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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： D. Gómez-Anaya Rodrigo Munguía Edmundo Guerra Antoni Grau Departament of Computer Science Universidad de Guadalajara Mexico Automatic Control Department Technical University of Catalonia UPC Barcelona Spain

This work presents a complete navigation architecture for an autonomous aerial robot. The proposed scheme consist of: i) a low-level controller for establishing the attitude and position of the vehicle, ii) a Simultaneous Localization and Mapping (SLAM) system, based in bearing (angular) measurements, which gives the robot the ability for navigating in unknown environments, and iii) a high-level motion control system which generates online trajectories. The high-level motion control system (MCS), which represents the main contribution of this work, is inspired by the behavior-based control strategies. The MCS takes as input a very high level mission target (e.g. “explore as much as you can”) and generates online trajectories according to the mission, but at the same time minimizing uncertainty in the estimations in order to maintain the integrity of the robot. The proposed architecture is explained for simplified 3DOF dynamics, but it could be extended in a straightforward manner in order to be applied to full dynamics. Several simulations are included in order to show the performance of the proposed scheme.

关键词： Motion control Simultaneous localization and mapping Uncertainty Estimation Navigation Robot kinematics

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Comparison of Periodic and Event-Based Sampling for Linear State Estimation

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IFAC Proceedings Volumes 2014年第3期47卷 5508-5513页

作者： Bingchang Wang Minyue Fu School of Control Science and Engineering Shandong University Jinan 250061 China School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia Department of Control Science and Engineering Zhejiang University Hangzhou 310058 China

In this paper, the state estimation problem for continuous-time linear systems with two types of sampling is considered. First, the optimal state estimator under periodic sampling is presented. Then the state estimator with event-based updates is designed, i.e., when an event occurs the estimator is updated linearly by using the measurement of output, while between the consecutive event times the estimator is updated by minimum mean-squared error criteria. The average estimation errors under both sampling schemes are compared quantitatively for first and second order systems, respectively. A numerical example is given to compare the effectiveness of two state estimators.

关键词： Event-based estimation Kalman filter periodic sampling event-based sampling average estimation errors

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A usability study case of a vision-based gesture interface 14

A usability study case of a vision-based gesture interface

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15th International Conference on Human computer Interaction, INTERACCION 2014

作者： Ponsa, Pere Urbina, Carlos Manresa-Yee, Cristina Vilanova, Ramon Automatic Control Department Universitat Politècnica Catalunya Av. Víctor Balaguer 1 Vilanova i la Geltrú08800 Spain Computer Graphics Computer Vision and AI Group University of Balearic Islands Crta. Valldemossa km 7.5 Palma07122 Spain Engineering Systems and Telecommunications Department School of Engineering Universitat Autònoma Barcelona Bellaterra08193 Spain

ISBN: (纸本)9781450328807

Gestural interaction uses human gestures to interact with an interactive system. Many efforts have been done to define gestures and facilitate a comfortable and natural way to interact. In this paper an experimental session in laboratory conditions is presented aiming at analyzing the usability factors of a visionbased gestural interface. Based on the results, recommendations are given to modify the configuration of some parameters between the human, the Kinect sensor, Kinect Mouse and the virtual visit of a museum with the final aim to improve the overall interaction. Copyright 2014 ACM.

关键词： gestures usability Vision-based interfaces evaluation

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FPGA-accelerated adaptive optics wavefront control

FPGA-accelerated adaptive optics wavefront control

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MEMS Adaptive Optics VIII

作者： Mauch, S. Reger, J. Reinlein, C. Appelfelder, M. Goy, M. Beckert, E. Tünnermann, A. Control Engineering Group Computer Science and Automation Department Technische Universität Ilmenau Helmholtzplatz 5 98693 Ilmenau Germany Albert-Einstein-Str. 7 07745 Jena Germany

