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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Frazzoli, Emilio Dahleh, Munther A. Feron, Eric Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology United States Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology United States

ISBN: (纸本)9781563479786

The operation of an autonomous vehicle in an unknown, dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in real time to changes in the operational environment. A new class of algorithms, based on the construction of probabilistic roadmaps, has been recently introduced, and proven to provide a very fast and efficient scheme for motion planning for robots with many degrees of freedom, while maintaining completeness guarantees (in a probabilistic sense). In this paper we will present an extension of the probabilistic roadmap approach, which is able to deal effectively with the system dynamics, in an environment characterized by moving obstacles. This is accomplished through a Lyapunov function based approach to the construction of the roadmap. The proposed algorithm can be directly applied to a very general class of dynamical systems, including traditional state space systems, as well as hybrid systems (systems including both discrete and continuous dynamics). Simulation examples, involving a small autonomous helicopter, will be presented and discussed. © 2000 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Hybrid systems

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Reengineering the biomedical-equipment procurement process through an integrated management information system

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Technology and Health Care 2000年第5期8卷 299-313页

作者： Larios, Yannis G. Matsopoulos, George K. Askounis, Dimitris Th. Nikita, Konstantina S. Decision Support Systems Laboratory Department of Electrical and Computer Engineering National Technical University of Athens 15773 Zografou Athens 9 Iroon Polytechneiou Str. Greece Biomedical Simulations and Medical Imaging Unit Department of Electrical and Computer Engineering National Technical University of Athens 15773 Zografou Athens 9 Iroon Polytechneiou Str. Greece

The design of each new hospital site is typically preceded by decisions on the most appropriate level of biomedical equipment which significantly influences the layout of the hospital departments which are under construction. The most appropriate biomedical equipment should ideally be decided upon considering a series of demographic and social parameters of the hospital and international regulations and standards. This information should ultimately be distilled to proper technical specifications. This paper proposes a streamlined management process related to the procurement of biomedical equipment for new hospital sites or for those under expansion. The new management process aims to increase the efficiency of the experts involved in the definition of the most appropriate level of equipment and its technical specifications. It also addresses all aspects of the biomedical equipment-selection cycle, including the evaluation of the bids submitted by the equipment suppliers. The proposed process is assisted by a management information system, which integrates all related data-handling operations. It provides extensive decision-support facilities to the expert and a platform for the support of knowledge re-use in the field of biomedical-equipment selection.

关键词： Biomedical equipment procurement Business process reengineering Management information systems

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Evaluating channels for control: capacity reconsidered

Evaluating channels for control: capacity reconsidered

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American control Conference (ACC)

作者： A. Sahai Department of Electrical Engineering and Computer and Laboratory for Information and Decision Systems Massachsuetts lnstitute of Technology Cambridge MA USA

We show that Shannon's classical notion of capacity is not enough to characterize a communication channel if we intend to use that channel as a part of a feedback loop. This is done by considering the stabilization problem for a simple discrete time linear system. While classical capacity is not enough, we show by example that the stricter notion of Shannon's zero-error capacity is conservative. We finish by introducing a new parametric notion of capacity that we call "any-time capacity" and evaluate it for two channels with feedback: the continuous valued additive white Gaussian noise channel and the binary erasure channel.

关键词： Channel capacity Additive white noise Gaussian noise Capacity planning Communication system control Laboratories Feedback loop Linear systems Intelligent control Upper bound

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Robust hybrid control for autonomous vehicle motion planning

Robust hybrid control for autonomous vehicle motion planning

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IEEE Conference on decision and control

作者： E. Frazzoli M.A. Dahleh E. Feron Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology USA Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology USA

ISBN: (纸本)0780366387

The operation of an autonomous vehicle in an unknown, dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in real time to changes in the operational environment. A possible approach to reduce the computational complexity of the motion planning problem for a nonlinear, high dimensional system, is based on a quantization of the system dynamics, leading to a control architecture based on a hybrid automaton, the states of which represent feasible trajectory primitives for the vehicle. The paper focuses on the feasibility of this approach, in the presence of disturbances and uncertainties in the plant and/or in the environment: the structure of a robust hybrid automaton is defined and its properties are analyzed. In particular, we address the issues of well-posedness, consistency and reachability. For the case of autonomous vehicles, we provide sufficient conditions to guarantee reachability of the automaton.

