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AUVSI Unmanned Systems North America Conference 2009

作者： Murphy, Robin R. Brown, Rachel Grant, Reginald Arnett, Clint T. Computer Science and Engineering Texas A and M 3112 TAMU College Station TX 77843-3112 United States Lockheed Martin Missiles and Fire Control P. O. Box 65003 M/S WT-75 Dallas TX 75265 United States Future Intelligent Vehicles Lockheed Martin Missiles and Fire Control P. O. Box 65003 M/S SP-19 Dallas TX 75265 United States Texas Engineering Extension Service Urban Search and Rescue Division 301 Tarrow College Station TX 77840 United States

ISBN: (纸本)9781615675807

This paper describes the wild land firefighting domain in terms of its implications for Squad Mission Support System (SMSS) types of mobile ground robots. The descriptive analysis is based on a focus group hosted by the Texas engineering Extension Service with eight subject matter experts and nine technologists. Wildland fire fighting is characterized by the large area affected and the longer duration of the response, on the order of weeks or months. The focus group identified six potential functions of a ground robot: 1)transport supplies, hoses, trunk lines, and people, 2) reconnoiter the fire direction, speed, and other attributes, 3) direct fire suppression, 4) identify hot spots under canopies using thermal imaging, 5) investigate areas for fire hazards from dead trees and level burnt remnants, and 6) serve as a movable weather station determining wind speed and direction, relative humidity, fuel moisture and fuel temperature. The desired functions, when combined with the general organizational, economic, and manpower constraints, in turn lead to anticipated requirements for seven capabilities. These are mobility, navigation, sensing, communications, dexterity, reusability, and transportability. The description of the needed functionality and capabilities is expected to be of use to hardware and software developers.

关键词： Reusability

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ROBUST L2-L∞ FILTERING OF STOCHASTIC REPETITIVE PROCESSES

ROBUST L2-L∞ FILTERING OF STOCHASTIC REPETITIVE PROCESSES

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2009 International Conference on Machine Learning and Cybernetics(2009机器学习与控制论国际会议)

作者： YAN-HUI LI JI QI Electrical and Information Engineering College Daqing Petroleum Institute Daqing 163318 P.R.Chin Institute of Computer and Control Engineering Qiqihar University Qiqihar 161006 P.R.China

In this paper, we investigate the problem of L2-L∞ filtering for a class of stochastic linear continuous repetitive processes. Attention is focused on the design of full-order filter that guarantees the filtering error repetitive processes to be mean-square asymptotically stable and to have a prespecified L2-L∞ performance γ with respect to all energy-bounded input signals. Sufficient conditions are proposed in terms of linear matrix inequality, and the corresponding filter design is cast into a convex optimization problem. A numerical example illustrates the effectiveness of the proposed design scheme.

关键词： Stochastic linear repetitive processes LMIs L2-L∞ Filtering Parameter uncertainty

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OWA fuzzy linking histogram approach for image retrieval

OWA fuzzy linking histogram approach for image retrieval

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International Conference on Computational Cybernetics (ICCC)

作者： Maryam Tayefeh Mahmoudi Maedeh Beheshti Caro Lucas Fattaneh Taghiyareh Knowledge Engineering & Intelligent Systems Group Iran Telecom Research Center Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran School of computer engineering Iran University of Science and Technology Tehran Iran Control and Intelligent Processing Laboratory University of Tehran Tehran Iran School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Color image histograms are very useful tools for content based image retrieval (CBIR) that can be applied on features such as colour, texture and shape. As these kinds of histograms results with large variations between neighbouring bins, they seem so sensitive to any kind of changes such as noise, illumination. To overcome this problem, in this paper, fuzzy linking histogram approach based on OWA aggregation operator is proposed, which is capable of projecting 3-dimensional (L*a*b*) colour histograms into single-dimension. The proposed method have been evaluated and compared with five other related methods in retrieving similar images from the common dataset which is available on http://***/~konkonst. The experimental results on 100 images within two categories of Cat and Sky reveals better performance of the proposed method in comparison with the other mentioned methods.

