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International Joint Conference on Neural Networks (IJCNN)

作者： C.-H. Huang H. Koeppl C.-T. Lin Department of Electrical and Control Engineering National Chiao Tung University Taiwan Erwin Schrödinger postdoctoral fellow at the DepartmentElectrical Engineering and Computer Sciences University of California Berkeley USA College of Computer Science Dean DepartmentComputer Science National Chiao Tung University Taiwan

In this work we propose a novel computer fovea model based on hexagonal-type cellular neural networks (hCNN). The hCNN represents a new image processing architecture that is motivated by the overwhelming evidence for hexagonal image processing in biological systems. The necessary new coupling templates and basic hCNN image operators are introduced. The fovea model includes the biological mechanisms of the photoreceptors, the horizontal cells, the ganglions, the bipolar cells, and their cooperation. Thus the model describes the signal processing from the optical stimulation at retina to the output of the ganglion cells. Different building blocks of the model turned out to be useful for practical image enhancement algorithms. Two such applications are considered in this work, namely the image sharpness improvement and the color constancy algorithm.

关键词： computer networks Cellular neural networks Biological system modeling Signal processing algorithms Biology computing Image processing Cells (biology) Optical signal processing computer architecture Biological systems

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Configuration control of Space Robots for Impact Minimization

Configuration Control of Space Robots for Impact Minimizatio...

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IEEE International Conference on Robotics and Biomimetics

作者： Panfeng Huang Wenfu Xu Bin Liang Yangsheng Xu College of Astronautics Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

On-orbital services of space robot are playing more and more important roles in the space operation. Nearly all space operation can not possibly avoid to contact the target. The contact and impact do not possibly avoid when the space robot captures the object. The impulse caused by impact is bad to the space robot and object. This paper derives the impact dynamic equations according to the dynamic model of space robot system and the object. We propose a genetic algorithm (GA) based on approach to search the optimal configuration of space robot at capturing moment in order to minimize or avoid the impact. An illustrative example has verified that the proposed method has satisfactory performance and real significance for reducing the impact.

关键词： Robot control Orbital robotics Robot kinematics Aerodynamics Space technology Manipulator dynamics Robotics and automation Equations Trajectory Genetic algorithms

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On the design and control of wireless networked embedded systems

On the design and control of wireless networked embedded sys...

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IEEE International Conference on computer-Aided Design

作者： Karl-Erik Arzen Antonio Bicchi Stephen Hailes Karl H. Johansson John Lygeros Department of Automatic Control Lund University Sweden Centro E. Piaggio University of Pisa Italy Department of Computer Science University College London UK School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Department of Electrical and Computer Engineering University of Patras Greece

Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on the design of these systems and their use in control applications, that have been developed within the project Reconfigurable Ubiquitous Networked Embedded Systems (RUNES). RUNES is a European Integrated Project with the aim to control complexity in networked embedded systems by developing robust and scalable middleware systems. New components for control under varying network conditions are discussed for the RUNES architecture. The paper highlights how the complexity of the closed-loop system is increased, due to additional disturbances introduced by the communication system: additional delays, jitter, data rate limitations, packet losses, etc. Experimental work on integration test beds that demonstrates these results is presented, together with motivating links to the RUNES disaster relief tunnel scenario

关键词： control systems Embedded system Communication system control Fires Networked control systems Testing Middleware Added delay Jitter Mobile robots

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Trajectory Planning of Space Robot System for Target Berthing and Reorientation after Capturing

Trajectory Planning of Space Robot System for Target Berthin...

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World Congress on Intelligent control and Automation (WCICA)

作者： Wenfu Xu Bin Liang Wenyi Qiang Panfeng Huang Yangsheng Xu Department of Control Science and Engineering Harbin Institute of Technology Harbin China College of Astronautics Northwestern Polytechnical University Xi'an China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, genetic algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation

关键词： Trajectory Orbital robotics Space technology Satellites Space vehicles Path planning Robotics and automation Attitude control control systems Genetic algorithms

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Syntactic Extension of Lattice-valued Propositional Logic LP(X)

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Chinese Quarterly Journal of Mathematics 2006年第2期21卷 301-308页

作者： ZHENG Feng-bin LI Qing-yu WANG Xue-fang XU Yang College of Computer and Information Engineering Henan University Kaifeng 475001 China College of Sciences Chongqing Technology and Business University Chongqing 400067 China Department of Mathematics Ocean University of China Qingdao 266071 China Intelligent Control Development Center Southwest Jiaotong University Chengdu 610031 China

We have given a semantic extension of lattice-valued propositional logic LP（X） in [6]. In this paper, we investigate its corresponding syntactic extension of LP（X） and give the relations between these two extensions.

关键词： lattice-valued logic lattice implication algebra （α, β）-consequence （α,β）-theorem formal proof

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Analysis of inductance characteristics in interior permanent magnet synchronous motor considering inductance variation

Analysis of inductance characteristics in interior permanent...

