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International Conference on Informatics in control, Automation and Robotics (ICINCO)

作者： Rafael Socas Sebastián Dormido Raquel Dormido Ernesto Fábregas Department of Computer Science and Automatic Control UNED Madrid Spain

A new 3D positioning algorithm for low cost robots is proposed. The algorithm is based on a Finite State Machine to estimate the position and orientation of the robot. The system sets dynamically the parameters of the algorithm and makes it independent of the noise in the sensors. The algorithm has been tested for differential wheel drive robots, however it can be used with different types of robots in a simple way. To improve the accuracy of the system, a new reference system based on the accelerometer of the robot is presented which reduces the accumulative error that the odometry produces.

关键词： Mobile robots Wheels Robot sensing systems Accelerometers Acceleration Three-dimensional displays

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A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

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International Conference on Ubiquitous Robots and Ambient Intelligence

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical Engineering Taiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

ISBN: (纸本)9781509008223

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform (WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the classifiers. Next, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine (weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute, and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

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A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

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2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical EngineeringTaiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform(WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the ***, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine(weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute,and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

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Symbolic Regression for Marine Vehicles Identification ∗

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IFAC-PapersOnLine 2015年第16期48卷 210-216页

作者： D. Moreno-Salinas E. Besada-Portas J.A. López-Orozco D. Chaos J.M. de la Cruz J. Aranda Departament of Computer Science and Automatic Control National University Distance Education (UNED) Madrid Spain Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid (UCM) Madrid Spain

The mathematical models used in simulation must be reliable and trustworthy enough to describe the real systems with an appropriate accuracy. This simulation process is specially important in marine environment due to the changing environmental conditions, to the cost of the infrastructure needed to carry out tests, and to the need of calibration, deployment and recovery of the marine systems. If a reliable mathematical model of the vehicle is available, a part of the experimental tests can be avoided. In this paper we present a system identification technique based on genetic programming, the symbolic regression, to be applied on marine systems. In this sense, we show that it is possible to obtain a mathematical model of a ship for control purposes without the need of describing or knowing the model structure in advance, i.e., the identification itself provides the model structure that better describes the system. Thus, we can define a reliable black-box model that is computed in a simple way and where no many experimental data are needed. The model obtained is tested with additional data and manoeuvres to show its good performance and prediction ability.

关键词： Autonomous vehicles marine systems identification symbolic regression genetic programming

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control processes of floating docks based on SCADA systems with wireless data transmission

Control processes of floating docks based on SCADA systems w...

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International Conference on Perspective Technologies and Methods in MEMS Design (MEMSTECH)

作者： Andriy Topalov Oleksiy Kozlov Yuriy Kondratenko Computerized Control Systems Department Admiral Makarov National University of Shipbuilding Mykolaiv Ukraine Department of Electrical Engineering and Computer Science Cleveland State University Cleveland Ohio USA Petro Mohyla Black Sea State University Mykolaiv Ukraine

ISBN: (纸本)9781509014149

In this paper the approach of automation of control processes of floating docks parameters on the basis of SCADA systems with wireless data transmission is presented. The hierarchical structure of SCADA system for floating docks docking operations, which has the decentralized information processing as well as individual software and hardware components, is given. The specialized human-machine interface for visual display of functioning of the floating docks docking operations SCADA system is designed. The efficiency of the proposed SCADA system is tested on the developed experimental stand.

关键词： SCADA systems Electronic ballasts Marine vehicles Wireless communication Man-machine systems Valves Liquids

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Representations of body schemas for infant robot development

Representations of body schemas for infant robot development

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IEEE International Conference on Development and Learning, ICDL

作者： Patricia Shaw James Law Mark Lee Department of Computer Science Aberystwyth University Sheffield Robotics & Department of Automatic Control and Systems Engineering The University of Sheffield

Psychological studies have often suggested that internal models of the body and its structure are used to process sensory inputs such as proprioception from muscles and joints. Within robotics, there is often a need to have an internal representation of the body, integrating the multi-modal and multi-dimensional spaces in which it operates. Here we propose a body model in the form of a series of distributed spatial maps, that have not been purpose designed but have emerged through our experiments on developmental stages using a minimalist content-neutral approach. The result is an integrated series of 2D maps storing correlations and contingencies across modalities, which has some resonances with the structures used in the brain for sensorimotor coordination.

