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International Conference on Natural Computation (ICNC)

作者： Xingli Huang Peifa Jia Bo Liu Ling Wang Department of Computer Science & Technology Tsinghua University Beijing China Center of Forecasting Science Academy of Mathematics and Systems Science Chinese Academy and Sciences Beijing China TNList Department of Automation Tsinghua University Beijing China

As a kind of correlated time-dependent behavior between different processes when they interact with each other, synchronization for finite-dimension chaotic dynamical systems is an important and active research issue in nonlinear dynamics science. Due to its potential applications in explaining natural systems, designing engineering systems, and so on, researches are focused on proposing effective and efficient approaches for synchronization of chaotic systems. As a novel evolutionary computation technique, chaotic particle swarm optimization (CPSO) (B. Liu, L. Wang, Y. Jin, F. Tang, and D. Huang, “Improved particle swarm optimization combined with chaos,” Chaos, Solitons & Fractals, vol. 25, pp. 1261-1271, 2005) has attracted much attention and wide applications, owing to its simple concept and easy implementation. In this study, an attempt is made to propose an optimization-based approach, i.e., CPSO based approach for chaotic synchronization, which could be formulated as an on-line multi-modal numerical optimization problem with high dimension. Numerical simulations based on Hénon map elucidate the feasibility of CPSO for synchronization of finite dimensional Hénon dynamical system.

关键词： Synchronization Chaotic communication Solitons Fractals Particle swarm optimization Optimization

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Control of Hénon chaotic systems by chaotic particle swarm optimization

Control of Hénon chaotic systems by chaotic particle swarm ...

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IEEE International Conference on Cognitive Informatics

作者： Xingli Huang Peifa Jia Bo Liu Ling Wang Department of Computer Science & Technology Tsinghua University Beijing China Center of Forecasting Science Academy of Mathematics and Systems Science슠Chinese Academy of Sciences Beijing China TNList Department of Automation Tsinghua University Beijing China

Control of chaotic systems is an important issue in nonlinear science, which could be formulated as a multi-modal numerical optimization problem with high dimension. As a novel evolutionary computation technique, chaotic particle swarm optimization (CPSO) has attracted much attention and wide applications, owing to its simple concept and easy implementation. This investigation elucidates the feasibility of applying CPSO to direct the orbits of discrete chaotic dynamical systems towards desired target region within a short time by adding only small bounded perturbations. Numerical simulations based on Hénon Map demonstrate the effectiveness and efficiency of CPSO, and the effects of some parameters are also investigated.

关键词： Chaos Optimization Particle swarm optimization Orbits Strontium Synchronization Book reviews

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A two-stage neural network classifier for condition-based maintenance in wireless sensor networks

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International Journal of COMADEM 2010年第2期13卷 17-26页

作者： Ramani, A. McMurrough, C. Middleton, M. Ballal, P. Athamneh, A. Lee, W. Kwan, C. Lewis, F. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth TX 76118-7115 United States Energy Systems Research Center University of Texas at Arlington 416 S. College St Arlington TX 76019-0048 United States Signal Processing Inc. 13619 Valley Oak Circle Rockville MD 20850-3572 United States Computer Science Engineering University of Texas at Arlington United States Electrical Engineering Department United States

Motor failures in aerospace applications can lead to serious compromises in safety, overall effectiveness, and maintenance costs. In mission critical applications, it is important that motor fault signatures are identified before a failure occurs. It is known that 40% of mechanical failures occur due to bearing faults. Bearing faults can be identified from the motor vibration signatures. Three key contributions are outlined in this paper. First, we develop a low cost test bed for simulating bearing faults in a motor. Second, we develop a wireless sensor module for collection of vibration data from the test bed. Finally, we use a novel two stage neural network to classify various bearing faults using the Generalized Hebbian Algorithm (GHA) in the first stage and a supervised learning vector quantization network (SLVQ) with a self organizing map approach for fault classification in the second stage. © 2010 COMADEM International.

关键词： Wireless sensor networks

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Navigating a smart wheelchair with a brain-computer interface interpreting steady-state visual evoked potentials

Navigating a smart wheelchair with a brain-computer interfac...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Christian Mandel Thorsten Lüth Tim Laue Thomas Röfer Axel Gräser Bernd Krieg-Brückner Department of Mathematics and Computer Science University of Brethemen Breman Germany Institute of Automation University of Brethemen Breman Germany German Research Center for Artificial Intelligence Research Group Safe and Secure Cognitive Systems Breman Germany

In order to allow severely disabled people who cannot move their arms and legs to steer an automated wheelchair, this work proposes the combination of a non-invasive EEG-based human-robot interface and an autonomous navigation system that safely executes the issued commands. The robust classification of steady-state visual evoked potentials in brain activity allows for the seamless projection of qualitative directional navigation commands onto a frequently updated route graph representation of the environment. The deduced metrical target locations are navigated to by the application of an extended version of the well-established nearness diagram navigation method. The applicability of the system proposed is demonstrated by a real-world pilot study in which eight out of nine untrained subjects successfully navigated an automated wheelchair, requiring only some ten minutes of preparation.

