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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping Robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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A Brief Overview of the Complex Biological and engineering Networks

A Brief Overview of the Complex Biological and Engineering N...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Jinhu Lu Derong Liu Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Illinois Chicago Chicago IL USA

Over the last few decades, complex networks have been intensively studied throughout many fields of science, especially in biological and engineering sciences. This paper briefly reviews the main advances in the complex biological and engineering networks, aiming to bridge the gap between the complex biological and engineering networks. Biologists pay more attention to the mechanisms and local dynamics of individuals, however, engineers are more interesting in the global dynamical behaviors. It is the time for the biologists and engineers to work together for better understanding the complex networks.

关键词： Biological system modeling Complex networks Mathematical model Biology Genetics Power system modeling Bridge circuits Evolution (biology) computer networks Power engineering computing

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Fast Computation of Orthogonal Fourier-Mellin Moments Using Modified Direct Method

Fast Computation of Orthogonal Fourier-Mellin Moments Using ...

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International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell Thessaloniki Institute of Technology Thessaloniki Greece

A novel, modified direct method for Orthogonal Fourier-Mellin Moments (OFMMs) computation, which lacks of any factorial terms, is presented. The proposed algorithm is based on the substitution of the factorial terms by their approximate values, according to Stirling's Approximation formula. In this way, a new set of orthogonal moments, which are approximate versions of the original ones, are extracted. The approximation error introduced by the Stirling's Approximation formula is of low order and thus the resulted moments do not significantly differ from their original values. The resulted formulas are factorial free and therefore the time needed to compute the OFMMs is less than this of the conventional direct method.

关键词： Polynomials Automation Pattern recognition Kernel Laboratories Automatic control control systems Feature extraction Approximation algorithms Approximation error

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Highly Compressed Zernike Moments by Smoothing

Highly Compressed Zernike Moments by Smoothing

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International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell. Thessaloniki Institute of Technology Thessaloniki Greece

A novel methodology that improves the discrimination capabilities of the compressed feature vectors, used in pattern recognition tasks, is presented in this paper. The Zernike moment signals of some patterns are extracted and are compressed by using a typical wavelet compression technique. In order to increase the compression ratio without loosing a great amount of significant information, the moment signals are smoothed appropriately before the compression. As a result, highly compressed feature vectors that include enough classification information are derived. The resulted improved features are studied for their discriminative power through appropriate experiments.

关键词： Smoothing methods Image coding Polynomials Automation Feature extraction Pattern classification Digital images Image reconstruction Laboratories Automatic control

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Representation and control of Infinite Dimensional systems 2

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丛书名： systems & control: Foundations & Applications

2007年

作者： Alain Bensoussan Giuseppe Prato Michel C. Delfour Sanjoy K. Mitter

ISBN: (数字)9780817645816

ISBN: (纸本)9780817644611

A new edition in a single volume Over the past decade, more and more sophisticaced mathematical tools and approaches have been incorporated in the ?eld of control of in?nite dim- sional systems. This was motivated by a whole range of challenging appli- tions arising from new phenomenologicalstudies, technologicaldevelopments, and more stringent design requirements. At the same time, researchers and advanced engineers have been steadily using an impressive amount of very sophisticated mathematics in their analysis, synthesis, and design of systems. Whatwasregardedastooabstract,specialized,ortheoreticalin1990hasnow become a standard part of the toolkit. The decision to produce a second edition of the original 1992–1993 t- volume edition is further motivated by several other factors. Over the years the book has been recognizedas a key referencein the ?eld, and a revised and corrected edition was desirable. Even if some good books on the control of in?nite dimensional linear systems have appeared since then, we felt that the original material has not aged too much and that the breadth of its presen- tion is still attractiveand very competitive. The result is a completely revised and corrected second edition in a single convenient volume with integrated bibliography and index.

关键词： control and systems Theory systems Theory, control Calculus of Variations and Optimal control Optimization control, Robotics, Mechatronics Partial Differential Equations Applications of Mathematics

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Optical satellite networks

Optical satellite networks

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Optical Fiber Communication Conference, OFC 2006

作者： Chan, Vincent W.S. IEEE Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Department of Aeronautics and Astronautics MIT United States

With high-speed space optical crosslinks, an optical satellite network as part of a larger integrated space-terrestrial network is now feasible. This radical technology building block can have profound transforming ef... 详细信息

ISBN: (纸本)1557528020

关键词： Fiber optics

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Economic aspects of network coding 44

Economic aspects of network coding

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44th Annual Allerton Conference on Communication, control, and Computing 2006

作者： Ahmed, Ebad Eryilmaz, Atilla Ozdaglar, Asuman Medard, Muriel Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

ISBN: (纸本)9781604237924

This work focuses on a cellular system scenario of a single base station broadcasting incoming files (or users) to multiple receivers over a time-varying channel. The basestation sets a price per receiver and per file to maximize its profit. The files may or may not enter the system depending on the price of service, the delay performance and their randomly determined valuations. Under this scenario, we consider the use of Network Coding and Scheduling as the transmission strategies. Our analysis provides approximate characterization of the optimal admission rate, price and revenue as functions of the first and second moments of the service time processes under mild assumptions. We show that optimal network coding window size is highly insensitive to the number of receivers, which suggests that pricing and coding decisions can be decoupled. Moreover, we demonstrate that network coding leads to a significant (almost ten-fold) gain in the revenue compared to scheduling.

关键词： Network coding

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Hierarchical Network Games with Various Types of Public and Private Information

Hierarchical Network Games with Various Types of Public and ...

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IEEE Conference on decision and control

作者： Hongxia Shen Tamer Basar Decision and Control Laboratory Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign IL USA

ISBN: (纸本)1424401704

s a single service provider (leader, in a Stackelberg game framework) and multiple users (followers) which could be of different types. Depending on whether the type of a particular user is private information (only to that user), or public information (shared with all users as well as the service provider), or whether we have the intermediate case where this is common (shared) information among the users but not shared with the service provider, one can introduce and study the equilibria of different types of games, covering the entire gamut from complete information to incomplete information games. We undertake such a study in this paper, with general utility functions for the players and general distributions for user characteristics. We compare the performances of the leader and the followers under the different scenarios, and also study the asymptotic case as the user population grows. The study for the many-followers regime provides useful insight for communication network applications

关键词： Communication networks Communication system control Bayesian methods Stochastic processes Routing USA Councils Context-aware services Context Nash equilibrium Information analysis

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