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Fir-based narrowband active noise control with a new online secondary-path modeling subsystem 25

Fir-based narrowband active noise control with a new online ...

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25th International Congress on Sound and Vibration 2018: Hiroshima Calling, ICSV 2018

作者： Ma, Yaping Xiao, Yegui Wei, Guo Sun, Jinwei Ma, Liying Khorasani, Khashayar Dept. Automatic Testing and Control Harbin Institute of Technology Harbin150001 China Dept. Information and Management Systems Prefectural University of Hiroshima Hiroshima734-8558 Japan Dept. Electrical and Computer Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9781510868458

Injecting auxiliary random noise is an effective approach to implementing the online secondary-path modeling (SPM) subsystem in active noise control (ANC). In this paper, a typical FIR-based narrowband ANC (NANC) system with online SPM is proposed to reduce the sinusoidal noise generated by rotating machines, especially its lower frequency portion. A first-order FIR filter or magnitude/phase adjuster (MPA) serves as a sub-controller in each frequency channel. The contributions of this work are twofold. A bandpass filter bank based on IIR notch filters is introduced to mitigate the coupling between the controller (MPAs) and the SPM subsystem, which significantly improves the performance of the overall system. Furthermore, the proposed system requires only one x-filtering block regardless of the number of targeted frequencies, which considerably reduces the computational cost of the system. Simulations as well as application to real noise are conducted to demonstrate that the proposed system is superior to its conventional version in terms of overall system convergence and online SPM quality. © 25th International Congress on Sound and Vibration 2018, ICSV 2018: Hiroshima Calling. All rights reserved.

关键词： controllers

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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2010 IEEE International Conference on Automation Science and engineering, CASE 2010

作者： Ding, Hao Schnattinger, Georg Passenberg, Benjamin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany Institute for High-Frequency Engineering Technische Universität München 80290 München Germany Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

ISBN: (纸本)9781424454471

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs] in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario. ©2010 IEEE.

关键词： Motion planning

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An adaptive dynamic inversion-extremum seeking control approach for constrained robotic motion tasks

An adaptive dynamic inversion-extremum seeking control appro...

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European control Conference

作者： Vasiliki Koropouli Azwirman Gusrialdi Dongheui Lee Automatic Control Engineering Technische Universitat Munchen Dept. of Electrical Engineering and Computer Science University of Central Florida

ISBN: (纸本)9781467371605

In this paper, an adaptive control approach is proposed for performance of constrained robot end-effector movements in presence of uncertainty. In real-world scenarios, complex physical phenomena occuring at the place of interaction may introduce nonlinearities in the system dynamics, which have to be taken into account for proper system control. We currently propose an Extremum Seeking (ES) Model Reference Adaptive control (MRAC) approach for state tracking of multiple-input multiple-output systems which enclose nonlinearities in their dynamics and involve parametric uncertainty by employing Adaptive Dynamic Inversion (ADI). According to ADI, system nonlinearities are assumed known and are taken into account in the design of the system control law. The proposed scheme is based on MRAC and ADI while the unknown controller parameters are adapted by ES control. The system is shown to achieve global and asymptotic reference state tracking under the proposed control law by performing Lyapunov and averaging analysis. The approach is evaluated in simulation and in an experimental robot task.

关键词： MIMO Adaptation models Robots Tracking Dynamics Adaptive control Nonlinear dynamical systems

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Real-time visual predictive control of manipulation systems

Real-time visual predictive control of manipulation systems

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IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

作者： Burlacu, Adrian Copot, Cosmin Cervera, Enric Lazar, Corneliu Dept. of Automatic Control and Applied Informatics Technical University of Iasi D. Mangeron Street no.27 700050 Iasi Romania Dept. of Computer Science and Engineering Jaume I University Campus Riu Sec 12071 Castello Spain

ISBN: (纸本)9781457711589

This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and thus both points and image moments were considered and their performance revealed. A 6 d.o.f manipulator robot with an eye-in-configuration is used to design a visual servoing architecture and realtime implementation using Matlab is described. The results of different experiments for planar static objects are presented and discussed. For establishing the performance of visual predictive control laws a comparison with classical image based control laws is conducted. © 2011 IEEE.

