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2nd Annual IEEE Internatioal Systems Conference

作者： Kranthimanoj Nagothu Matthew Joordens Mo Jamshidi Autonomous Control Engineering Center Department of Electrical and Computer Engineering University of Texas San Antonio San Antonio TX USA

This paper presents a distributed protocol for communication among autonomous underwater vehicles. It is a complementary approach for coordination between the autonomous underwater vehicles. This paper mainly describes different methods for underwater communication. One of the methods is brute force approach in which messages are broadcasted to all the communication nodes, which in turn will broadcast the acknowledgement. Issues relating to this brute force approach are time delay, number of hops, power consumption, message collision and other practical issues. These issues are discussed and solved by proposing a new method to improve efficiency of this proposed approach and its effectiveness in communication among autonomous underwater vehicles.

关键词： Underwater communication Underwater vehicles Oceans Modems Acoustic propagation Optical fiber cables Marine technology Optical fiber communication Robot kinematics Broadcasting

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Uniting a high performance, local controller with a global controller: the output feedback case for linear systems with input saturation

Uniting a high performance, local controller with a global c...

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2008 American control Conference (ACC), vol.7

作者： Christophe Prieur Andrew R. Teel LAAS-CNRS Université de Toulouse Toulouse France Center for Control Dynamical Systems & Computation (CCDC) Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We consider linear control systems with saturation in the input for which we know two stabilizing output feedback controllers. One is a nonlinear globally asymptotically stabilizing controller, while the other one is a linear only locally asymptotically stabilizing controller. We look for a composite output feedback control law that is equal to the linear controller for initial conditions in a neighborhood of the origin and that is globally asymptotically stabilizing. We suggest a constructive approach to solve this uniting problem and to modify the linear local controller into a nonlinear global controller. Moreover since we want some robustness with respect to measurement noise, actuator errors and external disturbances, we consider hybrid output feedback controllers, following recent developments in the literature on robustness in hybrid systems. We illustrate our main result by means of numerical examples.

关键词： Linear feedback control systems control systems Output feedback Linear systems Nonlinear control systems Noise robustness Robust control Noise measurement Optimal control State feedback

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Distributed protocol for communications among underwater vechiles

2008 IEEE International Conference on System of Systems Engi...

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2008 IEEE International Conference on System of Systems engineering, SoSE 2008 2008年

作者： Nagothu, Kranthimanoj Joordens, Matthew Jamshidi, Mo Autonomous Control Engineering Center Department of Electrical and Computer Engineering University of Texas at San Antonio One UTSA Circle San Antonio TX 78249 United States

ISBN: (纸本)9781424421732

Underwater surveying by swarms of autonomous underwater vehicles presents problems in communication among the robots. These problems involve the bandwidth, power consumption, timing, processing power, and other Issues. This paper presents a novel approach to communicate and coordinate effectively among underwater vehicles to accomplish this task successfully. The proposed approach solves issues by reducing the number of hops to conserve power, while reducing computation time and bandwidth, effectively utilizing resources to reduce the load on each node. Finally, the simulation results are presented, In order to prove that the proposed approach improves efficiency and effectiveness in communicating among underwater vehicles. © 2008 IEEE.

关键词： Bandwidth

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Hybrid error concealment in image communication using data hiding and spatial redundancy

Hybrid error concealment in image communication using data h...

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International Conference on Telecommunications (ICT)

作者： Alireza Kenarsari Anhari Shabnam Sodagari Alireza Nasiri Avanaki Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

Designed to diminish the artifacts caused by application of the state-of-the-art error concealment methods, a hybrid error concealment scheme is introduced. The proposed scheme stands out by using the inherent spatial redundancy of natural images along with a data hiding technique to obtain the information required for reconstruction of the lost parts of the image at the receiver. Furthermore, to maintain the quality of the received image in high packet loss conditions, an alternative scheme is proposed which will be activated in response to a receiverpsilas feedback reporting a high packet loss ratio. Our simulation results show that the proposed scheme outperforms the existing methods in terms of the quality of the received image and computational cost.

关键词： Transform coding Watermarking Image coding Decoding Approximation methods Interpolation Estimation

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A Parametric Lyapunov Equation Approach to the Design of Low Gain Feedback

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IEEE Transactions on Automatic control 2008年第6期53卷 1548-1554页

作者： Bin Zhou Guangren Duan Zongli Lin Center of Control Theory and Guidance Technology Harbin Institute of Technology Heilongjiang China Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

Low gain feedback has found several applications in constrained control systems, robust control and nonlinear control. Low gain feedback refers to a family of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to zero. Such feedback gains can be constructed either by an eigenstructure assignment algorithm or through the solution of a parametric algebraic Riccati equation (ARE). The eigenstructure assignment approach leads to feedback gains in the form of a matrix polynomial in the parameter, while the ARE approach requires the solution of an ARE for each value of the parameter. This note proposes an alternative approach to low gain feedback design based on the solution of a parametric Lyapunov equation. Such an approach possesses the advantages of both the eigenstructure assignment approach and the ARE-based approach. It also avoids the possible numerical stiffness in solving a parametric ARE and the structural decomposition of the open loop system that is required by the eigenstructure assignment approach.

