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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Razvan Solea Daniela Cernega Romania Faculty of Automatic Control Computers Electrical and Electronics Engineering “Dunårea de Jos” University of Galati

ISBN: (纸本)9781509027217

An algorithm to find a collision free path, for an autonomous mobile robot, is proposed in this paper. The path between the starting point and the destination point, a priori established, is calculated for two methods: the local and the global path planner. The computation of this path, for both methods, is based on an evolutionary approach: Particle Swarm Optimisation (PSO). This approach uses a new fitness function for both path planning methods. The result of this algorithm would be a path planning control of the mobile robot in an environment with both fixed and mobile obstacles. The computational efficiency of this online path planning algorithm using PSO with the proposed fitness function is proved in simulation and real time implementation. Real time experiments using a mobile robot validate the local path planning method of the proposed algorithm. The mobile robot used in real time experiments is equipped with a laser scanner module to communicate accurate information about the fixed and mobile surroundings to the robot.

关键词： Mobile robots Robot sensing systems Collision avoidance Particle swarm optimization Real-time systems Path planning

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A new method for isolating faults in the nonstationary and nonlinear processes

A new method for isolating faults in the nonstationary and n...

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American control Conference

作者： Zhangming He Zhengfang Ma Jiongqi Wang Zhiwen Chen Haiyin Zhou Faculty of College of Science National University of Defense Technology Yanwachi 47 410073 Changsha China. Now He is a post doctor in Beijing Institute of Control Engineering China Academy of Space Technology Beijing 100080 China Faculty of No. 11 Middle School Jinzhu Road 72 410601 NingXiang China Faculty of College of Science National University of Defense Technology Yanwachi 47 410073 Changsha China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg 47057 Germany

ISBN: (纸本)9781509045839

The objective of this paper is to address a new method based on trend extraction for isolating faults in the nonstationary and nonlinear processes. Firstly, a concise review of the traditional methods for fault isolation based on Hotelling statistic are introduced, a rigorous analysis of their weaknesses, especially the smearing (coupling) phenomena, is provided, and the possible handling strategies are given. Secondly, a new contribution index for isolation is proposed based on the improved detection statistic, iT~2, and it's properties are analyzed. Finally, the effectiveness of the new contribution method is validated by a nonstationary and nonlinear numerical case. Also it is used for monitoring the satellite attitude control system. The results show that the new contribution method can cope with the smearing phenomena of the traditional contribution indexes.

关键词： Isolating Faults Nonstationary

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Set-up of active magnetic bearings for control of flexible shaft

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AIP Conference Proceedings 2018年第1期2029卷

作者： Adam Piłat Bartosz Sikora Jan Klocek Jan Cieślik 1AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Mickiewicza 30 30-059 Krakow Poland 2Optister Jalowcowa 50 31-329 Krakow Poland 3AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems Mickiewicza 30 30-059 Krakow Poland

This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the flexible rotor - shaft assembly, while the rotational speed varies and the unbalanced mass on the whirling disc is introduced to the system. The proposed model is aimed to simulate real operation conditions of the rotating machinery with an applied external load, with a variable structure caused by a change of material properties of the rotor - shaft assembly, or due to a fault of some elements coupled with the rotor.

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Statistical texture-based mapping of cell differentiation under microfluidic flow 1

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13th International Meeting on Computational Intelligence Methods for Bioinformatics and Biostatistics, CIBB 2016

作者： Biga, Veronica Alves Coelho, Olívia M. Gokhale, Paul J. Mason, James E. Mendes, Eduardo M. A. M. Andrews, Peter W. Coca, Daniel Faculty of Biology Medicine and Health The University of Manchester Oxford Road ManchesterM13 9PL United Kingdom Instiuto Tecnológico de Aeronáutica São José dos CamposSP12228-900 Brazil Centre for Stem Cell Biology The University of Sheffield Western Bank SheffieldS10 2TN United Kingdom Universidade Federal de Minas Gerais Antonio Carlos 6627 Belo Horizonte Brazil Automatic Control and Systems Engineering Department The University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (数字)9783319678344

