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Visual flight control of a quadrotor using bioinspired motion detector

International Journal of Navigation and Observation 2012年第1期2012卷

作者： Zhang, Lei Zhang, Tianguang Wu, Haiyan Borst, Alexander Khnlenz, Kolja Institute of Automatic Control Engineering (LSR) Technische Universität Mnchen 80290 München Germany Department of Systems and Computational Neurobiology Max Planck Institute of Neurobiology D-82152 Martinsried Am Klopferspitz 18 Germany Institute for Advanced Study (IAS) Technische Universität Mnchen 80290 München Germany

Motion detection in the fly is extremely fast with low computational requirements. Inspired from the fly's vision system, we focus on a real-time flight control on a miniquadrotor with fast visual feedback. In this work, an elaborated elementary motion detector (EMD) is utilized to detect local optical flow. Combined with novel receptive field templates, the yaw rate of the quadrotor is estimated through a lookup table established with this bioinspired visual sensor. A closed-loop control system with the feedback of yaw rate estimated by EMD is designed. With the motion of the other degrees of freedom stabilized by a camera tracking system, the yaw-rate of the quadrotor during hovering is controlled based on EMD feedback under real-world scenario. The control performance of the proposed approach is compared with that of conventional approach. The experimental results demonstrate the effectiveness of utilizing EMD for quadrotor control. Copyright © 2012 Lei Zhang et al.

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Gradient-based classification and representation of features from volume data

Gradient-based classification and representation of features...

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15th International Conference on System Theory, control and Computing, ICSTCC 2011

作者： Gavrilescu, Marius Manta, Vasile Gröller, Eduard Technical University Iasi Romania Vienna University of Technology Austria Faculty of Automatic Engineering and Computer Control Romania Department of Computer Science University of Bergen Norway

ISBN: (纸本)9781457711732

The extraction and representation of information from volume data are important research avenues in computer-based visualization. The interpretation of three- or multi-dimensional data from various scanning devices is important to medical imaging, diagnosis and treatment, reliability and sustainability analyses in various industrial branches, and, in more general terms, information visualization. In this paper, we present several approaches for the classification and representation of relevant information from volume data sets. The techniques are based on the gradient vector, a property directly derived from the original volume data. We show how this property can be computed and subsequently used for classification through gradient-based one- and multi-dimensional transfer functions, as well as for the enhancement of surface features. The described techniques are illustrated through images generated using our volume rendering framework, from Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) data sets. The resulting images show how gradient-based techniques are suited for improved volume classification and the better extraction of meaningful information. © 2011 Faculty of Auto control.

关键词： Extraction

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Inherent robustness properties of quasi-infinite horizon MPC

Inherent robustness properties of quasi-infinite horizon MPC

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作者： Yu, Shuyou Reble, Marcus Chen, Hong Allgöwer, Frank Institute of Systems Theory and Automatic Control University of Stuttgart Germany State Key Laboratory of Automobile Dynamic Simulation Department of Control Science and Engineering Jilin University China

ISBN: (纸本)9783902661937

We consider inherent robustness properties of model predictive control (MPC) for continuous-time nonlinear systems with input constraints and terminal constraints. We show that when the linear quadratic control law is chosen as the terminal control law, and the related Lyapunov matrix is chosen as the terminal penalty matrix, MPC with nominal prediction model and bounded disturbances has some degree of inherent robustness. We emphasize that the input constraint sets can be any compact set rather than convex sets, and our results do not rely on the continuity of the optimal cost functional or control law in the interior of the feasible region. © 2011 IFAC.

关键词： Model predictive control

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Comparing System Reliability Considering Insufficient Knowledge: Application to HVDC Converter Stations

Comparing System Reliability Considering Insufficient Knowle...

