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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71-80 订阅

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Robustness of Contraction Metrics Computed by Radial Basis Functions 18

Robustness of Contraction Metrics Computed by Radial Basis F...

引用

18th international conference on informatics in control, automation and robotics (icinco)

作者： Giesl, Peter Hafstein, Sigurdur Mehrabinezhad, Iman Univ Sussex Dept Math Falmer BN1 9QH England Univ Iceland Fac Phys Sci Dunhagi 5 IS-107 Reykjavik Iceland

We study contraction metrics computed for dynamical systems with periodic orbits using generalized interpolation with radial basis functions. the robustness of the metric with respect to perturbations of the system is... 详细信息

ISBN: (纸本)9789897585227

关键词： Contraction Metric Radial Basis Functions Periodic Orbits Dynamical System

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Force control of a duct cleaning robot brush using a compliance device

Force control of a duct cleaning robot brush using a complia...

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

作者： Jeong, Wootae Jeon, Seung-Woo Park, Duckshin Kwon, Soon-Bark Eco-Transport Research Division Korea Railroad Research Institute Gyeonggi-do Uiwang Korea Republic of Department of Virtual Engineering University of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)9789898565211

Conserving clean air and removing contaminants and particular matters accumulated in the ventilation system of the subway stations are key issue for high air quality and green environment. Accumulated various pollutants at inner duct surface can cause secondary air contamination and injure subway passengers' respiratory system and health. In fact, periodic duct cleaning works can improve indoor air quality, but cleaning entire ventilation system takes high cost and manpower. this study proposes a newly developed duct cleaning robot to provide autonomous air duct cleaning. In addition, effective cleaning method with an automated robot device is developed. In particular, the new duct cleaning robot has functionality that cleans four sides of inner duct surface simultaneously with a constant pressure by using a force compliance brush. control method with the compliant device has also been analysed. the proposed design of autonomous duct cleaning robot is expected to save the operating cost of subway ventilation system and sustain clean indoor air quality by providing easier and faster cleaning tools.

关键词： Ventilation

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Modeling and simulation of a temperature robust control in grain drying systems for thermal damage reduction

Modeling and simulation of a temperature robust control in g...

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

作者： De Oliveira, Josenalde B. Fernandes, Marcus V.A. Teixeira, Leonardo R.L. Agricultural School of Jundiai Federal University of Rio Grande do Norte Macaiba RN Brazil Federal Institute of Rio Grande do Norte Zona Norte Natal RN Brazil Federal Institute of Rio Grande do Norte Currais Novos RN Brazil

ISBN: (纸本)9789898565211

informatics plays an imperative role in the designing and tuning of new control systems strategies, since the computational simulation of such systems is part of the entire process of applying an algorithm on a real environment. this paper presents an alternative to the Proportional-Integrative-Derivative (PID) controller for temperature control in grain drying systems. the PID controller may present undesirable oscillations in the presence of external disturbances associated with agroindustrial facilities, thus demanding a precise and automatic tuning during the entire process. Robust controllers are suitable and recommended for the drying final quality, since the grains are offered a thermal damage reduction when submitted to abrupt temperature variations, as fragility and even crack during processing. Simulation results on an experimental model of a nonlinear robust controller, named Shunt Indirect Variable Structure Model Reference Adaptive controller (SIVS-MRAC) are shown. Performance results before disturbances and parametric variations are compared with the PID behaviour. Copyright © 2012 SciTePress.

关键词： Temperature control

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On Specification informatics in discrete-event systems state-transparency for clarity of finite automata as control specifications

On Specification informatics in discrete-event systems state...

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

作者： Dhananjayan, Amrith Seow, Kiam Tian School of Computer Engineering Nanyang Technological University Singapore 639798 Singapore

In control of discrete-event systems (DES9;s), the formalization of control requirements from natural language statements is essentially a human endeavor. Without automated support tools, human designers often face... 详细信息

