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arXiv 2020年

作者： Colombo, Leonardo Moreno, Patricio Ye, Mengbin de Marina, Héctor Garcia Cao, Ming Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

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Path planning for autonomous bus driving in urban environments

arXiv

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arXiv 2019年

作者： Oliveira, Rui Lima, Pedro F. Pereira, Goncalo Collares Martensson, Jonas Wahlberg, Bo Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Scania Autonomous Transport Solutions Sodertalje Sweden

Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large vehicles, such as buses. We present a path planning framework that addresses the demanding driving task of buses in urban areas. The approach is formulated as an optimization problem using the road-aligned vehicle model. The road-aligned frame introduces a distortion on the vehicle body and obstacles, motivating the development of novel approximations that capture this distortion. These approximations allow for the formulation of safe and nonconservative collision avoidance constraints. Unlike other path planning approaches, our method exploits curbs and other sweepable regions, which a bus must often sweep over in order to manage certain maneuvers. Furthermore, it takes full advantage of the particular characteristics of buses, namely the overhangs, an elevated part of the vehicle chassis, that can sweep over curbs. Simulations are presented, showing the applicability and benefits of the proposed method. Copyright © 2019, The Authors. All rights reserved.

关键词： Motion planning

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Text Mining of Medical Records

Text Mining of Medical Records

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E-Health and Bioengineering Conference (EHB)

作者： Irina Andra Tache Monica Dragoicea Elena-Simona Apostol Ciprian-Octavian Truica Dept. of Automatic Control and Systems Engineering University Politehnica of Bucharest Bucharest Romania Computer Science and Engineering Department University Politehnica of Bucharest Bucharest Romania

The patients with cardiovascular diseases undergo complex medical procedures, including medical imaging, blood biochemistry analysis, physical examination, etc. The digitization of information is an intensive process in e-health therefore, in this paper there are presented some methods to extract important data from medical records of patients suffering from coronary artery diseases organized in PDF files.

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New formulas for approximation of multi-inertial systems, by the FOLPD models, based on two-point identification

New formulas for approximation of multi-inertial systems, by...

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2018 IASTED International Conference on Modelling, Simulation and Identification ,MSI 2018

作者： Byrski, Jędrzej Byrski, Witold Department of Applied Computer Science AGH University of Science and Technology Krakow30059 Poland Department of Automatic Control and Robotics AGH University of Science and Technology Krakow30059 Poland

ISBN: (纸本)9780889869943

In this paper new simple formulas for identification of the time constant T and time delay τ of the First Order Lag Plus time Delay model (FOLPD) will be presented. FOLPD model is very useful e.g. for PID controller self-tuning. Two cases will be considered. In the first case, the identified FOLPD model will approximate the dynamics of any unknown multi-inertial system. In the second case, the FOLPD model will be used for approximation of the second order inertial system with known time constants T1, T2. In both cases, the identification of desired FOLPD model will result from the best fitting of the system and FOLPD model step responses. This will be achieved by comparing of these characteristics in two specially selected points. Presented formulas for FOLPD parameters, in the first case, depend on these two selected points. In the second case FOLPD parameters will depend only on the known values of the second order system's time constants T1 and T2. © 2018 Proceedings of the IASTED International Conference on Modelling, Simulation and Identification, MSI 2018. All rights reserved.

关键词： Time delay

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A Concept of an Adaptive Luminaire with Variable Luminous Intensity Distribution 7

A Concept of an Adaptive Luminaire with Variable Luminous In...

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7th Lighting Conference of the Visegrad Countries, LUMEN V4 2018

作者： Lesko, Marcin Wachta, Henryk Baran, Krzysztof Rozowicz, Antoni Faculty of Electrical and Computer Engineering Rzeszow University of Technology Rzeszow Poland Automatic Control and Computer Science Kielce University of Technology Faculty of Electrical Engineering Kielce Poland

ISBN: (纸本)9781538679234

The article presents an innovative concept of adaptive luminaire with variable luminous intensity distribution. It enables adjustment of photometric characteristic of luminaire to variable arrangement of the facility, including the quantitative regulation of luminous flux and spatial distribution. A solution presented in this paper was developed as part of a research project titled 'Development of the Intelligent Light Distribution System SOLLS ACTIVE SKY' and is the subject of patent application. The authors present the results of simulation tests in terms of the possibility of obtaining different luminous intensity distribution and lighting parameters on the working plane, with variable position relative to the arrangement of the luminaires. The use of a luminaire with variable luminous intensity distribution as part of an adaptive lighting system allows for quick and cost-free introduction of changes in the lighting of selected functional zones inside the facility. It is possible to adjust the lighting in case of changes in the size or position of the working plane, while the position of luminaire is constant. © 2018 IEEE.

关键词： Optical systems

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Multi-person remote heart-rate measurement from human faces - a CNN based approach

Multi-person remote heart-rate measurement from human faces ...

