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Frontiers in Artificial Intelligence and Applications 2012年 243卷 716-725页

作者： García, G. Maiora, J. Tapia, A. De Blas, M. Systems Engineering and Automatic Control Department-EUP University of the Basque Country San Sebastián Spain Electronics and Telecomunications Department-EUP University of the Basque Country San Sebastián Spain Radiology Department Donostia Hospital San Sebastián Spain

ISBN: (纸本)9781614991045

Endovascular repair is a minimal invasive alternative to open surgical therapy. From a long term perspective, complications such as prostheses displacement or leaks inside the aneurysm sac (endoleaks) could appear influencing the evolution of treatment. The objective of this work is to develop a preliminary computer-aided diagnosis system (CAD) for an automated classification of EVAR progression from computed tomography angiography CTA images. The system is based on the extraction of texture features from thrombus aneurysm samples and a posterior classification. Regions of interest (ROIs) from patients with different post-EVAR evolution were extracted by experienced radiologists. Three conventional texture-analysis methods such as the gray level co-occurrence matrix (GLCM), the gray level run length matrix (GLRLM), and the gray level difference method (GLDM), were applied to each ROI to obtain texture features. Classification of the ROI is carried out by three different strategies. In the first one each feature set is fed to a neural network (NN). The second consists of a single neural network fed with a reduced version of texture features after a feature selection process. The third one comprised an ensembles of classifiers (ECs), formed by three NNs, each using as input one of the feature sets. The final decision is based on the application of a voting scheme across the outputs of the individual NNs. Classification results from the three classification strategies are evaluated using a receiver operating-characteristics (ROC) analysis and area under the roc curve (Az) performance. The multiple classification scheme using the three sets of texture features results in a better performance, as compared to the classification performance of the other alternatives. © 2012 The authors and IOS Press. All rights reserved.

关键词： Classification (of information)

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A nonlinear voltage controller using T-S fuzzy model for multimachine power systems

A nonlinear voltage controller using T-S fuzzy model for mul...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： A. Abbadi D. Boukhetala L. Nezli A. Kouzou Electrical and Computer Engineering Department Research Laboratory in Electrical Engineering and Automatic LREA University of Medea Algeria Electrical Engineering Department Process Control Laboratory El Harrach Polytechnic School Algiers Algeria Electrical Department University Centre of Djelfa Djelfa Algeria

ISBN: (纸本)9781467315906

In this paper we propose a decentralized nonlinear controller that has the ability to enhance the transient stability and achieve voltage regulation simultaneously for multimachine power systems. This paper extends the existing work on the construction of TS fuzzy model using linearly independent functions from nonlinear systems. This approach is based on Takagi-Sugeno (T-S) fuzzy controller via parallel distributed compensation (PDC) method. The stability analysis and control design problems can be reduced to linear matrix inequality (LMI) problems. Based on only local measurements, the designed fuzzy state feedback controller guarantees stability and satisfies desired transient responses. The proposed controller is applied to two-generator infinite bus power system. Simulation results illustrate the performance of the developed approach regardless of the system operating conditions.

关键词： Power system stability Stability analysis Transient analysis Generators Mathematical model Voltage control

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A Performance Study of Multimedia Patient Education: A Case of Surgical Wound Care

A Performance Study of Multimedia Patient Education: A Case ...

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International Symposium on computer, Consumer and control (IS3C)

作者： Shu-Ling Tu Yue-Der Lin I-Chen Chiu Yaw-Jen Lin Nursing Department Changhua Christian Hospital Changhua Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Management Information Systems Central Taiwan University of Science and Technology Taichung Taiwan

Wound care skills are essential for patients in stable condition after surgery. A nurse must teach wound care skills and explain infection symptoms and signs to patients or their families before discharge to help wound healing. The purpose of this study is to investigate the influence of group teaching with multimedia materials on wound care skills of surgical patients. This study is based on Solomon four-group design to study four surgical wards in a medical teaching hospital. There were 121 surgical patients selected according to purposive sampling, and divided into two experimental groups and two control groups. Test groups received multimedia teaching compiled by the researcher, and control groups received traditional nursing instruction. Performance of one test group and one control group were measured with a structured questionnaire before teaching, and all patients were measured after teaching. Data were collected and analyzed by SPSS/PC software package. Performance of test group and the control group before and after nursing instruction showed statistically significant difference (p=0.00). Wound care skills progress among all the four groups are significantly different (p= 0.002). It is an important task of nursing staff to provide disease-related knowledge and guidance of patient care to reduce complications. This study finds that wound care nursing guidelines with multimedia materials really enhance the wound care skills of patients and family members. It is hoped that this study will be a reference for other health education programs.

