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检索条件"任意字段=5th International Conference on Informatics in Control Automation and Robotics, ICINCO 2008"

共 191 条记录，以下是71-80 订阅

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Data mining and knowledge discovery for monitoring and intelligent control of a wastewater treatment plant

Data mining and knowledge discovery for monitoring and intel...

引用

5th international conference on informatics in control, automation and robotics

作者： Manesis, S. Deligiannis, V. Koutri, M. Univ Patras Dept Elect & Comp Engn Patras 26500 Greece

ISBN: (纸本)9789898111302

Intelligent control of medium-scale industrial processes has been applied with success but, as a method of advanced control, can be further improved. Since intelligent control makes use of knowledge-based techniques (such as expert systems, fuzzy logic, neural networks, etc.), a data mining and knowledge discovery subsystem embedded in a control system can support an intelligent controller to achieve a more reliable and robust operation of the controlled process. this paper proposes a combined intelligent control and data mining scheme for monitoring and mainly for controlling a wastewater treatment plant. the intelligent control system is implemented in a programmable logic controller, while the data mining and knowledge discovery system in a personal computer. the entire control system is basically a knowledge-based system which improves drastically the behavior of the wastewater treatment plant.

关键词： intelligent control knowledge-based systems data mining wastewater treatment expert-fuzzy logic

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Evaluation of neural PDF control strategy applied to a nonlinear model of a pumped-storage hydroelectric power station

Evaluation of neural PDF control strategy applied to a nonli...

引用

5th international conference on informatics in control, automation and robotics

作者： Munoz-Hernandez, G. A. Gracios-Marin, C. A. Diaz-Sanchez, A. Mansoor, S. P. Jones, D. I. Inst Tecnol Puebla Puebla Mexico Univ Wales Sch Informat Bangor LL57 1UT Gwynedd Wales

ISBN: (纸本)9789898111302

In this paper, a neural Pseudoderivative control (PDF) is applied to a nonlinear mathematical model of the Dinorwig pumped - storage hydroelectric power station. the response of the system with this auto-tuning controller is compared with that of a classic controller, currently implemented on the system. the results show how the application of PDF control to a hydroelectric pumped-storage station improves the dynamic response of the power plant, even when multivariable effects are taken into account.

关键词： model and simulation power systems control applications neural control

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Stochastic control strategies and adaptive critic methods

Stochastic control strategies and adaptive critic methods

引用

5th international conference on informatics in control, automation and robotics

作者： Herzallah, Randa Lowe, David Al Balqa Appl Univ Fac Engn Jordanstown North Ireland Aston Univ NCRG Birmingham W Midlands England

ISBN: (纸本)9789898111302

Adaptive critic methods have common roots as generalizations of dynamic programming for neural reinforcement learning approaches. Since they approximate the dynamic programming solutions, they are potentially suitable for learning in noisy, nonlinear and nonstationary environments. In this study, a novel probabilistic dual heuristic programming (DHP) based adaptive critic controller is proposed. Distinct to current approaches, the proposed probabilistic (DHP) adaptive critic method takes uncertainties of forward model and inverse controller into consideration. therefore, it is suitable for deterministic and stochastic control problems characterized by functional uncertainty. theoretical development of the proposed method is validated by analytically evaluating the correct value of the cost function which satisfies the Bellman equation in a linear quadratic control problem. the target value of the critic network is then calculated and shown to be equal to the analytically derived correct value.

关键词： adaptive critic methods functional uncertainty stochastic control

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A distributed fault tolerant position control system for a boat-like inspection robot

A distributed fault tolerant position control system for a b...

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5th international conference on informatics in control, automation and robotics

作者： Walter, Christoph Krueger, Tino Elkmann, Norbert Fraunhofer Inst Factory Operat & Automat D-39106 Magdeburg Germany

ISBN: (纸本)9789898111302

Here we present the position control system of a swimming inspection robot for large under-ground concrete pipes that are partially filled with wastewater. the system consists of a laser-based measurement subsystem for position determination and a mechanical rudder to move the robot laterally within the pipe. the required software components are implemented as services following a CORBA-based architecture. To automatically adapt the position control system to different environment conditions, a self-tuning controller is used. the controller has hybrid requirements regarding latency and interarrival times of computed position values. In this contribution, we describe the architectural support for this application as well as how the system deals with excessive latencies due to transient overload.

关键词： distributed control system fault tolerance self-tuning controller

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Adaptive resources consumption in a dynamic and uncertain environment an autonomous rover control technique using progressive processing

Adaptive resources consumption in a dynamic and uncertain en...

引用

icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Gloannec, Simon Le Mouaddib, Abdel Illah Charpillet, Françis GREYC UMR 6072 Université de Caen Basse-Normandie Campus Côte de Nacre bd Maréchal Juin BP5186 14032 Caen Cedex France MAIA Team LORIA Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex France

ISBN: (纸本)9789898111319

this paper address the problem of an autonomous rover that have limited consumable resources to accomplish a mission. the robot has to cope with limited resources: it must decide the resource among to spent at each mission step. the resource consumption is also uncertain. Progressive processing is a meta level reasoning model particulary adapted for this kind of mission. Previous works have shown how to obtain an optimal resource consumption policy using a Markov decision process (mdp). Here, we make the assumption that the mission can dynamically change during execution time. therefore, the agent must adapt to the current situation, in order to save resources for the most interesting future tasks. Because of the dynamic environment, the agent cannot calculate a new optimal policy online. However, it is possible to compute an approximate value function. We will show that the robot will behave as good as if it knew the optimal policy.

