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作者： Heejune, Ahn Hyukjun, Oh Jiman, Hong Department of Control and Instrumentation Engineering Seoul National University of Technology Seoul 139-743 Korea Republic of School of Electrical Engineering Kwangwoon University Seoul 139-701 Korea Republic of School of Computing Soongsil University Seoul 156-743 Korea Republic of

Upcoming ubiquitous computing systems are required to operate in dynamic, diverse, unverified, and unpredictable operating environment. The OSGi (Open Service Gateway initiative) framework employs the service-oriented approach and the Java ClassLoader architecture for the runtime service deployment, that are well suited to the dynamic environment envisioned for home networking and ubiquitous computing. However, the current OSGi framework does not provide full reliability measures, especially for failure conditions, such as network, device, and application failures. This paper analyzes software reliability issues in OSGi framework and proposes a proxy-based reliable extensions. The design concept was implemented and partly tested on an open source OSGi platform, Oscar, for the smart home residential gateway test-bed.

关键词： Gateways (computer networks)

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Kinematic simulative analysis of virtual potential field method for AUV trajectory planning

Kinematic simulative analysis of virtual potential field met...

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Mediterranean Conference on control and Automation (MED)

作者： M Barisic Z. Vukic N. Miskovic Department of Computer and Control Engineering Laboratory for Underwater Systems and TechnologiesFaculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.

关键词： Kinematics Analytical models Trajectory Computational modeling Computer simulation Electric variables measurement Feature extraction Stability Underwater vehicles Communication system control

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

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Mediterranean Conference on control and Automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Underwater Systems and Technologies Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Laboratory for Underwater Systems and Technologies Zagreb Croatia

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system).

关键词： Transfer functions Relays Frequency control systems control engineering computing Delay systems Vehicle dynamics Open loop systems Delay effects Feedback

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Obtaining ship trajectories of an autonomous in-scale fast-ferry by identifying a heading model

Obtaining ship trajectories of an autonomous in-scale fast-f...

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IEEE International Symposium on Intelligent Signal Processing

作者： Velasco, F. J. Revestido, E. Lopez, E. Moyano, E. Dept. Electronics Technology and Systems Engineering and Automatic Control Univ. Cantabria Dept. Sciences and Navigation Technics Engines and Naval Architecture Univ. País Vasco (UPV/EHU) Dept. Applied Mathematics and Computing Sciences Univ. Cantabria

ISBN: (纸本)9781424408290

The aim of this paper is to obtain a model for an in-scale fast-ferry model TF-120 including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the dynamical model is obtained with turning circle maneuverings. In this model are included the kinematical equations. The tests with the autonomous in-scale physical model of the high-speed ship were carried out in the surroundings of the Bay of Santander. With this model. simulations with several turbojets angles are made.

关键词： parametric identification ship physical model manoeuvring heading idemification

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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK control

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Asian Journal of control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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GA-based on-line optimization of CAN message scheduling

GA-based on-line optimization of CAN message scheduling

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2007 Mediterranean Conference on control and Automation, MED

作者： Duzanec, D. Stare, Z. Kovacic, Z. Ziegler d.o.o. Construction and Development Department Zagreb Croatia University of Zagreb Faculty of EE and C Department of Electronic Systems and Information Processing Croatia University of Zagreb Faculty of EE and C Department of Control and Computing Engineering Zagreb Croatia

ISBN: (纸本)142441282X

In this paper we describe a design and implementation of an on-line scheduling algorithm for controller Area Network (CAN) messages that exploits properties of genetic algorithms (GA) to achieve global message throughput optimization. The use of GA-based scheduler has been found effective even in time-critical distributed control systems, such as the considered control system that encompasses several control subsystems at the fire fighting vehicle. The experimental results show that the GA-optimized CAN message scheduler considerably decreased the average message queuing time. ©2007 IEEE.

关键词： Genetic algorithms

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Solution to the Generalized Champagne Problem on simultaneous stabilization of linear systems

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Science in China(Series F) 2007年第5期50卷 719-731页

作者： GUAN Qiang WANG Long XIA BiCan YANG Lu YU WenSheng ZENG ZhenBing Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Center for Systems and Control College of Engineering Peking University Beijing 100871 China LMAM and School of Mathematical Sciences Peking University Beijing 100871 China Shanghai Institute of Theoretical Computing Software Engineering Institute East China Normal University Shanghai 200062 China National Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel et al., which automatically includes the solution to the original Champagne Problem. Based on the recent development in automated inequality-type theorem proving, a new stabilizing controller design method is established. Our numerical examples significantly improve the relevant results in the literature.

关键词： linear systems stabilization simultaneous stabilization Champagne Problem Generalized Champagne Problem,complex analysis inequality-type theorem automated theorem proving

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A real-time adaptive control of autonomic computing environments 07

A real-time adaptive control of autonomic computing environm...

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2007 Conference of the Center for Advanced Studies on Collaborative Research, CASCON '07

作者： Solomon, Bogdan Ionescu, Dan Litoiu, Marin Mihaescu, Mircea Network Computing and Control Technologies Research Laboratory School of Information Technology and Engineering University of Ottawa Canada IBM Centre for Advanced Studies Toronto Canada Centre for Advanced Studies IBM Toronto Laboratory Canada IBM WebAhead Development and Security Innovations United States

Autonomic computing has received a great deal of attention from the research community in recent years. Many techniques have been proposed to monitor, analyze, and change the system under observation, but less attention has been paid to adapting the autonomic computing loop itself. Based on previous results on the design and implementation of a reference real-time architecture for autonomic computing, a self-adapting loop based on system-specific adaptation knowledge, which includes the types and properties of autonomic computing components, behavioural constraints, and strategies for adaptation is proposed in this paper. The proposed system is an integral part of the real-time system that controls the behaviour of the computing environment, evaluating its global behaviour using criteria that take into account the mathematical description of the time variation of the number of users in the system. Based on this evaluation, the adaptive system changes the control structure of the autonomic computing environment by replacing its controller with one matching the user time variation law. Elements of the self-adapting loop and the tradeoff of introducing additional overhead to the autonomic computing processes are discussed. A case study illustrates the self-adapting technique proposed. © Copyright 2007 NCCT, and IBM Canada Ltd.

关键词： Real time systems

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Benchmark problems of Signal Processing and control for Testing Emergent Architectures and Programming Techniques of DSP's, FASIC's, and PLD's

Benchmark problems of Signal Processing and Control for Test...

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Computer Information Systems and Industrial Management Applications (CISIM)

作者： Adam Dabrowski Pawel Pawlowski Department of Computing and Management Chair of Control and System Engineering Division of Signal Processing and Electronic Systems Poznań University of Technology Poznan Poland

In this paper we present four carefully selected computationally intensive signal processing problems, which can serve as benchmark applications for efficiency testing of modern DSP's, FASIC's, and PLD's.

关键词： Benchmark testing Signal processing Process control Digital signal processing Signal generators control systems Vehicle crash testing Circuit testing System testing Finite impulse response filter

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