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2017 IEEE Vehicular Networking Conference, VNC 2017

作者： Giordano, Giulia Segata, Michele Blanchini, Franco Cigno, Renato Lo Delft Center for Systems and Control Delft University of Technology Netherlands Dipartimento di Matematica e Informatica University of Udine Italy Dept. of Information Engineering and Computer Science University of Trento Italy

ISBN: (纸本)9781538609866

Cooperative automatic driving, or platooning, is a promising solution to improve traffic safety, while reducing congestion and pollution. The design of a control system for this application is a challenging, multi-disciplinary problem, as cooperation between vehicles is obtained through wireless communication. So far, control and network issues of platooning have been investigated separately. In this work we design a cooperative driving system from a joint network and control perspective, determining worst-case upper bounds on the safety distance subject to network losses, so the actual inter-vehicle gap can be tuned depending on vehicle or network performance. By means of simulation, we show that the system is very robust to packet losses and that the derived bounds are never violated. © 2017 IEEE.

关键词： Traffic congestion

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ProSLAM: Graph slam from a programmer's perspective

arXiv

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arXiv 2017年

作者： Schlegel, Dominik Colosi, Mirco Grisetti, Giorgio Dept. of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In this paper we present ProSLAM, a lightweight stereo visual SLAM system designed with simplicity in mind. Our work stems from the experience gathered by the authors while teaching SLAM to students and aims at providing a highly modular system that can be easily implemented and understood. Rather than focusing on the well known mathematical aspects of Stereo Visual SLAM, in this work we highlight the data structures and the algorithmic aspects that one needs to tackle during the design of such a system. We implemented ProSLAM using the C++ programming language in combination with a minimal set of well known used external libraries. In addition to an open source implementation1, we provide several code snippets that address the core aspects of our approach directly in this paper. The results of a thorough validation performed on standard benchmark datasets show that our approach achieves accuracy comparable to state of the art methods, while requiring substantially less computational resources. Copyright © 2017, The Authors. All rights reserved.

关键词： C++ (programming language)

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A unified angle control scheme for hypersonic vehicle based on disturbance rejection 21

A unified angle control scheme for hypersonic vehicle based ...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Piao, Minnan Zhu, Kai Sun, Mingwei Chen, Zengqiang Dept. of Automation and Intelligent Science College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Hypersonic vehicles are characterized with strong nonlinearities, coupling effects and uncertainties as well as fast time-varying parameters, which impose great difficulty to the attitude control. This study proposes a unified scheme for all the Euler angles, angle of attack, and sideslip angle. First, three controllers based on active disturbance rejection control (ADRC) are designed for the Euler angles respectively, in which the external disturbances and the internal uncertainties can be estimated by the extended state observer (ESO) and compensated in real time actively. Then the geometric relations among the angles with different time scales are utilized to transform the commands of α and β into the commands of the pitch angle and the yaw angle. Next the stability-margin tester method is employed to tune the controller parameters, which guarantees the stability and robustness of the control system. 1000 nonlinear six-degree-of-freedom Monte Carlo simulation results demonstrate the good tracking performance and the robustness of the proposed control method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

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Review of the image assessment evaluation algorithm based on local information and structure 17

Review of the image assessment evaluation algorithm based on...

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2017 International Conference on Data Mining, Communications and Information Technology, DMCIT 2017

作者： Xiao, Wenyu Feng, Shide Zhang, Chuankai Faculty of Information Technology Macau University of Science and Technology C-Macau China Material Forming and Control Engineering Dept. Harbin University of Science and Technology Harbin250021 China Dept. of Computer Science and Technology Wuhan University Wuhan430072 China

ISBN: (纸本)9781450352185

Image quality assessment (IQA) of an image is a vital research direction in the field of image processing. With the quickly developing evaluation methods, study of image quality evaluation method has a profound impact on image and video processing. At present, most of the image quality assessment methods are based on full reference. The traditional quality evaluation method based on structural similarity has the characteristics of narrow application range, unstable evaluation algorithm and so on. The difficulties of obtaining the original image and the difficulty of the reference model design directly incented the development of the semi reference IQA. In this context, a topic-based image quality evaluation process grounded on local information and structure information is proposed. Compared to the traditional image quality evaluation algorithm, the structure similarity has been improved by combining local information. The results show that the evaluation results of the method are more reasonable and stable, which provides a good reference for the post processing of the image. © 2017 Association for Computing Machinery.

关键词： Quality control

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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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Robotic applications in the automation of agricultural production under greenhouse: A review 3

Robotic applications in the automation of agricultural produ...

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3rd IEEE Colombian Conference on Automatic control, CCAC 2017

作者： Tangarife, Hector Ivan Diaz, Andres Escobar CMM Investigation Group GICEMET SENA Dept. Electronic. Spe. Computer Science and Automation District University FJC Bogotá Colombia Investigation Group ORCA Dept. Control Engineering and Telecommunications District University Francisco José de Caldas Bogotá Colombia

ISBN: (纸本)9781538603987

This article shows a review of the state of the art in the agricultural automation under greenhouse through the use of robotics platforms as a source of solution to different problems that arise in the agricultural sector specially under controlled conditions;the writing is part of a wide review of the agricultural automation under greenhouse and a set of proposals that consider applications in various fields of research, autonomous localized irrigation, neural networks, automatic learning, monitoring and control systems among others. It is intended to determine the most recent advances in techniques for sowing, applications of chemical for sanitary control, fertilization, harvest, where robotics is used as a source to solve agricultural problems. The review includes consultation in well-known national and international journals, research carried out in centers and research groups or companies dedicated to implementation addressed to the agricultural sector, finally it is determined the solutions that can be implemented to propose new topics, research lines, development and technology transfer to the agricultural sector. © 2017 IEEE.

