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Chinese control Conference (CCC)

作者： Yang Yi Weixing Zheng Yi Yang Lei Guo Southeast University Nanjing Jiangsu CN School of Computing Engineering and Mathematics University of Western Sydney 2751 Australia Beihang University Beijing CN Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100083 China

In this paper, dynamic neural networks (DNNs) are used as the on-line identifier for a class of nonlinear systems with unknown external disturbance and unknown multiple dead zone actuators. By integrating the novel nonlinear disturbance observer with adaptive control algorithms, the parameter coupling problem between unknown dead zone and DNNs can be successfully solved and the multiple disturbances can also be rejected simultaneously. Both the observation error and the identification error can be proved to convergent to zero. Furthermore, by combining with the numerical result of an unmanned aerial vehicle (UAV) model, the effectiveness of theoretical algorithms can be fully verified.

关键词： Observers Neural networks Heuristic algorithms Nonlinear dynamical systems Vehicle dynamics Actuators

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Interfaces of nested Web application framework as reusable software component

Interfaces of nested Web application framework as reusable s...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Prstačić, S. Žagar, M. Kroflin, K. Faculty of Electrical Engineering and Computing Information Support Center Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532330724

The framework is designed to provide a simple and powerful way of Web application component development. Components of the framework can nest, and the framework is designed to be easy to reuse as a component, thus providing its components to be used by the host application. We explain the interfaces required to make this possible - what they provide, what issues they solve, and how their requirement was discovered. We also identify shortcomings of this approach, and issues that will be addressed by future work. © 2012 MIPRO.

关键词： Computer software reusability

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Software for diagnosis of the GPA disease using CT image analysis

Software for diagnosis of the GPA disease using CT image ana...

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International Conference on Applied Electronics, AE

作者： Lucie Grajciarová Jan Mareš Petr Dvořák Aleš Procházka Dagmar Altmanová Pavel Konopásek Vladimír Tesař Department of Computing and Control Engineering Institute of Chemical Technology in Prague Prague Czech Republic Department of Radiology General Teaching Hospital Prague Prague Czech Republic Department of Nephrology General Teaching Hospital Prague Prague Czech Republic

The contribution presents a new software with a graphical user interface facilitating the diagnostics of granulomatosis with polyangiitis (GPA) using computed tomography (CT) image analysis. GPA represents a serious disease that can be efficiently diagnosed, using CT image processing methods. Standard software packages enable the CT image visualization supplemented by some rather restricted interactive tools only (zoom, rotation, distance or angle measurements etc.) but provide no automatic analysis. Therefore, we have introduced a new software with semi-automatic or automatic analysis.

关键词： Computed tomography Software Pathology Diseases Image analysis Visualization Image registration

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Security in distributed wireless sensor networks

Security in distributed wireless sensor networks

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Petrović, Tin Žagar, Mario University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532330724

Distributed computer systems of microcontrollers with environmental sensors, known as wireless sensor networks, allow real time monitoring of complex events. Over the last ten years this technology is slowly being applied in many areas such as: agriculture, environmental monitoring and urban planning. However, the technology has yet to see a strong commercial application because of a: lack of universal norms, short lifetime cycle and security concerns. This paper will describe the basic characteristics of a wireless sensor network, followed by a list of different types of security problems that wireless sensor networks face. For each problem, a recommended method for improving security is given, along with all the downsides of such a method. After reviewing the current state of the technology we will propose a new method to improve security and intruder detection for certain types of networks. © 2012 MIPRO.

关键词： Wireless sensor networks

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Potential function based multi-agent formation control in 3D space

Potential function based multi-agent formation control in 3D...

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Bunic, Marko Bogdan, Stjepan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (纸本)9783902823113

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution. © 2012 IFAC.

关键词： Multi agent systems

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Efficient interpolated path planning of mobile robots based on occupancy grid maps

Efficient interpolated path planning of mobile robots based ...

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Dakulović, Marija Čikeš, Mijo Petrović, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Croatia

ISBN: (纸本)9783902823113

This paper focuses on interpolation-based path planning algorithms for mobile robot that use the occupancy grid map of the environment. Such an algorithm produces the path close to optimal solution in continuous search space, but has computational burden. We discuss on using heuristics to improve efficiency of the E* algorithm, as the interpolation-based path planning algorithm, with a trade-off of generating less optimal paths. We compare obtained paths with the almost optimal solution in continuous search space and also with the path obtained by the D* algorithm, which is a representative of the classical graph search algorithms applied on the occupancy grid map. All used algorithms are verified both by simulation and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder. © 2012 IFAC.

关键词： Mobile robots

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An Approach for a Cloud-based Machine Tool control

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Procedia CIRP 2013年 7卷 682-687页

作者： Alexander Verl Armin Lechler Stefan Wesner Andreas Kirstädter Jan Schlechtendahl Lutz Schubert Sebastian Meier Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstr.36 70174 Stuttgart Germany kiz University of Ulm Albert-Einstein-Allee 11 89081 Ulm Germany Institute of Communication Networks and Computer Engineering (IKR) Pfaffenwaldring 47 70569 Stuttgart Germany High Performance Computing Center Stuttgart (HLRS) Nobelstraße 19 70569 Stuttgart Germany

Versatility and scalability are the major factors for meeting the requirements of a flexible production of the 21 st century. A versatile production can only be realized if the machine control infrastructure is also versatile and scalable – current machine controls are not. Limitations in areas like e.g. reconfiguration ability, security and computational power demand for a radically new concept for machine controls. The approach presented in this paper is to split the physical location of the machine tool control from the machine tool itself. The approach moves the control in a cloud providing machine control as a service (MCaaS).