关键词： Robust control Motion control Remotely operated vehicles Mobile robots Automata Nonlinear dynamical systems Vehicle dynamics Computational complexity Quantization Automatic control

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Tree-Based Modeling and Estimation of Gaussian Processes on Graphs with Cycles 00

Tree-Based Modeling and Estimation of Gaussian Processes on ...

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Annual Conference on Neural Information Processing systems

作者： Alan S. Willsky Erik B. Sudderth Martin J. Wainwright Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02139

ISBN: (纸本)0262122413

We present the embedded trees algorithm, an iterative technique for estimation of Gaussian processes defined on arbitrary graphs. By exactly solving a series of modified problems on embedded spanning trees, it computes the conditional means with an efficiency comparable to or better than other techniques. Unlike other methods, the embedded trees algorithm also computes exact error co-variances. The error covariance computation is most efficient for graphs in which removing a small number of edges reveals an embedded tree. In this context, we demonstrate that sparse loopy graphs can provide a significant increase in modeling power relative to trees, with only a minor increase in estimation complexity.

关键词： Gaussian processes embedding trees Modeling Estimation Techniques powered models

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Validating executable controller specifications through formal model checking

Validating executable controller specifications through form...

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： J.J. Scillieri K.R. Butts J.S. Freudenberg Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Powertrain Control Systems Department Ford Research Laboratory Dearborn MI USA

ISBN: (纸本)0780365666

In many embedded control system applications, the control algorithm includes both logical and data flow portions. We apply formal methods of system verification to discrete-state algorithms. Specifically, we make use of a formal model checking tool to prove or disprove various properties of the algorithm. Questions pertaining to the achievability of states and paths and proper variable assignment are cast as logical assertions in computation tree logic (CTL), and evaluated using the model checker. In addition, we describe an approach for generating scenarios; that is, a sequence of inputs and parameters that will take a discrete-state system model through a given sequence. We present several examples illustrating various questions that the designer may wish to pose, and an appropriate CTL assertion for each.

关键词： Mathematical model System testing Power system modeling control system synthesis Logic Design engineering computer science Mechanical power transmission Laboratories Application software

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C4ISR architectures: I. Developing a process for C4ISR architecture design

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systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR Architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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Factorization method for multiple perspective views via iterative depth estimation

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systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Constrained feedback control of discrete-time systems decribed by ARMA models

Constrained feedback control of discrete-time systems decrib...

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1999 European control Conference, ECC 1999

作者： Vassilaki, M. Bitsoris, G. Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras Patras26 500 Greece

ISBN: (纸本)9783952417355

In this paper the problem of determination of bounded output-feedback control laws which stabilize multivariable discrete-time systems described by ARMA models is investigated. The proposed approach is based upon the properties of polyhedral positively invariant sets with respect to this class of systems. In the first part of the paper, necessary and sufficient conditions for the positive invariance of polyhedral sets are established. Then, conditions guaranteeing the existence of a solution to the constrained control problem are developed. Finally, it is shown that a solution to this problem can been obtained by solving a linear programming problem. © 1999 EUCA.

关键词： Feedback control

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Design of a neural network observer to control a FED-batch bioprocess

Design of a neural network observer to control a FED-batch b...

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1999 European control Conference, ECC 1999

作者： Boutalis, Y.S. Kosmidou, O.I. Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-67100 Greece

ISBN: (纸本)9783952417355

The present paper deals with the production of Saccharomyces cerevisiae, described by a sixth order nonlinear state space model. The control objective is to ensure the process stability and desirable specifications in the presence of disturbances and lack of reliable state measurements. First, the model of the process and its properties are presented. Next the ability of multi-layer Neural Networks to act as reliable emulators of the system dynamics is tested by simulation results and a training strategy is proposed to improve their performance. Finally, a non-linear adaptive observer is designed by means of artificial neural networks. © 1999 EUCA.

关键词： Neural networks

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