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Advances in Intelligent Systems and Computing 2015年 351卷 285-297页

作者： Tsardoulias, Emmanouil G. Zieliński, Cezary Kasprzak, Wlodzimierz Reppou, Sofia Symeonidis, Andreas L. Mitkas, Pericles A. Karagiannis, George Centre of Research & Technology – Hellas 6th km Xarilaou – Thermi Thessaloniki57001 Greece Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 WarszawaPL-00-665 Poland Ormylia Foundation Ormylia – Chalkidiki63071 Greece Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki54124 Greece

Cloud robotics is becoming a trend in the modern robotics field, as it became evident that true artificial intelligence can be achieved only by sharing collective knowledge. In the ICT area, the most common way to formulate knowledge is via the ontology concept, where different meanings connect semantically. Additionally, a considerable effort to merge robotics with assisted living concepts exists, as the modern societies suffer from lack of caregivers for the persons in need. In the current work, an attempt is made to merge a robotic and an AAL ontology, as well as utilize it in the RAPP Project (EU-FP7). © Springer International Publishing Switzerland 2015.

关键词： Robotics

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Sensor-based Hybrid Observer for Dynamic Positioning

Sensor-based Hybrid Observer for Dynamic Positioning

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IEEE Annual Conference on Decision and control

作者： Astrid H. Brodtkorb Andrew R. Teel Asgeir J. Sorensen Centre for Autonomous Marine Operations (AMOS) Department of Marine Technology Norwegian University of Science and Technology (NTNU) Otto Nielsens vei 10 7491 Trondheim Norway Center for Control Dynamical Systems and Computation Department of Electrical Engineering University of California Santa Barbara CA 93106-9560

ISBN: (纸本)9781479978878

Observers are important components of dynamic positioning (DP) systems for marine vessels, estimating unmeasured states, filtering noise, filtering out wave induced motions, and predicting states in the case of signal loss. In this paper, a sensor-based hybrid observer concept is investigated. The concept assumes that noisy position measurements are available only occasionally at a non-constant sampling rate. Predictions of position between the samples are provided by integrating acceleration measurements, which are available at a high rate (approximated to be continuous sampling). Estimates with smaller variance are computed by averaging multiple observer copies of position and velocity. The contributions of this paper include the design, stability analysis and simulation of a sensor-based hybrid observer combining noisy acceleration, velocity and position measurements of a vessel in DP using different sampling rates.

关键词： Dynamic positioning acceleration measurement DP system pressure vessels Observers Continuous sampling

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Performance prediction of a single-phase capacitor-run axial flux induction motor under static eccentricity

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Australian Journal of electrical and Electronics engineering 2014年第1期11卷 93-104页

作者： Nasiri-Gheidari, Zahra Lesani, H. Tootoonchian, F. Department of Electrical Engineering Sharif University of Technology Tehran Iran Center of Excellence on Control and Intelligent Processing School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran High Speed & High Precision Electrical Machinery Research Lab Iran University of Science and Technology Tehran Iran

Nowadays single-phase axial flux induction motors are widely used in home applications. This increasing usage is because of their distinct advantages over conventional induction motors. Some of these advantages are their planar and adjustable air gap, better power to weight and diameter to length ratio, compact construction, better efficiency, high utilisation of the active materials and thus a favourable power density. This paper deals with analysis and experiment of a single-phase capacitor-run axial flux induction motor (AFIM). The mathematical model of studied motor in transient and steady-state is investigated based on d-q axis theory. In particular, the proposed model takes into account the effect of core saturation, supply voltage and eccentricity. An experimental test setup is built to calculate core B-H curve. Also, a new definition for static eccentricity in direct drive systems is presented and its definition in shaft-coupled axial flux machines is improved. Finally, the studied AFIM is fabricated and tested. The simulation results are in good agreement with experimental data obtained from the prototype motor. © Institution of Engineers Australia, 2014.

