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Metaheuristic approach in nonlinear systems bidentification

UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2013年第3期75卷 91-104页

作者： Cornoiu, Mihai Bâra, CǍtǍlin Popescu, Dumitru Automatic Control and Systems Engineering Department Automatic Control and Computers Faculty University POLITEHNICA of Bucharest Romania

In this paper is presented a Hammerstein systems identification algorithm. The algorithm uses Particle Swarm Optimization firstly to approximate the nonlinear component, also using sigmoid type functions, and, secondly, to estimate the linear component's parameters and the nonlinear functions connection coefficients, by solving a standard least squares problem. Due to the nature of Hammerstein systems, Particle Swarm Optimization was adapted with respect to specific constraints, which are detailed in this article. Numerical results confirm the accuracy of this proposed identification method.

关键词： Nonlinear systems

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Duality and network theory in passivity-based cooperative control

Duality and network theory in passivity-based cooperative co...

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作者： Bürger, Mathias Zelazo, Daniel Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Faculty of Aerospace Engineering Technion - Israel Institute of Technology Haifa 32000 Israel

This paper presents a class of passivity-based cooperative control problems that have an explicit connection to convex network optimization problems. The new notion of maximal equilibrium independent passivity is introduced and it is shown that networks of systems possessing this property asymptotically approach the solutions of a dual pair of network optimization problems, namely an optimal potential and an optimal flow problem. This connection leads to an interpretation of the dynamic variables, such as system inputs and outputs, to variables in a network optimization framework, such as divergences and potentials, and reveals that several duality relations known in convex network optimization theory translate directly to passivity-based cooperative control problems. The presented results establish a strong and explicit connection between passivity-based cooperative control theory on the one side and network optimization theory on the other, and they provide a unifying framework for network analysis and optimal design. The results are illustrated on a nonlinear traffic dynamics model that is shown to be asymptotically clustering.

关键词： Convex optimization

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Fault diagnosis methodology based on nonlinear system modelling and frequency analysis 19

Fault diagnosis methodology based on nonlinear system modell...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Bayma, Rafael S. Lang, Zi-Qiang Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS13JD United Kingdom Faculty of Electrical Engineering CAMTUC Universidade Federal do Para Brazil

ISBN: (纸本)9783902823625

In this paper, a new fault diagnosis methodology based on nonlinear system modelling and frequency analysis is developed. The method is derived via resolving several fundamental issues associated with conducting system fault diagnosis using the NARMAX (Nonlinear Auto-Regressive Moving Average with eXougenous inputs) modelling and NOFRFs (Nonlinear Output Frequency Response Functions) based frequency analysis, which was recently proposed and extends the well-known linear system modelling and FRF (Frequency Response Function) based frequency analysis to the nonlinear case. Simulation studies verify the effectiveness of the new method and demonstrate the performance of the method when applied to address a mechanical structural system fault diagnosis problem. The new methodology has the potential to resolve a wide range of input output data based engineering system fault diagnosis problems. © IFAC.

关键词： Fault detection

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Do not cancel my race with cyber-physical systems 19

Do not cancel my race with cyber-physical systems

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Zamfirescu, Constantin B. Pirvu, Bogdan-Constantin Loskyll, Matthias Zuehlke, Detlef Innovative Factory Systems Trippstadter Strasse 122 Kaiserslautern Germany Lucian Blaga University of Sibiu Faculty of Engineering Department of Computer Science and Automatic Control Emil Cioran 17 Sibiu Romania

ISBN: (纸本)9783902823625

To engineer the factory of the future the paper argues for a reference model that is not necessary restricted to the control component, but integrates the physical and human components as well. This is due to the real need to accommodate the latest achievements in factory automation where the human is not merely playing a simple and clear role inside the control-loop, but is becoming a composite factor in a highly automated system ("man in the mesh"). The concept is demonstrated by instantiating the anthropocentric cyber-physical reference architecture for smart factories (ACPA4SF) in a concrete case study that needs to accommodate the ongoing researches from the SmartFactoryKL facility (e.g. augmented reality, mobile interaction technology, virtual training of human operators). © IFAC.

