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Autotuning Autopilots for Micro-ROVs

Autotuning Autopilots for Micro-ROVs

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Mediterranean Conference on Control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads Control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare Control engineering computing Nonlinear systems

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An Immunological Density-Preserving Approach to the Synthesis of RBF Neural Networks for classification

An Immunological Density-Preserving Approach to the Synthesi...

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International Joint Conference on Neural Networks (IJCNN)

作者： T.V. Barra G.B. Bezerra L.N. de Castro F.J. Von Zuben Laboratory of Bioinformatics and Bio-Inspired Computing (LBIC) Department of Computer Engineering and Industrial Automation State University of Campinas-UNICAMP Sao Paulo Brazil

Radial basis function (RBF) neural networks are universal approximators and have been used for a wide range of applications. Aiming at reducing the number of neurons in the hidden layer, for regularization purposes, the center and dispersion of each RBF have to be properly defined by means of competitive learning. Only the output weights will be defined in a supervised manner. One of the drawbacks of such learning methodology, involving unsupervised and supervised learning, is that the centers will be defined so that regions in the input space with a high density of samples tend to be under-represented and those regions with a low density of samples tend to be over-represented. Additionally, few approaches provide a proper and individual indication of the dispersion of each RBF. This paper presents an immune density-preserving algorithm with adaptive radius, called ARIA, to determine the number of centers, their location and the dispersion of each RBF, based only on the available training data set. Considering classification problems, the algorithm to determine the hidden layer is compared to another immune-inspired algorithm called aiNet, K-means and the random choice of centers. The classification accuracy of the final network is compared to another density based approach and a decision tree classifier, C 5.0. The results are reported and analyzed.

关键词： Network synthesis Neural networks Neurons Radial basis function networks Prototypes Classification tree analysis Industrial training Computer networks Supervised learning Training data

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Web services for the new internet: discussion and evaluation of the provisioning of interdomain services

Web services for the new internet: discussion and evaluation...

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International Symposium on Telecommunications

作者： Fabio L. Verdi Rafael Pasquini Mauricio Magalhaes Edmundo Madeira Department of Computer Engineering and Industrial Automation (DCA) School of Electrical and Computer Engineering (FEEC) State University of Campinas Brazil Institute of Computing (IC) UNICAMP-State University of Campinas Brazil

ISBN: (纸本)9781424436446;8589748049

In these last few years, the Internet as it is today has put some limitations on the evolution of new services. Problems such as address space scarcity, mobility, sensor networks and VoIP are becoming common requirements now and will be more frequent in future. However, the current Internet architecture does not support this evolution. In 2003, Jon Crowcroft [1] discussed the problems of the Internet Architecture. In January 2005, a report from NSF [2] addressed the barriers that need to be faced in order to overcome limitations towards a new internetworking architecture. In this paper, we discuss how Web services can be useful in solving some interdomain problems. The strong interaction between ISPs already exists and will be more necessary as new services appear. We believe that the Web services solution is a facilitator in this path. Our discussion is supported by the CANARIE [3] research point of view that everything is a service. We use this idea in the context of interdomain interactions where each domain is then seen as a service. We developed an architecture to support these interactions and evaluated the prototype in terms of time and bandwidth consumption to provide interdomain services.

关键词： Web services Web and internet services IP networks Biosensors Internetworking Context-aware services Prototypes Bandwidth Next generation networking Optical fiber networks

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The Influence of the Pool of Candidates on the Performance of Selection and Combination Techniques in Ensembles

The Influence of the Pool of Candidates on the Performance o...