关键词： Induction motors

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Extracting Patterns of Single-Trial EEG Using an Adaptive Learning Algorithm

Extracting Patterns of Single-Trial EEG Using an Adaptive Le...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Chin-Teng Lin Yu-Kai Wang Chieh-Ning Fang Yi-Hsin Yu Jung-Tai King the Faculty of Engineering and Information Technology University of Technology Sydney (UTS) Australia the Department of Computer Science and Brain Research Center National Chiao-Tung University Taiwan Institute of Electrical Control Engineering and Brain Research Center National Chiao-Tung University Taiwan the Brain Research Center National Chiao-Tung University Taiwan

ISBN: (纸本)9781424492695

The improvement of brain imaging technique brings about an opportunity for developing and investigating brain-computer interface (BCI) which is a way to interact with computer and environment. The measured brain activities usually constitute the signals of interest and noises. Applying the portable device and removing noise are the benefits to real-world BCI. In this study, one portable electroencephalogram (EEG) system non-invasively acquired brain dynamics through wireless transmission while six subjects participated in the rapid serial visual presentation (RSVP) paradigm. The event-related potential (ERP) was traditionally estimated by ensemble averaging (EA) to increase the signal-to-noise ratio. One adaptive filter of data-reusing radial basis function network (DR-RBFN) was also utilized as the estimator. The results showed that this portable EEG system stably acquired brain activities. Furthermore, the task-related potentials could be clearly explored from the limited samples of EEG data through DR-RBFN. According to the artifact-free data from the portable device, this study demonstrated the potential to move the BCI from laboratory research to real-life application in the near future.

关键词： BCI RSVP EA

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Real-time Middle Wave Infrared Aerial Image Capturing and Stitching System for Vegetation Observation

Real-time Middle Wave Infrared Aerial Image Capturing and St...

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IEEE International Instrumentation and Measurement Technology Conference

作者： Chun-Fu Lin Sheng-Fuu Lin Wen-Jyi Hwang Yung-Hsiang Chen Chi-Hung Hwang Instrument Technology Research Center National Applied Research Laboratories Taiwan Republic of China Institute of Electrical Control Engineering National Chiao Tung University Taiwan Republic of China Department of Computer Science and Information Engineering National Taiwan Normal University Taiwan Republic of China

ISBN: (纸本)9781479961153

Over the last decades, several studies have demonstrated the reflectance effectiveness of middle wave infrared (MWIR) for discriminating among different types of vegetation, and estimating the total and leaf biomass of several forest ecosystems. Therefore, a MWIR aerial image capturing system for vegetation observation is urgently required. Furthermore, stitching those MWIR aerial images together is necessary for a panorama of the region of interest (ROI). Most traditional stitching algorithms for aerial images are designed for visible images, and are not suitable for infrared images that are noisy, blurry, or lack detail. In this paper, a novel real-time MWIR aerial image capturing and stitching system for vegetation observation is proposed. The proposed stitching algorithm for aerial infrared images improved from scale invariant feature transform (SIFT) and random M-least square can find a sufficient number of feature points easily and perform rapid calculations. Therefore, the proposed MWIR aerial image capturing and stitching system for vegetation observation can operate in real time.

关键词： real-time MWIR capturing system stitching

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GROUP CONSENSUS FOR MULTIPLE NETWORKED EULER-LAGRANGE SYSTEMS WITH PARAMETRIC UNCERTAINTIES

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Journal of Systems Science & Complexity 2014年第4期27卷 632-649页

作者： HU Hongxiang ZHANG Zhe YU Li YU Wenwu XIE Guangming Department of Mathematics Hangzhou Dianzi University Zhejiang Provincial United Key Laboratory of Embedded Systems Department of AutomationZhejiang University of Technology Department of Mathematics Southeast University School of Electrical and Computer Engineering RMIT University Faculty of Engineering King Abdulaziz University Center for Systems and Control State Key Laboratory of Turbulence and Complex SystemsCollege of EngineeringPeking University

In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain *** the group consensus problem,the agents asymptotically reach several different states rather than one consistent state.A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus *** is shown that the group consensus is reachable even when the system contains the uncertain ***,the multi-group consensus is discussed as an extension of the couple-group consensus,and then the group consensus with switching topology is *** results are finally provided to validate the effectiveness of the theoretical analysis.