关键词： Wounds Multimedia communication Surgery Materials Educational institutions

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Supervisory control Design for Networked systems with Time-Varying Communication Delays

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IFAC Proceedings Volumes 2012年第9期45卷 133-140页

作者： Burak Demirel Corentin Briat Mikael Johansson Automatic Control Laboratory School of Electrical Engineering KTH Royal Institute of Technology Stockholm SE-100 44 SWEDEN Department of Mathematics Division of Optimization and Systems Theory KTH Royal Institute of Technology Stockholm SE-100 44 SWEDEN

This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the closed-loop performance relative to what can be obtained using a single robust controller. Our analysis considers average dwell-time switching and is based on a novel multiple Lyapunov-Krasovskii functional. We develop analysis conditions that can be verified by semi-definite programming, and show that associated state feedback synthesis problem also can be solved using convex optimization. Small and large scale networked control systems are used to illustrate the effectiveness of our approach.

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Reference governor design with guarantees of detection for delay variation

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IFAC Proceedings Volumes 2012年第14期45卷 67-72页

作者： Nikola Stanković Florin Stoican Sorin Olaru Silviu-Iulian Niculescu SUPELEC System Sciences (E3S - Automatic Control Department Gif-sur-Yvette France Norwegian University of Science and Technology - Department of Engineering Cybernetics Trondheim Norway SUPELEC-CNRS LSS - Laboratory of Signals and Systems Gif-sur-Yvette France

The present paper deals with fault tolerant control for linear dynamics with additive disturbances. The control action is generated based on information collected from a redundant, multi-sensors network. Delays that may appear during plant measurements transmission through real communication channels are considered as faults. Depending on presence of delay in feedback loop, different invariant sets can be computed. We show that fault tolerant control can be achieved through invariant sets separation with respect to different delay values. Sets separation is accomplished for specific values of the reference signal. Therefore, we introduce in the loop a reference governor which is designed by a receding horizon technique. Thus, we provide reference signals which practically guarantee fault detection and identification in real time.

关键词： Fault tolerance Time-Delay systems Set invariance

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Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL

Design and experimental implementation of a compliant hybrid...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Koushil Sreenath Hae-Won Park J. W. Grizzle Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Michigan Ann Arbor MI USA

This paper presents a control design based on the method of virtual constraints and hybrid zero dynamics to achieve stable running on MABEL, a planar biped with compliance. In particular, a time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. The compliant-hybrid-zero-dynamics-based controller with active force control is implemented experimentally and shown to realize stable running gaits on MABEL at an average speed of 1.95 m/s (4.4 mph) and a peak speed of 3.06 m/s (6.8 mph). The obtained gait has flight phases upto 39% of the gait, and an estimated ground clearance of 7.5 - 10 cm.

关键词： Springs Dynamics Robot kinematics Torso Legged locomotion Actuators

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Switching control design for accommodating large step-down disturbances in bipedal robot walking

Switching control design for accommodating large step-down d...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hae-Won Park Koushil Sreenath Alireza Ramezani J.W. Grizzle Mechanical Engineering Department University of Michigan Ann Arbor MI USA Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

This paper presents a feedback controller that allows MABEL, a kneed, planar bipedal robot, with 1 m-long legs, to accommodate an abrupt 20 cm decrease in ground height. The robot is provided information on neither where the step down occurs, nor by how much. After the robot has stepped off a raised platform, however, the height of the platform can be estimated from the lengths of the legs and the angles of the robot's joints. A real-time control strategy is implemented that uses this on-line estimate of step-down height to switch from a baseline controller, that is designed for flat-ground walking, to a second controller, that is designed to attenuate torso oscillation resulting from the step-down disturbance. After one step, the baseline controller is re-applied. The control strategy is developed on a simplified-design model of the robot and then verified on a more realistic model before being evaluated experimentally. The paper concludes with experimental results showing MABEL (blindly) stepping off a 20 cm high platform.

