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O 2 CA 2 : A New Hybrid control Architecture for a Low Cost AUV

IFAC Proceedings Volumes 2001年第7期34卷 311-316页

作者： P. Ridao M. Carreras J. Batlle J. Amat Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Department of Automatic Control and Computer Engineering Politechnical University of Catalunya. Pau Gargallo n°5 08028 Barcelona (Spain).

The Object Oriented control Architecture for Autonomy (O 2 CA 2 ) is a control architecture being developed at the University of Girona for the GARBI underwater vehicle. Conceived as a hybrid, it is organised in three layers (Deliberative, control Execution and Reactive) merging the deliberation mechanisms of planning with reactive behaviours in charge of controlling the robot. The aim of this paper is to provide an overall description of the whole architecture and an in depth description of the Reactive-layer. The concepts of the architecture have been tested with the simulation of a simple mission consisting of navigating through a sequence of way-points while avoiding contact with obstacles.

关键词： Autonomous Vehicles control architectures behaviour fuzzy systems guidance navigation marine systems

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A Comparison of Optimal Iterative Learning control Schemes

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IFAC Proceedings Volumes 2001年第14期34卷 77-82页

作者： M. Rzewuski E. Rogers D.H. Owens Dept. of Electronics and Computer Science University of Southampton Southampton SO17 IBJ UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Recent years has seen much progress in the theory and application of iterative learning control schemes for both linear and (classes of) nonlinear dynamics. In the case of the former, many algorithms based on minimizing a suitable cost function have been reported. Here the interest is in the so-called norm optimal approach where the basic philosophy is to compute the control input on the current trial such that the tracking error is reduced in an optimal way without too much deviation from the control input used on the previous trial. This paper compares the performance of a range of controllers arising from use of the norm optimal approach - both stand alone and against alternatives.

关键词： iterative learning control optimal algorithms

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Positioning an underwater vehicle through image mosaicking

Positioning an underwater vehicle through image mosaicking

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R. Garcia J. Batlle X. Cufi J. Amat Computer Vision and Robotics Group IIiA University of Girona E. P. S. P-II Girona Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Barcelona Spain

ISBN: (纸本)0780365763

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle.

关键词： Underwater vehicles Cameras Motion detection Navigation Oceans Floors Underwater tracking Lighting Optical scattering Feature extraction

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A volterra operator approach to the stability analysis of a class of 2D linear systems

A volterra operator approach to the stability analysis of a ...

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European control Conference (ECC)

作者： M. Dymkov I. Gaishun K. Galkowski E. Rogers D. H. Owens Institute of Mathematics National Academy of Sciences of Belarus Institute of Control and Computation Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield UK

Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. Their essential characteristic is repeated sweeps, termed passes, through a set of dynamics defined over a finite duration with explicit interaction between the outputs, or pass profiles, produced as the process evolves. Experience has shown that these processes cannot be studied/controlled by direct application of existing theory (in all but a few very restrictive special cases). This fact, and the growing list of applications areas, has prompted an on-going research programme into the development of a `mature' systems theory for these processes for onward translation into reliable generally applicable controller design algorithms. It has long been considered that Volterra operator techniques should have a key role to play in this general area. In this paper, we first present the necessary properties of a Volterra operator representation for the very important sub-class of so-called discrete linear repetitive processes and then use them to develop a characterization of stability in this setting.

关键词： Stability analysis Process control Equations Europe Vectors control theory

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Geodesic Paths Approach to Color Image Enhancement

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Electronic Notes in Theoretical computer Science 2001年 46卷 146-160页

作者： M. Szczepanski B. Smolka D. Slusarczyk K.N. Plataniotis A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Akademicka 16 Str 44-101 Gliwice Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto 10 King's College Road Toronto Canada

New filter class for multichannel image processing is introduced and analyzed. The new technique of image enhancement is capable of reducing impulsive and Gaussian noise and it significantly outperforms the standard methods of noise reduction. In the paper a smoothing operator, based on a random walk model and a fuzzy similarity measure between pixels connected by a digital geodesic path is introduced. The efficiency of the proposed method was tested on the standard color images using the objective image quality measures. Obtained results show that the new method not only outperforms standard noise reduction algorithms, but has some interesting features useful for segmentation of noisy color images.

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Optimal landmark pattern for precise mobile robots dead-reckoning

Optimal landmark pattern for precise mobile robots dead-reck...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Amat J. Aranda A. Casals X. Fernandez Institut of Robotics IRI UPC-CSIC Barcelona Spain Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain R&D Department Industrias de Òptica Barcelona Spain

ISBN: (纸本)0780365763

The aim of the work is to determine the best landmark for its use in tasks such as precise positioning of AGVs or mobile robots in front of loading/unloading areas. The work developed aims at determining the precision that can be achieved with different pattern landmarks, of use in positioning systems, based on computer vision. Different computer vision algorithms have been tested from the images acquired from different camera configurations and bending angles with respect to the vertical axis. As a result of the evaluation of these errors, we extract the recommendation of the most favourable bicolour pattern to be used, as well as the bounding errors obtained from the segmentation and recognition methods most frequently used.