关键词： Euler-Lagrange system group consensus multi-agent systems switching topologies.

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A stable nonlinear in parameter neural network controller for a class of saturated nonlinear systems 19

A stable nonlinear in parameter neural network controller fo...

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

作者： Esfandiari, K. Abdollahi, F. Talebi, H.A. Center of Excellence on Control and Robotics Department of Electrical Engineering AmirKabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9783902823625

This paper deals with the tracking problem for a class of uncertain nonlinear systems subjected to actuator saturation constraint. Despite most of proposed control schemes for saturated systems which employed linear in parameter neural networks (LPNNs), in the present work nonlinear in parameter neural network (NLPNN) is introduced to support global approximation property. To compensate the effect of the input saturation constraint an auxiliary system is introduced and the error dynamics are modified based on the auxiliary states. Then, learning rules are achieved based on the back propagation (BP) algorithm and by adding two robustifying terms to the standard BP learning rules the stability of the overall system is ensured via Lyapunov direct method. Finally simulations performed on a "generalized pendulum" nonlinear system to illustrate the effectiveness of the proposed tracking control scheme. © IFAC.

关键词： Adaptive control systems

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Hybrid systems with memory: Modelling and stability analysis via generalized solutions 19

Hybrid systems with memory: Modelling and stability analysis...

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

作者： Liu, Jun Teel, Andrew R. Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783902823625

Hybrid systems with memory are dynamical systems exhibiting both hybrid and delay phenomena. We present a general modelling framework for such systems using hybrid functional inclusions, whose generalized solutions are defined on hybrid time domains and evolve in the phase space of hybrid memory arcs equipped with the graphical convergence topology. We prove a general existence result based on some basic conditions on the data of hybrid systems. We further establish sufficient conditions for the stability analysis of hybrid systems with memory using Lyapunov-Razumikhin (L-R) functions. We demonstrate the stability results on a general nonlinear system with switching dynamics and state jumps. © IFAC.

关键词： System stability

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Pursuit formation control scheme for double-integrator multi-agent systems 19

Pursuit formation control scheme for double-integrator multi...

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

作者： Rezaee, Hamed Abdollahi, Farzaneh Center of Excellence on Control and Robotics Department of Electrical Engineering AmirKabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9783902823625

Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderless architecture, each agent pursues another one in a cyclic topology to achieve a regular polygon formation around a centroid, namely, pursuit centroid, and in the second layer, the agents agree on a pursuit centroid around which they pursue each other. Despite existing cyclic pursuit approaches in the literature which are based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Numerical simulations for a team of six agents confirm the accuracy of the proposed control scheme. © IFAC.

关键词： Multi agent systems

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Closed-Loop Applicability of the Sign-Perturbed Sums Method

Closed-Loop Applicability of the Sign-Perturbed Sums Method

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IEEE Annual Conference on Decision and control

作者： Balazs Csanad Csaji Erik Weyer Fraunhofer Project Center at MTA SZTAKI: The Institute for Computer Science and Control Hungarian Academy of Sciences Kende utca 13-17 Budapest Hungary H-1111 Department of Electrical and Electronic Engineering Melbourne School of Engineering The University of Melbourne 240 Grattan Street Victoria 3010 Australia

ISBN: (纸本)9781479978878

Sign-Perturbed Sums (SPS) is a non-asymptotic system identification method that can construct confidence regions for general linear systems. It works under mild statistical assumptions, such as symmetric and independent noise terms. The SPS confidence region includes the prediction error estimate (PEM) and, for any finite sample and user-chosen confidence probability, it contains the true system parameter with exactly the given probability. Originally, SPS was introduced for open-loop systems, this paper overviews its applicability in closed-loop setups. The three main PEM approaches of closed-loop identification are addressed: direct, indirect and joint input-output, and it is discussed whether SPS can be applied to construct guaranteed finite sample confidence regions around these PEM estimates. Some parametrization issues are also highlighted and, finally, two numerical experiments are presented demonstrating SPS for closed-loop systems.

关键词： Induction loop systems system parameter Closed loop systems CLOSED LOOP sums Linear system confidence CENTROSYMMETRIC

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