关键词： Legged locomotion Torso Switches Mathematical model Optimization

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Shareable educational architectures for remote laboratories

Shareable educational architectures for remote laboratories

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Technologies Applied to Electronics Teaching (TAEE)

作者： Mohamed Tawfik Elio San Cristóbal Alberto Pesquera Rosario Gil Sergio Martin Gabriel Diaz Juan Peire Manuel Castro Rafael Pastor Salvador Ros Roberto Hernandez Electrical and Computer Engineering Department Spanish University of Distance Education Madrid Spain Control and Communication Systems Department Spanish University of Distance Education Madrid Spain

The proliferation of remote laboratories in multiple disciplines of science has removed the cost and administration burdens that hinder the adoption of practical sessions in engineering education. Remote laboratories provide online workbenches unconstrained by neither temporal nor geographical considerations and allow an interactive learning that maintains student attention. Recently, remote laboratories have been developed at multiple universities and adopted in engineering education. Furthermore, some of these laboratories are replicated at many universities such as the electronic circuit's remote labs: NetLab, VISIR, and labs based on NI ELVIS II. This was the commence of a new mainstream which advocates a better remodeling of those laboratories to allow their allocation, sharing among universities, and their communication with other heterogeneous systems, e.g., Learning Management systems (LMS). In this context, numerous sharable educational architectures for remote labs integration have emerged such as LiLa, Lab2go, ISILab, DCL, WebLab Deusto, iLab (ISA), and Labshare (Sahara). This paper reports on the emerging solutions for remote laboratories implementation and deployment in engineering education in an efficient way. The paper discusses different integration scenarios pointing out features, limitations, and upcoming challenges.

关键词： Remote laboratories computer architecture Least squares approximation Servers Educational institutions Service oriented architecture

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Task-based Grasp Adaptation on a Humanoid Robot

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IFAC Proceedings Volumes 2012年第22期45卷 779-786页

作者： Jeannette Bohg Kai Welke Beatriz León Martin Do Dan Song Walter Wohlkinger Marianna Madry Aitor Aldóma Markus Przybylski Tamim Asfour Higinio Martí Danica Kragic Antonio Morales Markus Vincze Humanoids and Intelligence Systems Lab Institute for Anthropomatics KIT DE Autonomous Motion Lab MPI for Intelligent Systems DE Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI ES Computer Vision and Active Perception lab KTH SE Automation and Control Institute TUW AT

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.

关键词： Robotic Grasping and Manipulation Task-based Grasp Synthesis Visual Servoing Attention Segmentation Object categorization System Integration

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engineering control software systems: A multi-disciplinary challenge

Engineering control software systems: A multi-disciplinary c...

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Annual IEEE systems Conference

作者： Matt M. Eskandar Vahid Garousi MR Control Systems International Inc. Calgary Canada Software Quality Engineering Research Group Department of Electrical and Computer Engineering University of Calgary Calgary Canada

Advancement of computer, software, telecommunication and internet technologies during the last twenty years has fundamentally shifted the focus of the expertise in control-systems engineering (CSE) industry. It is evident that building high-quality modern control systems requires a multi-disciplinary effort as a single engineer simply cannot be an expert in all the related areas, e.g., software/computer engineering, computer science and information systems. As an experience and evidence report, this article reports on the challenges in CSE based on the authors' experience and presents observations and potential recommendations for multi-disciplinary nature of CSE. It is hoped that the article would bring awareness to the community and would be useful for the industrial practitioners and researchers working in this area in building stronger multi-disciplinary CSE teams and, ultimately, in building higher-quality modern control systems.

关键词： Software SCADA systems Testing Buildings Automation

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