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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1447 条记录，以下是1421-1430 订阅

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Fuzzy logic based UAV allocation and coordination

Fuzzy logic based UAV allocation and coordination

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3rd international conference on informatics in control, automation and robotics, icinco 2006

作者： Smith III, James F. Nguyen, Thanh Vu H. Code 5741 Naval Research Laboratory Washington DC 20375-5320 United States

ISBN: (纸本)9728865597

A fuzzy logic resource allocation algorithm that enables a collection of unmanned aerial vehicles (UAVs) to automatically cooperate will be discussed. The goal of the UAVs' coordinated effort is to measure the atmospheric index of refraction. Once in flight no human intervention is required. A fuzzy logic based planning algorithm determines the optimal trajectory and points each UAV will sample, while taking into account the UAVs' risk, risk tolerance, reliability, and mission priority for sampling in certain regions. It also considers fuel limitations, mission cost, and related uncertainties. The real-time fuzzy control algorithm running on each UAV renders the UAVs autonomous allowing them to change course immediately without consulting with any commander, requests other UAVs to help, and change the points that will be sampled when observing interesting phenomena. Simulations show the ability of the control algorithm to allow UAVs to effectively cooperate to increase the UAV team's likelihood of success.

关键词： Fuzzy control

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A multi-agent home automation system for power management

A multi-agent home automation system for power management

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3rd international conference on informatics in control, automation and robotics

作者： Abras, Shadi Ploix, Stephane Pesty, Sylvie Jacomino, Mireille CNRS UMR5552 Inst IMAG Lab Leibniz 46 Ave Felix Viallet F-38031 Grenoble France CNRS Lab Automat Grenoble UMR5528 Grenoble France

ISBN: (纸本)9728865597

This paper presents the principles of a Home automation system dedicated to power management that adapts power consumption to available power ressources according to user comfort and cost criteria. The system relies on a multi-agent paradigm. Each agent is embedded into a power resource or an equipment, which may be an environment (thermal-air, thermal-water, ventilation, luminous) or a service (washing, cooking), and cooperates and coordinates its action with others in order to find acceptable near-optimal solution. The control algorithm is decomposed into two complementary mechanisms: an emergency mechanism, which protects from constraint violations, and an anticipation mechanism, which computes the best future set-points according to predicted consumptions and productions and to user criteria. The paper details a negotiation protocol used by the both mechanisms and presents some preliminary simulation results.

关键词： Home automation system multi-agent systems automatic control negotiation and cooperation power management

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Partial stabilizability of cascaded systems applications to partial attitude control

Partial stabilizability of cascaded systems applications to ...

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3rd international conference on informatics in control, automation and robotics

作者： Jammazi, Chaker Abichou, Azgal Ecole Polytech Lab Ingn Math Tunis Tunisia

ISBN: (纸本)9728865600

In this work, the problem of partial stabilization of nonlinear control cascade systems with integrators is considered. The latter systems present an anomaly, which is the non complete stabilization via continuous pure-state feedback, this is due to Brockett necessary condition. To cope with this difficulty we propose the partial stabilization. For a given motion of a dynamical system, say x(t, x(0), t(0)) = (y(t, y(0), t(0)), Z(t, z(0), t(0))), the partial stabilization is the qualitative behavior of the y-component of the motion (i.e the asymptotic stabilization of the motion with respect to y) and the z-component converges, relative to the initial vector x(t(0)) = x(0) = (y(0), z(0)). In the present work, we establish a new results for the adding integrators for partial stabilization, we show that if the control systems is partially stabilizable, then the augmented cascade system is partially stabilizable. Two applications are considered. The first one is devoted to partial attitude stabilization of rigid spacecraft. The second application is intended to the study of underactuated ship. Numerical simulations are given to illustrate our results.

关键词： Brockett's condition partial stabilization backstepping partial attitude control

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Sufficient condition of max-plus ellipsoidal invariant set and computation of feedback control of discrete event systems

Sufficient condition of max-plus ellipsoidal invariant set a...