ISBN: (纸本)9780819498915

The speed of real-time adaptive optical systems is primarily restricted by the data processing hardware and computational aspects. Furthermore, the application of mirror layouts with increasing numbers of actuators reduces the bandwidth (speed) of the system and, thus, the number of applicable control algorithms. This burden turns out a key-impediment for deformable mirrors with continuous mirror surface and highly coupled actuator influence functions. In this regard, specialized hardware is necessary for high performance real-time control applications. Our approach to overcome this challenge is an adaptive optics system based on a Shack-Hartmann wavefront sensor (SHWFS) with a CameraLink interface. The data processing is based on a high performance Intel Core i7 Quadcore hard real-time Linux system. Employing a Xilinx Kintex-7 FPGA, an own developed PCie card is outlined in order to accelerate the analysis of a Shack-Hartmann Wavefront Sensor. A recently developed real-time capable spot detection algorithm evaluates the wavefront. The main features of the presented system are the reduction of latency and the acceleration of computation For example, matrix multiplications which in general are of complexity O(n 3 are accelerated by using the DSP48 slices of the field-programmable gate array (FPGA) as well as a novel hardware implementation of the SHWFS algorithm. Further benefits are the Streaming SIMD Extensions (SSE) which intensively use the parallelization capability of the processor for further reducing the latency and increasing the bandwidth of the closed-loop. Due to this approach, up to 64 actuators of a deformable mirror can be handled and controlled without noticeable restriction from computational burdens. © 2014 SPIE.

关键词： Adaptive optics

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A tuning approach for offset-free MPC with conditional reference adaptation 19

A tuning approach for offset-free MPC with conditional refer...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Waschl, Harald Jørgensen, John Bagterp Huusom, Jakob Kjøbsted Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Department of Applied Mathematics and Computer Science Technical University of Denmark Denmark Department of Chemical and Biochemical Engineering Technical University of Denmark Denmark

ISBN: (纸本)9783902823625

Model predictive control has become a widely accepted strategy in industrial applications in the recent years. Often mentioned reasons for the success are the optimization based on a system model, consideration of constraints and an intuitive tuning process. However, as soon as unknown disturbances or model plant mismatch have to be taken into account the tuning effort to achieve offset-free tracking increases. In this work a novel approach for offset-free MPC is presented, which divides the tuning in two steps, the setup of a nominal MPC loop and an external reference adaptation. The inner nominal loop addresses the performance targets in the nominal case, decouples the system and essentially leads to a first order response. The second outer loop enables offset-free tracking in case of unknown disturbances and consists of feedback controllers adapting the reference. Due to the mentioned properties these controllers can be tuned separate and by known guidelines. To address conditions with active input constraints, additionally a conditional reference adaptation scheme is introduced. The tuning strategy is evaluated on a simulated linear Wood-Berry binary distillation column example. © IFAC.

关键词： Predictive control systems

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A distributed framework for contaminant event detection and isolation in multi-zone intelligent buildings

A distributed framework for contaminant event detection and ...

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European control Conference (ECC)

作者： Vasso Reppa Michalis Michaelides Marinos Christodoulou Christos Panayiotou Marios Polycarpou Automatic Control Department France Department of Electrical Engineering and Information Technologies University of Technology Lemesos Cyprus Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781479947287

An intelligent building is required to provide safety to its occupants against any possible threat that may affect the indoor air quality, such as accidental or malicious airborne contaminant release in the building interior. In this work, we design a distributed methodology for detecting and isolating multiple contaminant events in a large-scale building. Specifically, we consider the building as a collection of interconnected subsystems and we design a contaminant event monitoring agent for each subsystem. Each monitoring agent aims to detect the contamination of the underlying subsystem and isolate the zone where the contaminant source is located, while it is allowed to exchange information with its neighboring agents. The decision logic implemented in the contaminant event monitoring agent is based on the generation of observer-based residuals and adaptive thresholds. We demonstrate our proposed formulation using a 14-zone building case study.

关键词： Buildings Monitoring Sensors Isolators Artificial intelligence Noise Vectors

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Hybrid Systems with Memory: Modelling and Stability Analysis via Generalized Solutions

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IFAC Proceedings Volumes 2014年第3期47卷 6019-6024页

作者： Jun Liu Andrew R. Teel Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom Center for Control Dynamical Systems and Computation and Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106 USA

Hybrid systems with memory are dynamical systems exhibiting both hybrid and delay phenomena. We present a general modelling framework for such systems using hybrid functional inclusions, whose generalized solutions are defined on hybrid time domains and evolve in the phase space of hybrid memory arcs equipped with the graphical convergence topology. We prove a general existence result based on some basic conditions on the data of hybrid systems. We further establish sufficient conditions for the stability analysis of hybrid systems with memory using Lyapunov-Razumikhin (L-R) functions. We demonstrate the stability results on a general nonlinear system with switching dynamics and state jumps.