ISBN: (纸本)9783319678337

Timelapse microscopy enables long term monitoring of biological processes, however a major bottleneck in assesing experimental outcome is the need for an automated analysis framework to extract statistics and evaluate results. In this study, we use Gabor energy texture descriptors to generate a high dimensional feature space which is analysed with principal component analysis to provide unsupervised characterisation of texture differences between pairs of images. We apply this technique to differentiation of human embryonic carcinoma cells in the presence of all-trans retinoic acid (RA) and show that differentiation outcome can be predicted directly from texture information. A microfluidic environment is used to deliver pulses of RA stimulation over five days in culture. Results provide insight into the dynamics of cell response to differentiation signals over time. © Springer International Publishing AG 2017.

关键词： Mapping

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Clustering in block Markov chains

arXiv

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arXiv 2017年

作者： Sanders, Jaron Proutière, Alexandre Yun, Se-Young Kth Royal Institute of Technology School of Electrical Engineering Dept. of Automatic Control Osquldasväg 10 Stockholm10044 Sweden Delft University of Technology Faculty of Electrical Engineering Mathematics and Computer Science Dept. of Quantum and Computer Engineering Mekelweg 4 Delft2628CD Netherlands Korea Advanced Institute of Science and Technology Dept. of Industrial and Systems Engineering 291 Daehak-ro Eoeun-dong Yuseong-gu Korea Republic of

This paper considers cluster detection in Block Markov Chains (BMCs). These Markov chains are characterized by a block structure in their transition matrix. More precisely, the n possible states are divided into a finite number of K groups or clusters, such that states in the same cluster exhibit the same transition rates to other states. One observes a trajectory of the Markov chain, and the objective is to recover, from this observation only, the (initially unknown) clusters. In this paper we devise a clustering procedure that accurately, efficiently, and provably detects the clusters. We first derive a fundamental information-theoretical lower bound on the detection error rate satisfied under any clustering algorithm. This bound identifies the parameters of the BMC, and trajectory lengths, for which it is possible to accurately detect the clusters. We next develop two clustering algorithms that can together accurately recover the cluster structure from the shortest possible trajectories, whenever the parameters allow detection. These algorithms thus reach the fundamental detectability limit, and are optimal in that sense. Copyright © 2017, The Authors. All rights reserved.

关键词： Asymptotic analysis

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Development of a data acquisition and command board for the control of a didactic 3D crane system

Development of a data acquisition and command board for the ...

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Roedunet International Conference (RoEduNet)

作者： Cristian Stoican Dragos C. Popescu Monica Patrascu Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Horia Hulubei National Institute for R&D in Physics and Nuclear Engineering Bucharest Romania

ISBN: (纸本)9781509053995

This paper addresses the development of a data acquisition and command (DAQ) board for a 3D Crane System, as a nonlinear multi-input multi-output system that poses interesting problems for the design of efficient control strategies. Thus, the crane platform is aimed at didactic activities in control engineering laboratories. The main board design objectives have been easy operation and access for the implementation and testing of control algorithms. For validating the DAQ board, we developed and successfully tested two control structures, one with conventional proportional-integral-derivative (PID) laws and one with fuzzy intelligent controllers.

关键词： Cranes Three-dimensional displays Data acquisition Microcontrollers Rails Payloads

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Optimal distributed control for platooning via sparse coprime factorizations

Optimal distributed control for platooning via sparse coprim...

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2016 American control Conference, ACC 2016

作者： SabǍu, Şerban OarǍ, Cristian Warnick, Sean Jadbabaie, Ali Electrical and Computer Engineering Dept. Stevens Institute of Technology HobokenNJ United States Automatic Control Dept. University Politehnica Bucharest Romania Information and Decision Algorithms Laboratories Faculty of the Computer Science Department Brigham Young University United States Electrical and Systems Engineering Dept. University of Pennsylvania United States