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IEEE Power and Energy Society General Meeting

作者： H.-D. Kochs P. Kongniratsaikul F. Lutz the Department of Informationlogistics at the University Duisburg-Essen/Germany (retired 2009) Computer Engineering from Kasetsart University/Thailand in 2007 and his M.Sc. in Control and Information Systems from University of Duisburg-Essen/Germany in 2009 Electrical Engineering in 1975 and his Dr.-Ing. Degree in 1981 from Technical University (RWTH) Aachen/Germany

ISBN: (纸本)9781467327275

The authors describe and apply a reliability evaluation approach for comparison of the reliability respectively availability of different types of HVDC converter stations taken into account limited statistical data, insufficient information, and differences in technology. To overcome these difficulties the idea of MIL-HDBK-217F ("Part Count Reliability Prediction"), established for electronic and microelectronic devices based on "well-defined" components and well-known base failure rates, is applied in a similar sense to HVDC converter stations. Nevertheless, differences of such two distinct areas have been considered. The components in electric power stations are usually custom designed, and can be regarded as abstract units (macro components with possibly different technology, structure and protection), therefore, statistical data can be very limited due to data complication and compilation. The described approach is not only restricted to the described HVDC converter stations but can be regarded as a (extensible) procedure for similar problems, especially in early design stage.

关键词： Availability HVDC transmission Reliability High-voltage direct current (HVDC) Power Plants Converters STATIONS reliability evaluation HVDC power transmission MICROELECTRONIC DEVICES Statistical Data Representation of data

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COMPLEXITY ANALYSIS OF NETWORK-BASED DYNAMICAL systems

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Journal of systems Science & Complexity 2011年第3期24卷 413-432页

作者： Guofeng ZHANG Long WANG Tongwen CHEN School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China. Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing 100871 China Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates the nonlinear dynamics of network-based dynamical systems where network communication channels of finite data rates are inserted into the closed loops of the control systems. The authors analyze the bifurcation and chaotic behavior of the non-smooth dynamical systems. The authors first prove that for almost all system parameters there are no periodic orbits. This result distinguishes this type of non-smooth dynamical systems from many others exhibiting border-collision bifurcations. Next, the authors show analytically that the chaotic sets are separated from the region containing the line segment of all fixed points with a finite distance. Finally, the authors employ a simple model to highlight that both the number of clients sharing a common network channel and fluctuations in the available network bandwidth have significant influence on the performance of such dynamical systems.

关键词： Bifurcation feedback network-based dynamical system non-convexity periodicity.

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A hierarchical Mamdani-type fuzzy modelling approach with new training data selection and multi-objective optimisation mechanisms: A special application for the prediction of mechanical properties of alloy steels

A hierarchical Mamdani-type fuzzy modelling approach with ne...

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作者： Zhang, Qian Mahfouf, Mahdi Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

In this paper, a systematic data-driven fuzzy modelling methodology is proposed, which allows to construct Mamdani fuzzy models considering both accuracy (precision) and transparency (interpretability) of fuzzy systems. The new methodology employs a fast hierarchical clustering algorithm to generate an initial fuzzy model efficiently;a training data selection mechanism is developed to identify appropriate and efficient data as learning samples;a high-performance particle swarm optimisation (PSO) based multi-objective optimisation mechanism is developed to further improve the fuzzy model in terms of both the structure and the parameters;and a new tolerance analysis method is proposed to derive the confidence bands relating to the final elicited models. This proposed modelling approach is evaluated using two benchmark problems and is shown to outperform other modelling approaches. Furthermore, the proposed approach is successfully applied to complex high-dimensional modelling problems for manufacturing of alloy steels, using 'real' industrial data. These problems concern the prediction of the mechanical properties of alloy steels by correlating them with the heat treatment process conditions as well as the weight percentages of the chemical compositions. © 2010 Elsevier B.V. All rights reserved.

关键词： Multiobjective optimization

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Zonotopic ultimate bounds for linear systems with bounded disturbances

Zonotopic ultimate bounds for linear systems with bounded di...

