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

作者： Alexandru Ionut Botas Razvan Solea Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University of Galati Romania

This paper aims to present the practical realization of a biped robot and its remote control via bluetooth communication using C++ language. With a height of about 25 centimeters, the robot has six degrees of freedom, given by the six servomotors that are used to move it. Dimensions and the small number of motors are an advantage over conventional robots, because it does not need external energy sources and big hardware or software resources. The design allows the robot's straight movement and turning left or right. The presence of infrared sensors allows the robot to avoid static obstacles and stop at the edges of the surface displacement to avoid any accidents. The robot is able through an infrared proximity sensor used to avoid obstacles, to achieve grayscale images of objects is used a line-by-line scanning algorithm. The software allows the live creation of the images pixel by pixel. Those images can be stored or used to identify shapes or objects.

关键词： Robot sensing systems Legged locomotion Servomotors Software Kinematics Gray-scale

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The (J, J')-Spectral Factorization of a General Discrete-Time System

The (J, J')-Spectral Factorization of a General Discrete-Tim...

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2011 American control Conference (ACC)

作者： Cristian Oara Raluca Andrei Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Delft Center for Systems and Control Delft University of Technnology Delft Netherlands

For a discrete-time system whose transfer matrix function is completely general (arbitrary normal rank, strictly proper/imprope/polynomial, with poles and zeroes on the unit circle) we give existence conditions and constructive formulas for the (J, J')-spectral factor. The computation of the spectral factor is done by employing generalized state-space realizations and numerically-sound algorithms based on a preliminary unitary projection which delineates a subsystem fulfilling all regularity assumptions. En route, we give formulas for the J-lossless conjugation of an arbitrary discrete-time system and the (J, J')-lossless factorization of a marginally stable but otherwise general system.

关键词： Poles and zeros Polynomials Matrix decomposition Riccati equations Indexes Periodic structures

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Simulators for control engineers advanced learning

Simulators for control engineers advanced learning

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作者： Acebes, L.F. Merino, A. Gómez, L. Alves, R. Mazaeda, R. Acedo, J. Department of Systems Engineering and Automatic Control University of Valladolid Higher Tech. College of Industrial Engineering c/Real de Burgos s/n 47011 Valladolid Spain Department of Informatics and Automatic Control University of Salamanca Faculty of Sciences P/de Fray Luis de León 1-8 37008 Salamanca Spain Madrid Spain

ISBN: (纸本)9789898425782

The paper purpose is to show a Windows© NT/XP/7 application oriented to learn control skills to process engineers and it is used successfully in an industrial master of instrumentation and process control. This tool contains two sets of process control problems that are very diverse ones, both in the type of process as well as control techniques (twenty three modules are available). It is possible to study cascade, ratio, selective, override and feedforward control techniques and the tuning, configuration and operation of PID controllers. It also allows analyzing complex systems control installed in boilers, furnaces, distillation columns or reactors and some special control techniques to ensure the process safety. When a module is selected a dynamic simulation and its graphical user interface are started. So, as example, one of the simplest modules is shown. Finally, an overview of the methodology and software used to develop this tool is also outlined. In particular, an object oriented modeling tool is used to develop the simulation models, a SCADA is used as graphical user interface and the simulation-SCADA communications are supported by the OPC standard.

关键词： Process control

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Partitioning methods used in DBS treatments analysis results

Partitioning methods used in DBS treatments analysis results

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International Joint Conference on Neural Networks (IJCNN)

作者： Oana Geman Cornel Turcu Department of Automatic Control and Computers Faculty of Electrical Engineering and Computer Science University Stefan cel Mare of Suceava Suceava Romania

Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-term stimulation at frequencies greater than 100Hz. The mechanism by which chronic, electrical Deep Brain Stimulation with high frequency, suppresses tremor in Parkinson's disease is unknown, but might involve a gradual change in network properties controlling the generation of tremor. First, we performed linear and nonlinear analysis of the tremor signals to determine a set of parameters and rules for recognizing the behavior of the investigated patient and to characterize the typical responses for several forms of DBS. Second, we found patterns for homogeneous group for data reduction. We used Data Mining and Knowledge discovery techniques to reduce the number of data. Then, we found "clusters" the most well-known used and commonly partitioning methods used: K-means and K-medoids. To support such predictions, we develop a model of the tremor, to perform tests determining the DBS reducing the tremor or inducing tolerance and lesion if the stimulation is chronic.

关键词： Satellite broadcasting Clustering algorithms Time series analysis Correlation Algorithm design and analysis Mathematical model Software algorithms

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A Fault Detection Scheme for Discrete-Time Markov Jump Linear systems

A Fault Detection Scheme for Discrete-Time Markov Jump Linea...