关键词： Open wireless architecture Joining processes Histograms Image retrieval Colored noise Color Content based retrieval Shape Noise shaping Lighting

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The MAEAM Model and Anharmonic Theory for the Bulk Modulus of A1 Metal

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Chinese Physics Letters 2009年第8期26卷 213-215页

作者：廖树帜王小丽朱湘萍张淳欧阳义芳张邦维 Key Laboratory of Low Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics Hunan Normal University Changsha 410081 College of Electronic Engineering and Physics Hunan University of Science and Engineering Yongzhou 425006 College of Mathematics and Computer Science Hunan Normal University Changsha 410081 Department of Physics Guangxi University Nanning 530004 Department of Applied Physics Hunan University Changsha 410082 International Centre for Materials Physics Chinese Academy of Sciences Shenyang 110015

The modified analytic embedded atom method （MAEAM） model and the anharmonic theory are used to study the bulk modulus of fcc A1 metal. The result shows that the bulk modulus can be described by a quadratic function of temperature. The result is in good agreement with the experimental data and theoretical results calculated by the first principle calculation etc. This outcome indicates that the temperature dependence of the bulk modulus for f cc A1 metal can be academically studied with the MAEAM model combining with the anharmonic theory.

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Stable vision system for indoor moving robot using encoder information 9th

Stable vision system for indoor moving robot using encoder i...

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9th IFAC Symposium on Robot control, SYROCO 2009

作者： Shim, Eun Sub Hwang, Wonsang Anjum, Muhammad Latif Kim, Hyun Seok Park, Kwang Suk Kim, Kwangsoo Dan Cho, Dong-Il School of Electrical Engineering and Computer Science Seoul National University San 56-1 Shinlim-dong Kwanak-ku Seoul151-742 Korea Republic of Department of Biomedical Engineering College of Medicine Seoul National University 28 Yongon-Dong Chongno-Ku Seoul110-799 Korea Republic of Department of Control and Instrumentation Engineering Hanbat National University 16-1 Dukmyung-dong Yuseong-gu Deajeon305-719 Korea Republic of

ISBN: (纸本)9781617825583

This paper addresses a stable vision system for indoor moving robot using encoder information. The proposed system uses encoder signals to calculate robot motion and rotates the camera in order to fix the target on the image frame during locomotion. Since the calculation of rotating angle of the camera is based on the integration of encoder data over time, this leads to the unbounded accumulation of error. To prevent the error accumulation, vision sensor signals are used periodically to compensate for the errors. The resulting standard deviations of the rotated camera angle error were 0.94°, 0.32° and 1.55° for rotation, translation and rotation-translation combined motion while the robot heading angles have standard deviations of 23.27°, 16.56° and 48.53°, respectively. However, the system shows performance degradation in slippery ground conditions. In our experiments the errors have trends to increase with the decrease of friction coefficient between the ground and the robot wheels. Future work should overcome this problem using additional sensors such as inertial measurement units (IMUs) that are able to detect the correct robot motion even in the case of slip disturbance.

关键词： Errors

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Robust Fuzzy control for Uncertain Markovian Jump Nonlinear Singular Systems

Robust Fuzzy Control for Uncertain Markovian Jump Nonlinear ...

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2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

作者： Aiqing Zhang Huajing Fang College of Mathematics and Computer Science Jianghan UniversityWuhan 430056HubeiP R China Department of Control Science and Engineering Huazhong University of Science and TechnologyWuhan 43

This paper deals with the problem of robust stochastic stabilization for Markovian jump nonlinear singular systems with Wiener process via a fuzzy-control approach. The Takagi-Sugeno (T-S) fuzzy model is employed to represent a nonlinear singular system with norm-bounded parameter uncertainties and Markovian jump parameters. The purpose of the robust stochastic stabilization problem is to design a state feedback fuzzy controller such that the closed-loop fuzzy system is robustly stochastically stable for all admissible uncertainties. Linear matrix inequality (LMI) sufficient conditions are developed to solve the above problem. The expression of desired state feedback fuzzy controller is given. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed method.

关键词： Robust control Fuzzy control Fuzzy systems Stochastic systems State feedback Robustness Takagi-Sugeno model Uncertain systems control systems Uncertainty

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Reprogrammable Module-Linker for Energy-Efficient Wireless Sensor Networks

Reprogrammable Module-Linker for Energy-Efficient Wireless S...