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作者： Stoican, Florin Olaru, Sorin De Doná, José A. Seron, María M. Automatic Control Department Gif sur Yvette France CDSC School of Electrical Engineering and Computer Science University of Newcastle NSW 2308 Australia

ISBN: (纸本)9783902661937

This paper deals with robust invariant sets construction for discrete-time linear time-invariant dynamics. The case of a zonotopic disturbance set is analysed in detail by exploiting the properties of these geometrical structures. A constructive method is provided for diminishing the conservatism of ultimate bound invariant sets. It is shown that the resulting zonotopic set is related to the minimal robust positively invariant set in the sense that their boundaries have common points. © 2011 IFAC.

关键词： Invariant sets Linear systems Ultimate bounds Zonotopes

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Confidence interval assessment for Charpy impact energy predictions - A Gaussian Mixture Model (GMM)-based approach

Confidence interval assessment for Charpy impact energy pred...

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作者： Yang, Y.Y. Mahfouf, M. Panoutsos, G. Institute for Microstructural and Mechanical Process Engineering Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom

ISBN: (纸本)9783902661937

One of the obstacles of applying data-driven models in industry is the lack of confidence in the accuracy of the model predictions. One way of overcoming this is by adding a confidence interval on the predictions. In this paper, we propose a new approach for the confidence interval assessment for model predictions based on a Gaussian Mixture Model (GMM) framework. The advantages of the presented approach include its capability to handle complicated non-white noise sequences, the ability to provide an accurate confidence interval, and its independence to the type of the data model to be assessed. The proposed approach is applied to an industrial case study: the Charpy impact energy prediction, which includes real industrial data containing a significant noise component and with an inherited sparse data distribution. The resulting confidence intervals reflect the prediction uncertainty against the test data. Furthermore, the GMM-based approach can also be used for model bias correction. The GMM-based confidence interval assessment for data driven models represents a valuable contribution especially in the case of critical applications. © 2011 IFAC.

关键词： Forecasting

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Accelerating the Artificial Bee Colony Algorithm by Hardware Parallel Implementations

Accelerating the Artificial Bee Colony Algorithm by Hardware...

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IEEE Latin American Symposium on Circuits and systems

作者： Daniel M. Mufioz Carlos H. Llanos Leandro dos S. Coelho Mauricio Ayala-Rincon Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Industrial and Systems Engineering Graduate Program LAS/PPGEPS Pontifical Catholic University of Parana Department of Computer Science and Mathematics University of Brasilia

ISBN: (纸本)9781467312073

Artificial bee colony (ABC) is an optimization algorithm inspired on the intelligent behavior of honey bee swarms. It is suitable to be applied when mathematical techniques are impractical or provide suboptimal solutions. As a population-based algorithm, the ABC suffers on large execution times specifically for embedded optimization problems with computational limitations. For that we propose a hardware parallel architecture of the opposition-based ABC algorithm (HPOABC) that facilitates the implementation in Field Programmable Gate Arrays (FPGAs). Numerical simulations using four well-known benchmark problems demonstrate that the opposition-based approach allows the algorithm to improve its functionality, preserving the swarm diversity. Additionally, synthesis results point outs that the HPOABC architecture is effectively mapped in hardware and is suitable for embedded applications.

关键词： Global optimization Swarm intelligence Artificial bee colony FPGAs Floating-point arithmetic

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Stochastic H_2 Optimal control of Discrete-Time Markov Jump systems with Periodic Coefficients

Stochastic H_2 Optimal Control of Discrete-Time Markov Jump ...

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American control Conference

作者： Hongji Ma Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

In this paper, the H_2 optimal state-feedback control problem is investigated for discrete-time Markov jump systems subject to periodic coefficients and multiplicative noise. First of all, an exhaustive analysis is pursued to set up an H_2 performance criterion (H_2 norm), which can be characterized by the periodic solutions of two generalized Lyapunov equations. Based on the obtained H_2 norm, the H_2 optimal state-feedback controller is designed in terms of the stabilizing solution of a discrete-time generalized Riccati equation with periodic coefficients. Moreover, this stabilizing solution can be computed efficiently by the available iterative algorithm.

关键词： Markov processes Noise Educational institutions Riccati equations Optimal control

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