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RSI/ISM International Conference on Robotics and Mechatronics

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In the problem of simultaneously localization and mapping (SLAM) for a mobile robot, it is required to detect previously visited locations so the estimation error shall be reduced. Sensor observations are compared by a similarity metric to detect loops. In long term navigation or exploration, the number of observations increases and so the complexity of the loop closure detection. Several techniques are proposed in order to reduce the complexity of loop closure detection. Few algorithms have considered the loop closure detection from a subset of sensor observations. In this paper, the compressed sensing approach is exploited to detect loops from few sensor measurements. In the basic compressed sensing it is assumed that a signal has a sparse representation is a basis which means that only a few elements of the signal are non-zero. Based on the compressed sensing approach a sparse signal can be recovered from few linear noisy projections by l_1 minimization. The difference matrix which is widely used for loop detection has a sparse structure, where similar observations are shown by zero distance and different locations are indicated by ones. Based on the multiple measurement vector technique which is an extension of the basic compressed sensing, the loop closure detection is performed by comparison of few sensor observations. The applicability of the proposed algorithm is investigated in some outdoor environments through some publicly available data sets. It has been shown by some experiments that the proposed method can detect loops effectively.

关键词： Loop Closure Detection Compressed Sensing Mobile Robots

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A GIS-based multi-criteria decision-making approach for seismic vulnerability assessment using quantifier-guided OWA operator: a case study of Tehran, Iran

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Annals of GIS 2015年第3期21卷 209-222页

作者： Moradi, Milad Delavar, Mahmoud Reza Moshiri, Behzad Department of Surevying and Geomatic Engineering College of Engineering University of Tehran Tehran Iran Center of Excellence in Geomatic Engineering in Disaster Management Department of Surveying and Geomatic Engineering College of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Earthquakes are one of the most destructive disasters that cause huge damage to structures and human beings. It is not possible to predict the exact location, duration and intensity of an earthquake;however, the probable damages may be predicted in advance. Tehran has suffered from a number of non-standard aged buildings, a high population density and the existence of a number of faults which have made it significantly vulnerable to the risk of earthquakes. In this research, Tehran’s earthquake physical vulnerability map has been produced. The main contribution of this research is to take the effect of the optimism degree into account in the problem of seismic vulnerability assessment. The ordered weighted averaging operator is applied to provide a wide range of answers from pessimistic to optimistic solutions based on multi-criteria analysis. The results are then compared with the granular computing and intuitionistic fuzzy (Int_Fuzzy) models that indicate 91% and 89% similarity, respectively. © 2014 Taylor & Francis.

关键词： earthquake GIS multi-criteria decision making OWA operator Tehran vulnerability assessment

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Signal simulation and experimental research on acoustic emission using LS-DYNA

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Journal of engineering Science and Technology Review 2015年第3期8卷 151-157页

作者： Jianchao, Zhang Rujiang, Hao Zhe, Wu Green, Jim Shaohua, Li School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Haidian District Beijing100044 China Engineering Training Center Shijiazhuang Tiedao University 17 Northeast Second Inner Ring Shijiazhuang050043 China Department of Electrical and Computer Engineering University of Miami Coral GablesFL33146 United States

To calculate sound wave velocity, we performed the Hsu-Nielsen lead break experiment using the ANSYS/LS-DYNA finite element software. First, we identified the key problems in the finite element analysis, such as selecting the exciting force, dividing the grid density, and setting the calculation steps. Second, we established the finite element model of the sound wave transmission in a plate under the lead break simulation. Results revealed not only the transmission characteristics of the sound wave but also the simulation and calculation of the transmission velocity of the longitudinal and transverse waves through the time travel curve of the vibration velocity of the sound wave at various nodes. Finally, the Hsu-Nielsen lead break experiment was implemented. The results of the theoretical calculation and simulation analysis were consistent with the experimental results, thus demonstrating that the research method using the ANSYS/LS-DYNA software to simulate sound wave transmissions in acoustic emission experiments is feasible and effective. © 2015 Kavala Institute of Technology.

关键词： Acoustic wave velocity

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Critical Sampling Rate for Sampled-Data Consensus over Random Networks

Critical Sampling Rate for Sampled-Data Consensus over Rando...