关键词： Navigation Wheelchairs Brain computer interfaces Steady-state Communication system control Hardware Contracts Signal processing Electroencephalography Intelligent robots

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A mixed-integer simulation-based optimization approach with surrogate functions in water resources management

A mixed-integer simulation-based optimization approach with ...

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作者： Hemker, Thomas Fowler, Kathleen R. Farthing, Matthew W. von Stryk, Oskar Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Hochschulstraße 10 64289 Darmstadt Germany Clarkson Center for the Environment Department of Mathematics Clarkson University Potsdam NY 13676-5815 United States Center for the Integrated Study of the Environment Department of Environmental Sciences and Engineering University of North Carolina at Chapel Hill Chapel Hill NC 27599-7431 United States

Efficient and powerful methods are needed to overcome the inherent difficulties in the numerical solution of many simulation-based engineering design problems. Typically, expensive simulation codes are included as black-box function generators;therefore, gradient information that is required by mathematical optimization methods is entirely unavailable. Furthermore, the simulation code may contain iterative or heuristic methods, low-order approximations of tabular data, or other numerical methods which contribute noise to the objective function. This further rules out the application of Newton-type or other gradient-based methods that use traditional finite difference approximations. In addition, if the optimization formulation includes integer variables the complexity grows even further. In this paper we consider three different modeling approaches for a mixed-integer nonlinear optimization problem taken from a set of water resources benchmarking problems. Within this context, we compare the performance of a genetic algorithm, the implicit filtering algorithm, and a branch-and-bound approach that uses sequential surrogate functions. We show that the surrogate approach can greatly improve computational efficiency while locating a comparable, sometimes better, design point than the other approaches. © Springer science+Business Media, LLC 2008.

关键词： Iterative methods

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Pointwise Logic on Completely Distributive Lattices and Approximate Reasoning

Pointwise Logic on Completely Distributive Lattices and Appr...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Yalin Zheng Guang Yang Jing Zheng Jinsheng Xing State Key Laboratory for Intelligent Technology and Systems Department of Automation Faculty of Information Science and Technology Tsinghua University Beijing China Research Center of Intelligent Information Technology Department of Computer Science and Technology Faculty of Software Dongguan University of Science and Technology Dongguan China Research Center of Dongguan Economy Department of Economy and Commerce Dongguan University of Science and Technology Dongguan China Faculty of Mathematics and Computer Science Shanxi Normal University Linfen China Research Center of System Engineering Faculty of Electronic and Information Engineering Xi'an Jiaotong University Xi'an China

In this paper, we propose the basic framework of point- wise topological logic on completely distributive lattices and explore approximate reasoning in it. The logic of this paper is based on pointwise characterization, therefore the pointwise conception is pervasive. We explore approximate reasoning in abstract logical framework Fl on completely distributive lattice L. We propose the structure of point- wise topological logic F TL , the structure of matching function sigma. and the structure of matching neighborhood group. We investigate approximate reasoning in pointwise topological logic F TL with matching function sigma, develop pointwise topological algorithm of simple approximate reasoning, introduce the essential characteristics of this scheme.

关键词： Lattices Fuzzy logic Computer science Knowledge engineering Fuzzy systems Information technology Laboratories Intelligent systems automation Information science

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Robust stabilization of nonlinear switched systems via switched output feedback

Robust stabilization of nonlinear switched systems via switc...

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2006 IEEE International Symposium on Intelligent Control, ISIC 2006

作者： Zhijian, Ji Keyou, Zhao Xiaoxia, Guo Long, Wang School of Automation Engineering Qingdao University Qingdao Shandong 266071 China Department of Mathematics Ocean University of China 266071 China Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Beijing 100871 China

ISBN: (纸本)0780397983

This paper addresses the problem of robust stability and stabilization of a class of nonlinear switched systems when each subsystem is not stabilized by a designed single static output feedback. Both the condition on robust stability only via switching and the condition on switched static output feedback controllers are expressed in terms of matrix inequalities. These conditions are derived by multiple Lyapunov functions technique and the switching rules adopted are state-dependent. All these results can be regarded as an extension of some existing results for non-switched systems. ©2006 IEEE.

关键词： Lyapunov functions

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