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International Conference on control, Instrumentation, and Automation

作者： M. Azimi M. T. H. Beheshti A. Badpa H. Shokouhi Nejad Faculty of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Faculty of Electrical and Computer Engineering Tarbiat Modares University (TMU) Tehran IRAN Control Engineering Department School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Control Systems Theory Tarbiat Modares University (TMU) Tehran Iran Electrical and Computer Engineering Tarbiat Modares University (TMU) Tehran IRAN

This paper concerns the tracking control problem for a class of nonlinear networked control systems (NCSs) with external disturbances. A Takagi-Sugeno fuzzy model is employed to represent the nonlinear controlled plant in the NCSs. Both network-induced delay and packet dropout are addressed. The control scheme is based on a parallel distributed compensation (PDC) structure, a fuzzy observer and a H ∞ performance to attenuate the external disturbances. The stability of the whole closed-loop model is investigated using a general Lyapunov-Krasovskii functional. The key point of the proposed approaches is to achieve conditions under a linear matrix inequalities (LMI) formulation in the case of a disturbed T-S fuzzy model. This formulation facilitates obtaining solutions through interior point optimization methods for some nonlinear NCSs tracking problems. A numerical example is used to illustrate the validity of the design methodology.

关键词： Delay Observers Bismuth Instruments Automation Stability criteria

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Dynamic vehicle routing for robotic systems

Dynamic vehicle routing for robotic systems

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作者： Bullo, Francesco Frazzoli, Emilio Pavone, Marco Savla, Ketan Smith, Stephen L. Center for Control Dynamical Systems and Computation Department of Mechanical Engineering University of California in Santa Barbara Santa Barbara CA 93106 United States Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA 02139 United States Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

Recent years have witnessed great advancements in the science and technology of autonomy, robotics, and networking. This paper surveys recent concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multivehicle routes to perform tasks that are generated over time by an exogenous process. We consider a rich variety of scenarios relevant for robotic applications. We begin by reviewing the basic DVR problem: demands for service arrive at random locations at random times and a vehicle travels to provide on-site service while minimizing the expected wait time of the demands. Next, we treat different multivehicle scenarios based on different models for demands (e.g., demands with different priority levels and impatient demands), vehicles (e.g., motion constraints, communication, and sensing capabilities), and tasks. The performance criterion used in these scenarios is either the expected wait time of the demands or the fraction of demands serviced successfully. In each specific DVR scenario, we adopt a rigorous technical approach that relies upon methods from queueing theory, combinatorial optimization, and stochastic geometry. First, we establish fundamental limits on the achievable performance, including limits on stability and quality of service. Second, we design algorithms, and provide provable guarantees on their performance with respect to the fundamental limits. © 2011 IEEE.

关键词： Adaptive algorithms

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Experiment design for Pauli channel estimation

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IFAC Proceedings Volumes 2011年第1期44卷 4344-4349页

作者： Gábor Balló Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 H-8200 Veszprém Hungary Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed.

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Real time optimisation of a de-inking plant including online control of yield, using Advanced Process control

Real time optimisation of a de-inking plant including online...

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65th Appita Annual Conference and Exhibition: Innovate for the Future

作者： Austin, Paul Mack, John Mcewan, Matthew Gordon, Andy Mills, Jo Department of Control Systems Engineering School of Engineering and Computer Science Victoria University of Wellington New Zealand Perceptive Engineering Ltd. Daresbury Innovation Centre Keckwick Lane Daresbury Runcorn WA4 4FS United Kingdom Aylesford Newsprint Ltd. Newsprint House Bellingham Way Aylesford Kent ME20 7DL United Kingdom

In recent years, ever more difficult market conditions have forced paper mills to give even greater attention than before to reducing costs and increasing production. De-inking plants are being called upon to deliver better control of brightness, at higher yield, to use less chemical additive and to operate at higher tonnages. The paper describes an online optimisation and control system that meets all these demands in real time, including online optimisation of flotation yield. Advanced Process control (APC) technology has been used in implementing this system;it recognises the multivariable character of the many variables that determine de-inked pulp brightness, yield and the demand for chemical additives. The paper reports an implementation of this approach on the de-inking plant at Aylesford Newsprint Ltd (ANL), in Kent, England. The optimisation system allows operations personnel to specify the costs of recycled paper, bleach, caustic and polymer for the water cleaning system in real time. Based on these costs and the value of finished de-inked pulp, the system determines optimal operation online. This has delivered a number of very significant benefits, providing a very short project payback time. For the ANL DIP case study reviewed in this paper: • Brightness is controlled tightly, to a standard deviation of less than 0.3 points. • Production can be maximised or automatically adjusted, based on paper machine demand. Production changes can be made while tight brightness control is maintained. • There has been a significant reduction in bleach and caustic use and in the polymer used in water treatment. • The APC system has significantly enhanced the ability to maintain and improve yield against the effect of many factors that would otherwise diminish yield. • The constraint management that APC offers means that the operability of the plant has been significantly improved, including better management of plant bottlenecks. • The DCS screens showing what the APC s

关键词： Additives

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Cross Layer Design in MIMO-Enabled Communication-Based Train control systems

Cross Layer Design in MIMO-Enabled Communication-Based Train...