ISBN: (纸本)9789898565211

In control of discrete-event systems (DES's), the formalization of control requirements from natural language statements is essentially a human endeavor. Without automated support tools, human designers often face the uncertainty of not knowing if the control requirements formalized in the rudimentary DES formalism of automata are as intended, motivating the automata-theoretic study of specification informatics in the field of DES's. A specification automaton that renders its linguistic description more transparent should help designers ascertain the prescribed requirement. Such transparency may be formalized in either the state space or the event space of the DES. In this paper, treating the former as fundamental, a state-transparent specification automaton is conceptualized with respect to a full specification automaton ('full' in the sense of having all the a priori transitional constraints of the DES embedded in it). It contains only specification relevant states called specification epochs. Each epoch denotes a "well-defined" disjoint subset of states of the full specification automaton in the same phase of execution, meaningfully aggregated such that the resultant specification automaton retains the original restrictiveness on the DES. the problem of maximizing the state-transparency of specification automata for DES's is then theoretically formulated. Subject to human perceptive or cognition limits, we believe that such a maximally state-transparent specification automaton could be more comprehensible, showing clearly the compliant execution of the system through a minimum number of specification epochs, and should aid designers in clarifying if the requirement prescribed is the one intended. Copyright © 2012 SciTePress.

关键词： Discrete event simulation

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Attention capabilities for AI systems

Attention capabilities for AI systems

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

作者： Helgason, Helgi Pall thórisson, Kristinn R. Center for Analysis and Design of Intelligent Agents School of Computer Science Reykjavik University Menntavegur 1 101 Reykjavik Iceland Icelandic Institute for Intelligent Machines 2. h. Uranus Menntavegur 1 101 Reykjavik Iceland

ISBN: (纸本)9789898565211

Much of present AI research is based on the assumption of computational systems with infinite resources, an assumption that is either explicitly stated or implicit in the work as researchers ignore the fact that most real-world tasks must be finished within certain time limits, and it is the role of intelligence to effectively deal with such limitations. Expecting AI systems to give equal treatment to every piece of data they encounter is not appropriate in most real-world cases;available resources are likely to be insufficient for keeping up with available data in even moderately complex environments. Even if sufficient resources are available, they might possibly be put to better use than blindly applying them to every possible piece of data. Finding inspiration for more intelligent resource management schemes is not hard, we need to look no further than ourselves. this paper explores what human attention has to offer in terms of ideas and concepts for implementing intelligent resource management and how the resulting principles can be extended to levels beyond human attention. We also discuss some ideas for the principles behind attention mechanisms for artificial (general) intelligences. Copyright © 2012 SciTePress.

关键词： Artificial intelligence

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From PID to extended learning control

From PID to extended learning control

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

作者： Verrelli, Cristiano Maria Electronic Engineering Department Tor Vergata University Via del Politecnico 1 00133 Rome Italy

ISBN: (纸本)9789898565211

It has been recently shown in Marino, Tomei, and Verrelli (2011) that the output error feedback regulation problem with (unknown) periodic reference and/or disturbance signals of known common period can be effectively solved for the class of single-input, single-output, minimum phase, nonlinear, time-invariant systems in output feedback form (of known relative degree one or two) which are affected by unknown parameters and unknown output-dependent nonlinearities. the resulting nonlinear control, which relies on advanced learning control techniques, can be interpreted as a generalization of the classical PID control which solves the problem when both reference and disturbance signals are constant. In this paper, we present sophisticated analytical arguments which prove that the learning control designed in Marino, Tomei, and Verrelli (2011) can be endowed with a period identifier when the output reference signal is periodic of uncertain period but available at each time instant. the generalized resulting control preserves the achievement of the closed loop properties obtained in Marino, Tomei, and Verrelli (2011) while maintaining an overall simple structure. the application of the presented control techniques to the position synchronization problem for current-fed permanent magnet step motors with non-sinusoidal flux distribution and uncertain position-dependent load torque allows us to provide a solution to a yet unsolved problem. Copyright © 2012 SciTePress.

关键词： three term control systems

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Statistical models for emotion recognition using facial expression analisys

Statistical models for emotion recognition using facial expr...

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

作者： Garcia, Hernan F. Salazar, Augusto E. Orozco, Álvaro A. Control and Instrumentation Research Group Universidad Tecnolgica de Pereira La Julita Pereira Colombia Universidad Nacional-Sede Manizales va al Aeropuerto la Nubia Manizales Colombia

ISBN: (纸本)9789898565211

Emotion recognition is one of the latest challenges in intelligent human/computer communication. In this paper we present our framework for emotional state classification based on Ekman's study and facial expression analysis. Facial Action Coding System (FACS) on facial features tracking, based on Active Appearance Model is presented for facial expression analysis of features extracted from the parametric model Candide3. We describe the characterization methodology from parametric model to obtain the best set points of facial feature which improve the emotion recognition process. Also quantitatively evaluated the accuracy of both feature detection and estimation of the parameters associated with facial expressions, analyzing its robustness to variations in pose and local variations in the regions of interest. then, a metodology of emotion characterization is introduced to perform the recognition. the experimental results show that the proposed model can effectively detect the different facial expressions. Also this approach outperforms the conventional approaches for emotion recognition obtaining high performance results in the estimation of emotion present in a determined subject. the model used and characterization methodology showed high accuracy to detect the emotion type in 95:6% of the cases. Copyright © 2012 SciTePress.