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3rd international conference on informatics in control, automation and robotics

作者： Ahmane, Mourad Truffet, Laurent CNRS IRCCyN UMR 6597 Ecole Cent Nantes F-44321 Nantes 3 France

ISBN: (纸本)9728865619

Haar's Lemma (1918) provides the algebraic characterization of the inclusion of polyhedral sets. This Lemma has been involved many times in automatic control of linear dynamical systems when the constraint domains (state and/or control) are polyhedrons. More recently, this Lemma has been used to characterize stochastic comparison w.r.t linear orderings of Markov chains with different state spaces. Stochastic comparison is involved in the simplification of complex stochastic systems in order to control the approximation error made. In this paper we study the positive invariance of a max-plus ellipsoid by a max-plus linear dynamical system. We remark that to derive sufficient condition for the positive invariance. As an application we propose a method to compute a static state feedback control.

关键词： max-plus algebra geometric approach set invariance residuation

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Online hierachical control for legged systems based on the interaction forces

Online hierachical control for legged systems based on the i...

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3rd international conference on informatics in control, automation and robotics

作者： Puga, Jose R. Silva, Filipe M. da Cunha, Boaventura R. Polytech Inst Porto Dept Elect Engn P-4200072 Oporto Portugal Univ Aveiro IEETA Dept Elect Telecommun & Informat P-3810193 Aveiro Portugal Univ Tras Montes Dept Elect Engn P-5000911 Vila Real Portugal

ISBN: (纸本)9728865600

This paper presents a motion planning and control method with application in the field of legged robots. The general aim is to explore a set of simple underlying principles that govern balance of posture and gait of biped robots, and to develop control methodologies for such a highly unstable and non linear plants. The proposed controller reflects a hierarchical structure based on the interaction forces between the foot and ground and simple feedback rules used online. The algorithms are applied to a simulated 3-D leg model with five degrees of freedom (DOF). The simulation analyses demonstrate the capability of the control system to keep balance when the leg executes different tasks. To validate the proposed method several aspects are investigated, such as the posture robustness on the level ground when subject to external perturbations, the adaptation when standing in a moving platform and the improvements introduced by the compensation of the tangential reaction forces.

关键词： legged robots biped locomotion online planning interaction forces

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Reducing accumulated errors in ego-motion estimation using local bundle adjustment

Reducing accumulated errors in ego-motion estimation using l...

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3rd international conference on informatics in control, automation and robotics

作者： Sugimoto, Akihiro Ikeda, Tomohiko Natl Inst Informat Tokyo Tokyo 1018430 Japan Chiba Univ Chiba 2638522 Japan

ISBN: (纸本)9728865600

Incremental motion estimation methods involve a problem that estimation accuracy gradually becomes worse as the motion trajectory becomes longer and longer. This is due to accumulation of estimation errors incurred in each estimation step. To keep estimation accuracy stable even for a long trajectory, we propose to locally apply the bundle adjustment to each estimated motion so that the modified estimation becomes geometrically consistent with time-series frames acquired so far. To demonstrate the effectiveness of this approach, we employ an ego-motion estimation method using the binocular fixation control, and show that (i) our modification of estimation is statistically significant;(ii) in order to reduce estimation errors most effectively, three frames are optimal for applying the bundle adjustment;(iii) the proposed method is effective in the real situation, demonstrating drastic improvement of accuracy in estimation for a long motion trajectory.

关键词： accumulated errors ego-motion estimation bundle adjustment fixation control computer vision

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The hierarchical map forming model

The hierarchical map forming model

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3rd international conference on informatics in control, automation and robotics

作者： Soto, Luis Eduardo Rodriguez Liou, Cheng-Yuan Natl Taiwan Univ Taipei 10764 Taiwan

ISBN: (纸本)9728865597

In the present paper we propose a motor control model inspired by organizational priciples of the cerebral cortex. Specifically the model is based on cortical maps and functional hierarchy in sensory and motor areas of the brain. Self-Organizing Maps (SOM) have proven to be useful in modeling cortical topological maps (Palakal et al., 1995). A hierarchical SOM provides a natural way to extract hierarchical information from the environment, which we propose may in turn be used to select actions hierarchically. We use a neighborhood update version of the Q-learning algorithm, so the final model maps a continuous input space to a continuous action space in a hierarchical, topology preserving manner. The model is called the Hierarchical Map Forming model (HMF) due to the way in which it forms maps in both the input and output spaces in a hierarchical manner.