关键词： Cloud based manufacturing Cyber physical system Realtime cloud

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Beyond bag of words: Image representation in sub-semantic space 13

Beyond bag of words: Image representation in sub-semantic sp...

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21st ACM International Conference on Multimedia, MM 2013

作者： Zhang, Chunjie Wang, Shuhui Liang, Chao Liu, Jing Huang, Qingming Li, Haojie Tian, Qi School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China School of Computer National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China School of Software Dalian University of Technology Liaoning China Department of Computer Sciences University of Texas San Antonio TX 78249 United States

ISBN: (纸本)9781450324045

Due to the semantic gap, the low-level features are not able to semantically represent images well. Besides, traditional semantic related image representation may not be able to cope with large inter class variations and are not very ro- bust to noise. To solve these problems, in this paper, we propose a novel image representation method in the sub- semantic space. First, examplar classifiers are trained by separating each training image from the others and serve as the weak semantic similarity measurement. Then a graph is constructed by combining the visual similarity and weak se- mantic similarity of these training images. We partition this graph into visually and semantically similar sub-sets. Each sub-set of images are then used to train classifiers in order to separate this sub-set from the others. The learned sub-set classifiers are then used to construct a sub-semantic space based representation of images. This sub-semantic space is not only more semantically meaningful but also more reli- Able and resistant to noise. Finally, we make categorization of images using this sub-semantic space based representation on several public datasets to demonstrate the e®ectiveness of the proposed method. Copyright © 2013 ACM.

关键词： Image representation

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computing Augmented Finite Transition Systems to Synthesize Switching Protocols for Polynomial Switched Systems

Computing Augmented Finite Transition Systems to Synthesize ...

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American control Conference

作者： Necmiye Ozay Jun Liu Pavithra Prabhakar Richard M. Murray Computing and Mathematical Sciences Department California Institute of Technology Pasadena CA 91125 USA Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK IMDEA Software Institute Madrid Spain

ISBN: (纸本)9781479901777

This work is motivated by the problem of synthesizing mode sequences for continuous-time polynomial switched systems in order to guarantee that the trajectories of the system satisfy certain high-level specifications expressed in linear temporal logic. We use augmented finite transition systems as abstract models of continuous switched systems. Augmented finite transition systems are equipped with liveness properties that can be used to enforce progress in accordance with the underlying dynamics. We then introduce abstraction and refinement relations that induce a preorder on this class of finite transition systems. By construction, the resulting preorder respects the feasibility (i.e., realizability) of the synthesis problem. Hence, existence of a discrete switching strategy for one of these abstract finite transition systems guarantees the existence of a mode sequence for the continuous system such that all of its trajectories satisfy the specification. We also present an algorithm, which can be implemented using sum-of-squares based relaxations, to compute such high fidelity abstract models in a computationally tractable way. Finally, these ideas are illustrated on an example.

关键词： Polynomial Switched Systems guarantee linear temporal logic

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CLSIFT: An Optimization Study of the Scale Invariance Feature Transform on GPUs

CLSIFT: An Optimization Study of the Scale Invariance Featur...

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IEEE International Conference on High Performance computing and Communications (HPCC)

作者： Weiyan Wang Yunquan Zhang Long Guoping Shengen Yan Haipeng Jia School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China State Key Laboratory of Computing Science Institute of Software Chinese Academy of Sciences Lab. of Parallel Software and Computational Science Institute of Software Chinese Academy of Sciences

Scale Invariance Feature Transform (SIFT) is quite suitable for image matching because of its invariance to image scaling, rotation and slight changes in illumination or viewpoint. However, due to high computation complexity it's technically challenging to deploy SIFT in real time application situations. To address this problem, we propose CLSIFT, an OpenCL based highly speeded up and performance portable SIFT solution. Important optimization techniques employed in CLSIFT such as: (1) For less global memory traffic, independent logical functions are merged into the same kernel to reuse data. (2) loop buffers are introduced in for data and intermediate results reusing. (3)Task queue used to schedule threads in the same branch to remove branch divergences. (4) Data partition is based on the statics patterns for workload balance among workgroups. (5) Overlap of CPU time and better parallel strategies are used too. With all mentioned efforts, CLSIFT processes lena. jpg at 74.2 FPS and 43.4FPS respectively on NVidia and AMD GPUS, much higher than CPU's nearly 10 FPS and the known fastest SIFTGPU's 39.8 FPS and 13FPS. Moreover in a quantitative comparison approach we analyze those successful strategies beating SIFTGPU, a famous existing GPU implementation. Additionally, we observe and conclude that NVidia GPU achieves better occupancy and performance due to some factors. Finally, we summarize some techniques and empirical guiding principles that may be shared by other applications on GPU.

关键词： Graphics processing units Instruction sets Kernel Accuracy Histograms Optimization Memory management

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