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International Joint Conference on Neural Networks (IJCNN)

作者： G.P. Coelho F.J. Von Zuben Laboratory of Bioinformatics and Bioinspired Computing-LBiC Department of Computer Engineering and Industrial Automation-DCA School of Electrical and Computer Engineering-FEEC State University of Campinas-UNICAMP Sao Paulo Brazil

In this paper, we propose the use of an immune-inspired approach called opt-aiNet to generate a diverse set of high-performance candidates to compose an ensemble of neural network classifiers. Being a population-based search algorithm, the opt-aiNet is capable of maintaining diversity and finding many high-performance solutions simultaneously, which are known to be desired features when synthesizing an ensemble. Concerning the selection and combination phases, the most relevant selection and combination techniques already proposed in the literature have been considered. The main contribution of this paper is the indication that there is no pair of selection/combination technique that can be considered the best one, because the performance of the obtained ensemble varies significantly with the current composition of the pool of candidates already produced by the generation phase. Notwithstanding, this variability in performance is not restricted to the choice of opt-aiNet as the generative device. As a consequence, to overcome the performance of the best individual classifier, every possible pairs of selection and combination techniques should be tried. Only with such an exhaustive search (notice that the main computational burden is usually related to the generation phase), the performance of the ensemble was invariably superior to the performance of the best individual classifier on four benchmark classification problems.

关键词： Industrial training Intelligent networks Neural networks Network synthesis Supervised learning Statistical distributions Laboratories Bioinformatics Computer industry automation

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RoboEduc: A Software for Teaching Robotics to Technological Excluded Children Using LEGO Prototypes

RoboEduc: A Software for Teaching Robotics to Technological ...

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IEEE Latin American Robotics Symposium, LARS

作者： Dennis Barrios-Aranibar Viviane Gurgel Marcela Santos Gianna R. Araujo Valber C. Roza Rafaella A. Nascimento Alzira F. Silva Akynara R. S. Silva Luiz M. G. Goncalves Department of Computing Engineering and Automation Federal University of Rio Grande do Norte Natal RN Brazil Department of Education Federal University of Rio Grande do Norte Natal RN Brazil

In this work, we describe our project for developing an educational software to be used in the implementation of a new paradigm of digital inclusion. The proposed software allows people with no previous knowledge in robotics to control and program LEGO prototypes. It is a new kind of educational software for robotics, mainly pointed to teach basic computer skills and basic robotics concepts to children at elementary school. In contrast, projects involving digital inclusion are strongly pointed to the use of computers and Internet. Robots have a greater potential to be accepted by people in comparison with computers then it could be added in digital inclusion projects in a simple fashion. Thus, software for teaching to control, program and use these robots is necessary. Software for programming LEGO robots is not easy to understand and use. Then, the proposed software represents a good option for teaching robotics when working with children and people not familiarized with technology. We show experimental results in which digitally excluded children accept in a natural way technologies involving computers and robots by using the proposed software

关键词： Education Educational robots Software prototyping Robotics and automation Internet Information technology Robot programming Acceleration Cities and towns Computer networks

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Some Issues in the Study of Networked Control System

Some Issues in the Study of Networked Control System

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IEEE Conference on Decision and Control

作者： T. C. Yang M. R. Fei D. Y. Xue H. N. Yu Department of Engineering University of Sussex Brighton UK School of Mechatronical Engineering and Automation Shanghai University Shanghai China Faculty of Information Science and Engineering Northeastern University Shenyang China Faculty of Computing Engineering and Technology Staffordshire University Stafford UK

ISBN: (纸本)9781424401703

In this paper, we discuss two issues in the study of networked control systems (NCSs). Firstly, we point out some limitations of current research on NCSs. Secondly, we examine whether NCSs can improve control system performance, and present a counter-argument to the widely held view that "designers choosing to use a networked control system architecture are motivated not by performance, but by cost, maintenance, and reliability." In relation to the second issue, we consider the impact of NCSs on traditional large-scale system control methodologies, and on applications in power system control

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Nonlinear blind source separation using hybrid neural networks

Nonlinear blind source separation using hybrid neural networ...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Zheng, Chun-Hou Huang, Zhi-Kai Lyu, Michael R. Lok, Tat-Ming Intelligent Computing Lab Institute of Intelligent Machines Chinese Academy of Sciences P.O.Box 1130 Hefei Anhui China Department of Automation University of Science and Technology of China Hong Kong China Computer Science and Engineering Dept. Chinese University of Hong Kong Hong Kong Hong Kong Information Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong

