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IEEE Conference on Decision and control

作者： Przemyslaw Herman Krzysztof Kozlowski Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland

ISBN: (纸本)9781424401703

This paper deals with optimization of unnormalized quasi-velocities (UQV) introduced originally by Jain and Rodriguez (1995). The UQV are based on a decomposition of the manipulator mass matrix. The optimization is based on the Pontryagin maximum principle. It is shown that the optimal UQV make it possible to detect some properties of the system that are not observable if the system is described by using second-order differential equations of motion. The proposed approach was tested analytically and by simulations on a 2-d.o.f. planar mechanical system

关键词： Manipulator dynamics Matrix decomposition Motion control Differential equations Robots Kinematics Force control Torque control Velocity control Weight control

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Nonlinear System Identification Based on B-Spline Neural network and Modified Particle Swarm Optimization

Nonlinear System Identification Based on B-Spline Neural Net...

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International Joint Conference on Neural networks (IJCNN)

作者： L. dos Santos Coelho R.A. Krohling Production and Systems Engineering Graduate Program Automation and Systems Laboratory PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Parana Brazil Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany

Artificial neural networks, in particular, feedforward multilayer networks and basis function networks, have gradually established themselves as a usual tool in approximating complex nonlinear systems. B-spline networks, a type of basis function neural network, are normally trained by gradient-based methods, which may fall into local minima during the learning phase. In order to overcome the drawbacks encountered by conventional learning methods, particle swarm optimization - a swarm intelligence methodology - can provide a stochastic global search of B-spline networks for nonlinear system identification. In this paper, a modified particle swarm optimization algorithm using Gaussian and Cauchy probability distributions are applied to adjust the control points of B-spline neural networks. Simulation results for the identification of Rossler systems are provided and demonstrate the effectiveness and robustness of the proposed identification scheme.

关键词： Nonlinear systems Spline Neural networks Particle swarm optimization Artificial neural networks Multi-layer neural network Learning systems Stochastic systems Probability distribution Robustness

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Reduced model identification for traction drive-trains

Reduced model identification for traction drive-trains

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

作者： M. Fleischer Drive Systems Gr. Vehicle Control Technology Division Railway Technical Research Institute Japan Chair of Electrical Drives University of Erlangen Nuremberg Germany

Traction drive-trains of modern locomotives consist of a flexible multi-inertia structure experiencing significant wheelset wear due to wheel-rail-contact and ageing of rubber elastic joints during its operational life. For control design an accurate and suitable reduced model is required. Therefore a universal reduced model identification is proposed, taking branched traction drive-trains and parameter adaption due to wheelset wear and rubber ageing into consideration. The identification effort is lowered by applying previous knowledge of the flexible structure to comply with the limitations imposed by the traction application. Finally the proposed scheme is tested on a European high-performance locomotive.

关键词： Shafts Aging Rubber Testing Convergence Rotors Gears Rail transportation Vehicle driving control systems

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Analysis of ensemble learning using simple perceptrons based on on-line learning theory

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systems and Computers in Japan 2005年第12期36卷 63-74页

作者： Miyoshi, Seiji Hara, Kazuyuki Okada, Masato Department of Electronic Engineering Kobe City College of Technology Kobe 651-2194 Japan Division of Electronics and Information Engineering Tokyo Metropolitan College of Technology Tokyo 140-0011 Japan Laboratory for Mathematical Neuroscience RIKEN Brain Science Institute Wako 351-0198 Japan Intelligent Cooperation and Control PRESTO Japan Science and Technology Agency Wako 351-0198 Japan IEEE Institute of Electrical Engineers of Japan Japanese Neural Network Society Physical Society of Japan Information Processing Society of Japan Institute of Systems Control and Information Engineers Society for Neuroscience Japan Neuroscience Society

We discuss ensemble learning using K simple non-linear perceptrons and a sign output function within the framework of statistical mechanics of on-line learning. One objective of statistical learning theory is to calculate the theoretical generalization error of a learner. In this paper we show that the generalization error of K students when their combined output is determined by a majority vote can be calculated as a function of two macroscopic variables: the degree of similarity between the teacher and the students, and the degree of similarity among the students. We then derive differential equations describing the dynamics of these macroscopic variables for a generalized learning rule. In addition, we derive these differential equations explicitly for three learning rules: the well-known Hebbian learning, Perceptron learning, and AdaTron learning rules. Solving these, we calculate the generalization error for each in turn numerically. As a result we find that these three learning rules have different characteristics with respect to their affinity to ensemble learning as seen in their conservation of diversity among students;and the fascinating fact that from this perspective the AdaTron learning rule is superior is brought to light. © 2005 Wiley Periodicals, Inc.