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12th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC 2006

作者： Lee, Sang-Yub Kwak, Sang-Yeop Jung, Sang-Yong Kim, Jae-Kwang Hong, Sun-Ki Lee, Cheol-Gyun Jung, Hyun-Kyo Department of Electrical Engineering and Computer Science Seoul National University San 56-1 Shillim-dong Kwanak-ku Seoul 151-744 Korea Republic of Department of Electrical Engineering Dong-A University 840 Hadan2-dong Saha-ku Busan 604-714 Korea Republic of Division of Electrical Electronics Control and Instrumental Engineering Hoseo University 29-1 Sechul-ri Baebang-myun Asan Chungnam 336-795 Korea Republic of College of Engineering Dong-eui University 995 Eomgwangno Busanjin-ku Busan 614-714 Korea Republic of

ISBN: (纸本)1424403200

D- and q- axis inductance are expected to have ripple characteristics due to the difference of magnetic saturation level of each axis. In this paper, inductance variation of the interior permanent magnet synchronous motor (IPMSM) is calculated with finite element analysis, and cause of inductance variation is analyzed. Finally the validity of this paper is verified by the comparison to the experimental result. © 2006 IEEE.

关键词： Synchronous motors

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Modified Smith Predictor and controller for Time-Delay Process with Uncertainty

Modified Smith Predictor and Controller for Time-Delay Proce...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shihua Wang Bugong Xu Qingyang Wang Yun-Hui Liu Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

Smith predictor is very sensitive to uncertain system with variable time-delay. Using dual-locus diagram method, we first analyse the essence of Smith predictor's sensitivity and present a proposition to illustrate the system stability criteria with relation to system gain and time-delay variation. Then a new modified Smith predictor is proposed to compensate the variable time-delay system with uncertain model for set-point tracking. After that, we discuss the system internal stability and give two-degree freedom controller self-adaptive to eliminate the impact of system uncertainty with varying time-delay. Examples show the improved performance compared to previous modified Smith predictor structures

关键词： Process control Uncertainty Automatic control control systems Uncertain systems Feedback loop Tuning Automation Delay systems Robustness

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Approach to termination decision for a rule set based on activation path and conditional formula

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Jisuanji Yanjiu yu Fazhan/computer Research and Development 2006年第5期43卷 901-907页

作者： Xiong, Zhongmin Hao, Zhongxiao College of Computer Science and Technology Harbin University of Science and Technology Harbin 150080 China College of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

Supporting active rules has become an important characteristic of modern database systems. Active rules termination is an important problem of active database. To prove termination by using triggering and activation graphs has conservativeness. In order to refine the existing works, the formula constructed for an effective activation path is proposed and an approach about how to determine the termination of active rules set is presented. The analytical results prove that the proposed approach can detect more termination situations than any other existing works. Moveover, an algorithm for termination decision is provided, and its correctness and termination are proved.

关键词： Database systems

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A Fast Inter Mode Selection Algorithm for H.264

A Fast Inter Mode Selection Algorithm for H.264

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International Conference on Pervasive Computing and Applications (ICPCA)

作者： Yun Cheng Silian Xie Jianjun Guo Zhiying Wang Minlian Xiao College of Computer National University of Defense Technology Changsha China Department of Communication and Control Engineering Science and Technology Hunan Institute of Humanities Loudi China Department of Computing Hunan Institute of Humanities Science and Technology Loudi China

The high encoding efficiency of H.264 comes from many new video encoding technologies such as adopting variable block size in the process of motion estimation and compensation. But this increases the complexity of H.264 encoder greatly. The high encoding complexity limits the application of H.264 in the domain of real time video encoding. In order to decrease the complexity of H.264 encoder greatly, this paper proposes a fast inter mode selection algorithm to speed up the H.264 encoder. Experimental results show that the proposed algorithm can reduce the complexity of the inter mode decision remarkably while incurring little, if any, loss in quality

关键词： Encoding Motion estimation MPEG 4 Standard Video compression Pervasive computing Decoding Testing High definition video HDTV Video coding

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Computational experience with robust pole assignment algorithms

Computational experience with robust pole assignment algorit...

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IEEE International Conference on computer-Aided Design

作者： Vasile Sima Andre L. Tits Yaguang Yang National Institute for Research and Development in Informatics Bucharest Romania Electrical and Computer Engineering and the Institute for Systems Research University of Maryland College Park USA Guidance Navigation and Control Department Orbital Sciences Corporation Dalles VA USA

Two algorithms for robust pole assignment by state feedback, proposed by Kautsky, Nichols and Van Dooren (1985) and by Tits and Yang (1996) are briefly reviewed. MATLAB code implementations of these algorithms, place (from the MATLAB control System Toolbox) and robpole (from SLICOT), are then numerically compared on randomly generated test data sets, as well as on examples from two benchmark collections, in terms of the robustness (insensitivity of poles to variations in plant parameters) of the closed-loop systems they produce. The functions place and robpole are also compared with each other, as well as with the (non robust) pole assignment code pass (from SLICOT) in terms of CPU time and accuracy of the pole assignment.

关键词： Robustness Eigenvalues and eigenfunctions control systems State feedback Robust control MATLAB System testing Libraries Benchmark testing Linear feedback control systems

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