关键词： Neck Robot sensing systems Robot kinematics Visualization Modeling Joining processes

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An image reconstruction algorithm for electrical capacitance tomography based on simulated annealing particle swarm optimization

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Journal of Applied Research and Technology 2015年第2期13卷 197-204页

作者： Wang, P. Lin, J.S. Wang, M. School of Electric and Control Xi'an University of Science and Technology Xi'an China Department of Computer Science and Information Engineering National Chin-Yi University of Technology Taichung Taiwan

In this paper, we introduce a novel image reconstruction algorithm with Least Squares Support Vector Machines (LS SVM) and Simulated Annealing Particle Swarm Optimization (APSO), named SAP. This algorithm introduces simulated annealing ideas into Particle Swarm Optimization (PSO), which adopts cooling process functions to replace the inertia weight function and constructs the time variant inertia weight function featured in annealing mechanism. Meanwhile, it employs the APSO procedure to search for the optimized resolution of Electrical Capacitance Tomography (ECT) for image reconstruction. In order to overcome the soft field characteristics of ECT sensitivity field, some image samples with typical flow patterns are chosen for training with LS-SVM. Under the training procedure, the capacitance error caused by the soft field characteristics is predicted, and then is used to construct the fitness function of the particle swarm optimization on basis of the capacitance error. Experimental results demonstrated that the proposed SAP algorithm has a quick convergence rate. Moreover, the proposed SAP outperforms the classic Landweber algorithm and Newton-Raphson algorithm on image reconstruction. © 2015 Universidad Nacional Autónoma de México, Centro de Ciencias Aplicadas y Desarrollo Tecnológico. All Rights Reserved.

关键词： Electrical capacitance tomography Least squares support vector machines Particle swarm optimization Simulated annealing algorithm

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Iterative learning control laws with full dynamics

Iterative learning control laws with full dynamics

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American control Conference

作者： Lukasz Hladowski Yiyang Chen Weronika Nowicka Krzysztof Galkowski Eric Rogers Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 65-246 Poland Department of Electronics and Computer Science University of Southampton SO17 1BJ UK

ISBN: (纸本)9781467386838

Iterative learning control can be applied to systems that execute the same finite duration task over and over again. The distinguishing feature is the use of information from previous executions to construct the input to the next one in the sequence, including time domain information that would be non-causal in standard control systems. Many algorithms or laws have been developed for an ever increasing range of applications. This paper develops a new law which is fully dynamic, not static, when implemented. Experimental verification results are also given.

关键词： Stability analysis Asymptotic stability Convergence Process control Standards State-space methods Iterative learning control State-space methods asymptotic stability region Process control Stability analysis Iterative learning control Converge

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Path planning with inventory-driven jump-point-search 11

Path planning with inventory-driven jump-point-search

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11th AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, AIIDE 2015

作者： Aversa, Davide Sardina, Sebastian Vassos, Stavros Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy School of Computer Science and Information Technology RMIT University Melbourne Australia

ISBN: (纸本)9781577357407

In many navigational domains the traversability of cells is conditioned on the path taken. This is often the case in videogames, in which a character may need to acquire a certain object (i.e., a key or a flying suit) to be able to traverse specific locations (e.g., doors or high walls). In order for non-player characters to handle such scenarios we present InvJPS, an "inventory-driven" pathfinding approach based on the highly successful grid-based Jump-Point-Search (JPS) algorithm. We show, formally and experimentally, that the InvJPS preserves JPS's optimality guarantees and its symmetry breaking advantages in inventory-based variants of game maps. Copyright © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Motion planning

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Event-based control strategy for the guidance of the Aerosonde UAV

Event-based control strategy for the guidance of the Aeroson...

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European Conference on Mobile Robots (ECMR)

作者： Rafael Socas Sebastian Dormido Raquel Dormido Department of Computer Science and Automatic Control UNED University Madrid Spain

In this work we focus on the development of a new control strategy for the guidance of the Aerosonde UAV. An event-based control strategy has been developed with controllers that have a high efficiency in communication resources usage. The architecture that it is proposed has two principal parameters: the event threshold e̅ and the minimum inter-events time T min which permit to set the accuracy of the system and the communication bus efficiency. A test laboratory has been implemented in Matlab/Simulink environment and in the flight simulator FlightGear for testing the system. The event-based controller has been checked in perturbed environments (atmospheric gusts and sensor noise) and also it has been compared with a classical discrete-time PI controller. The results obtained show that this new strategy has a high efficiency in communication resources with a similar accuracy than the classical discrete-time control strategy.

关键词： Generators Accuracy Atmospheric modeling Actuators Aerodynamics Mathematical model

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