关键词： Mobile robots Remotely operated vehicles computer vision Robot vision systems Cameras computer errors Navigation Machine vision Vehicle detection Target tracking

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On simulation based analysis and synthesis of hierarchical network sturctures 6

On simulation based analysis and synthesis of hierarchical n...

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6th European control Conference, ECC 2001

作者： Tanevska, Dijana J. Dimirovski, Georgi M. Stankovski, Mile J. Jing, Yuanwei Makedonski Telekomunikacii AD Orce Nikolov Str. b.b. SkopjeMK-91000 Macedonia Inst. of Automation and Systems Engg. Faculty of Electrical Engg. SS Cyril and Methodius University SkopjeMK-1000 Macedonia Department of Computer Engg. Faculty of Engineering DOGUS University Kadikoy-IstanbulTR-81010 Turkey Dept. of Automatic Control and Control Eng. School of Information Science and Engineering Northeastern University Shenyang Liaoning110006 China

ISBN: (纸本)9783952417362

Analysis of complex systems such as hierarchically structured network systems that are employed in modelling and analysis various aspects and issues of control and management in telecommunications is investigated. Theory of graphs and binary matrices appear to be most suitable tools for modelling the overall structure of complex systems, in general, and of systemic hierarchies, in particular. A systematic methodology has been developed for computer simulation analysis and detecting general hierarchies in communications networking as well as for synthesis of system hierarchies. This methodology is an improved extension of Warfield's technique. © 2001 EUCA.

关键词： Discrete event simulation

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Distributed Wireless control Using Bluetooth

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IFAC Proceedings Volumes 2001年第22期34卷 360-365页

作者： Johan Eker Anton Cervin Andreas Hörjel Department of Electrical Engineering and Computer Science University of California at Berkeley 337 Cory Hall Berkeley CA 94720-1770 USA Department of Automatic Control Lund Institute of Technology Box 118 SE 22100 Lund Sweden ConnectBlue Stora Varvsgatan 11 N:1 SE 211 19 Malmö Sweden

Bluetooth is currently emerging as one of the most promising personal wireless network technologies. The automation industry is also showing interest in using Bluetooth for more industrial applications. However, problems with unreliable links and time delays must be explicitly addressed in any wireless control application. This paper discusses two specific problems that may occur when using Bluetooth in a control loop: long random delays and bit errors. Simple solutions to these problems are presented. The ideas have been tried out, both in simulations and in experiments, on a rotating inverted pendulum controlled over a Bluetooth network.

关键词： Bluetooth distributed control delay compensation bit-error filter

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On the Structure of Singular Discrete Linear Repetitive Processes

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IFAC Proceedings Volumes 2001年第13期34卷 555-559页

作者： K. Galkowski E. Rogers D.H. Owens Institute of Control and Computation Enginrering Technical University of Zielona Gora Poland Dept. of Electronics and Computer Science University of Southampton Southampton S017 1BJ U.K. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD U.K.

Repetitive processes are a distinct class of 2D systems of both theoretical and applications interest. They are characterized by a series of sweeps through a set of dynamics with explicit interaction between the outputs, or pass profiles, produced on successive passes. Their essential unique features are that (i) information propagation is over a finite duration in one of the two separate directions of information propagation; and (ii) the explicit interaction between successive pass profiles can lead to oscillations in the sequence of pass profiles that increase in amplitude in the pass to pass direction. In the case of processes with linear dynamics (either differential or discrete) a reasonably rich systems theory is available for models which are standard (or nonsingular). In this paper, we provide the first substantial results on discrete linear repetitive processes described by a singular state space model.

关键词： Repetitive dynamics discrete dynamics singularity 2D linear systems

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On simulation based analysis and synthesis of hierarchical network sturctures

On simulation based analysis and synthesis of hierarchical n...

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European control Conference (ECC)

作者： Dijana J. Tanevska Georgi M. Dimirovski Mile J. Stankovski Yuanwei Jing Makedonski Telekomunikacii AD Skopje Republic of Macedonia Faculty of Electrical Engg SS Cyril and Methodius University Skopje Republic of Macedonia Department of Computer Engg DOGUS University Kadikoy Istanbul Turkey Dept. of Automatic Control & Control Eng Northeastern University Shenyang Liaoning P.R. of China

关键词： Matrix decomposition Finite element analysis Graphics Software computers Computational modeling

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