关键词： self-organizing maps Q-learning hierarchical control

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Timed discrete-event system supervisory control for under-load tap-changing transformers

Timed discrete-event system supervisory control for under-lo...

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3rd international conference on informatics in control, automation and robotics

作者： Afzalian, A. Saadatpoor, A. Wonham, W. M. Shahid Abbaspour Univ Technol Dept Control Syst Engn Tehran Iran

ISBN: (纸本)9728865619

Timed discrete-event systems (TDES) have so far not been used for modelling and control of electrical power system. Since these systems have both logical and temporal behavior, we propose to use TDES to address their control problems. Under-load tap-changing transformers (ULTC) which obviously have discrete-event behavior are widely used in transmission systems to take care of instantaneous variations in the load conditions in substations. ULTC may be controlled either automatically or manually. This paper discusses the modelling and synthesis of a timed discrete-event system supervisory controller for ULTC. Different modes of operation are considered and it is shown that the specifications are controllable and the closed loop control system is non-blocking. Protective system designers in electrical power systems can use the proposed approach to verify their required temporal and logical behavior.

关键词： supervisory control timed discrete-event systems automatic voltage control tap-changer transformer

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Hybrid learning method for discrete manufacturing control using knowledge based model

Hybrid learning method for discrete manufacturing control us...

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3rd international conference on informatics in control, automation and robotics

作者： Dudek, Ewa Dyduch, Tadeusz AGH Univ Sci & Technol Inst Automat Mickiewicza 30 PL-30059 Krakow Poland AGH Univ Sci & Technol Inst Comp Sci PL-30059 Krakow Poland

ISBN: (纸本)9728865597

The aim of the paper is to present a conception of a hybrid learning method for discrete manufacturing processes control. The method is based on a special form of a knowledge based model of discrete manufacturing process, named here hybrid knowledge based model (HKBM). The model consists of two parts, each of a different type of model: algebraic-logical model in a state spacethat is created on a basis of process technology description and set of expert rules referring to control. A general scheme of HKBM of a vast class of discrete manufacturing processes (DMP) is given in the paper. Then the method of synthesis of intelligent, learning algorithms that use information on the process gained in previous iterations as well as an expert knowledge is described. To illustrate the presented ideas, the scheduling algorithm for a special NP-hard problem is given.

关键词： control knowledge acquisition knowledge representation learning system discrete manufacturing process

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Distributed emergency management with spatial scenarios

Distributed emergency management with spatial scenarios

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3rd international conference on informatics in control, automation and robotics

作者： Sapaty, Peter Finkelstein, Robert Filipe, Joaquim Natl Acad Sci Inst Math Machines & Syst Glushkova Ave 42 UA-03187 Kiev Ukraine Robot Technol Inc 11424 Palatine Dr Potomac MA 20854 USA Escola Super Tecnol Setubal Dept Sistemas & Informat P-2910761 Setubal Portugal

ISBN: (纸本)9728865597

A radically new approach will be described for the fully distributed and dynamic management of advanced crisis relief operations and missions. It is based on the installation of a universal "social" module in many existing and massively used data processing and control devices, including (but not limited to) internet hosts, laptops, mobile robots and mobile phones. These modules can collectively interpret a special scenario language while exchanging higher-level program code with accompanying data and control in parallel. This can dynamically integrate any scattered post-disaster human and technical resources into an operable distributed system which, from one side, is effectively supervised externally, and from the other side, is capable of solving complex self-analysis, coordination, survivability, relief, and reconstruction problems autonomously.

关键词： critical infrastructures key resources emergency management emergent societies crisis relief information technologies distributed control WAVE-WP model wearable electronic devices mobile robotics spatial scenarios

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