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Vehicle Dynamics Estimation using Box Particle Filter

Vehicle Dynamics Estimation using Box Particle Filter

引用

12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Dandach, Hoda Abdallah, Fahed De Miras, Jerome Charara, Ali Univ Technol Compiegne CNRS Heudiasyc UMR 7253 Ctr Rech Royallieu Compiegne France

ISBN: (纸本)9781467318723;9781467318716

this article presents an application of a new approach combining the bayesian framework with interval methods over vehicle state estimation. Interval state estimation seems more guaranted than a point state estimation when the system dynamics and measurement models have interval types of uncertainties. Firstly, a brief description about the Box Particle Filter (BPF) based on interval analysis is introduced. Secondly, the model of the vehicle and the state observer are presented. the performance of the BPF is studied and compared with that of the Kalman filter. Finally, some results of the vehicle dynamic estimation with simulated data are presented and interpreted.

关键词： Kalman filters observers particle filtering (numerical methods) vehicle dynamics

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An Experimental Framework for Evaluation of Facial Feature Extraction methods

An Experimental Framework for Evaluation of Facial Feature E...

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12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Song, Fengxi Guo, Zhongwei Chen, Qinglong New Star Res Inst Appl Tech Hefei City Dept Automat & Simulat Hefei Peoples R China

ISBN: (纸本)9781467318723;9781467318716

Facial feature extraction is one of the hottest research topics in pattern recognition. Scholars have proposed numerous facial feature extraction methods based on various discriminant criteria, models, and algorithms. Each method has its own advantages and shortcomings. Unfortunately, till now there is no sound theoretical framework to evaluate their total performance. People have to resort to their experimental results. Since recognition accuracies and computational times of a particular facial feature extraction method in a certain simulation experiment are heavily depend on many factors such as, face image database, number of training samples per class, type of cross-validation, classifier, and parameter of the classifier used in the experiment. thus, experimental design pays a key role in evaluation of their performance. In this paper we propose an experimental framework which can be used as a platform for a relatively fair comparison among facial feature extraction methods.

关键词： experimental framework feature extraction face recognition

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Controllability conditions of rotating beams and a construction of an optimal control

Controllability conditions of rotating beams and a construct...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Sklyar, Grigory Wozniak, Jaroslaw Univ Szczecin Inst Math PL-70451 Szczecin Poland

We present our works concerning controllability problem for Timoshenko beams rotating in a horizontal plane. Characterization of the set of null-reachability is given, the optimal control problem is stated and a numer... 详细信息

ISBN: (纸本)9781467321242

关键词： Optimal control controllability Numerical methods rotating beam TIMOSHENKO BEAM BEAM Beams and girders horizontal plane

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Stratified model identification

Stratified model identification

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Ogonowski, Zbigniew Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781467321242

Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.

关键词： model identification ILLUSTRATIONS Generalization model parameters base on back propagation water-tanks Identification methods hot water

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New Results on Robust Filtering Design for Continuous-Time Nonlinear Systems via T-S Fuzzy Affine Dynamic models

New Results on Robust Filtering Design for Continuous-Time N...

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12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Tian, Hui Qiu, Jianbin Gao, Huijun Lu, Qiugang Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin 150001 Heilongjiang Pr Peoples R China

ISBN: (纸本)9781467318723;9781467318716

this paper is concerned with designing a fuzzy robust H-infinity filter for a class of continuous-time nonlinear systems via Takagi-Sugeno (T-S) fuzzy affine dynamic models based on piecewise Lyapunov functions. Attention is focused on the analysis and design of an admissible full-order filter such that the filtering error dynamics is stochastically stable and a prescribed H-infinity attenuation level is guaranteed. It is assumed that the plant premise variables are not measurable so that the filter implementation with state space partition may not be synchronous with the state trajectories of the plant. Based on piecewise quadratic Lyapunov functions (PQLFs) combined with S-procedure and some matrix inequality linearization techniques, some new results are established for filtering design of the underling continuous-time T-S fuzzy affine systems. An examples is given to illustrate the effectiveness and applicability of the proposed design methods.