关键词： Visual servoing

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Proposed Document Frequency technique for minimizing dataset in Web crawler

Proposed Document Frequency technique for minimizing dataset...

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International Conference on computer engineering and Systems

作者： Amany M. Sarhan Ghada M. Hamissa Heba E. Elbehiry Computer &Automatic Control Dept. Tanta University Egypt Electrical Engineering Dept. KFS University Egypt

The explosive growth of webpage number on the Web has brought up some problems in the search process. One of these problems is that the general purpose search engines often return too many irrelevant results when users are searching for specific information on a given topic. Another problem is the massive increase in the number of pages to be indexed by Web search systems. In this research, two steps for Web Crawling are used to decrease these difficulties. First step is the feature selection for the datasets used. A proposed algorithm of feature selection, which uses the Document Frequency technique for the term in the category, is presented. Second step is Web page classification. Two famous techniques of Web page classification are used: (i) Support Vector Machine and (ii) Naïve Bayes Classifier. It is concluded that the proposed algorithm, using Document Frequency technique, reduces the redundancy during feature selection and increases accuracy during Web page classification. Complete evaluation is performed, in JAVA, to indicate the effectiveness of our proposed algorithm.

关键词： Classification algorithms Web pages Support vector machines Training Standards Kernel Search problems

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Feature Selection algorithms based on HTML tags importance

Feature Selection algorithms based on HTML tags importance

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International Conference on computer engineering and Systems

作者： Amany M. Sarhan Ghada M. Hamissa Heba E. Elbehiry Computer & Automatic Control Dept. Tanta University Egypt Electrical Engineering Dept. KFS University Egypt

Traditionally in Web crawling, the required features are extracted from the whole contents of HTML pages. However, the position which a word is located inside the HTML tags indicates its importance in the web page. This research proposes two ideas concerning the Feature Selection stage in HTML web pages. The first idea reduces the features by simply extracting them from the important tags in an HTML page in order to achieve faster classification. The second idea gives weights for each of the important tags. Two algorithms are presented in this paper based on these ideas: i) Important HTML tags only algorithm, ii) Weighted Important HTML tags only algorithm. The selected features are classified using two famous classifiers in the literature: Support Vector Machine (SVM) and Naïve Bayes classifier (NBC). The accuracy of each algorithm is computed. Comparison between the accuracies of traditional feature selection method, which uses the whole contents of HTML page, and the proposed algorithms is performed. Complete evaluation is performed which indicates the effectiveness of using our technique. The experimental results show improved precision and recall with the proposed algorithms with respect to keyword-based search. The algorithms are implemented in JAVA and its extended packages.

关键词： Web pages HTML Classification algorithms Support vector machines Feature extraction Search engines Crawlers

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Deep Learning-Based Retinal Blood Vessel Segmentation Using U-Net Architecture

Deep Learning-Based Retinal Blood Vessel Segmentation Using ...

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E-Health and Bioengineering Conference (EHB)

作者： Ligia-Gabriela Boazu Marian-Alexandru Petraru Otilia Zvorișteanu Dept. of Computer Science and Engineering Faculty of Automatic Control and Computer Engineering “Gheorghe Asachi” Technical University of Iași Iași Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

Retinal blood vessel segmentation is an essential component in the diagnosis and monitoring of various ophthalmological conditions, such as diabetic retinopathy, glaucoma or macular degeneration, providing valuable information about the state of blood vessels and ocular blood circulation. Traditional methods for segmenting blood vessels from retinal images present certain limitations in terms of accuracy and robustness, especially under variable lighting conditions, the presence of artifacts or low-quality images. However, current techniques based on convolutional neural networks have demonstrated the ability to achieve precise and robust segmentations in a variety of conditions, outperforming traditional methods. Nevertheless, neural networks face challenges regarding the limited availability of retinal image datasets necessary for training and evaluating these solutions. In this paper we describe a solution for retinal blood vessel segmentation using the U-Net architecture. This neural network achieves impressive results even with very small datasets, demonstrating the efficiency and robustness of the U-Net architecture for retinal blood vessel segmentation.