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DC bus voltage efficient sinusoidal multiple-phase generation with adapted saturation handling

DC bus voltage efficient sinusoidal multiple-phase generatio...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Tudor Alexandru Popovici Alexandru Onea Alexandru Barleanu Department of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania Department of Computer Science Technical University of Iasi Iasi Romania

The paper analyzes a variable common mode voltage injection technique for multi-phase sine wave pulse width modulation with improved computational efficiency compared to the Space-Vector Pulse Width Modulation (SVPWM) technique and fewer level switchings in the power inverter, which still achieves similar modulation and control performance in the case of two level voltage source inverters. Also, a simple saturation handling technique is proposed in order to limit the waveform distortions when used to drive an electric machine during high torque periods (e.g. during steep startup or disturbance rejection). The fewer level switchings in the power inverter lead to improved output power efficiency and decreased thermal dissipation, factors that represent essential constraints in the current automotive industry. The simulation results for the three-phase case are compared to Sinusoidal Pulse Width Modulation (SPWM) and SVPWM, taking into account the effective use of the DC bus voltage, the distortion in the generated voltage waveforms and the current feedback that is obtained.

关键词： Inverters Torque Space vector pulse width modulation Rotors Switches

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On the convergence of an alternating direction penalty method for nonconvex problems

On the convergence of an alternating direction penalty metho...

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Asilomar Conference on Signals, Systems & computers

作者： S. Magnússon P. C. Weeraddana M. G. Rabbat C. Fischione Department of Automatic Control KTH Royal Institute of Technology Stockholm Sweden Department of Electrical and Computer Engineering McGill University Montréal Canada

This paper investigates convergence properties of scalable algorithms for nonconvex and structured optimization. We consider a method that is adapted from the classic quadratic penalty function method, the Alternating Direction Penalty Method (ADPM). Unlike the original quadratic penalty function method, in which single-step optimizations are adopted, ADPM uses alternating optimization, which in turn is exploited to enable scalability of the algorithm. A special case of ADPM is a variant of the well known Alternating Direction Method of Multipliers (ADMM), where the penalty parameter is increased to infinity. We show that due to the increasing penalty, the ADPM asymptotically reaches a primal feasible point under mild conditions. Moreover, we give numerical evidence that demonstrates the potential of the ADPM for computing local optimal points when the penalty is not updated too aggressively.

关键词： Optimization Convergence Linear programming Couplings Approximation algorithms Signal processing algorithms Signal processing

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Experimental Evaluation of a Modified Obstacle Based Potential Field Algorithm for an Off-road Mobile Robot

Experimental Evaluation of a Modified Obstacle Based Potenti...

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International Conference on Informatics in control, Automation and Robotics

作者： Rickard Nyberg George Nikolakopoulos Dariusz Kominiak Control Engineering Group Department of Computer Science Electrical and Space Engineering Lulea University of Technology

ISBN: (纸本)9781479979202

This article presents an experimental evaluation of a modified obstacle based artificial potential field algorithm for an off-road mobile robot. The first contribution of the presented approach concerns the transformation of the artificial potential field method for the guidance of the vehicle and obstacle avoidance, in order to make it suitable for utilising a visual feedback. The visual feedback is relying on a depth image, provided by the low cost kinect sensor. The second contribution concerns the proposal of a novel scheme for the identification and perception of obstacles. Based on the proposed methodology, the vehicle is capable of categorising the obstacles based on their height in order to alter the calculated forces, for enabling a cognitive decision regarding their avoidance or the driving over them, by utilising the robot's off road capabilities. The proposed scheme is highly suggested for off road robots, since in the normal cases, the existence of small rocks, branches, etc. can be accidentally identified as obstacles that could make the robot to avoid them or block its further movement. The performance of the proposed modified potential field algorithm has been experimentally applied and evaluated in multiple robotic exploration scenarios, where from the obtained results the efficiency and the advantages of such a modified scheme have been depicted.

关键词： Off Road Mobile Robot Artificial Potential Fields Visual Feedback Depth Image Obstacle Detection

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