关键词： T-S fuzzy affine systems Piecewise quadratic Lyapunov functions filtering design

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Path Parameters Consensus based Formation Control of multiple Autonomous Underwater Vehicles in the presence of ocean currents

Path Parameters Consensus based Formation Control of multipl...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Wang, Yintao Yan, Weisheng Northwestern Polytech Univ Coll Marine Xian 710072 Shaan Xi Peoples R China

ISBN: (纸本)9781467321242

this paper addresses the problem of steering a group of Autonomous Underwater Vehicles along specified paths while keeping a desired spatial formation in the presence of ocean currents. We show how Lyapunov and backstepping based path following control for a single vehicle and coordinated consensus tracking for multiple vehicles are brought together to yield a distributed control strategy, by which the problems existing in current designs that a common reference velocity signal being available to all cooperating vehicles are explicitly extended. the path following for each vehicle amounts to reducing an appropriately defined geometric error to zero asymptotically. the desired coordinated behavior is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader. the stability of the overall closed-loop system is analyzed mathematically. To demonstrate the controller proposed, simulations results are presented and discussed.

关键词： Vehicles Oceans Underwater vehicles Vehicle dynamics Symmetric matrices Topology Lyapunov methods

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the virtual reality system used for upper extremity rehabilitation

The virtual reality system used for upper extremity rehabili...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Gmerek, Artur Tech Univ Lodz Inst Automat Control PL-90924 Lodz Poland

ISBN: (纸本)9781467321242

this paper presents a complete Virtual Reality (VR) system used for upper extremity rehabilitation. the system consists of sensors, the computer application and stereoscopic display glasses. the system is designed to cooperate with special mechanical orthosis used for arm rehabilitation. Patients can see their movements in the 3D virtual space during exercises. the system has a key role in development of rehabilitation robot, because numerous researches show that exercises in VR decreases the time of rehabilitation.

关键词： Rehabilitation Lake Restoration Upper Extremity Variable reluctance STEREOSCOPIC DISPLAYS Rehabilitation robotics Exercise virtual reality Virtual Space APPLIED COMPUTER SCIENCE

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Formal Verification in Web Services Composition

Formal Verification in Web Services Composition

引用

IEEE international conference on automation, Quality and Testing, robotics

作者： Todica, Valeriu Vaida, Mircea-Florin Cremene, Marcel Tech Univ Cluj Napoca Baritiu St 26 Cluj Napoca 400027 Romania

ISBN: (纸本)9781467307024

the aim of this research is to propose a method for verifying business processes automatically generated through Web services composition. the method is based on model checking and uses Spin model checker, a tool for verifying the correctness of software models. Model checking is a powerful verification technique that can be applied to hardware or software systems in order to validate safety requirements such as the absence of deadlocks. the business process is transformed into a PRONIELA model that is simulated by Spin in order to be verified against the constraint requirements specified. the proposed method is incorporated into a generic and extensible framework for automatic Web services composition and execution.

关键词： Web Services Model Checking Spin

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Sensitivity Analysis of Time Delay Parabolic-Hyperbolic Optimal Control Problems

Sensitivity Analysis of Time Delay Parabolic-Hyperbolic Opti...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Emirsajlow, Zbigniew Krakowiak, Anna Kowalewski, Adam Sokolowski, Jan W Pomeranian Univ Technol Inst Control Engn Ul 26Kwietnia 10 PL-71126 Szczecin Poland Krakow Tech Univ PL-31155 Krakow Poland AGH Univ Sci & Technol Fac Elect Engn Automat Comp Sci & Elect Inst Automat PL-30059 Krakow Poland Univ Henri Poincare Inst Elie Cartan F-54506 Vandoeuvre Les Nancy France

ISBN: (纸本)9781467321242

In the paper the first order sensitivity analysis is performed for a class of optimal control problems for time delay parabolic-hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. the Steklov-Poincare operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. the optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.

关键词： Optimal control Sensitivity analysis time delay Directional derivative Circles perturbation

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A flowshop scheduling problem with machine deterioration and maintenance activities

A flowshop scheduling problem with machine deterioration and...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Rudek, Agnieszka Rudek, Radoslaw Wroclaw Univ Technol Dept Syst & Comp Networks PL-50370 Wroclaw Poland Wroclaw Univ Econom Inst Business Informat Wroclaw Poland

ISBN: (纸本)9781467321242

In this paper, we analyse the makespan minimization flowshop scheduling problem, where the processing times of jobs depend on the number of performed jobs and maintenance activities. Since the considered problem with two machines seems to be NP-hard, thus, we propose a branch and bound method and some heuristic and metaheuristic algorithms to solve it.

关键词： maintenance activities processing time Branch and bound methods jobs machine Nondeterministic polynomial-time hard Heuristics

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