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International Multiconference on computer science and Information Technology, IMCSIT

作者： Pavel Moryc Jindrich Cernohorsky Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Centre for Applied Cybernetics Technical University of Ostrava Ostrava Czech Republic

This paper compares task jitter measurement performed under RTLinux and RTX hard real-time operating systems. Both the operating environments represent hardware abstraction layer extensions to general-purpose operating systems, and make possible to create a real-time system according to the POSIX 1003.13 PSE 54 profile (multipurpose system). The paper is focused on discussion of experimental results, obtained on PC hardware, and their interpretation.

关键词： Jitter Operating systems

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Trajectory Tracking of Underactuated Skid-Steering Robot

Trajectory Tracking of Underactuated Skid-Steering Robot

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2008 American control Conference, Pages 3088-3529

作者： Dariusz Pazderski Krzysztof Kozlowski Faculty of Computer Science and Management Chair of Control and Systems Engineering Poznan University of Technology ul. Piotrowo 3a 60-965 Poznan Poland

ISBN: (纸本)9781424420780

This paper considers problem of approximation of admissible trajectory for skid-steering mobile robot at kinematic level. Nonholonomic constraints at kinematic and dynamic level are taken into account. The trajectory tracking control problem is solved using practical stabilizer using tunable oscillator with novel method of tuning. The stability result is proved using Lyapunov analysis and takes into account uncertainty of kinematics. In order to ensure stable motion of the robot the scaling method is used. Theoretical considerations are illustrated by simulation results.

关键词： Trajectory Kinematics Mobile robots Vehicle dynamics Vehicles Oscillators Wheels Acceleration Angular velocity control Tuning

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Sensitivity study of the acoustic nonlinearity parameter for measuring temperatures during High Intensity Focused Ultrasound treatment

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The Journal of the Acoustical Society of America 2008年第5_SUPPLEMENT期123卷 3225-3225页

作者： Koen W. Van Dongen Martin D. Verweij Lab. of Acoustical Imaging and Sound Control Faculty of Applied Sciences Delft Univ. of Technology PO Box 5046 2600 GA Delft Netherlands K.W.A.vanDongen@tudelft.nl Lab. of Electromagnetic Research Faculty of Electrical Engineering Mathematics and Computer Science Delft Univ. of Technology Mekelweg 4 2628 CD Delft Netherlands m.d.verweij@tudelft.nl

The aim of High Intensity Focused Ultrasound (HIFU) is to locally increase the temperature in a body. For an adequate application of the treatment it is important to measure non‐invasively the temperature profiles in the heated region. Most efficiently, this is done with the same modality as being used for heating. Consequently, the preferred measuring method should rely on the temperature dependence of an acoustic medium parameter. The goal of this study is to determine which parameter is most sensitive to temperature changes. To find the most suitable parameter, the temperature dependence of the speed of sound (SOS), the density of mass and the acoustic nonlinearity parameter B/A are compared for water. The temperature dependence of the SOS and the mass density are obtained by interpolating values found in literature. Since measured values of the B/A parameter are only known for a few coarsely distributed temperature values, it has been synthesised from a two‐dimensional function describing the SOS versus temperature and pressure. It turns out that the B/A parameter is far more sensitive for temperature changes than the other parameters. Comparison with measured B/A values confirms the idea that nonlinear acoustics is a favourite candidate to measure temperature profiles.

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DFT algorithm analysis in low-cost power quality measurement systems based on a DSP processor

DFT algorithm analysis in low-cost power quality measurement...

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International Conference on Electrical Power Quality and Utilisation (EPQU)

作者： Miroslaw Szmajda Krzysztof Gorecki Janusz Mroczka Faculty of Electrical Engineering Automatic Control and Computer Science Opole University of Technology Opole Poland Faculty of Electronics Chair of Electronics and Photonics Metrology Technical University of Wrocław Wroclaw Poland

The application of power quality parameters measurement algorithms requires utilization of computational methods which transform the signal from the time- to the frequency-domain. Currently, the most frequently applied method is the fast Fourier transformation (FFT). Because of the amendment of the proper power quality standards, it is also necessary to consider of implementation discrete Fourier transformation (DFT) algorithms. Considering the number of computations, DFT is more complicated than FFT. This paper presents basic analog-to-digital conversion parameters, which are defined in the norms, the time duration analysis of DFT algorithms, considering described assumptions and comparing them to FFT. Codes created in C and assembler languages, as well as the Matlab/Simulink environment, were taken into account. The software including the aforementioned codes was implemented in a low-cost power quality measurement system based on the TMS320c6713 floating point DSP processor from Texas Instruments. In the software, a real time DSP/BIOS operation system was used. Multi thread programming in power quality measurement systems was presented, and an analysis of computational efficiencies of the systems based on the TMS320c6 713 DSP processors was performed.