关键词： Embedded systems

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Artificial neural network models of intersegmental reflexes 6

Artificial neural network models of intersegmental reflexes

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6th International Conference on Neural Computation Theory and Applications, NCTA 2014, Part of the 6th International Joint Conference on Computational Intelligence, IJCCI 2014

作者： Meruelo, Alicia Costalago Simpson, David M. Veres, S. Newland, Philip L. Faculty of Engineering and the Environment University of Southampton Southampton United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom Centre for Biological Sciences University of Southampton Southampton United Kingdom

ISBN: (纸本)9789897580543

In many animals intersegmental reflexes are important for postural control and movement making them ideal candidates for the bio-inspired design of medical treatment for neuromuscular injuries in cases such as drop foot and possibly in robot design. In this paper we study an intersegmental reflex of the foot (tarsus) of the locust hind leg, which is a reflex that raises the tarsus when the tibia is flexed and depresses it when the tibia is extended. A novel method is described to quantify the intersegmental responses in which an Artificial Neural Network, the Time Delay Neural Network, is applied. The architecture of the network is optimised through a metaheuristic algorithm to produce accurate predictions with short computational time and complexity and high generalisation to different individual responses. The results show that ANNs provide accurate predictions when trained with an average reflex response to Gaussian White Noise stimulation compared to autoregressive models. Furthermore, the network model can calculate the individual responses from each of the animals and responses to another input such as a sinusoid. A detailed understanding of such a reflex response could be included in the design of orthoses or functional electrical stimulation treatments to improve walking in patients with neuromuscular disorders.

关键词： Neural networks

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Trajectory planner for mobile robots using particle swarm optimization

Trajectory planner for mobile robots using particle swarm op...

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

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

The trajectory planning problem is an essential one in robotics. In order to solve this problem, a temporal motion law for a given geometric path has to be defined and a set of requirements for the trajectory has to be fulfilled. The motion planning of a mobile robot must be more than just collision-free: it must be fast, safe and easy to use. For the trajectory planning problem, minimum time to achieve the goal is an important criterion. This paper proposes an original trajectory planning approach using quintic splines in a real environment with several obstacles. The proposed trajectory planning approach is based on the optimization of parameters of the quintic splines using Particle Swarm Optimization. The quintic-splines are ideal since they give continuity in position, heading, curvature, velocity, and acceleration ensuring a smooth movement of the mobile robot. The trajectory planning must provide not only the planning of the path (spatial dimension) but also the speed profile (temporal dimension). The effectiveness of the proposed planner is proved with suitable examples. The experiments show that the proposed planner is able to provide a smooth trajectory.

关键词： Trajectory Acceleration Planning Splines (mathematics) Mobile robots

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Educational Innovation: Interaction and Relationship Inside A Sub-Module

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Procedia - Social and Behavioral Sciences 2015年 186卷 395-400页

作者： Fernando Oterino-Echavarri Jose Manuel Lopez-Guede Ekaitz Zulueta Manuel Graña Department of Electronics University College of Engineering of Vitoria Basque Country University (UPV/EHU) C/Nieves Cano 12 01006 Vitoria-Gasteiz Spain Department of Systems Engineering and Automatic Control University College of Engineering of Vitoria Basque Country University (UPV/EHU) C/Nieves Cano 12 01006 Vitoria-Gasteiz Spain Computational Intelligence Group Basque Country University (UPV/EHU) Department of Computer Science and Artificial Intelligence Faculty of Informatics Basque Country University (UPV/EHU) Paseo Manuel de Lardizabal 1 20018 Donostia-San Sebastián Spain

In this paper authors will expose a work developed with the aim to submit an educational innovation project proposal to a competitive call for Educational Innovation Projects 2013-2015 of the Education Advisory Service of the Basque Country University (UPV/EHU, Spain). This project is being carried out in the Computer Structure and Computer Architecture sub-module of the Degree in Computer Management and Information systems engineering of the University College of engineering of Vitoria-Gasteiz, University of the Basque Country (UPV/EHU). The project is based on the active learning, more specifically, on cooperative learning. In this paper we have given deeper insight the dependencies between all the subjects belonging to the analyzed sub-module, which is composed of two subjects named Computer Structure and Computer Architecture. We have included in such analysis a previous subject named Principles of Digital systems Design, which does not belong to that sub-module, but plays an important role in the acquisition of the knowledge and competencies of the two previously referenced subjects.