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IEEE Annual Conference on Decision and control

作者： Junfeng Wu Ziyang Meng Tao Yang Guodong Shi Karl Henrik Johansson ACCESS Linnaeus Center School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Institute for Information-Oriented Control Technische Universitat Munchen Munich Germany College of Engineering and Computer Science The Australian National University Canberra Australia

ISBN: (纸本)9781479978878

In this paper, we consider the consensus problem for a network of nodes with random interactions and sampled-data control actions. Each node independently samples its neighbors in a random manner over a directed graph underlying the information exchange of different nodes. The relationship between the sampling rate and the achievement of consensus is studied. We first establish a sufficient condition, in terms of the inter-sampling interval, such that consensus in expectation, in mean square, and in almost sure sense are simultaneously achieved provided a mild connectivity assumption for the underlying graph. Necessary and sufficient conditions for mean-square consensus are derived in terms of the spectral radius of the corresponding state transition matrix. These conditions are then interpreted as the existence of a critical value on the inter-sampling interval, below which global mean-square consensus is achieved and above which the system diverges in mean-square sense for some initial states. Finally, we establish an upper bound of the inter-sampling interval, below which almost sure consensus is reached, and a lower bound, above which almost sure divergence is reached. An numerical example is given to validate the theoretical results.

关键词： Sufficient conditions Random Network sampling rate Data sampling information exchange mean square state transition matrix spectral radius numerical example Ganglia

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Stability analysis for a general class of discrete-time polynomial fuzzy dynamic systems

Stability analysis for a general class of discrete-time poly...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Liwei Ren Xiaojun Ban Hao Ying Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Department of Electrical and Computer Engineering Wayne State University Detroit Michigan USA

ISBN: (纸本)9781467374293

The polynomial fuzzy models are capable of modeling complex dynamic systems. They have attracted increasing attention in the recent years as the models of choice for the development of more advanced fuzzy controllers. Little effort has been made to study the models themselves though. Like many other types of models, a polynomial fuzzy model aims at describing the physical system's dynamics based on the measured input-output data of the system. Importantly, a polynomial fuzzy model that appears to mimic the measured data reasonably well does not guarantee its validity. One way to assess model's quality is to check whether its stability is consistent with that of the physical system, which is the theme of our investigation. In this paper, we first propose a type of discrete-time polynomial fuzzy dynamic models, which comprises the general Takagi-Sugeno (T-S) fuzzy model as a special case. Then, based on the Lyapunov's linearization method, a necessary and sufficient condition is established for analytically determining the local asymptotic stability of the proposed models. A numerical example is given to illustrate the effectiveness and utility of our method.

关键词： Polynomials Fuzzy systems Asymptotic stability Stability analysis Data models Nonlinear dynamical systems

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Space QUEST mission proposal: Experimentally testing decoherence due to gravity