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2011 IEEE Global Telecommunications Conference - GLOBECOM 2011

作者： Li Zhu F. Richard Yu Bin Ning Tao Tang State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University China Department of Systems and Computer Engineering Carleton University Ottawa ONT Canada

Communication-Based Train control (CBTC) is an automated control system for railways using data communications. CBTC systems have stringent communication latency requirements. However, in rail transit systems, frequent train handoffs can cause severe communication latency. In this paper, we propose a handoff scheme in CBTC systems based on WLANs with multiple-input and multiple-output (MIMO) technologies to improve the handoff latency performance. Particularly, we consider channel estimation errors and the tradeoff between MIMO multiplexing gain and diversity gain in making handoff decisions. The handoff problem is formulated as a partially observable Markov decision process (POMDP), and the optimal handoff policy can be derived to minimize the handoff latency. Simulations results based on real field channel measurements are presented to show the effectiveness of the proposed scheme.

关键词： Multiplexing MIMO Physical layer Diversity methods Channel estimation Wireless communication Signal to noise ratio

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On Positive Invariance for Delay Difference Equations

On Positive Invariance for Delay Difference Equations

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2011 American control Conference (ACC)

作者： Warody Lombardi Sorin Olaru Mircea Lazar Silviu-Iulian Niculescu E3S)-Automatic Control Department DISCO team INRIA E3S-SUPELEC Systems Sciences France Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Laboratory of Signals and Systems SUPELECCNRS Gif-sur-Yvette France

In this paper a new concept of set invariance, called D-invariance, is introduced for dynamical systems described by delay difference equations. We will be interested in the definition and computation of such invariant sets in a specified bounded region of the state-space. The Minkowski algebra will be used to define mappings over the set of compact sets in direct relationship with the invariance of time-delay systems. Set-iterates based on these mappings can be used for the construction of a non-decreasing sequence of D-invariant sets.

关键词： Delay Approximation methods Approximation algorithms Heuristic algorithms Difference equations Stability analysis Algebra

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FPGA implementation of a pipelined 2D-DCT and simplified quantization for real-time applications

FPGA implementation of a pipelined 2D-DCT and simplified qua...

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IEEE International Conference on Multimedia Computing and systems (ICMCS)

作者： Hatim Anas Said Belkouch M. El Aakif Noureddine Chabini Embedded Systems and Digital Control Laboratory University of Cadi Ayyad Marrakech Morocco Department of Electrical and Computer Engineering Royal Military College of Canada Kingston ON Canada

The Discrete Cosine Transform (DCT) is one of the most widely used techniques for image compression. Several algorithms are proposed to implement the DCT-2D. The scaled SDCT algorithm is an optimization of the DCT-1D, which consists in gathering all the multiplications at the end. In this paper, in addition to the hardware implementation on an FPGA, an extended optimization has been performed by merging the multiplications in the quantization block without having an impact on the image quality. Tests using MATLAB environment have shown that our proposed approach produces images with quality comparable to the ones obtained using the JPEG standard. FPGA-based implementations of this proposed approach and the Loeffler's algorithm are proposed and compared in this paper using an Altera Startix FPGA family with the synthesis and implementation tool Quartus II. Results show that our approach outperforms the well known Loeffler's algorithm in terms of processing-speed and resources used.

关键词： Discrete cosine transforms Quantization PSNR Field programmable gate arrays Image coding Transform coding

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A Sliding Mode Regulator for Antilock Brake System

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IFAC Proceedings Volumes 2011年第1期44卷 7187-7192页

作者： Juan Diego Sánchez-Torres Alexander G. Loukianov Marcos I. Galicia Jorge Rivera Department of Electrical Engineering and Computer Science Automatic Control Laboratory CINVESTAV Unidad Guadalajara Zapopan Jalisco 45015 México Centro Universitario de Ciencias Exactas e Ingenierías de la Universidad de Guadalajara Guadalajara Jalisco 44430 México

Abstract A Sliding Mode (SM) Regulator is proposed for an Antilock Brake System (ABS) control problem by employing Block control SM and regulation concepts. This regulator has robustness against matched and unmatched perturbations, and the capability to estimate and incorporate the residual dynamics. Numeric simulations are carried on in order to verify the closed-loop system performance, where simulations predict the robustness of the ABS to matched and unmatched perturbations.

关键词： Sliding Mode control Brake control Antilock Braking systems (ABS)

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Dependency Analysis for Learning Class Structure for Novice Java Programmer

Dependency Analysis for Learning Class Structure for Novice ...

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2011 IEEE 2nd International Conference on Software engineering and Service Science(ICSESS 2011)

作者： Tomoyoshi Wakabayashi Shinpei Ogata Saeko Matsuura Department of Electronic Engineering and Computer Science Graduate School of Engineering Shibaura Institute of Technology SIT SaitamaJapan Functional Control Systems Graduate School of Engineering Shibaura Institute of Technology SIT SaitamaJapan

Novice Java programmers often cannot make well structured program,so that the program does not have much *** dependency between fields and methods in classes often causes such inappropriate class structure,so responsibility of each class becomes unclear and the readability of the program is *** programs are difficult to identify the causes of bugs,so that novice programmers often lose the desire to learn *** paper proposes a way to learn how to develop a well structured Java program,which includes subject design,evaluation tool,and a web-based programming exercise environment by analyzing some source codes of novice Java programmers.

关键词： component Refactoring Java Programming Learning Class Structure

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