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IEEE International Conference on Computational Science and engineering, CSE

作者： Seung-Ku Kim Jae-Ho Lee Kwang-il Hwang Kyeong Hur Doo-Seop Eom Department of Electronics and Electrical Engineering Korea University Seoul South Korea Department of Computer Control Incheon City College Incheon South Korea Department of Computer Education Gyeongin National University of Education Incheon South Korea

As the number of deployed sensor nodes is increasing, the requirement for reprogramming becomes more important. While reprogramming operation runs, sensor nodes must use little energy due to its limited energy characteristic. Many kinds of conventional studies about reprogramming have tried to solve the energy consumption problem. However, they have not considered the entire sensor network system for reprogramming. In this paper, we propose the novel encoding and decoding scheme for energy-efficient reprogramming. It reduces the number of usage times at Electrically Erasable Programmable Read-Only Memory (EEPROM), program memory, and radio during the reprogramming procedure. Experimental results show that our scheme outperforms the previous reprogramming schemes in terms of the energy consumption.

关键词： Energy efficiency Wireless sensor networks Energy consumption computer networks Encoding Decoding EPROM Sensor phenomena and characterization computer science education control engineering education

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A Distributed Reservation Protocol for Collision-Free Three-Hop Mobility Support in WiMedia MAC

A Distributed Reservation Protocol for Collision-Free Three-...

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IEEE International Conference on Computational Science and engineering, CSE

作者： Jin-Woo Kim Kyeong Hur Kwang-il Hwang Doo-Seop Eom Department of Electronics and Electrical Engineering Korea University Seoul South Korea Department of Computer Education Gyeongin National University of Education Incheon South Korea Department of Computer Control Incheon City College Incheon South Korea

A distributed medium access control (D-MAC) protocol has been proposed to support high-rate wireless personal area networks (HR-WPANs) by the WiMedia Alliance. The WiMedia D-MAC solves the problems of the IEEE 802.15.3 MAC caused its centralized architecture. However, due to mobility of WiMedia devices in multi-hop environment, DRP (distributed reservation protocol) reservation conflicts happen frequently among devices within three-hop range distance. To solve this problem, we propose a new DRP reservation scheme using a new 2-hop range DRP availability IE for three-hop mobility support in WiMedia MAC with ultrawideband (UWB) technology. It is shown by simulation results that throughputs of devices at frequent three-hop range DRP reservation conflicts are largely increased.

关键词： Media Access Protocol Access protocols Availability computer networks Distributed computing Wireless application protocol computer science education control engineering education Ultra wideband technology Synchronization

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A novel path planning algorithm for mobile robots based on cloud model

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ICIC Express Letters 2009年第4期3卷 877-881页

作者： Dai, Xuefeng Ning, Xiaomei Shi, Yan College of Computer and Control Engineering Qiqihar University Qiqihaer City Heilongjiang Province 161006 China Modem Education Technology Centre Qiqihar Medical College Qiqihaer City Heilongjiang Province 161006 China School of Industrial Engineering Tokai University 9-1-1 Toroku Kumamoto 862-8652 Japan

Because traditional genetic algorithm has the phenomenon of prematureconvergence and can not guarantee the diversity of population in the processionof evolution, a noval path planning algorithm, for mobile robots in clutteredenvironments, is proposed in this paper. One-dimensional cloud operator usesevolution and mutation in this algorithm, it uses the previous search results atthe same time. Simulation data proves it can improve efficiency of pathplanning. ICIC International © 2009.

关键词： Motion planning

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Fuzzy Logic control Application to Enhance Voltage Stability of the Electric Power Systems

Fuzzy Logic Control Application to Enhance Voltage Stability...

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International Conference on Intelligent Systems Applications to Power Systems (ISAP)

作者： James A. Momoh Wenjie Zheng Keisha D'Arnaud Center for Energy Systems and Control (CESaC) and Department of Electrical and Computer Engineering (ECE) Howard University College of Medicine Washington D.C. DC USA Center for Energy Systems and Control CESaC Howard University College of Medicine Washington D.C. DC USA

This paper develops an integrated strategy for maintaining voltage stability for online applications. The proposed strategy employs real time data in the computation of a voltage stability index for voltage stability monitoring and control. The index chosen allows for the fast evaluation of the voltage stability margin for real-time assessment. A fast control operation based on fuzzy logic control is used to determine the VAr compensation required for the mitigation of occurrences of voltage instability.

关键词： Fuzzy logic Voltage control control systems Power system stability Phasor measurement units Power system planning Power system control Monitoring Power system security Power systems

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