关键词： Greenhouses

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D2L: Decentralized dictionary learning over dynamic networks

D2L: Decentralized dictionary learning over dynamic networks

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： A. Daneshmand Y. Sun G. Scutari F. Facchinei School of Industrial Engineering Purdue University West-Lafayette IN USA Dept. of Computer Control and Management Engineering University of Rome "La Sapienza" Italy

ISBN: (纸本)9781509041183

The paper studies a general class of distributed dictionary learning (DL) problems where the learning task is distributed over a multi-agent network with (possibly) time-varying (non-symmetric) connectivity. This setting is relevant, for instance, in scenarios where massive amounts of data are not collocated but collected/stored in different spatial locations. We develop a unified distributed algorithmic framework for this class of non-convex problems and establish its asymptotic convergence. The new method hinges on Successive Convex Approximation (SCA) techniques while leveraging a novel broadcast protocol to disseminate information and distribute the computation over the network, which neither requires the double-stochasticity of the consensus matrices nor the knowledge of the graph sequence to implement. To the best of our knowledge, this is the first distributed scheme with provable convergence for DL (and more generally bi-convex) problems, over (time-varying) digraphs.

关键词： Dictionary Learning distributed algorithms nonconvex optimization time-varying networks Time varying networks distributed algorithms dynamic network Dictionaries as Topic Distribute NETWORKING AGENT Non-Convex

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NFV service dynamicity with a DevOps approach: Demonstrating Zero-Touch Deployment & Operations 15

NFV service dynamicity with a DevOps approach: Demonstrating...

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15th IFIP/IEEE International Symposium on Integrated Network and Service Management, IM 2017

作者： Van Rossem, Steven Cai, Xuejun Cerratoz, Ivano Danielsson, Per Németh, Felicián Pechenot, Bertrand Pelle, István Risso, Fulvio Sharma, Sachin Sköldström, Pontus John, Wolfgang Ghent University - Imec Belgium Ericsson Research Cloud Technologies Sweden Politecnico di Torino Dept. of Control and Computer Engineering Italy SICS Swedish ICT AB Sweden Budapest University of Technology and Economics Hungary Acreo Swedish ICT AB Sweden

ISBN: (纸本)9783901882890

Next generation network services will be realized by NFV-based microservices to enable greater dynamics in deployment and operations. Here, we present a demonstrator that realizes this concept using the NFV platform built in the EU FP7 project UNIFY. Using the example of an Elastic Router service, we show automated deployment and configuration of service components as well as corresponding monitoring components facilitating automated scaling of the entire service. We also demonstrate automatic execution of troubleshooting and debugging actions. Operations of the service are inspired by DevOps principles, enabling quick detection of operational conditions and fast corrective actions. This demo conveys essential insights on how the life-cycle of an NFV-based network service may be realized in future NFV platforms. © 2017 IFIP.

关键词： Life cycle

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Data mining for better healthcare: A path towards automated data analysis? 32

Data mining for better healthcare: A path towards automated ...

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32nd IEEE International Conference on Data engineering Workshops, ICDEW 2016

作者： Cerquitelli, Tania Baralis, Elena Morra, Lia Chiusano, Silvia Control and Computer Engineering Dept. Politecnico di Torino Italy

ISBN: (纸本)9781509021086

In today's world, large volumes of medical data are being continuously generated, but their value is severely undermined by our inability to translate them into knowledge and, ultimately, actions. Data mining techniques allow the extraction of previously unknown interesting patterns from large datasets, but their complexity limits their practical diffusion. Data-driven analysis is a multi-step process, in which health care professionals define analysis goals and assess extracted knowledge, while computer scientists tackle the non trivial task of driving the miner system analysis activity. This paper addresses the mining activity from a different perspective. We believe that mining systems should be able to devise which knowledge could be most interesting to users and extract actionable knowledge from large medical datasets, with minimal user intervention. More specifically, mining systems should be capable of (i) devising viable end-goals for a specific dataset (i.e., that yield actionable knowledge to the user and are feasible given the dataset characteristics and size), based on the expertise acquired during the analysis of previous datasets, and (ii) extracting a manageable set of knowledge. Automated data analysis should fuel the next generation of medical mining systems, thus enabling users to automatically mine massive data repositories. © 2016 IEEE.

关键词： Health care

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The stabilizer design for a drone-mounted camera gimbal system using intelligent-PID controller and tuned mass damper

International Journal of Control and Automation

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International Journal of control and Automation 2016年第5期9卷 387-394页

作者： Kim, Min Byun, Gi-Sig Kim, Gwan-Hyung Choi, Myoung-Hoon Dept. of Control and Instrumentation Engineering Pukyong Univ Nam-gu Busan Korea Republic of Dept. of Computer Engineering Tongmyong Univ Yongdang-dong Busan Korea Republic of

Drones in flight make a variety of vibration frequencies. Therefore, gimbal system is needed to get clean images from drone-mounted cameras. The system consists of two things: one is a structure to support a camera module, and another is a stabilizer to block outside vibrations and keep the right angle. The purpose of this paper focuses on the system's dynamics model and the application of a traditional PID controller. Furthermore, the paper compares the traditional PID and intelligent-PID without any dynamics model through the simulation made of MATLAB/Simulink. © 2016 SERSC.

关键词： controllers

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