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IEEE International Conference on Robotics and Automation (ICRA)

作者： Bogdan Kwolek Computer and Control Engineering Chair Faculty of Electrical and Computer Engineering Rzeszów University of Technology Rzeszow Poland

The optimal way for recovering motion and structure from long image sequences is to use sparse bundle adjustment. The objective of this work was to elaborate a method yielding good initial estimates of the pose for SBA based pose refinement. A new approach for determining inter frame correspondences between features is presented. It is based on singular value decomposition of weighted cross correlation matrix of two feature sets. The weighting of potential matches between features is realized on the basis of cross correlation of intensity values and Gabor filter responses. The method is robust to large motions. Corner and SIFT features were used to compare the effectiveness of our method with Kalman filter based tracking of features. Initial estimate of the pose is determined with singular value decomposition and quaternion based representation of camera's pose. The refinement of the pose estimate is achieved using RANSAC and then SBA on several consecutive frames at once. Experimental results demonstrate the capability of the system to estimate visual odometry in real-time.

关键词： Gabor filters Motion estimation Cameras Singular value decomposition Matrix decomposition Quaternions Robot vision systems Simultaneous localization and mapping Robotics and automation Image sequences

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OBSERVER-BASED STABILIZATION OF SYSTEMS WITH MONOTONIC NONLINEARITIES

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Asian Journal of control 2008年第1期1卷

作者： Murat Arcak Petar Kokotović Center for Control Engineering and Computation University of Calitornia Santa Barbara CA 93106-9560 U.S.A. Petar V. Kokotovic has been active for more than thirty years as control engineer researcher and educator first in his native Yugoslavia and then from 1966 through 1990 at the University of Illinois where he held the endowed Grainger Chair. In 1991 he joined the University of California Santa Barbara where he directs the Center for Control Engineering and Computation. He has co-authored eight books and numerous articles contributing to sensitivity analysis singular perturbation methods and robust adaptive and nonlinear control. Professor Kokotovic is also active in industrial applications of control theory. As a consultant to Ford he was involved in the development of the first series of automotive computer controls and at General Electric he participated in large scale systems studies. Professor Kokotovic is a Fellow of IEEE and a member of National Academy of Engineering. He received the 1983 and 1993 outstanding IEEE Transactions Paper Awards and presented the 1991 Bode Prize Lecture. He is the recipient of the 1990 IFAC Quazza Medal and the 1995 IEEE Control Systems Award.

We design an observer-based control law for a class of systems that include monotonic nonlinearities of the unmeasured states. Our observer results in nonlinear error dynamics which can be represented as the feedback interconnection of a linear system and a time-verying multivariable sector nonlinearity. The convergence of the estimation error is guaranteed by an observer matrix that renders the linear part passive, and is computable with LMI software. The feedback design is completed by combining the observer with a control law that renders the plant input-to-state stable with respect to the state estimation error.

关键词： Output feedback nonlinear observers backstepping

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MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Adaptive digital synchronization of measuring window in low-cost DSP power quality measurement systems

Adaptive digital synchronization of measuring window in low-...

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International Conference on Electrical Power Quality and Utilisation (EPQU)

作者： Krzysztof Gorecki Miroslaw Szmajda Janusz Mroczka Department of Electrical Engineering Automatic Control and Computer Science Opole University of Technology Opole Poland Chair of Electronic and Photonic Metrology Wroclaw University of Technology Wroclaw Poland

The problems with the power quality encountered in cases of low voltage hospital power networks are increasingly common. It is due to the fact that there are usually a few power networks, backup power sources and a wild range of appliances. That situation may cause disturbances in power network and decrease the quality of electric energy. The problem is significant because power supply networks in hospitals provide electricity for very sensitive and expensive measuring apparatus which guards patients' life. These arguments led to creating relatively cheap systems of evaluating energy quality and disturbance detection. It presents not only hardware but also software optimization of the method of measuring the quality of electric energy which meets the basic standards (EN 50160, EN 61000-4- 7, EN 1000-4-30). The article justifies the usage of modern floating-point digital signal processor TMS320C6713 as a computing unit. It is a low budget alternative which can be used in other similar cases. Presented hardware selection has other additional specific features suitable for applying in hospital power supply network. The other part of the paper presents the algorithm of software which was implemented on DSP-system. It includes adaptive digital synchronization of the measuring window with power frequency. Also the algorithm for digital phase locked loop was presented.