关键词： Learning systems

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Design and simulation of a moving coil linear actuator for automotive applications

Design and simulation of a moving coil linear actuator for a...

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IEEE International Conference on Industrial technology (ICIT)

作者： H. Muamer Liang Chen S. Liu Institut für Automatisierung und Informatik Wernigerode Wernigerode Germany Electrical Engineering Department University of Shanghai for Science and Technology Shanghai China University of Kaiserslautern Chair of Control Systems Kaiserslautem Germany

This paper presents some of the preliminary research and development works on a moving coil linear DC motor intended to be used for controlling engine valves. The design of a moving coil linear DC motor is based on high energy permanent magnet material. This paper also discusses the design-procedure for a linear actuator for high-dynamic applications. The approach is systematical and straightforward. Although the required specifications are very tight, the targets could be achieved very well.

关键词： Hydraulic actuators Automotive applications Engines Coils DC motors Equations Voltage control systems Valves Timing

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Efficient Approach for Face Detection in Video Surveillance

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Journal of Donghua University(English Edition) 2003年第4期20卷 52-55页

作者：宋红石峰 Department of Computer Science and Engineering Beijing Institute of Technology Beijing 100081 China Department of Computer Science and Engineering Beijing Institute of Technology Beijing 100081 Chinaecurity access control systems and automatic video surveillance systems are becoming increasingly important recently and detecting human faces is one of the indispensable processes. In this paper an approach is presented to detect faces in video surveillance. Firstly both the skin-color and motion components are applied to extract skin-like regions. The skin-color segmentation algorithm is based on the BPNN (back-error-propagation neural network) and the motion component is obtained with frame difference algorithm. Secondly the image is clustered into separated face candidates by using the region growing technique. Finally the face candidates are further verified by the rule-based algorithm. Experiment results demonstrate that both the accuracy and processing speed are very promising and the approach can be applied for the practical use.

Security access control systems and automatic video surveillance systems are becoming increasingly important recently,and detecting human faces is one of the indispensable *** this paper,an approach is presented to detect faces in video ***,both the skin-color and motion components are applied to extract skin-like *** skin-color segmentation algorithm is based on the BPNN (back-error-propagation neural network) and the motion component is obtained with frame difference ***,the image is clustered into separated face candidates by using the region growing ***,the face candidates are further verified by the rule-based *** results demonstrate that both the accuracy and processing speed are very promising and the approach can be applied for the practical use.

关键词： face detection skin-color segmentation BPNN frame difference region growing

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A Normal Form for systems of Implicit Ordinary Differential Equations

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PAMM 2003年第1期2卷

作者： Kurt Zehetleitner Dipl.-Ing. Kurt Schlacher Prof. Dr. Andreas Kugi Prof. Dr. Department of Automatic Control and Control Systems Technology Johannes Kepler University Linz Austria Christian Doppler Laboratory for Automatic Control of Mechatronic Systems in Steel Industries Linz Austria Chair of System Theory and Automatic Control University of Saarland Germany

This contribution deals with the application of computer algebra based methods to the analysis of dynamic systems described by implicit ordinary differential equations. This type of system defines a submanifold of a certain jet space. We solve the problem whether this submanifold admits a parametrization by an explicit system, i.e. any solution of the original system is a solution of the explicit one and vice versa. Since this approach requires the formal integrability of the implicit system, a sketch of an algorithm for the computation of the formally integrable system is presented.

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Nonlinear controller Design for PWM–controlled Converters

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PAMM 2003年第1期2卷

作者： A. Kugi Prof. Dr. techn. K. Schlacher Prof. Dr. techn. Chair of System Theory and Automatic Control Saarland University Tel.: 0049 (0)681 302-64720 Gebäude 13 66123 Saarbrücken Germany Department of Automatic Control and Control Systems Technology Johannes Kepler University of Linz Altenbergerstr. 69 4040 Linz Austria

This contribution is concerned with the nonlinear controller design for a certain class of PWM (pulse width modulation) – controlled converter systems. It will be shown that under certain assumptions the SSA (state space averaging) – model of the PWM–controlled converter with the duty ratio as the plant input has a very special mathematical structure. Based on this mathematical model a modified version of the nonlinear H 2 –design where an integral term is systematically included in the nonlinear controller will be presented.

