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Smooth patchy control Lyapunov functions

Smooth patchy control Lyapunov functions

引用

IEEE Conference on Decision and control

作者： Rafal Goebel Christophe Prieur Andrew R. Teel Department of Mathematics University of Washington Seattle WA USA LAAS CNRS Toulouse France Center for Control Dynamical Systems & Computation (CCDC) Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

A smooth patchy control Lyapunov function for a nonlinear system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a decrease condition when the domains overlap. We prove that such a control Lyapunov function exists for any asymptotically controllable nonlinear system. We also show a construction, based on such a Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise

关键词： Lyapunov method Nonlinear control systems control systems Noise robustness Noise measurement Nonlinear systems Additive noise State feedback Robust control Robust stability

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Study of Grey Rough Set Model Based on Tolerance Relation

Study of Grey Rough Set Model Based on Tolerance Relation

引用

International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： S.X. Wu S.H. Shi S.F. Liu M.Q. Li School of Economics and Management Nanjing University of Aeronautics and Astronautics Nanjing China Center for Systems and Control Xiamen University Xiamen Fujian China Department of Electrical & Computer Engineering National University of Singapore Singapore Department of Computer Shenzhen Polytechnic Shenzhen Guangdong China

This paper analyses several extended rough set models in incomplete information systems and proposes a tolerance relation based model of processing grey incomplete information systems, which is an extension to rough set models. The method of the model is: firstly partitioning the original incomplete information system by introduced threshold value, then establishing tolerance classes through grey tolerance relation and obtaining upper and lower approximations through these tolerance classes. Moreover, a method of whitening grey numbers based on grey tolerance relation is given. This paper shows that the model accords with practice according to examples and the algorithm of whitening grey numbers is also comparatively ideal. The more important point is that the subjective needs are considered during partitioning grey tolerance classes by introducing threshold value. So it is consistent with the system methodology of person-oriented person-to-machine communication

关键词： Information systems Set theory control systems Rough sets Concurrent computing engineering management Stress control Null value Humans Information analysis

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Integrated Guidance and control of AUVs Using Shrinking Horizon Model Predictive control

Integrated Guidance and Control of AUVs Using Shrinking Hori...

引用

OCEANS

作者： Charmane V. Caldwell Emmanuel G. Collins Srinivas Palanki Center for Intelligent System Control and Robotics epartment of Electrical and Computer Engineering Florida A&M University-Florida State University Tallahassee FL USA Center for Intelligent System Control and Robotics Department of Mechanical Engineerin Florida A&M University-Florida State University Tallahassee FL USA Center for Intelligent System Control and Robotics Department of Chemical and Biomedical Engineering Florida A&M University-Florida State University Tallahassee FL USA

There are problems controlling autonomous underwater vehicles (AUVs) because they are nonlinear and coupled and have external environmental disturbances acting on the vehicle. More difficulties arise when the vehicle tasks require precise positioning and control as in military missions. This paper presents an integrated guidance and control method for an AUV. The algorithm is based on an optimal control method called shrinking horizon model predictive control (SHMPC). Scenarios for reconnaissance and reacquisition in mine countermeasures missions are explored applying SHMPC. In addition, there are scenarios with obstacle avoidance. Simulations of this method show the control method is able to systematically handle disturbances and constraints to successfully maneuver through volatile areas

关键词： Predictive models Predictive control Underwater vehicles Remotely operated vehicles Nonlinear control systems Intelligent vehicles Mobile robots Intelligent robots control system synthesis Biomedical engineering

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Fuzzy-AHP method for measuring Intellectual Capital in Iran insurance industry

Fuzzy-AHP method for measuring Intellectual Capital in Iran ...

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IEEE International Conference on Management of Innovation and Technology, ICMIT

作者： Adel Moslehi Ali Mohaghar Kambiz Badie Caro Lucas University of Tehran Tehran Tehran IR Management Faculty Department of Industrial Management University of Tehran Iran Info Society Department Iran Telecom Research Center Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Intellectual capital and knowledge management literature is prolific relates to the importance of measuring intellectual capital but a few of the retrieved literature address the pragmatic application of these management philosophies within companies in real world. This paper explains a proposed method to measuring intellectual capital as a main source of sustainable competitive advantages for most companies especially in service sectors. Based on our research in measurement phases managers should decide about choosing the most appropriate indicators. We use fuzzy-AHP method to find these indicators in Iran insurance industry. Although the application of such model in other industries and in other countries can be arguable, to measuring IC in each industry in each country the application of proposed method seems useful

关键词： Knowledge management Insurance engineering management Integrated circuit modeling Phase measurement Electric variables measurement Communication industry computer industry Industrial control Process control

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Robust stability condition of an uncertain networked system with delayed data dropout in both forward and feedback channels

Robust stability condition of an uncertain networked system ...