关键词： Power measurement Digital signal processing Power quality Hospitals Frequency synchronization Electric variables measurement Hardware Signal processing algorithms Low voltage Home appliances

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Proposal of VLIW Architecture for Application Specific Processors with Built-in-Self-Repair facility via Variable Accuracy Arithmetic

Proposal of VLIW Architecture for Application Specific Proce...

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IEEE Design and Diagnostics of Electronic Circuits and Systems (DDECS)

作者： Pawel Pawlowski Adam Dabrowski Mario Scholzel Chair of Control and System Engineering Division of Signal Processing and Electronic Circuits Poznań University of Technology Poznan Poland Department of Computer Science Brandenburg University of Technology Cottbus Germany

A new proposal of a very long instruction word (VLIW) architecture for application specific processors with the built-in-self-repair (BISR) facility realized by means of the variable accuracy arithmetic has been described in this paper. The proposed idea, which is particularly interesting for the portable embedded systems, is based on a novel two accumulator model, which is used in order to obtain high accuracy of the result of a series of floating-point additions. The goal of the proposed approach consists in ensuring the functionality of the system even in case of permanent faults of particular building blocks, e.g., of one of the floating point adders. Instead of decreasing the performance of the system or providing redundant hardware, as it is typically done in other approaches, in our present concept merely the accuracy of the floating point accumulation is reduced. Therefore, although the quality of service is reduced, the performance and the overall functionality of the system may remain unchanged. By this means we can also control the power consumption, saving the power with the cost of the somehow reduced signal processing accuracy.

关键词： Proposals VLIW Application specific processors Arithmetic Embedded system Hardware Quality of service Energy consumption Costs Signal processing

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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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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Real-Time Simulation of Power Electronics in Power Systems using an FPGA

Real-Time Simulation of Power Electronics in Power Systems u...

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Canadian Conference on Electrical and computer engineering (CCECE)

作者： Philippe Le-Huy Sylvain Guerette Louis A. Dessaint Hoang Le-Huy Department of Electrical and Computer Engineering Universite Laval QUE Canada Laboratoire Simulationde reseaux Institut de recherche d''Hydro-Quebec Varennes QUE Canada TransEnergie Chair on Power Systems Simulation and Control Ecolede Technologie Superieure Montreal QUE Canada

Accurate simulation of power electronic converters requires time steps which are too small to be implemented in real-time with conventional processors. This paper describes the use of FPGA hardware for the real-time simulation of power electronic converters. An FPGA computation core implements nodal algorithms to simulate in real time a multiple switch system with a small time step. A dual time step simulation method is also presented and illustrated with a sample three-phase test network. The FPGA computation core simulates a PWM inverter with a 5 mus time step while the non switching part of the system is simulated on a conventional processor operating at 50 mus. The simulated system's dynamic is acceptable and this method yields high precision of the power electronics switching and the modulation scheme

关键词： Power system simulation Real time systems Power electronics Field programmable gate arrays Computational modeling Hardware Pulse width modulation converters computer simulation Power engineering computing Switching converters

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COMPENSATION OF FRICTION IN ROBOTIC ARMS AND SLIDE TABLES

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IFAC Proceedings Volumes 2005年第1期38卷 234-239页

作者： Tomasz Żabiński Andrzej Turnau Computer and Control Engineering Chair Rzeszów University of Technology W. Pola 2 35-959 Rzeszów Poland Institute of Automatics University of Science and Technology Mickiewicza 30 30-059 Kraków Poland

The paper presents experimental results of friction parameter identification for two different systems: rotational arms of a direct-drive spherical manipulator and linear slide tables. Parameters of the static part of the LuGre friction model are estimated. Several experiments are reported in which selected friction compensation methods are employed for tracking at low velocities. Two compensators working in real time are constructed and verified: the PD-like lead, to avoid stick-slip motion and the on-line trained neural network with a special structure, to avoid errors caused by friction and varying dynamics of robotic actuators.

关键词： Direct-Drive Robots Friction Compensation PD-controllers Neural control Positioning systems

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