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IEEE Conference on Decision and control

作者： Jedsada Saijai Ali Abdo Waseem Damlakhi Steven X. Ding Institute for Automatic Control and Complex Systems Faculty of Engineering University of Duisburg-Essen Duisburg 47057 Germany

ISBN: (纸本)9781612848006

In this paper, the fault detection (FD) problems for discrete-time Markov jump linear systems (MJLS) are addressed. A scheme for solving FD problem for discrete-time MJLS, which is subject to the Gaussian disturbances, is proposed. The Kalman filter (KF) is used as a residual generator. Once a residual signal is generated, it will be evaluated whether faults occur or not. Residual evaluation function is selected such that the maximum fault detection rate (FDR) is achieved, for a given false alarm rate (FAR). Finally, threshold is computed by using an estimation of the variance of evaluation function in the fault-free case. To demonstrate the performance of this proposed method, a numerical example is given.

关键词： discrete-time Defect detection Linear system residual signal Markov jump

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Monocular visual self-localization for humanoid soccer robots

Monocular visual self-localization for humanoid soccer robot...

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International Conference on Electronics, Communications and computers (CONIELECOMP)

作者： J.M. Ibarra Zannatha R. Cisneros Limón A.D. Gómez Sánchez E. Hernández Castillo L.E. Figueroa Medina F.J.K. Lara Leyva Departament of Automatic Control Cinvestav Engineering Faculty La Salle University Departament of Computer Systems Cinvestav

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented.

关键词： Image color analysis Feature extraction Image segmentation Three dimensional displays Robots Image edge detection Pixel

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An Anti-Slip Predictive controller for a V-PRA Vehicle

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IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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A reliable-Adaptive scheduler for computational grids with failure recovery and rescheduling mechanisms

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International Journal of Grid and Utility Computing 2011年第1期2卷 59-75页

作者： Sarhan, Amany Saleh, Ahmed I. Hamed, Amr M. Computer Engineering and Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt Computer Engineering and Systems Department Faculty of Engineering Mansoura University P.O. Box 72 Mansoura Egypt

Computational grids (CGs) have become an attractive research area as they suggest a suitable environment for developing large scale parallel applications. CGs integrate a large amount of distributed heterogeneous resources into a single powerful platform. However, to make good use of CGs, grid resources should be scheduled efficiently. Various scheduling strategies have been introduced, including static and dynamic behaviours. The former maps tasks to resources at submission time, while the latter operates at schedule time. While static scheduling is unsuitable for the dynamic grid environment, scheduling in CGs is still more complex than the proposed dynamic ones. This paper introduces a decentralised adaptive grid scheduler (AGS) based on a novel rescheduling mechanism. AGS has several salient properties as it is;hybrid, adaptive, decentralised, and efficient. AGS is also robust as it has the ability to: 1 detect resource failures 2 continue its functionality in spite of the failure existence 3 recover back as soon as possible. Moreover, it integrates both static and dynamic scheduling behaviours. An initial static scheduling map is proposed for an input directed acyclic graph (DAG). However, DAG tasks may be rescheduled if the hosting resources' performance changes in a way that affects the tasks' response time. AGS tries to overcome drawbacks of traditional schedulers by utilising the mobile agent unique features to enhance the resource discovery and monitoring processes. Experimental results have shown that AGS outperforms traditional grid schedulers as it introduces a better scheduling efficiency. © 2011 Inderscience Enterprises Ltd.

关键词： Mobile agents

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Explicit constraint control based on interpolation techniques for time-varying and uncertain linear discrete-time systems

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IFAC Proceedings Volumes 2011年第1期44卷 5741-5746页

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd SUPELEC Systems Sciences (E3S) – Automatic Control Department Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology Department of Engineering Cybernetics Norwegian University of Science and Technology

Abstract In this paper we consider the problem of regulating a time-varying and uncertain linear discrete-time system to the origin. It is shown how, by applying an interpolation technique and minimizing an appropriate objective function, one can achieve feasibility and a robustly and asymptotically stable closed-loop behavior. Moreover, we show that the control is a piecewise affine and continuous function of state. A simulation result demonstrates the performance of our approach.

关键词： Vertex control Model predictive control Interpolation Explicit solution Invariant set Linear matrix inequalities

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Linear Quadratic Regulator (LQR) approach for lifting and stabilizing of two-wheeled wheelchair

Linear Quadratic Regulator (LQR) approach for lifting and st...

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International Conference on Mechatronics (ICOM)

作者： Salmiah Ahmad M. O. Tokhi Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations.

关键词： Wheelchairs Mathematical model Wheels Equations Regulators Differential equations Aerospace electronics

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