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D-optimal trajectory design of heterogeneous mobile sensors for parameter estimation of distributed systems

D-optimal trajectory design of heterogeneous mobile sensors ...

引用

American control Conference (ACC)

作者： Christophe Tricaud Maciej Patan Ucinski Dariusz Yang Quan Chen Department of Electrical and Computer Engineering Utah State University Logan UT USA Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra POLAND

An approach is proposed to joint optimization of trajectories and measurement accuracies of mobile nodes in a sensor network collecting measurements for parameter estimation of a distributed parameter system. The problem is cast as maximization of the log-determinant of the information matrix associated with the estimated parameters over the set of all feasible information matrices, which yields a formulation in terms of convex optimization. This makes it possible to employ powerful tools of optimum experimental design theory to characterize the optimal solution and adapt the Wynn-Fedorov algorithm to construct its numerical approximation. As a crucial subtask in each iteration, a nontrivial optimal control problem must be solved, which is accomplished using the MATLAB PDE toolbox and the RIOTS_95 optimal control toolbox which handles various constraints imposed on the sensor motions. The effectiveness of the method is illustrated with a numerical example regarding a two-dimensional diffusion equation.

关键词： Sensor systems Parameter estimation Optimal control Distributed parameter systems Yield estimation Design for experiments Approximation algorithms MATLAB Sensor phenomena and characterization Equations

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Automatic Detection and Prediction of Paroxysmal Atrial Fibrillation based on Analyzing ECG Signal Feature Classification Methods

Automatic Detection and Prediction of Paroxysmal Atrial Fibr...

引用

Cairo International Biomedical engineering Conference, CIBEC

作者： B. Pourbabaee C. Lucas Intelligent Center of Excellence: Control and Intelligent Processing Electrical and Computer Engineering University of Tehran Iran

Paroxysmal atrial fibrillation, a really life threatening disease, is the result of irregular and repeated depolarization of the atria. In this paper, an automatic detection and prediction of this critical disease is performed by the use of three groups of features extracted from different parts of ECG signals and classified by KNN, MLP and Bayes optimal classifiers. Finally, the health status of more than 90% of cases are diagnosed correctly and also it is possible to detect an ECG record far from the PAF onset from the one which is immediately before PAF onset in more than 70% cases.

关键词： Atrial fibrillation Signal analysis Electrocardiography Heart Signal processing Feature extraction Testing Cardiac disease Cardiovascular diseases Automatic control

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Performance Investigation of New Combinational Load Shedding Schemes

Performance Investigation of New Combinational Load Shedding...

引用

International Conference on Power System Technology (POWERCON)

作者： A. Saffarian M. Sanaye-pasand H. Asadi Electrical and ComputerEngineering University of Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran School of Electrical and Computer Engineering University of Tehran Iran

Modern power systems are operating at ever-smaller capacity and stability margins due to limitations imposed by development and deregulation. In this situation, traditional entities involved in securing the power system, such as underfrequency load shedding scheme have become inadequate. Sometimes after initial frequency drop due to some abnormal events, system frequency is returned back to its acceptable values, however system eventually collapses due to severe voltage decline which results in voltage instability. In this paper two combinational load shedding methods are proposed. The purpose of these methods is to enhance the flexibility of under frequency relays and increase the security of power system during large disturbances by improving system voltage stability margins. The proposed methods use locally measured frequency and voltage signals to automatically select the best locations of the system for load shedding during under frequency conditions. The proposed load shedding methods are tested using dynamic model of an actual large network. Performance of these methods is compared with each other and also with the conventional method by several simulations in different operating conditions. Simulation results indicate that the proposed methods enhance voltage stability margins especially for weak points of the system.

关键词： Combinational load shedding scheme Under frequency load shedding Voltage stability margin

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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...

引用

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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COMMUNICATIONS FOR UNDERWATER ROBOTICS RESEARCH PLATFORMS

COMMUNICATIONS FOR UNDERWATER ROBOTICS RESEARCH PLATFORMS

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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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Optimal fuzzy passing strategy for robot soccer players

Optimal fuzzy passing strategy for robot soccer players

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Esmaeil Aatashpaz-Gargari Babak N. Araabi Caro Lucas Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Iran

This paper presents the implementation of an intelligent pass strategy for soccer robots using fuzzy logic. The proposed strategy calculates pass confidence and detects the best destination robot and best position for passing. The most important factors of a proper pass are detected and are deployed to construct the inputs of fuzzy system. The rule base of the fuzzy system is extracted by utilizing the expert knowledge. The performance of fuzzy inference system is improved by optimally determining the fuzzy membership functions using an evolutionary algorithm. In order to evaluate the designed system a visual simulation environment is prepared which enables the user to arrange players and to implement the designed strategy to detect the best destination player and send the ball.

