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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是61-70 订阅

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False positive outliers rejection for improving image registration accuracy: Application to road traffic aerial sequences

False positive outliers rejection for improving image regist...

引用

9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Mtir, Ines Hadj Kaâniche, Khaled Vasseur, Pascal Chtourou, Mohamed Intelligent Control Design and Optimization of Complex Systems ENIS University of Sfax Sfax Tunisia Laboratoire D'Informatique du Traitement de L'Information et des Systèmes LITIS University of Rouen Rouen France

ISBN: (纸本)9789898565211

the objective of our system is to detect vehicles from aerial sequences. theses sequences are taken from a camera mounted on UAV which flies over roads and highways. Our approach is to firstly compensate the motion introduced by the dynamic behaviour of the camera. this leads us to a problem of image registration. the moving regions (vehicles) are after that extracted using residual motion. the aim of this paper is to present a combined method for features matching and outliers rejection to increase the accuracy of the registration phase. We use first, the SIFT descriptors and then outliers are rejected using geometric constraints. this leads to a better registration and a minimum of false alarms in the detection phase.

关键词： Motion compensation

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control of variable parametric actuator in Building Temperature Regulation

Control of variable parametric actuator in Building Temperat...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Ionkov, Todor Technical University of Sofia Department Automation of Electric Drives Sofia Bulgaria

ISBN: (纸本)9789898565211

Building management control systems provide occupants with comfortable temperature, humidity, etc. in different environments. Several control strategies have been introduced to control the temperature regulation, where an operating scheduling is pre-defined. In this context, standard PI control algorithms are adequate for the control of Heating, Ventilation and Air Conditioning (HVAC) systems. Due to the specificity of object dynamic, the uses of standard algorithms for regulation lead to fluctuations in angle actuator position. Achieving of energy saving control in these systems is correlated with minimisation of these actuator fluctuations. A novel nonlinear controller is proposed for high performance parametric variable motion control systems in actuators for Building Temperature Regulation. this control utilizes Lyapunov function to guarantee the convergence of the valve position tracking error from all possible initial conditions. Simulation results and performance comparison confirm that the proposed control scheme offers significantly improved performance in terms of the trajectory tracking ability to time-varying reference input, system control bandwidth, and robustness against external disturbances. the added integrator improves the system's robustness against modelling uncertainties and external disturbance, thus improving steady-state control accuracy.

关键词： Actuators

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A generative traversability model for monocular robot self-guidance

A generative traversability model for monocular robot self-g...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Sapienza, Michael Camilleri, Kenneth P. Department of Systems and Control Engineering University of Malta Msida MSD 2080 Malta

ISBN: (纸本)9789898565211

In order for robots to be integrated into human active spaces and perform useful tasks, they must be capable of discriminating between traversable surfaces and obstacle regions in their surrounding environment. In this work, a principled semi-supervised (EM) framework is presented for the detection of traversable image regions for use on a low-cost monocular mobile robot. We propose a novel generative model for the occurrence of traversability cues, which are a measure of dissimilarity between safe-window and image superpixel features. Our classification results on both indoor and outdoor images sequences demonstrate its generality and adaptability to multiple environments through the online learning of an exponential mixture model. We show that this appearance-based vision framework is robust and can quickly and accurately estimate the probabilistic traversability of an image using no temporal information. Moreover, the reduction in safe-window size as compared to the state-of-the-art enables a self-guided monocular robot to roam in closer proximity of obstacles.

关键词： Robots

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Quantitative estimates of stability in controlled GI D 1 ∞ queueing systems and in control ofwater release in a simple dam model

Quantitative estimates of stability in controlled GI D 1 ∞ ...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Gordienko, Evgueni De Chávez, Juan Ruiz Department of Mathematics Autonomous Metropolitan University-Iztapalapa San Rafael Atlixco 186 col. Vicentina Mexico City Mexico

ISBN: (纸本)9789898565211

We consider two applied discrete-time Markov control models: waiting times process in GI D 1 ∞ queues with a controlled service rate and water release control in a simple dam model with independent water inflows. the stochastic dynamics of both models is determinated by a sequence of independent and identically distributed random variables with a distribution function F. In the situation when an available approximation F˜ is used in place of the unknown F, we estimate the deterioration of performance of control policies optimal with respect to the total discounted cost and the average cost per unit of time. For this purpose we introduce a stability index and find uppers bounds for this index expressed in terms of the Prokhorov distance between the distributions functions F and ˜F . When ˜F Ξ ˜Fm is the empirical distribution function obtained from a sample of size m in average the stability index is less than a constant times m-1=3. Copyright © 2012 SciTePress.

关键词： Distribution functions

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Sloshing suppression control by using physical Boundary Element Model and Predictive control in liquid container transfer system

Sloshing suppression control by using physical Boundary Elem...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Okatsuka, Hisashi Shibuya, Ryota Terashima, Kazuhiko Noda, Yoshiyuki Matsuo, Yoshiki Department of Mechanical Engineering Toyohashi University of Technology Hibarigaoka 1-1 Tempaku Toyohashi Aichi 441-8580 Japan Department of Mechanical System Engineering Faculty of Engineering University of Yamanashi Takeda 4-4-37 Kofu Yamanashi 440-0016 Japan Department of Computer Siecnce Tokyo University of Technology 1404-1 Katakuramachi Hachioji City Tokyo 192-0982 Japan

ISBN: (纸本)9789898565211

this paper presents sloshing suppression control of liquid transferred at a desirable-speed. In order to suppress sloshing, a mathematical model consisting of continuous equations and the pressure equation is used and the sloshing phenomena are analyzed by using the Boundary Element Method (BEM). Further, the BEM model is transformed into the state-variable model. the proposed model can estimate not only first-order mode sloshing but also higher-order mode sloshing and predict the future behavior of liquid level more precisely. Moreover, sloshing is suppressed by using Model Predictive control (MPC).We were able to transfer the container while minimizing sloshing and maintaining a desirable speed.