关键词： Algorithm design and analysis Power quality Power measurement Digital signal processing Discrete Fourier transforms Frequency measurement Discrete transforms Frequency domain analysis Analog-digital conversion Assembly

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SUPER-HEURISTICS AND THEIR APPLICATIONS TO COMBINATORIAL PROBLEMS

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Asian Journal of control 2008年第1期1卷

作者： Tak Wing Edward Lau Yu-Chi Ho Division of Engineering and Applied Sciences Harvard University Cambridge MA02138 U.S.A. Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Professor of Engineering at Harvard and as visiting professor to the Cockrell Family Regent's Chair in Engineering at the University of Texas Austin. He has published over 120 articles and three books one of which (co-authored with A.E. Bryson Jr.) has been translated into both Russian and Chinese and made the list of Citation Classics as one of the most referenced works on the subject of optimal control. He is on the editorial boards of several international journals and is the editor-in-chief of the new international Journal on Discrete Event Dynamic Systems. He is the recipient of various fellowships and awards including the Guggenheim (1970) and the IEEE Field Award for Control Engineering and Science (1989) the Chiang Technology Achievement Award (1993). He is a fellow of IEEE a Distinguished Member of the Control Systems Society and a member of the U.S. National Academy of Engineering. In addition to serving on various governmental and industrial panels and professional society administrative bodies he was the President of the IEEE Robotics & Automation Society in 1988

Combinatorial problems are known to be difficult because of the shear size of the solution space and the lack of polynomial time algorithms to “solve” them. Heuristics are often devised to produce acceptable solutions in an affordable time. In this paper, we propose a method called super-heuristic that expands the capabilities of heuristics using randomization and sampling techniques. We submit that heuristics are in general strategies that map from available information of a problem instance to decisions in solution constructions/improvement. We show that it is important to utilize the information effectively in the randomization process. More importantly, the possibility of randomization around a heuristic spells out the demarcation between the roles of human and machines in complex optimization problems.

关键词： Combinatorial problems heuristics randomization and sampling techniques man-machine interactions

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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Implementation of Emotional controller for Interior Permanent Magnet Synchronous Motor Drive

Implementation of Emotional Controller for Interior Permanen...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： R. M. Milasi Caro Lucas B. N. Arrabi T.S. Radwan M. A. Rahman Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Tehran Iran Faculty of Engineering &Applied Science Memorial University of Newfoundland Saint John's NEW Canada

This paper presents for the first time the real-time implementation of an emotional controller for interior permanent magnet synchronous motor (IPMSM) drives. The proposed novel controller is called brain emotional learning based intelligent controller (BELBIC). The utilization of BELBIC is based on emotion processing mechanism in brain, and is essentially an action, which is based on sensory inputs and emotional cues. The emotional learning occurs mainly in the amygdala. The amygdala is mathematically modeled, and the BELBIC controller is introduced. This type of controller is insensitive to noise and variance of the parameters. The controller is successfully implemented in real-time using a digital signal processor board ds1102 for a laboratory 1-hp IPMSM. The results show superior control characteristics especially very fast response, simple implementation and robustness with respect to disturbances and manufacturing imperfections. The proposed method enables the designer to shape the response in accordance with the multiple objectives of choices

关键词： Permanent magnet motors AC motors Machine vector control Rotors Electric variables control control theory Magnetic materials DC motors Synchronous motors Velocity control

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Modeling Demand for Inventory Management of Slow-Moving Items in Case of Reporting Errors

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IFAC Proceedings Volumes 2004年第4期37卷 27-32页

作者： Alexandre Dolgui Anatoly Pashkevich Maxim Pashkevich Scientific Methods for Industrial Management Dept. (MSGI) Industrial Engineering and Computer Sciences Center (G2I) Ecole de Mines de Saint Etienne 158 Cours Fauriel 42023 Saint Etienne France Robotic Laboratory Department of Automatic Control Belarusian State University of Informatics and Radioelectronics 6 P.Brovka St. Minsk 220027 Belarus Department of Mathematical Modeling and Data Analysis Faculty of Applied Mathematics and Computer Science Belarusian State University Skarina Av. 4 Minsk 220050 Belarus

The paper is devoted to the problem of modeling demand for inventory management of slow-moving items in the case of reporting errors. It is proposed a generalization of the beta-binomial demand model that takes into account possible reporting errors in the learning sample. For the new model, there are developed identification and forecasting algorithms that provide consistent estimators of the model parameters and mean square optimal forecasts. The efficiency of the proposed approach is illustrated by an application example for slow-moving car parts.

关键词： inventory control error correction statistical inference parameter estimation prediction methods

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Minimizing The Overhead Cost of Distributed Object-Oriented Software Remapping 16

Minimizing The Overhead Cost of Distributed Object-Oriented ...

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16th International Conference on Parallel and Distributed Computing Systems, PDCS 2003

作者： Fergany, Tahany A. Faheem, Mohamed T. Sarhan, Amany Computer Science Department School of Engineering and Applied Science University of New Haven West HavenCT06516 United States Department of Computer Science and Automatic Control Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781618398161

This paper represents a new technique for remapping the distributed object-oriented software methods to target architecture. This technique takes into consideration the advantages of the structure inherit in object-oriented to develop a better software assignment that improves the overall performance by minimizing the resources' cost. The cost of updating objects' copies is also presented as a significant factor when evaluating the cost objective ftinction. A new queuing model is developed to accurately describe the behavior of the object-oriented software at any node. This research also utilizes the simulated annealing algorithm to find out the best possible map of the software methods to the target architecture. The results show a significant improvement in the total resources cost and hence the overall system performance. © PDCS 2003. All rights reserved.

关键词： Real time systems

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New class of impulsive noise reduction filters based on kernel density estimation

New class of impulsive noise reduction filters based on kern...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： B. Smolka K.N. Plataniotis R. Lukac A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Poland The Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto ONT Canada Slovak Image Processing Center Dobsina Slovakia Faculty of Applied Science and Engineering University of Toronto Toronto ONT Canada

The paper presents a new filtering scheme for the removal of impulsive noise in color images. It is based on estimating the probability density function for color pixels in a filter window by means of the kernel density estimation method. A quantitative comparison of the proposed filter with the vector median filter shows its excellent ability to reduce noise while simultaneously preserving fine image details.

关键词： Noise reduction Filters Kernel Colored noise Color Histograms Filtering Probability density function Shape Multidimensional systems

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