arXiv

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arXiv 2017年

作者： Joshi, Siddarth Koduru Pienaar, Jacques Ralph, Timothy C. Cacciapuoti, Luigi McCutcheon, Will Rarity, John Giggenbach, Dirk Lim, Jin Gyu Makarov, Vadim Fuentes, Ivette Scheidl, Thomas Beckert, Erik Bourennane, Mohamed Bruschi, David Edward Cabello, Adan Capmany, Jose Carrasco-Casado, Alberto Diamanti, Eleni Dusek, Miloslav Elser, Dominique Gulinatti, Angelo Hadfield, Robert H. Jennewein, Thomas Kaltenbaek, Rainer Krainak, Michael A. Lo, Hoi-Kwong Marquardt, Christoph Milburn, Gerard Peev, Momtchil Poppe, Andreas Pruneri, Valerio Renner, Renato Salomon, Christophe Skaar, Johannes Solomos, Nikolaos Stipčević, Mario Torres, Juan P. Toyoshima, Morio Villoresi, Paolo Walmsley, Ian Weihs, Gregor Weinfurter, Harald Zeilinger, Anton Zukowski, Marek Ursin, Rupert Institute for Quantum Optics and Quantum Information Austrian Academy of Sciences Boltzmanngasse 3 ViennaA-1090 Austria Centre for Quantum Computation & Communication Technology Department of Physics University of Queensland St LuciaQLD4072 Australia European Space Agency Keplerlaan 1 - P.O. Box 299 AG Noordwijk ZH2200 Netherlands Department of Electrical and Electronic Engineering University of Bristol Merchant Venturers Building Woodland Road BristolBS8 1UB United Kingdom German Aerospace Center Institute of Communications and Navigation Muenchner Strasse 20 Wessling82234 Germany Institute for Quantum Computing Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada Institute for Quantum Computing Department of Physics and Astronomy University of Waterloo WaterlooONN2L 3G1 Canada Precision Engineering Department Fraunhofer IOF Albert-Einstein-Straße 7 Jena07745 Germany Physics department Stockholm University Albanova universitetscentrum Universitetsvägen 10 Stockholm114 18 Sweden York Centre for Quantum Technologies Department of Physics University of York HeslingtonYO10 5DD United Kingdom University of Seville SevillaE-41012 Spain iTEAM Research Institute Universitat Politcnica de Valencia Valencia46022 Spain 4-2-1 Nukui-Kitamachi Koganei Tokyo184-8795 Japan CNRS Universite Pierre et Marie Curie Paris75005 France Department of Optics Faculty of Science Palacky University 17. Iistopadu 12 Olomouc772 00 Czech Republic Max Planck Institute for the Science of Light Bldg. 24 Günther-Scharowsky Str. 1 ErlangenD-91058 Germany Piazza Leonardo da Vinci 32 Milano20133 Italy School of Engineering University of Glasgow GlasgowG12 8LT United Kingdom Vienna Center of Quantum Science and Technology Faculty of Physics University of Vienna Boltzmanngasse 5 ViennaA-1090 Austria NASA Goddard Space Flight Center GreenbeltMD20771 United States Center for Quantum Information and Quantum Con

Models of quantum systems on curved space-times lack sufficient experimental verification. Some speculative theories suggest that quantum properties, such as entanglement, may exhibit entirely different behavior to purely classical systems. By measuring this effect or lack thereof, we can test the hypotheses behind several such models. For instance, as predicted by Ralph and coworkers [T C Ralph, G J Milburn, and T Downes, Phys. Rev. A, 79(2):22121, 2009;T C Ralph and J Pienaar, New Journal of Physics, 16(8):85008, 2014], a bipartite entangled system could decohere if each particle traversed through a different gravitational field gradient. We propose to study this effect in a ground to space uplink scenario. We extend the above theoretical predictions of Ralph and coworkers and discuss the scientific consequences of detecting/failing to detect the predicted gravitational decoherence. We present a detailed mission design of the European Space Agency's (ESA) Space QUEST (Space - Quantum Entanglement Space Test) mission, and study the feasibility of the mission scheme. Copyright © 2017, The Authors. All rights reserved.

关键词： Quantum entanglement

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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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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and Robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Modular Heavy Duty Vehicle Modelling and User Interface Development

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IFAC-PapersOnLine 2015年第15期48卷 354-360页

作者： Mümin Tolga Emirler İsmail Meriç Can Uygan Kerem Köprübasi Bülent Ünver Bilin Aksun Güvenç Levent Güvenç The Ohio State University Center for Automotive Research Columbus OH 43212 USA Istanbul Technical University Department of Control Engineering Istanbul 34469 TURKEY Ford Otosan A.S. Product Development Sancaktepe Istanbul 34885 TURKEY The Ohio State University Department of Mechanical and Aerospace Engineering Columbus OH 43210 USA The Ohio State University Department of Electrical and Computer Engineering OH 43210 USA

Engine calibration work requires the use of realistic simulation models for designing and testing powertrain control algorithms in offline simulations before hardware-in-the-loop, dynamometer and road testing. These models should be computationally efficient for repeated offline simulation runs. Also, they should have a modular, standardized structure to make it easy for a team of engineers to work on it simultaneously. In this paper, such a modular Simulink model is developed for heavy duty vehicle powertrain dynamics. The model framework is formed using subsystems such as engine, transmission, driveline, vehicle dynamics, auxiliaries, driver, environment, test scenarios, hardware-in-the-loop and analysis. A user interface is developed to ease the model usage and also to analyze the simulation results using plots and previously defined metrics. Well established and widely accepted simulation scenarios such as drive cycle test, performance test, gradeability test, cruise test and coast-down test are coded and integrated into the user interface.

关键词： Heavy duty vehicle modeling engine transmission driveline vehicle dynamics user interface

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