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Multiuser subcarrier allocation for QoS provision in the OFDMA systems

Multiuser subcarrier allocation for QoS provision in the OFD...

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56th Vehicular technology Conference

作者： Pietrzyk, Slawomir Janssen, G.J.M. Radio Access Network Unit Polska Telefonia Cyfrowa Sp. z.o.o. Warsaw Poland Telecom. and Traffic Control Systems Delft University of Technology Delft Netherlands

In this paper we consider the problem of resource (subcarrier and transmit power) allocation for QoS (quality of service) support in OFDMA systems with fixed modulation per subcarrier. We identify the key QoS parameters, such as bit rate and bit error rate, which are then used to determine the individual users' traffic demands. We propose an extension of Wong's algorithm [1], which distributes subcarriers and transmit power among multiple users according to their QoS traffic requirements. The new scheme, available in optimal and sub-optimal version, is less complex than most of the existing methods [2][3][4]. Due to its orientation on individual traffic requirements, it does not waste resources in a worst-case design. This results in a better performance compared to the Wong's algorithm. Moreover, we fit the considered resource allocation algorithm into a general contract-based QoS / CoS (cost of service) framework, which allows for efficient management of resources on the system level.

关键词： Frequency division multiple access

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Recapitalizing the Navy through optimized manning and improved reliability

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NAVAL ENGINEERS JOURNAL 1998年第6期110卷 61-72页

作者： Anderson, DE Malone, TB Baker, CC Mr. David E. Anderson:is a Navel Engineer with the Naval Sea Systems Command where he is currently assigmd to the HumanSystems Integration branch. Mr Anderson has a Bachelor of Science degree an Environmental Engineering from Flurida Technological University and a Master's in Environmental Engiwering from the University of Central Flurida. He currentEy is an HSI manager for a number oflvay R&D and skig acquisition efforts. Dr. Thomas B. Malone:received a Ph.D. in Experimental Psychology from Fordham University in 1964. He is President of Carlow International Incorporated an organization dedicated to human factors research and development with emphasis an mantime systems. He has directed over 350 programs and projects in his 33 year career and is responsible for overall management of all contract programs within the Corporation. He is a Past President of the Human Factors and E r g m i c s Society (HFES) of which he is a Fellow. He is also a Fellow of the Washington Academy of Sciences He was selected as a member of the N A S Space Sciences Technical Advisuiy Committee on Technoloo Requirements for Human Performance on Long Duration Space Missions in 2989 and 90. He was elected as the First Chair of the Systems Development Technical Group of the HFES. Dr Malone is currently managing eflorts to devehp and auto- mate standardized processes for canducting human systems integration (HSI) in the military weapon systems acquisition process and fov developing automated tools to facilitate fledormance of specific steps in the HSI process. Dr Malone also is currently occupied in applying human engineering to the DD 21 and is serving as the Chair ofthe System ManninglHuman Perfomzance Working IPT under the DD 21 ManninglHSI IPT chaired ty PMS 500M. Mr. Clifford Baker:has over 20 years experience in developing and applying human factors technology to complex systems. He holds a masters degree in psychology with a specialization in human factors engineering and he is a Board Certified Human Factors Engineering Profesional

Reduced manning is the process (and the result) of removing human functions from a system while retaining or improving system operability and effectiveness. Reliability and maintainability characterize a system's operability and effectiveness. Reduced manning impacts system reliability by changing the characteristics of (1) human error associated with system operation and maintenance, (2) time to repair failed components, and (3) mean-time-between-failures (MBTF) in a reduced manning environment. Simply reducing manning without compensating for system dependence on human involvement generally has a negative impact on system maintainability. Methods to address this include (1) human-system integration design of maintenance interfaces and (2) design of operations activities that are closely related to device failures. After demonstrating reliable performance through testing and operation, ship commanders can be assured that fewer people can effectively operate and maintain Navy ships and systems.

关键词： Naval vessels

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