ISBN: (纸本)9781467386821

We introduce a novel distributed control architecture for disturbances attenuation in heterogeneous platoons of linear and time-invariant autonomous agents that inherits the performance achievable by the leader-follower control policies. We provide a Youla-like parameterization for the class of all distributed controllers such that the sparsity constraints are imposed on the controllers' left coprime factors, outlining a new concept of structural constraints in distributed control. The proposed scheme lends itself to optimal controller design via norm based costs, it guarantees string stability and completely eliminates the accordion effect from the behavior of the platoon. The distributed controller is proven to attain global optimality for heterogeneous platoons and H2 costs and can easily reconfigure such as to remain optimal during formation merging/exiting maneuvers. The scheme is amenable to a GPS time base synchronization mechanism, allowing for the exact compensation of the time delays induced by the wireless communications. © 2016 American automatic control Council (AACC).

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Study of the behavior of the incremental conductance algorithm for MPPT

Study of the behavior of the incremental conductance algorit...

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International Conference on Electronics, computers and Artificial Intelligence (ECAI)

作者： J. A. Ramos-Hernanz J. M. Lopez-Guede E. Zulueta-Guerrero Nicu Bizon Fernando Oterino-Echavarri Andres Larrea Electrical Engineering Department University of the Basque Country (UPV/EHU) Vitoria Spain Systems Engineering and Automatic Control Department University of the Basque Country (UPV/EHU) Vitoria Spain Faculty of Electronics Communication and Computers University of Pitesti Arges Romania Faculty of Engineering Vitoria-Gasteiz University of the Basque Country Vitoria Spain

This paper analyzes the behavior of the Incremental Conductance (IC) maximum power point tracking algorithm used in photovoltaic modules. Three variants of the algorithm are compared under both simulations and real world tests with a DSP 1104 card control. The results obtained show that the variant whose simulated behavior is the best, actually is the worst in real world experiments, indicating that it is mandatory to test this kind of algorithms in real facilities. In this case, the facilities are placed in the laboratories of the faculty of engineering of Vitoria-Gasteiz (UPV/EHU, Spain), and the photovoltaic modules are on its roof.

关键词： Integrated circuits Simulation Load modeling Software packages Maximum power point trackers Photovoltaic systems

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The influence of genetic operators in a Genetic Algorithm used for estimating the energy consumption in a Passive House 14

The influence of genetic operators in a Genetic Algorithm us...

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14th RoEduNet International Conference - Networking in Education and Research, RoEduNet NER 2015

作者： Stegaru, Silvia Cristina Sluşanschi, Emil Ioan ŢǍpuş, McOlae CǍruţaşiu, Mihail-Bogdan Ionescu, Constantin Badea, Adnan Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Faculty of Power Engineering University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9781467381796

Genetic Algorithms are frequently used to estimate parameters in complex mathematical models. However, it is not always straightforward how the parameters of the genetic algorithm should be set in order to find optimal solutions more efficiently. In this paper we will discuss how the genetic operators, mutation and cross over, influence performance within a parameter estimation program which estimates energy consumption in a Passive House. We have varied them independently of one another and have gained insight on the ways they affect our program and how they should be set in order to maximize performance. © 2015 IEEE.

关键词： Energy utilization

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Polynomial RST control for Blood Pressure Regulation

Polynomial RST Control for Blood Pressure Regulation

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International Conference on control systems and Computer Science (CSCS)

作者： Ciprian Sandu Dumitru Popescu Catalin Dimon Automatic Control and Systems Engineering Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

This paper proposes polynomial robust RST control for the regulation of the blood pressure in post cardiac surgery patients. Results using Reinforcement Learning is also presented. Clinical applications require simple and effective controllers. This study's focus is to show that polynomial robust RST control is suitable for the blood pressure regulation in post cardiac surgery patients. A realistic and detailed model of a hypertensive patient is used, this model offers a drug response (here we use the model of Slate et al. (1980)), a model for an internal reflex of the body (the baroreceptor reflex) and disturbances. We report simulation results obtained by using polynomial robust RST control, because it ensures the tolerance of the system to the structure disturbances of the model, as well as to the inherent approximations. A result obtained with Reinforcement Learning is also presented.

关键词： Blood pressure Polynomials Robustness Learning (artificial intelligence) Mathematical model Surgery Drugs

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