关键词： Robots Distance measurement Fuzzy systems Humans Games Robot sensing systems Gallium

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Enhanced RSS based location estimation with Disk Overlapping in wireless sensor networks

Enhanced RSS based location estimation with Disk Overlapping...

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International Conference on Telecommunications (ICT)

作者： Mahdy Nabaee Ali Olfat Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

To estimate the location of a node in a network of wireless sensors is one of the challenging problems. Different methods are previously proposed for this purpose in which the input data is the received signal strength (RSS) of nodes, angle of arrival of signal or its time of arrival. The accuracy of each method depends on physical parameters of the channel as well as the complexity of the method. One previously proposed method which is based on comparison of received signal strengths is called Disk Overlapping. In this paper, the accuracy of this method is improved by assigning mass coefficients to each point of the suspected region. computer simulations are performed to verify the improved performance of the proposed method. It demonstrated that MSE of proposed method is half of the conventional disk overlapping method.

关键词： Sensors Wireless sensor networks Estimation Distance measurement computational modeling Signal to noise ratio Maximum likelihood estimation

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Designing MIMO PIID controller using colonial competitive algorithm: Applied to distillation column process

Designing MIMO PIID controller using colonial competitive al...

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Congress on Evolutionary computation

作者： Esmaeil Atashpaz-Gargari Farzad Hashemzadeh Caro Lucas Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Iran

In this paper, a colonial competitive algorithm is applied to the problem of designing a multivariable PID controller. The goal is to design a controller to decouple the controlled process, and to track the desired inputs by outputs of the process as much as possible. The method is used to design a multi variable controller for a typical distillation column process. Also a GA and an analytical method are used to design the controller parameters. Comparison results among these methods show that the controller obtained by colonial competitive algorithm has better performance than the others.

关键词： Process control Gallium Distillation equipment MIMO Algorithm design and analysis Evolutionary computation Tuning

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Open/Closed Eye Analysis for Drowsiness Detection

Open/Closed Eye Analysis for Drowsiness Detection

引用

Workshops on Image Processing Theory, Tools and Applications, IPTA

作者： Pooneh. R. Tabrizi Reza. A. Zoroofi Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

Drowsiness detection is vital in preventing traffic accidents. Eye state analysis - detecting whether the eye is open or closed - is critical step for drowsiness detection. In this paper, we propose an easy algorithm for pupil center and iris boundary localization and a new algorithm for eye state analysis, which we incorporate into a four step system for drowsiness detection: face detection, eye detection, eye state analysis, and drowsy decision. This new system requires no training data at any step or special cameras. Our eye detection algorithm uses Eye Map, thus achieving excellent pupil center and iris boundary localization results on the IMM database. Our novel eye state analysis algorithm detects eye state using the saturation (S) channel of the HSV color space. We analyze our eye state analysis algorithm using five video sequences and show superior results compared to the common technique based on distance between eyelids.

关键词： Algorithm design and analysis Face detection Iris Road accidents Training data Cameras Detection algorithms Databases Color Video sequences

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Fuzzy modelling of nonlinear systems for stability analysis based on piecewise quadratic Lyapunov functions

Fuzzy modelling of nonlinear systems for stability analysis ...

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Farshad Shirani Babak Nadjar Araabi Mohammad Javad Yazdanpanah Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper presents a constructive Takagi-Sugeno fuzzy modeling method for a general class of nonlinear systems. This method is particularly suitable for stability analysis based on piecewise quadratic Lyapunov functions. The modeling error is appropriately inserted into the model and an algorithm is proposed to automatically determine the model parameters to keep the modeling error smaller than a desired upper bound. Based on the constructed fuzzy model, exponential stability analysis is performed and the stability constraints are transformed into linear matrix inequalities. Modeling error is also included in the stability analysis to validate the results for the original nonlinear system. The way to utilize the modeling method and stability analysis to systematically find a Lyapunov function for a nonlinear system is demonstrated via an example and the potential capability of the method in estimating the domain of attraction is discussed.

关键词： Stability analysis Nonlinear systems Analytical models Lyapunov method Fuzzy systems Artificial neural networks Modeling

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