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IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)

作者： Thomas Pursche Marcel Walz Roland Clauß Robert Roth Bernd Tibken Reinhard Möller School of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automation/Computer Science University of Wuppertal Wuppertal Germany

The conventional heart rate measurement techniques using electrocardiogram, wrist belts and so on, are attached with some disadvantages like discomfort, irritation of the skin and even more. From this starting point various video based heart rate measurement techniques were developed in the last years. All of these techniques use video data of the human faces to extract information to estimate the heart rate of the person in front of the camera. Most of them work with the detection of minimal changes in the color spectrum of the recorded video data. With these extracted information and multiple concluding steps, they are able to estimate the heart rate of the person sitting in front of the camera. All of these approaches have some big disadvantages, they are only able to measure the heart rate of one person - and in a small number of cases up to three persons. So the main objective of this work is to adapt and enhance existing research approaches of processing visual biological signals. The focus is set on the design and deployment of a new system, which is able to process visual data as well as detect and localize human faces by using artificial neural networks and calculate each individuals heart rate from the processed data's information. For the first time in this research area, different scenarios with more than three observed participants are being analyzed to calculate the heart rate for each of them separately. It will be shown that by using the applied technical architecture and technologies, it is possible to deploy a comparable and qualitatively competitive system. In addition, the implemented system proves the feasibility of processing various faces' signals and calculating the respective heart rates simultaneously within an acceptable range of tolerance.

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On noise-to-state stability of stochastic discrete-time systems via finite-step Lyapunov functions

On noise-to-state stability of stochastic discrete-time syst...

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IEEE Annual Conference on Decision and control

作者： Navid Noroozi Roxanne Jackson Daniel E. Quevedo Fabian R. Wirth Rolf Findeisen Laboratory for Systems Theory and Automatic Control Ottovon-Guericke University Magdeburg Magdeburg Germany Faculty of Computer Science and Mathematics University of Passau Passau Germany Faculty of Computer Science Electrical Engineering and Mathematics University of Paderborn Paderborn Germany

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, we introduce a notion of so-called finite-step simulation functions for discrete-time control systems. In contrast to the existing notions of simulation functions, a finite-step simulation function does not need decay at each time step but after some finite numbers of steps. We show that the existence of such a function guarantees that the mismatch between output trajectories of the concrete and abstract systems lies within an appropriate bound. Using this relaxation, we develop a new type of small-gain conditions which are less conservative than those previously used for compositional construction of approximate abstractions of interconnected control systems. In particular, using finite-step simulation functions, it is possible to construct approximate abstractions, where stabilizability of each subsystem is not necessarily required. The effectiveness of our results is verified by an illustrative example.

关键词： Stability analysis Lyapunov methods Asymptotic stability Stochastic systems Nonlinear systems Covariance matrices Discrete-time systems

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Authentication by witness functions

arXiv

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arXiv 2019年

作者： Fattahi, Jaouhar Mejri, Mohamed Pricop, Emil Department of Computer Science and Software Engineering Université Laval Québec Canada Automatic Control Computers and Electronics Department. Petroleum-Gas University of Ploiesti Romania

Witness functions have recently been introduced in cryptographic protocols’ literature as a new powerful way to prove protocol correctness with respect to secrecy. In this paper, we extend them to the property of authentication. We show how to use them safely and we run an analysis on a modified version of the Woo-Lam protocol. We show that it is correct with respect to authentication. Copyright © 2019, The Authors. All rights reserved.

关键词： Authentication

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Practical Validation of the Reduced-Order Active Disturbance Rejection controller for the Delay-Dominated Processes

Practical Validation of the Reduced-Order Active Disturbance...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Pawel Nowak Patryk Grelewicz Jacek Czeczot Faculty of Automatic Control Electronics and Computer Science Institute of Automatic Control Gliwice Poland

In this paper, the application of Reduced-Order Active Disturbance Rejection controller (RADRC) for processes with significant time delay is analysed. First, the analysis of the modified RADRC and its tuning method is presented. Then a practical verification for temperature control in the electric flow heater is shown. In practical studies, the superiority of RADRC over PI and PI with Smith predictor is presented.

关键词： Delay effects Tuning Process control Mathematical model Temperature measurement Delays control systems

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Practical Verification of the Advanced control Algorithms Based on the Virtual Commissioning Methodology - A Case Study

Practical Verification of the Advanced Control Algorithms Ba...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Patryk Grelewicz Pawel Nowak Michal Fratczak Tomasz Klopot Faculty of Automatic Control Electronics and Computer Science Institute of Automatic Control Gliwice Poland

In this paper, the possibility of using the virtual commissioning for developing the advanced controllers for example of electric flow heater is presented. First, based on the process measurement data, the virtual environment is prepared. Then, for selected advanced control algorithms, both virtual and real commissioning was carried out. The results are discussed in the paper and they demonstrate the impact of the applied commissioning method on the control performance provided by each of considered control algorithms.

关键词： Process control Tuning Mathematical model Resistance heating Heuristic algorithms Prediction algorithms Delay effects

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