关键词： State feedback Linear systems Nonlinear control systems control systems Riccati equations Hydraulic actuators Poles and zeros Performance gain Robust stability Optimal control

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SENSOR FUSION USING FUZZY INTEGRAL AND DIVERSE BAYESIAN NETWORKS

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IFAC Proceedings Volumes 2008年第2期41卷 10421-10426页

作者： Jamie Walls Albert Esterline Abdollah Homaifar Author Autonomous Control and Information Technology Center (ACIT) Electrical & Computer Engineering Department North Carolina Agricultural & Technical State University Greensboro NC

This paper investigates and contrasts the use of different Bayesian networks and a fuzzy integral for real-time sensor fusion using sonar and rangefinder laser values on an ActivMedia robot. Bayesian networks have become increasingly popular because of their ability to capitalize on the conditional probabilities present in an influence chain. The Choquet fuzzy integral, which has primarily been used for statistical analysis, has a great power of description. Comparison of the two methods indicates that noise within the sensor network can drastically affect the accuracy of the results, especially those obtained using the Bayesian network.

关键词： Information and sensor fusion Autonomous robotic systems Data-fusion Multi sensor systems Guidance navigation and control Intelligent robotics

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Dynamic reconfiguration for shipboard power system using multi-agent system

Dynamic reconfiguration for shipboard power system using mul...

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IEEE General Meeting Power& Energy Society

作者： James A. Momoh Yan Xia Keisha C. Alfred Center for Energy System and Control CESaC Department of Electrical and Computer Engineering Howard University College of Medicine WA USA Center for Energy System and Control CESaC Department of Electrical Engineering Howard University College of Medicine WA USA

Survivability and reliability are critical for the operation of shipboard power system both in normal and damage conditions. This paper presents a novel dynamic reconfiguration approach for shipboard power system by using multi-agent system. With the similar topology of the shipboard power system, the multi-agent system is generalized to constraint satisfaction problem (CSP). The environment- reactive rules-agents (ERA) approach, which is multi-agent oriented, is used to support the organization formation behavior in dynamic reconfiguration. The effectiveness of the proposed approach is illustrated by test results in a reduced shipboard power system.

关键词： Power system dynamics Power systems Multiagent systems Barium control systems Marine vehicles electrical engineering

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Excess Noise control in Gaussian-modulated Coherent State Quantum Key Distribution System

Excess Noise Control in Gaussian-modulated Coherent State Qu...

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Conference on Lasers and Electro-Optics (CLEO)

作者： Bing Qi Lei-Lei Huang Yue-Meng Chi Li Qian Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto ONT Canada

A novel polarization-frequency-multiplexing scheme is implemented to suppress noise in a fiber-based Gaussian-modulated coherent-state quantum key distribution system. The achievable secrete key rate is 0.30 bit/pulse... 详细信息

ISBN: (纸本)9781557528599

关键词： control systems Gaussian noise Gaussian distribution Quantum computing Optical fiber polarization Optical noise Fiber lasers Laser theory Phase modulation Optical pulses

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Random-party entanglement distillation in multiparty states

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Physical Review A 2008年第1期78卷 012348-012348页

作者： Ben Fortescue Hoi-Kwong Lo []Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto Ontario Canada M5S 3G4

We describe various results related to the random-party distillation of multiparty entangled states—that is, conversion of such states into entangled states shared between fewer parties, where those parties are not predetermined. In previous work we showed that certain output states (namely Einstein-Podolsky-Rosen pairs) could be reliably acquired from a prescribed initial multipartite state [namely the W state |W⟩=13(|100⟩+|010⟩+|001⟩)] via random-party distillation that could not be reliably created between predetermined parties. Here we provide a more rigorous definition of what constitutes “advantageous” random-party distillation. We show that random-party distillation is always advantageous for W-class three-qubit states (but only sometimes for Greenberger-Horne-Zeilinger class states). We show that the general class of multiparty states known as symmetric Dicke states can be readily converted to many other states in the class via random-party distillation. Finally we show that random-party distillation is provably not advantageous in the limit of multiple copies of pure states.

关键词： Distillation

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Quantum hacking: Experimental demonstration of time-shift attack against practical quantum-key-distribution systems

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Physical Review A 2008年第4期78卷 042333-042333页

作者： Yi Zhao Chi-Hang Fred Fung Bing Qi Christine Chen Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto Ontario M5S 3G4 Canada

Quantum-key-distribution (QKD) systems can send quantum signals over more than 100km standard optical fiber and are widely believed to be secure. Here, we show experimentally a technologically feasible attack—namely, the time-shift attack—against a commercial QKD system. Our result shows that, contrary to popular belief, an eavesdropper, Eve, has a non-negligible probability (∼4%) to break the security of the system. Eve’s success is due to the well-known detection efficiency loophole in the experimental testing of Bell’s inequalities. Therefore, the detection efficiency loophole plays a key role not only in fundamental physics, but also in technological applications such as QKD systems.

关键词： Optical fibers

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