关键词： Active Learning Cooperative Learning Computer engineering Computer Structure Computer Architecture

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Embedding of nonlinear systems in a linear parameter-varying representation 19

Embedding of nonlinear systems in a linear parameter-varying...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Abbas, Hossam S. Tóth, Roland Petreczky, Mihály Meskin, Nader Mohammadpour, Javad Department of Electrical Engineering College of Engineering Qatar University PO Box 2713 Doha Qatar Control Systems Group Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands Department of Computer Science and Automatic Control Ecole des Mines de Douai Douai59508 France Intelligent Control Systems Lab. College of Engineering University of Georgia AthensGA30602 United States Electrical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

ISBN: (纸本)9783902823625

This paper introduces a systematic approach to synthesize linear parameter-varying (LPV) representations of nonlinear (NL) systems which are originally defined by control affine state-space representations. The conversion approach results in LPV state-space representations in the observable canonical form. Based on the relative degree concept of NL systems, the states of a given NL representation are transformed to new coordinates that provide its normal form. In the SISO case, all nonlinearities of the original system are embedded in one NL function which is factorized to construct the LPV form. An algorithms is proposed for this purpose. The resulting transformation yields an LPV model where the scheduling parameter depends on the derivatives of the inputs and outputs of the system. In addition, if the states of the NL model can be measured or estimated, then the procedure can be modified to provide LPV models scheduled by these states. Examples are included for illustration. © IFAC.

关键词： State space methods

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Mixed reality to support new learning paradigms

Mixed reality to support new learning paradigms

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

作者： Maria-Iuliana Dascalu Alin Moldoveanu Eman Ahmad Shudayfat Department of Engineering in Foreign Languages University POLITEHNICA of Bucharest Bucharest Romania Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania

Mixed reality (MR) concepts gained significant importance in recent years, tending to be more and more domain-specific. The current paper presents a survey on MR educational applications and debates whether they are suitable or not to support several new learning paradigms. The technological specifications and challenges of each analyzed application are provided, in the context of current trends of MR and technological developments. Among others, the innovative criterion of virtual-real merging degree is introduced. Also, the benefits and drawbacks of exploiting MR to implement such paradigms are underlined.

关键词： Virtual reality Cognition Collaboration Three-dimensional displays Educational institutions Merging

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Managed N-gram language model based on Hadoop framework and a Hbase tables

Managed N-gram language model based on Hadoop framework and ...

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The International Conference on Informatics and systems (INFOS)

作者： Tahani Mahmoud Allam Alsayed Abdelhameed Sallam Hatem M. Abdullkader Computer and Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt Information System Department Faculty of Computers and Information Menofia University Menofia Egypt

N-grams are a building block in natural language processing and information retrieval. It is a sequence of a string data like contiguous words or other tokens in text documents. In this work, we study how N-gram can be computed efficiently using a MapReduce for distributed data processing and a distributed database named Hbase This technique is applied to construct the training and testing processes using Hadoop MapReduce framework and Hbase. We proposed to focus on the time cost and storage size of the model and exploring different structures of Hbase table. By constructing and comparing a different table structures on training 100 million words for unigram, bigram and trigram models we suggest a table based on half ngram structure is a more suitable choice for distributed language model. The results of this work can be applied in the cloud computing and other large scale distributed language processing areas.

关键词： Computational modeling Training Smoothing methods Context Testing Informatics Distributed computing

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