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9th IFAC International Symposium on Computer Applications in Biotechnology, CAB 2004

作者： Hrnčiřík, P. Vovsík, J. Náhlík, J. Department of Computing and Control Engineering Institute of Chemical Technology Prague Technická 5 Prague 6166 28 Czech Republic

This paper presents the comparison of two approaches based on artificial intelligence techniques solving the task of on-line recognition of metabolic state of baker's yeast culture in a fed-batch cultivation. The first approach is represented by a knowledge-based system containing expert knowledge in the form of production rules. The other approach is based on the application of the fuzzy neural network paradigm enabling the automatic extraction of the recognition rules from experimental data. Performance of both approaches is discussed using results obtained from tests on experimental data from a laboratory cultivation unit. Copyright © IFAC Computer Applications in Biotechnology, Nancy, France, 2004.

关键词： Metabolism

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Improved basic planar algorithm of vehicle guidance through ...

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International Symposium on Communications control and Signal Processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction control engineering Automatic control control engineering computing Automotive engineering Automation

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Sparse models for gender classification

Sparse models for gender classification

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International Conference on Automatic Face and Gesture Recognition

作者： N.P. Costen M. Brown S. Akamatsu Department of Computing and Mathematics Manchester UK Department of Systems Control Engineering Hosei University Tokyo Japan

A class of sparse regularization functions is considered for the developing sparse classifiers for determining facial gender. The sparse classification method aims to both select the most important features and maximize the classification margin, in a manner similar to support vector machines. An efficient process for directly calculating the complete set of optimal, sparse classifiers is developed. A single classification hyper-plane, which maximizes posterior probability of describing training data, is then efficiently selected. The classifier is tested on a Japanese gender-divided ensemble, described via a collection of appearance models. Performance is comparable with a linear SVM, and allows effective manipulation of apparent gender.

关键词： Support vector machines Support vector machine classification Robustness Training data Face recognition Mathematics control engineering Testing Image processing Computer vision

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Efficient calculation of the complete optimal classification set

Efficient calculation of the complete optimal classification...

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International Conference on Pattern Recognition

作者： M. Brown N.P. Costen S. Akamatsu UMIST Manchester UK MMU Computing and Mathematics Manchester UK Systems Control Engineering Hosei University Tokyo Japan

Feature and structure selection is an important part of many classification problems, in previous papers, an approach called basis pursuit classification has been proposed which poses feature selection as a regularization problem using a 1-norm to measure parameter complexity. In addition, a complete optimal parameter set, here called the locus, can be calculated which contains every optimal collection of sparse features as a function of the regularization parameter. This paper considers how to iteratively calculate the parameter locus using a set of rank-1 inverse matrix updates. The algorithm is tested on both artificial and real data and it is shown that the computational cost is reduced from a cubed to a squared problem in the number of features.

关键词： Face detection Sparse matrices Support vector machines Support vector machine classification control systems Mathematics control engineering Iterative algorithms Testing Computational efficiency

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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On-Line Recognition of Metabolic State of Baker's Yeast Culture

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IFAC Proceedings Volumes 2004年第3期37卷 397-402页

作者： P. Hrnčiřik J. Vovsík J. Náhlík Department of Computing and Control Engineering Institute of Chemical Technology Prague Technická 5 166 28 Prague 6 Czech Republic fax: +420 224 355 053

This paper presents the comparison of two approaches based on artificial intelligence techniques solving the task of on-line recognition of metabolic state of baker's yeast culture in a fed-batch cultivation. The first approach iS represented by a knowledge-based system containing expert knowledge in the form of production rules. The other approach is based on the application of the fuzzy neural network paradigm enabling the automatic extraction of the recognition rules from. experimental data. Performance of both approaches is discussed using results obtamed from tests on experimental data from a laboratory cultivation unit.

关键词： Fermentation processes Fuzzy systems Neural networks Recognition Rule-based systems

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Electronic throttle state estimation and hybrid theory based optimal control

Electronic throttle state estimation and hybrid theory based...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： M. Vasak M. Baotic I. Petrovic N. Peric Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Automatic Control Laboratory ETH-Swiss Federal Institute of Technology Zürich Zurich Switzerland

Electronic throttle body (ETB) is a car device that regulates air inflow into the motor's combustion system. Its performance has a major impact on the quality of the overall engine speed control. However, due to the usage of cheap components and some design features the ETB exhibits several nonlinear phenomena. This nonlinear behavior and the fact that there is only one measurement available - low quality measurement of the throttle position makes a design of the throttle controller a challenging task. Our approach is to model the ETB as a discrete time piecewise affine (PWA) system and apply model predictive control (MPC) strategy to design an explicit state feedback control law. Since MPC is a full-state controller and there is only one measurement available the rest of the states have to be estimated. We have chosen unscented Kalman filter (UKF) for the estimation purpose since it was performing the best in the presence of strong, almost discontinuous, process nonlinearities. In the end, MPC and UKF algorithm were implemented and tested on the real electronic throttle for the case of set-point reference. Experimental results indicate that the performance of cheaply produced components can be significantly improved with a good control strategy.

关键词： State estimation Optimal control Position measurement Predictive models Combustion Engines Velocity control Predictive control State feedback Electronic equipment testing

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Diagnostics capabilities of foundation fieldbus pressure transmitters

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Chemical engineering World 2004年第6期39卷 44-54页

作者： Szanyi, Ron Raterman, Mike Eryurek, Evren Instrum and Control Projects Section ExxonMobil Research and Engineering Plant Automat and Computing Division Fairfax VA United States ExxonMobil Research and Engineering Fairfax VA United States Emerson Process Management St. Louis MO United States

Over the past two years ExxonMobil Research and engineering group, along with Emerson Process Management, have tested the self-diagnostic capabilities of pressure transmitters with FOUNDATION FIELDBUS (FF) capability while installed on a fluid catalytic cracking (FCC) unit in an operating refinery. This project involved conducting a series of tests on the ability of the devices to diagnose plugged impulse lines.

关键词： Diagnosis

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Improved line-of-sight guidance for cruising underwater vehicles

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IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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