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state estimation with fading measurements, randomly varying nonlinearities and probabilistic distributed delays

International Journal of Robust and Nonlinear control 2014年第13期25卷

作者： Derui Ding Zidong Wang Bo Shen Hongli Dong School of Information Science and Technology Donghua University Shanghai 200051 China Department of Computer Science Brunel University Uxbridge Middlesex UB8 3PH UK NAAM Research Group Department of Mathematics King Abdulaziz University Jeddah 21589 Saudi Arabia Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg 47057 Germany College of Electrical and Information Engineering Northeast Petroleum University Daqing 163318 China

In this paper, the state estimation problem is investigated for a class of discrete-time stochastic systems in simultaneous presence of three network-induced phenomena, namely, fading measurements, randomly varying nonlinearities and probabilistic distributed delays. The channel fading is characterized by the ℓ th-order Rice fading model whose coefficients are mutually independent random variables with given probability density functions. Two sequences of random variables obeying the Bernoulli distribution are utilized to govern the randomly varying nonlinearities and probabilistic distributed delays. The purpose of the problem addressed is to design an state estimator such that the dynamics of the estimation errors is stochastically stable and the prespecified disturbance rejection attenuation level is guaranteed. Through intensive stochastic analysis, sufficient conditions are established under which the addressed state estimation problem is recast as a convex optimization one that can be solved via the semi-definite program method. Finally, a simulation example is provided to show the usefulness of the proposed state estimation scheme. Copyright © 2014 John Wiley & Sons, Ltd.

关键词： state estimation fading measurements randomly varying nonlinearities probabilistic distributed delays

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MIMO LPV State-Space Identification of an Open-Flow Irrigation Canal for control

MIMO LPV State-Space Identification of an Open-Flow Irrigati...

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IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)

作者： Yolanda Bolea Antoni Grau Nicolas Chefdor Automatic Control Dept Technical University of Catalonia Barcelona Spain Embedded Systems and Automatic Group Engineering School of ESEO Angers France

In this paper a linear parameter varying (LPV) statespace canal control model is obtained by identification in a local way. This LPV identification procedure is based on subspace methods for some operating points of an irrigation canal covering all the operation range. Different subspace algorithms have been used and compared. The model that best represents the canal behavior in a precise way is chosen. This model has been validated by error functions and analysis correlation of residuals in a laboratory multi-reach pilot canal providing satisfactory results.

关键词： LPV systems subspace-based methods MIMO statespace model subspace-based algorithms polynomial interpolation

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control of Oscillating Water Column-Based Wave Power Generation Plants for Grid Connection

Control of Oscillating Water Column-Based Wave Power Generat...

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Mediterranean Conference on control & Automation

作者： Mikel Alberdi Modesto Amundarain Aitor J. Garrido Izaskun Garrido Francisco Javier Sainz Automatic Control Group Department of Automatic Control and Systems Engineering EUITI Bilbao University of the Basque Country (UPV/EHU) Plaza de la Casilla 3 48012 Bilbao Spain

ISBN: (纸本)9781467325301

There is a worldwide interest in the use of renewable resources for the generation of electrical power. Between all renewable energy sources, ocean energy is the one that still has the furthest to go to achieve commercial maturity. As the most promising ocean energy that can be harnessed in the Basque Country is wave energy, the NEREIDA MOWC project, promoted and led by Basque Energy Board, aims to prove the viability of this technology for future commercial plants. In this paper, an Oscillating Water Column-based wave power generation plant is modeled and controlled by means of a new control scheme that takes into account the influence of turbine damping and the main requirements imposed by new Grid Codes when a grid fault occurs on the transmission system.

关键词： Oscillating Water Column-Based Power Generation Plants Grid Connection

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Distributed solution for a Maximum Variance Unfolding Problem with sensor and robotic network applications

Distributed solution for a Maximum Variance Unfolding Proble...

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Annual Allerton Conference on Communication, control, and Computing

作者： Andrea Simonetto Tamás Keviczky Dimos V. Dimarogonas Delft Center for systems and control Delft University of Technology Delft Netherlands Automatic Control Group School of Electrical Engineering Royal Institute of Technology Stockholm Sweden

We focus on a particular non-convex networked optimization problem, known as the Maximum Variance Unfolding problem and its dual, the Fastest Mixing Markov Process problem. These problems are of relevance for sensor networks and robotic applications. We propose to solve both these problems with the same distributed primal-dual subgradient iterations whose convergence is proven even in the case of approximation errors in the calculation of the subgradients. Furthermore, we illustrate the use of the algorithm for sensor network applications, such as localization problems, and for mobile robotic networks applications, such as dispersion problems.

关键词： Optimized production technology Decision support systems Robot sensing systems Mercury (metals) Markov processes

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Imitating human reaching motions using physically inspired optimization principles

Imitating human reaching motions using physically inspired o...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Albrecht, S. Ramírez-Amaro, K. Ruiz-Ugalde, F. Weikersdorfer, D. Leibold, M. Ulbrich, M. Beetz, M. Intelligent Autonomous Systems Group Institute of Automatic Control Engineering Technische Universität München Germany

ISBN: (纸本)9781612848679

We present an end-to-end framework which equips robots with the capability to perform reaching motions in a natural human-like fashion. A markerless, high-accuracy, model-based human motion tracker is used to observe how humans perform everyday activities in real-world scenarios. The obtained trajectories are clustered to represent different types of manipulation and reaching motions occurring in a kitchen environment. Using bilevel optimization methods a combination of physically inspired optimization principles is determined that describes the human motions best. For humanoid robots like the iCub these principles are used to compute reaching motion trajectories which are similar to human behavior and respect the individual requirements of the robotic hardware. © 2011 IEEE.

