to estimate mechanical properties from the AFM force data which can account for errors contributed from these two sources. In this work, we have developed an Error-In-Variables (EIV) based Bayesian Changepoint model to estimate the contact point and the Young's Modulus from AFM force curves on fixed mouse Embryonic Stem cells (mESC) in the indentation range of 1-1.5 μm. Our results indicate that the EIV-based Bayesian Approach can be used to obtain robust estimates of material properties of biomaterials.

关键词： Probes Young's modulus Force Bayesian methods Uncertainty Calibration

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