关键词： Emotion Recognition

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Load-following control of APR+ nuclear reactors

Load-following control of APR+ nuclear reactors

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

作者： Kim, Jae Hwan Na, Man Gyun Yu, Keuk Jong Kim, Han Gon Department of Nuclear Engineering Chosun University 309 Pilmun-daero Dong-gu Gwangju Korea Republic of KHNP-Central Research Institute 1312 Gil 70. Yuseong-daero Yuseong-gu Daejeon Korea Republic of

ISBN: (纸本)9789898565211

the load-following operation of APR+ reactor is needed to control the power effectively using the control rods and to restrain the reactivity control from using the boric acid for flexibility of plant operation. the xenon has a very high absorption cross-section and makes the impact on the reactor delayed by the iodine precursor. the power maneuvering using automatically load-following operation has advantage in terms of safety and economic operation of the reactor. therefore, an advanced control method that meets the conditions such as automatic control, flexibility, safety, and convenience is necessary to load-following operation of APR+ reactor. In this paper, the MPC method is applied to design APR+ reactor's automatic load-following controller for the integrated average coolant temperature and ASI control. the KISPAC-1D code, which models the APR+ nuclear power plants, is interfaced to the proposed controller to verify the tracking performance of the average coolant temperature and ASI. It is known that the proposed controller exhibits very fast tracking responses. Copyright © 2012 SciTePress.

关键词： controllers

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Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot: 2nd report: Robot model considering moving parts and evaluation of movable area by heights

Simultaneous control of translational and rotational motion ...

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

作者： Yorozu, Ayanori Suzuki, Takafumi Tetsuya, Matsumura Takahashi, Masaki Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan

ISBN: (纸本)9789898565211

this paper presents a real time collision avoidance method for an autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights based on simultaneous control of translational and rotational motion. Service robots which have been developed in recent years have arms to work and execute tasks. In these robots, the size of width is sometimes not equal to that of length by heights. In order to avoid obstacles considering safety and mobility for the robots, it is necessary to evaluate shape of the robot and movable area by heights. To evaluate them, the robot model is defined in heights of each moving part. Evaluating of the robot model and the movable area for each height, if the robot is unable to move keeping a safe distance from the obstacles, the robot determines the suitable orientation angle considering the minimum length from the center of the robot model to that outer shape. In this paper, the novel control method based on the Fuzzy Potential Method is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.

关键词： Mobile robots

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Adaptive gravitational search algorithm for PI-fuzzy controller tuning

Adaptive gravitational search algorithm for PI-fuzzy control...

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

作者： David, Radu-Codrut Precup, Radu-Emil Petriu, Emil M. RǍdac, Mircea-Bogdan Purcaru, Constantin Dragoş, Claudia-Adina Preitl, Stefan 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 ON K1N 6N5 Ottawa Canada

ISBN: (纸本)9789898565211

this paper proposes an adaptive Gravitational Search Algorithm (aGSA) focused on tuning of Takagi- Sugeno PI-fuzzy controllers (T-S PI-FCs). the algorithm adapts two depreciation laws of the gravitational constant to the iteration index, a parameter in the weighted sum of all forces exerted from the other agents to the iteration index, and the reset at each stage of agents' worst fitnesses and positions to their best values. Two fuzzy logic blocks carry out the adaptation of the ratios of exploration runs and explanation runs using the ratio between the minimum and maximum Popov sums as an input variable. A tuning method for T-S PI-FCs dedicated to a class of nonlinear servo systems with an integral component and is offered, and T-S PI-FCs with reduced process gain sensitivity are tuned. A case study and digital simulation results illustrate the optimal tuning of a T-S PI-FC for the position control of a laboratory servo system. Copyright © 2012 SciTePress.

关键词： controllers

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