关键词： Training Macular degeneration Image segmentation Neural networks Blood vessels Network architecture Retina Robustness Monitoring Biomedical imaging

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Enhancing Learning and Therapy for Children with Autism: Innovative Activities with the NAO Robot

Enhancing Learning and Therapy for Children with Autism: Inn...

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E-Health and Bioengineering Conference (EHB)

作者： Iustina-Bianca Bulai Otilia Zvorişteanu Dept. of Computer Science and Engineering Faculty of Automatic Control and Computer Engineering “Gheorghe Asachi” Technical University of Iaşi Iaşi Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

Worldwide, autism affects 1 in 100 children, with diagnoses steadily rising since the 2000s. Romania lacks official statistics on autism prevalence, but global estimates suggest similarity. Children with autism struggle with social interactions and verbal communication, prompting interest in social robots for therapy and education. Tailored robot-assisted sessions offer potential for cognitive development, vocabulary enhancement, social interaction, and behavioral stimulation like concentration and attention. The NAO robot's user-friendly design, technical capabilities, and integrated features make it well-suited for these purposes. This paper presents activities that exemplify the concept of “learning through play,” allowing children to engage in exploration, experimentation, and effective learning in an enjoyable manner.

关键词： Autism Vocabulary Hospitals Social robots Education Biomedical engineering

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A technology to simultaneously produce clean hydrogen and iron powder

A technology to simultaneously produce clean hydrogen and ir...

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作者： George, Stefanoiu Horatiu Octavian, Stanasila Corneliu, Stanasila Virgil Dan, Stefanoiu Bioterra University of Bucharest Dept. of Chemistry Romania Politehnica University of Bucharest Dept. of Applied Sciences Romania Technical University of Civil Engineering Bucharest Romania Politehnica University of Bucharest Dept. of Automatic Control and Computer Science Romania

ISBN: (纸本)9789604742271

The redox steam-iron process, which has been discovered in the early 1900's, was finally abandoned because the degradation of the iron oxide ores within a few cycles. Recently, this process has been reconsidered, due to the necessity to yield cheap and pure hydrogen. In this article, we introduce a related but improved technology. At the first stage, the inlet iron oxide for the steam-iron process is the hematite, which has to be reduced to metallic iron in a gasifier called HG, by using syngas from coke (or cellulose). The hydrogen is then produced in a cyclic process, based upon the reduction of metallic iron by means of steam. At the second stage, another hematite, at any granulation, is reduced to iron powder in a reactor called IPR, at about 570°C by using the hydrogen of HG.

关键词： Heat transfer

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A nonlinear model predictive control scheme with multirate integral sliding mode

A nonlinear model predictive control scheme with multirate i...

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作者： Rubagotti, Matteo Raimondo, Davide M. Jones, Colin N. Magni, Lalo Ferrara, Antonella Morari, Manfred Dept. of Mechanical and Structural Engineering University of Trento Via Mesiano 77 38123 Trento Italy Automatic Control Laboratory ETH Zürich Physikstrasse 3 8092 Zürich Switzerland Dept. of Computer Engineering and Systems Science University of Pavia Via Ferrata 1 27100 Pavia Italy

ISBN: (纸本)9783902661807

In this paper, a hierarchical multirate control scheme for nonlinear discrete-time systems is proposed, composed of a robust model predictive controller (MPC) and a multirate integral sliding mode (MISM) controller. In particular, the MISM controller acts at a faster sampling time than the MPC controller, and reduces the effect of model uncertainties and external disturbances, in order to obtain, at the next sampling instant of the MPC controller, a value of the system state that is as close as possible to the nominal one. To obtain this result, the control variable is composed of two parts: one generated by the MPC controller, and the other by the MISM controller. The a-priori reduction of the disturbance terms turns out to be very useful in order to improve the convergence properties of the MPC controller. © 2010 IFAC.

关键词： controllers

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