ISBN: (纸本)354034439X

This paper proposes a novel algorithm based on minimizing mutual information for a special case of nonlinear blind source separation: post-nonlinear blind source separation. A network composed of a set of radial basis function (RBF) networks, a set of multilayer perceptron and a linear network is used as a demixing system to separate sources in post-nonlinear mixtures. The experimental results show that our proposed method is effective, and they also show that the local character of the RBF network's units allows a significant speedup in the training of the system. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Blind source separation

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Provisioning and Management of Interdomain Connections in Optical Networks: A Service Oriented Architecture-based Approach

Provisioning and Management of Interdomain Connections in Op...

引用

IEEE Symposium on Network Operations and Management

作者： F.L. Verdi R. Duarte F.C. de Lacerda E. Cardozo M. Magalhaes E. Madeira Department of Computer Engineering and Industrial Automation (DCA) School of Electrical and Computer Engineering (FEEC) State University of Campinas Sao Paulo Brazil Institute of Computing (IC) State University of Campinas Sao Paulo Brazil

Provisioning of interdomain connections has been a constant challenge for providers. Clients (e.g. access networks) are asking for services that span across multiple different domains and each domain has its local constraints (policies) that must be analyzed before accepting an end-to-end (e2e) connection. In this paper we present a service oriented architecture-based approach by which basic services are modeled and composed to create more complex services. Such approach considers the establishment of e2e interdomain connections in optical networks. The architecture we present here consists of a virtual topology service, an end-to-end connection service and an end-to-end negotiation service. All of them were implemented using the Web services technology

关键词： Intelligent networks Optical fiber networks Web services Computer networks Optical computing Computer architecture Service oriented architecture Tellurium Quality of service Application software

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Interperception on Shared Virtual Environments

Interperception on Shared Virtual Environments

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IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： Samuel Azevedo Aquiles Burlamaqui Rummenigge Dantas Claudio Schneider Rafael Gomes Julio Melo Josivan Xavier Luiz Marcos Garcia Goncalves Department of Informatics and Applied Mathematics Federal University of Rio Grande do Norte Natal Brazil Department of Computing Engineering and Automation (DCA) Federal University of Rio Grande do Norte Natal Brazil

In this work we introduces the concept of interdimensional virtual environments and proposes to it creation an architecture based on the client-server model. Our architecture allows the users with different resources sharing the same environment in a transparent way, same that users are connected by a different graphical interfaces. This interdimensionality provides by the system is possible thanks to the use of a component in the serving side that if put in charge to carry through, when necessary, the transformation of the messages of a dimension for another one, removing or adding indispensable information to the different customers of the system

关键词： Virtual environment Multiuser detection Computer architecture Computer networks History Internet Avatars Anthropometry Informatics Mathematics

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On the Performance of Interdomain Provisioning of Connections in Optical Networks Uing Web Services

On the Performance of Interdomain Provisioning of Connection...

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IEEE Symposium on Computers and Communications (ISCC)

作者： F.L. Verdi M. Magalhaes E. Madeira Department of Computer Engineering and Industrial Automation (DCA) School of Electrical and Computer Engineering (FEEC) State University of Campinas Sao Paulo Brazil Institute of Computing (IC) State University of Campinas Sao Paulo Brazil

In this paper we present a Web Services-based approach to provide connections between optical domains. The architecture we describe here consists of a virtual topology service, an end-to-end connection service and an end-to-end interdomain negotiation service. All of them were implemented using the Web services technology. In this work we shortly introduce the architecture and focus mainly on the performance analysis. In order to validate our approach, a prototype that implements the services mentioned above has been developed and evaluated in terms of time, scalability and bandwidth consumption to establish end-to-end interdomain optical connections.

关键词： Intelligent networks Optical fiber networks Web services Bandwidth Computer networks Tellurium Prototypes Optical fiber testing Multiprotocol label switching Computer industry

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