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SICE Annual Conference

作者： Hyo-sung Ahn Yangquan Chen Wonpil Yu Intelligent Task Control Research Team Intelligent Robot Research Division Electronics and Telecommunications Research Institute Daejeon South Korea Department of Electrical and Computer Engineering Center of Self-Organizing and Intelligent Systems Utah State University Logan UT USA

This paper provides stability conditions of an uncertain networked control system with both forward control signal loss and feedback output signal loss. It is assumed that both the forward control signal and the output measurement signal are intermittent independently, and the remote plant has a model uncertainty. Also, in this paper, an observer-based controller is used in the remote place because the full states are not accessible. Thus, the main research goal is to analyze the overall stability of this uncertain intermittent networked system. In the second part of this paper, we consider delay effects of both forward signal and feedback signal during the network transfer

关键词： Robust stability Delay systems Output feedback control systems Intelligent networks Intelligent robots Networked control systems Stability analysis Delay effects electrical equipment industry

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Stereo Vision based Relative Pose and Motion Estimation for Unmanned Helicopter Landing

Stereo Vision based Relative Pose and Motion Estimation for ...

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International Conference on Information and Automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines computer vision

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Development of Portable Wireless Brain computer Interface with Embedded Systems

Development of Portable Wireless Brain Computer Interface wi...

引用

2006 IEEE Biomedical Circuits and Systems Conference (BioCAS 2008)

作者： Chin-Teng Lin Hung-Yi Hsieh Li-Wei Ko May Lin Sheng-Fu Liang Department of Electrical and Control Engineering Computer Science National Chiao Tung University Hsinchu Taiwan Department of Electrical and Control Engineering Brain Research Center National Chiao Tung University Hsinchu Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan

In this paper, we propose an embedded multi-task scheduling system to make the wireless brain computer interface to real-time receive electroencephalogram signal more accurate. This method we propose also can increase the flexibility of the system. Base on the method, we can change the peripheral devices easily. And the tasks are taken as modules, so it also can increase the flexibility of system programs. The proposed system integrates electroencephalogram signal amplifier technique, wireless transmission technique, and embedded real-time system. The OMAP (Open Multimedia Architecture Platform) is used as a development platform and an embedded operating system is also used.

关键词： Wireless communication Digital signal processing Electroencephalography Real time systems Band pass filters Logic gates Memory management

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Rule-based decision-making framework for knowledge-based anatomical landmark localization (K-BALL)

Rule-based decision-making framework for knowledge-based ana...

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IEEE International Symposium on Biomedical Imaging

作者： M.-R. Siadat H. Soltanian-Zadeh K. Elisevich Henry Ford Health System Radiology Image Analysis Laboratory Detroit MI USA Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Neurosurgery Henry Ford Health System Detroit MI USA

K-BALL is a general method for localization of anatomical phenomena of the same origin with natural discrepancies distributed over a reference space, e.g., human brain anatomical structures. In this paper, we focus on information analysis step (2nd step) of K-BALL during which landmarks extracted in its first step are evaluated. We provide a framework in which rules are automatically generated based on estimated and derived models. We show that the rules based on the derived models can improve the overall success rate of K-BALL. Each rule evaluates the extracted points by producing an intermediate confidence factor (ICNF). A total confidence factor is calculated using ICNF's to facilitate the acceptance or rejection of a set of points as landmarks of interest. Using the rules merely based on the estimated models, simulation study produced an overall success rate of 91.8%. Using the rules based on both of the estimated and derived models, this rate increased to 92.5%

关键词： Decision making Hippocampus Information analysis Data mining Humans Radiology Image analysis Radio control Process control control systems

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AUTOMATED SEGMENTATION OF THE ARTICULAR SPACE IN MR IMAGES OF THE HIP JOINT

AUTOMATED SEGMENTATION OF THE ARTICULAR SPACE IN MR IMAGES O...

引用

2006 IET International Conference on Visual Information engineering

作者： M. Khanmohammadi R. A. Zoroofi Y. Sato T. Nishii K. Nakanishi H. Tanaka N. Sugano H. Yoshikawa H. Nakamura S. Tamura Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Divsion of Image Analysis Osaka University Graduate School of Medicine Osaka Japan Department of Orthopaedic Surgery Osaka University Graduate School of Medicine Osaka Japan Department of Radiology Osaka University Graduate School of Medicine Osaka Japan

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Medical Data Mining using Particle Swarm Optimization for Temporal Lobe Epilepsy

Medical Data Mining using Particle Swarm Optimization for Te...

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Congress on Evolutionary Computation

作者： M. Ghannad-Rezaie H. Soltanain-Zadeh M.-R. Siadat K.V. Elisevich Henry Ford Health System and Wayne State University Detroit MI USA Radiology Image Analysis Laboratory Henry Ford Health System Detroit MI USA Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Neurosurgery Department Henry Ford Health System Detroit MI USA

In clinical problems, numerous factors are usually involved in a medical syndrome. New advances in medicine provide a broad range of diagnosis methods to cover all aspects of a disease. However, huge amounts of raw information may confuse clinicians and decrease decision accuracy. computerized knowledge extraction is an active area of research in medical informatics. This paper suggests a new medical data mining approach using an advanced swarm intelligence data mining algorithm. Considering medical knowledge discovery difficulties, this approach addresses common issues such as missing value management and interactive rule extraction. Here, surgery candidate selection in temporal lobe epilepsy is the main target application. However, the general idea can be applied to other medical knowledge discovery problems. Experimental results show noticeable performance improvement in the final rule-set quality while the method is flexible and fast.

关键词： Data mining Particle swarm optimization Temporal lobe Epilepsy Medical diagnostic imaging Biomedical imaging Coronary arteriosclerosis Diseases Surgery Medical services

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