关键词： Autonomous agents

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Energy model based control for forming processes

Energy model based control for forming processes

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5th international conference on informatics in control, automation and robotics

作者： Girard, Patrick thomson, Vincent Natl Res Council Canada Inst Ind Mat 75 Blvd Mortagne Boucherville PQ J4B 6Y4 Canada

ISBN: (纸本)9789898111302

thermoforming consists of shaping a plastic material by deforming it at an adequate deformation rate and temperature. It often exhibits abrupt switches between stable and unstable material behaviour that have neither been identified nor controlled up to now. PID control, although adequate for simple parts, has not been able to control very well the forming of complex parts and parts made of newer materials. In this paper, the state parameters that allow the development of predictive models for the forming process and the construction of control systems are identified. A robust, model based control system capable of in-cycle control is presented. It is based on a simulator continuously tuned and supported in real time by intelligent agents that incorporate diagnostic capabilities.

关键词： model based control forming energy simulation real time identification intelligent agents on-line diagnostics

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A unifying point of view in the problem of PIO - Pilot in-the-loop oscillations

A unifying point of view in the problem of PIO - Pilot in-th...

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5th international conference on informatics in control, automation and robotics

作者： Rasvan, Vladimir Danciu, Daniela Popescu, Dan Univ Craiova Dept Automat Control RO-200585 Craiova Romania

ISBN: (纸本)9789898111326

the paper starts from the problem of PIO (Pilot-In-the-loop Oscillations), a major problem in aircraft handling and control, where the idea of the feedback as hidden technology is basic. the real phenomenon called PIO is modeled by a feedback structure where the pilot acts as one of the components of the loop and has to be modeled accordingly. PIO are in fact self-sustained oscillations and usually are divided into three convenient categories that are based on the nature of the pilot and vehicle dynamics behavior models and analysis needed for their explanation. Category I PIO are essentially linear while Category II PIO are quasi-linear and typically associated with rate limiting. Category III PIO are fully nonlinear and non-stationary. Since PIO II are mostly tackled via various robustness approaches starting from linear models, the paper strives for a unifying approach which is illustrated accordingly.

关键词： oscillations feedback structure robustness

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Recursive bias-compensating algorithm for the identification of dynamical bilinear systems in the errors-in-variables framework

Recursive bias-compensating algorithm for the identification...

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5th international conference on informatics in control, automation and robotics

作者： Larkowski, T. Linden, J. G. Vinsonneau, B. Burnham, K. J. Coventry Univ Control Theory & Applicat Ctr Coventry W Midlands England

ISBN: (纸本)9789898111326

the paper investigates a recursive approach for the bias compensating least squares (BCLS) technique. the method presented is applied to the problem of on-line identification of single-input single-output bilinear models in the errors-in-variables framework. Within this framework the recursive bilinear BCLS algorithm is realized when a bilinear Frisch scheme (BFS) is iteratively applied for the estimation of the parameters of an exemplary bilinear system, giving rise to the exact recursive BFS (ERBFS) method. Moreover, a further extension of the ERBFS incorporating Tikhonov regularization with variable exponential weighting is considered and this is shown to be beneficial in the initial period of the identification procedure.

关键词： bias compensation bilinear systems errors-in-variables recursive estimation regularization system identification

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Learning by example - Reinforcement Learning techniques for real autonomous underwater cable tracking

Learning by example - Reinforcement Learning techniques for ...

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5th international conference on informatics in control, automation and robotics

作者： El-Fakdi, Andres Carreras, Marc Antich, Javier Ortiz, Alberto Univ Girona Inst Informat & Applicat Comp Vis & Robot Grp VICOROB Girona 17074 Spain Univ Balearic Island Dept Math & Comp Sci Palma de Mallorca 07071 Spain

ISBN: (纸本)9789898111319

this paper proposes a field application of a high-level Reinforcement Learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. the learning system is characterized by using a Direct Policy Search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed LIP the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested Successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEUAUV.

关键词： machine learning in control applications space and underwater robots

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Optimal control with adaptive internal dynamics models

Optimal control with adaptive internal dynamics models

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5th international conference on informatics in control, automation and robotics

作者： Mitrovic, Djordje Klanke, Stefan Vijayakumar, Sethu Univ Edinburgh Inst Percept Act & Behav Sch Informat Edinburgh Midlothian Scotland

ISBN: (纸本)9789898111302

Optimal feedback control has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. the optimal feedback control law for systems with non-linear dynamics and non-quadratic costs can be found by iterative methods, such as the iterative Linear Quadratic Gaussian (iLQG) algorithm. So far this framework relied on an analytic form of the system dynamics, which may often be unknown, difficult to estimate for more realistic control systems or may be subject to frequent systematic changes. In this paper, we present a novel combination of learning a forward dynamics model within the iLQG framework. Utilising such adaptive internal models can compensate for complex dynamic perturbations of the controlled system in an online fashion. the specific adaptive framework introduced lends itself to a computationally more efficient implementation of the iLQG optimisation without sacrificing control accuracy-allowing the method to scale to large DoF systems.

关键词： learning dynamics optimal control adaptive control robot simulation

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