关键词： Anthropomorphic robots

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Towards an ontology for autonomous robots

Towards an ontology for autonomous robots

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25th IEEE/RSJ International Conference on Robotics and Intelligent systems, IROS 2012

作者： Paull, Liam Severac, Gaetan Raffo, Guilherme V. Angel, Julian Mauricio Boley, Harold Durst, Phillip J. Gray, Wendell Habib, Maki Nguyen, Bao Ragavan, S. Veera Saeedi G., Sajad Sanz, Ricardo Seto, Mae Stefanovski, Aleksandar Trentini, Michael Li, Howard COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB E3B 5A3 Canada ONERA-University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC 3909 Halls Ferry Road Vicksburg MS 39180 United States Mechanical Engineering Department School of Sciences and Engineering American University in Cairo New Cairo Egypt Defence Research and Development Canada-CORA Ottawa ON Canada Monash University Sunway Campus Australia Systems Engineering and Automatic Control Autonomous Systems Laboratory Research Group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada-Atlantic Dartmouth NS Canada Department of Computer Science George Washington University United States Defence R and D Canada-Suffield PO Box 4000 Station Main Medicine Hat AB T1A 8K6 Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and Automation Working group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions. © 2012 IEEE.

关键词： Ontology

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Computational intelligence techniques application to enhance controlled training for people with cardiovascular problems

Computational intelligence techniques application to enhance...

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6th International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO 2011

作者： Miñano, Gorka Irigoyen, Eloy Department of Systems Engineering and Automatic Control Computational Intelligence Group Alda. Urquijo S/N ETSI Bilbao 48013 Spain

ISBN: (纸本)9783642196430

The current medical tendency in the rehabilitation field is to try and physically rehabilitate people with cardiovascular illnesses by exercising their injured systems. Because people's heat rate response is distinct at different times according to the demand of physical effort, it is necessary to know the relation between the effort (training device power/resistance) and the patient's heartbeat. This work deals with the study of Artificial Neural Networks to identify the physiologic behavior of a patient during a supervised training session. In this way, the Neural Identifier can be used in an Intelligent control System in order to optimize the patient training therapy. In this paper, we present the first results in the identification of the relationship in time, between the demanded exercise (machine resistance) and the heart rate of the patient. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Neural networks

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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Mathematical relationships between representations of structure in linear interconnected dynamical systems

Mathematical relationships between representations of struct...

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作者： Yeung, E. Gonçalves, J. Sandberg, H. Warnick, S. Control and Dynamical Systems California Institute of Technology United States Information and Decision Algorithms Laboratories Brigham Young University Provo UT United States Control Group Department of Engineering University of Cambridge Cambridge United Kingdom Automatic Control Laboratory KTH School of Electrical Engineering Stockholm Sweden

ISBN: (纸本)9781457700804

A dynamical system can exhibit structure on multiple levels. Different system representations can capture different elements of a dynamical system's structure. We consider LTI input-output dynamical systems and present four representations of structure: complete computational structure, subsystem structure, signal structure, and input output sparsity structure. We then explore some of the mathematical relationships that relate these different representations of structure. In particular, we show that signal and subsystem structure are fundamentally different ways of representing system structure. A signal structure does not always specify a unique subsystem structure nor does subsystem structure always specify a unique signal structure. We illustrate these concepts with a numerical example. © 2011 AACC American automatic control Council.

关键词： Dynamical systems

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Drift-diffusion analysis of neutrophil migration during inflammation resolution in a zebrafish model

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Advances in Hematology 2012年第1期2012卷 792163页

作者： Holmes, Geoffrey R. Dixon, Giles Anderson, Sean R. Reyes-Aldasoro, Constantino Carlos Elks, Philip M. Billings, Stephen A. Whyte, Moira K. B. Kadirkamanathan, Visakan Renshaw, Stephen A. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom MRC Centre for Developmental and Biomedical Genetics University of Sheffield Sheffield S10 2TN Firth Court Western Bank United Kingdom University of Sussex School of Engineering and Design Biomedical Engineering Research Group Brighton BN1 9QT United Kingdom Department of Infection and Immunity University of Sheffield Sheffield S10 2JF United Kingdom

Neutrophils must be removed from inflammatory sites for inflammation to resolve. Recent work in zebrafish has shown neutrophils can migrate away from inflammatory sites, as well as die in situ. The signals regulating the process of reverse migration are of considerable interest, but remain unknown. We wished to study the behaviour of neutrophils during reverse migration, to see whether they moved away from inflamed sites in a directed fashion in the same way as they are recruited or whether the inherent random component of their migration was enough to account for this behaviour. Using neutrophil-driven photoconvertible Kaede protein in transgenic zebrafish larvae, we were able to specifically label neutrophils at an inflammatory site generated by tailfin transection. The locations of these neutrophils over time were observed and fitted using regression methods with two separate models: pure-diffusion and drift-diffusion equations. While a model hypothesis test (the F-test) suggested that the datapoints could be fitted by the drift-diffusion model, implying a fugetaxis process, dynamic simulation of the models suggested that migration of neutrophils away from a wound is better described by a zero-drift, diffusion process. This has implications for understanding the mechanisms of reverse migration and, by extension, neutrophil retention at inflammatory sites. © Copyright 2012 Geoffrey R. Holmes et al.

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