关键词： Boundary element method

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New robust controller synthesis optimization methodology under six sigma constraint

New robust controller synthesis optimization methodology und...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Frechard, J. Knittel, D. Renaud, J. LGeCo INSA 24 Boulevard de la Victoire 67084 Strasbourg France Institute of Physics and Engineering University of Strasbourg 17 Rue du Maréchal Lefébvre 67100 Strasbourg France

ISBN: (纸本)9789898565211

Industrial systems usually contain uncertain parameters. these uncertainties come from lack of knowledge of physical phenomena or from evaluation difficulties. the stochastic behaviour of these parameters have to be taken into account during the design process of industrial systems. To tackle with these uncertainties, the Design for Multi-objective Six Sigma method is used. this method permits to fix six sigma constraint and it is applied on the synthesis of web tension controller for an industrial large-scale roll-to-roll system. the key idea is to synthesize the controller in frequency domain by Hinfinity synthesis. then the six sigma constraint is fixed on output web tension in time domain. the robust controller synthesis is then compared with standard Hinfinity synthesis approach. this paper presents for the first time a controller synthesis including six sigma constraints. Copyright © 2012 SciTePress.

关键词： Robust control

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Research on integrated fault diagnosis of steam turbine based on CPN neural network and D-S evidence theory

Research on integrated fault diagnosis of steam turbine base...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Daogang, Peng Hao, Zhang Hengzi, Huang Fei, Xia School of Electric Power and Automation Engineering Shanghai University of Electric Power Shanghai China

ISBN: (纸本)9789898565211

Counter-propagation Network, combining the type of supervised and unsupervised in the learning process, can overcome the shortcomings of BP Neural Network fall into local minimum, low learning rate and bad convergence performance. D-S evidence theory does not require a priori information and use the interval estimation method to describe the uncertain information based on reliability function calculating, and it adapted to the decision level of information fusion. Using the steam turbine rotor vibration simulation experimental platform as the object, the integrated fault diagnosis method for turbine generator based on CPN neural network and D-S evidence theory is established in this paper. this method takes the turbine vibration condition parameters as independent samples which are collected from different sensors. After feature extraction, processing and parameters normalized, these parameters are input independent CPN neural network to train, which makes the independence of each CPN neural network form the fault symptom to failure mode nonlinear mapping, then use the D-S evidence theory method for each CPN neural network to diagnosis and data fusion, thus realizing the turbine running state more accurate diagnosis. Copyright © 2012 SciTePress.

关键词： Failure analysis

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Smart walker control through the inference of the user's command intentions

Smart walker control through the inference of the user's com...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Martins, M. Frizera, A. Santos, C. Ceres, R. Universidade do Minho Gualtar Braga Portugal Departamento de Engenharia Elétrica Universidade Federal do Espírito Santo Vitória ES Brazil Grupo de Bioingeniería Consejo Superior de Investigaciones Científicas Crta Campo Real 200 Arganda del Rey Madrid Spain

ISBN: (纸本)9789898565211

In this work is presented the NeoASAS walker including its conceptual design, implementation and validation with a new interface approach integrated. this interface is based on a joystick and it is intended to extract the user's movement intentions. Eleven healthy users performed preliminary sets of experiments with the walker, which showed the sensibility of the joystick to extract command intentions from the user. these signals presented a higher frequency component that was attenuated by a Benedict-Bordner filter. then, an approach to the control architecture was developed, in order to obtain stable and safe user assistance. this control architecture is based on a fuzzy logic control that allows the control of the walkers' motors. thus, an assistive device to provide safety and natural manoeuvrability was conceived and offers a certain degree of intelligence in assistance and decision-making. the motivation is that this will contribute to improve rehabilitation purposes by promoting ambulatory daily exercises and thus extend users' independent living. Copyright © 2012 SciTePress.

关键词： Fuzzy control

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Active disturbance rejection robust control for uncertain systems. Case: Floating offshore wind turbine 13

Active disturbance rejection robust control for uncertain sy...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Jorge, Carreño Zagarra Jose Rodolfo, Villamizar Mejía Universidad Industrial de Santander Cra 27 # 9 Bucaramanga Colombia

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Data-based tuning of PI controllers for vertical three-tank systems

Data-based tuning of PI controllers for vertical three-tank ...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： RǍdac, Mircea-Bogdan Bigher, Bogdan-Alexandru Precup, Radu-Emil Petriu, Emil M. Dragoş, Claudia-Adina Preitl, Stefan Stînean, Alexandra-Iulia Dept. of Automation and Appl. Inf. Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania School of Electrical Eng. and Computer Science University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898565211

this paper suggests the application of Iterative Feedback Tuning (IFT) as a data-based control technique to parameter tuning of PI controllers dedicated to vertical three-tank systems. the level control in the first two tanks is carried out using a multivariable control system structure which consists of two control loops, one for each level. the two PI controllers in these control loops are first tuned in terms of the Modulus Optimum method. New IFT algorithms are proposed in order to ensure the performance improvement of level control systems by means of six steps assisted by experiments. the experimental results show the strong performance improvement obtained after few iterations of IFT algorithms in terms of a model reference tracking optimization problem. Copyright © 2012 SciTePress.

关键词： Level control

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