作者：
Maciej NiedzwieckiAdam SobocinskiFaculty of Electronics
Telecommunications and Computer Science Department of Automatic Control Gdansk University of Technology Narutowicza 11/12 Gdansk Poland Tel: + 48 58 3472519 Fax: +48 58 3416132 e-mail: maciekn@eti.pg.gda.pl adsob@eti.pg.
Generalized adaptive notch filters are used for identification/ tracking of quasi-periodically varying dynamic systems and can be considered an extension, to the system case, of classical adaptive notch filters. Belon...
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Generalized adaptive notch filters are used for identification/ tracking of quasi-periodically varying dynamic systems and can be considered an extension, to the system case, of classical adaptive notch filters. Belonging to the class of causal adaptive filters, the generalized adaptive notch filtering algorithms yield biased frequency estimates. We show that this bias can be removed, or at least substantially reduced. The only price paid for the resulting improvement of the filter’s tracking performance is in terms of a decision delay, which must be incorporated in the adaptive loop. Since decision delay is acceptable in many practical applications, the proposed bias/delay trade-off is an attractive alternative to the classical bias/variance compromise.
This paper introduces a new technique to design applicable one-point feedback controllers for distributed parameter systems (DPS) with uncertainty. The technique is an extension of the Quantitative Feedback Theory (QF...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an ...
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Decision trees have been found very effective for classification especially in data mining. Although classification is a well studied problem, most of the current classification algorithms need an in-memory data struc...
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The paper presents the results of the research performed by the authors on systems control and optimization for the operating process of the cowpers from the ISPAT-SIDEX steel plant. This system was developed on two r...
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ISBN:
(纸本)9781629934693
The paper presents the results of the research performed by the authors on systems control and optimization for the operating process of the cowpers from the ISPAT-SIDEX steel plant. This system was developed on two relevant levels interconnected in a hierarchical control structure. The acquisition and control level was designed using specialized microcontrollers. The supervisor level for the optimization of the combustion process was implemented on an operator console. The solution of the optimization problem represents the optimal decision, translated in real-time procedure to the acquisition and level control.
作者：
DE LA CRUZ J.MHERRáN-GONZáLEZ ARISCO-MARTíN J.LANDRéS-TORO BDepartment of Computer Architecture and Automatic Control
Complutense University of Madrid 28040 Madrid SpainDepartment of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid SpainDepartment of Computer Science Engineering C.E.S. Felipe II (U.C.M.) 28300 Aranjuez SpainDepartment of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid Spain
We solve the problem of petroleum products distribution through oil pipelines networks. This problem is modelled and solved using two techniques: A heuristic method like a multiobjective evolutionary algorithm and Mat...
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We solve the problem of petroleum products distribution through oil pipelines networks. This problem is modelled and solved using two techniques: A heuristic method like a multiobjective evolutionary algorithm and Mathematical Programming. In the multiobjective evolutionary algorithm, several objective functions are defined to express the goals of the solutions as well as the preferences among them. Some constraints are included as hard objective functions and some are evaluated through a repairing function to avoid infeasible solutions. In the Mathematical Programming approach the multiobjective optimization is solved using the Constraint Method in Mixed Integer Linear Programming. Some constraints of the mathematical model are nonlinear, so they are linearized. The results obtained with both methods for one concrete network are presented. They are compared with a hybrid solution, where we use the results obtained by Mathematical Programming as the seed of the evolutionary algorithm.
Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and ...
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Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour, based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design process. Such iterative refinement could be reduced, we argue, if a more profound theoretical understanding of robot-environment interaction existed. In this paper, we therefore present a modelling method that generates a faithful model of a robot's interaction with its environment, based on data logged while observing a physical robot's behaviour. Because this modelling method - non-linear modelling using polynomials - is commonly used in the engineering discipline of system identification, we refer to it here as "robot identification". We show in this paper that using robot identification to obtain a computer model of robot-environment interaction offers several distinct advantages: 1. Very compact representations (one-line programs) of the robot control program are generated 2. The model can be analysed, for example through sensitivity analysis, leading to a better understanding of the essential parameters underlying the robot's behaviour, and 3. The generated, compact robot code can be used for cross-platform robot programming, allowing fast transfer of robot code from one type of robot to another. We demonstrate these points through experiments with a Magellan Pro and a Nomad 200 mobile robot.
This paper introduces a new technique to design applicable one-point feedback controllers for distributed parameter systems (DPS) with uncertainty. The technique is an extension of the Quantitative Feedback Theory (QF...
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This paper introduces a new technique to design applicable one-point feedback controllers for distributed parameter systems (DPS) with uncertainty. The technique is an extension of the Quantitative Feedback Theory (QFT) to DPS, considering spatial distribution as another parameter of uncertainty. Working on the classical frequency domain, the technique avoids complex double Laplace transforms, partial differential equations, etc., but still represents spatial distributed configurations. The paper extends the classical QFT performance specifications used in lumped systems by introducing a set of inequalities for DPS. An example compares former approaches to the proposed one.
The signal tracking properties of two adaptive notch filtering algorithms are studied analytically using a linear filter approximation technique. Even though restricted to a single frequency case, the presented analys...
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ISBN:
(纸本)1604238216
The signal tracking properties of two adaptive notch filtering algorithms are studied analytically using a linear filter approximation technique. Even though restricted to a single frequency case, the presented analysis provides valuable insights into the tracking mechanisms, including the speed/accuracy tradeoffs, the achievable performance bounds, and tracking limitations of the analyzed algorithms. Additionally, it allows one to formulate some useful rules of thumb for choosing design parameters.
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