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Southern Conference on Programmable Logic

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

Achieving high performance optimization algorithms for embedded applications can be very challenging, particularly when several requirements such as high accuracy computations, short elapsed time, area cost, low power consumption and portability must be accomplished. This paper proposes a hardware implementation of the Particle Swarm Optimization algorithm with passive congregation (HPPSOpc), which was developed using several floating-point arithmetic libraries. The passive congregation is a biological behavior which allows the swarm to preserve its integrity, balancing between global and local search. The HPPSOpc architecture was implemented on a Virtex5 FPGA device and validated using two multimodal benchmark problems. Synthesis, simulation and execution time results demonstrates that the passive congregation approach is a low cost solution for solving embedded optimization problems with a high performance.

关键词： Hardware computer architecture Software Field programmable gate arrays Benchmark testing Optimization Software algorithms

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dotLAB: Integrating remote labs in dotLRN

dotLAB: Integrating remote labs in dotLRN

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IEEE Education engineering (EDUCON)

作者： Alberto Pesquera Raúl Morales Rafael Pastor Salvador Ros Roberto Hernandez Elio Sancristobal Manuel Castro Innovation and Technological Development Centre UNED Spanish University of Distance Education Madrid Spain Communication and Control Systems Department Electrical and Computer Engineering Department UNED (Spanish National University of Distance Education) Madrid Spain

Nowadays, there are a great number of universities and organizations working in e-learning solutions. One of most well-known is the learning management system or LMS that allow displaying theoretical content in an organized and controlled way. In some jobs and studies it is necessary that the student get a practical knowledge as well as a theoretical knowledge. To obtain this practical knowledge, the universities and organizations are developing virtual labs and Web labs. At these moments the LMS and Web labs are working independently. We are designing and developing a new architecture allowing the integration of the LMS with different Web labs from different universities. This architecture must allow the student, teachers and administrators to use the LMS's services and virtual labs as if he was working with the same software..

关键词： Laboratories Communities Least squares approximation engineering education Portals Electronic learning Standards

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LMIs-based coordinate descent method for solving BMIs in control design

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IFAC Proceedings Volumes 2011年第1期44卷 10180-10186页

作者： E. Simon P. R-Ayerbe C. Stoica D. Dumur V. Wertz Université Catholique de Louvain ICTEAM Institute Mathematical Engineering Dpt. 4 avenue Georges Lemaitre 1348 Louvain-la-Neuve Belgium SUPELEC Systems Sciences (E3S) Automatic Control Department 3 rue Joliot Curie 91192 Gif-sur-Yvette cedex France

Abstract This work investigates the topic of solving Bilinear Matrix Inequalities (BMIs) problems in the optimal control design field, using successive resolutions of properly defined Linear Matrix Inequalities (LMIs). This technique can be described as an ‘LMI-based coordinate descent method'. Indeed the original (BMI) problem is solved independently for each coordinate at each step using a LMI optimization, while the other coordinate is fixed. No method based on this idea has been formally proved to converge to the global optimum of the BMI problem, or a local optimum in general. This will be discussed using relevant results both from the mathematical programming and control design points of view. This discussion supports the algorithm proposed here which, thanks to a particular change of variables, leads to sequences of improving solutions. Also emphasized is a second improvement important to avoid in practice early convergence to suboptimal solutions instead of local optima. The control framework used is that of optimal output feedback design for linear time invariant (LTI) systems. An example using a random plant is drawn to illustrate the typical effectiveness of the algorithm.

关键词： Optimal control design BMIs LMIs Output-feedback LTI system

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Case study of unscented state estimation for batch distillation processes

Case study of unscented state estimation for batch distillat...

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9th IEEE International Conference on control and Automation, ICCA 2011

作者： Miranda, Moira Edelmayer, András Encinoza, Adriana Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary School of Postgraduate Studies Sźechenyi University Egyetem t´er 1 H-9026 Gyor Hungary Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes &#7742erida Venezuela

ISBN: (纸本)9781457714757

In this paper a comparative study on the use of extended and unscented Kalman filters for state estimation in nonlinear systems is presented. This is done to reveal the differences, and congruencies, in filters' synthesis in view of real plant implementation on embedded platforms. One of the objectives is to validate the usual performance measures of the filters, meant by state estimation, experimentally. Design features, such as the complexity of implementation and the sensitivity of the state initialization process on uncertain covariance information at regular filters startup are evaluated in a variety of real plant scenarios. A pilot plant of batch distillation process has been used for experimentation. © 2011 IEEE.

关键词： State estimation

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Input Design for Nonlinear Stochastic Dynamic systems – A Particle Filter Approach

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IFAC Proceedings Volumes 2011年第1期44卷 13191-13196页

作者： R. Bhushan Gopaluni Thomas B. Schön Adrian G. Wills Department of Chemical and Biological Engineering University of British Columbia Vancouver Canada V6T 1Z3 (Tel: 604 827 5668) Division of Automatic Control Linköping University SE-581 83 Linköping Sweden School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia

Abstract We propose an algorithm for optimal input design in nonlinear stochastic dynamic systems. The approach relies on minimizing a function of the covariance of the parameter estimates of the system with respect to the input. The covariance matrix is approximated using a joint likelihood function of hidden states and measurements, and a combination of state filters and smoothers. The input is parametrized using an autoregressive model. The proposed approach is illustrated through a simulation example.

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Compressive System Identification of LTI and LTV ARX Models

Compressive System Identification of LTI and LTV ARX Models

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IEEE Conference on Decision and control

作者： Borhan M. Sanandaji Tyrone L. Vincent Michael B. Wakin Roland Toth Kameshwar Poolla Department of Electrical Engineering and Computer Science Colorado School of Mines Golden CO 80401 USA Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Departments of Electrical Engineering and Computer Sciences and Mechanical Engineering University of California Berkeley CA 94720 USA

ISBN: (纸本)9781612848006

In this paper, we consider identifying Auto Regressive with eXternal input (ARX) models for both Linear Time-Invariant (LTI) and Linear Time-Variant (LTV) systems. We aim at doing the identification from the smallest possible number of observations. This is inspired by the field of Compressive Sensing (CS), and for this reason, we call this problem Compressive System Identification (CSI). In the case of LTI ARX systems, a system with a large number of inputs and unknown input delays on each channel can require a model structure with a large number of parameters, unless input delay estimation is performed. Since the complexity of input delay estimation increases exponentially in the number of inputs, this can be difficult for high dimensional systems. We show that in cases where the LTI system has possibly many inputs with different unknown delays, simultaneous ARX identification and input delay estimation is possible from few observations, even though this leaves an apparently ill-conditioned identification problem. We discuss identification guarantees and support our proposed method with simulations. We also consider identifying LTV ARX models. In particular, we consider systems with parameters that change only at a few time instants in a piecewise-constant manner where neither the change moments nor the number of changes is known a priori. The main technical novelty of our approach is in casting the identification problem as recovery of a block-sparse signal from an underdetermined set of linear equations. We suggest a random sampling approach for LTV identification, address the issue of identifiability and again support our approach with illustrative simulations.

关键词： LTI System identification delay estimation Mathematic Identifiability Model structures

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Exploiting motion priors in visual odometry for vehicle-mounted cameras with non-holonomic constraints

Exploiting motion priors in visual odometry for vehicle-moun...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Davide Scaramuzza Andrea Censi Kostas Daniilidis GRASP laboratory Department of Computer and Information Science School of Engineering and Applied Science University of Pennsylvania Philadelphia USA GRASP laboratory University of Pennsylvania USA Control and Dynamical Systems Department Division of Engineering and Applied Sciences California Institute of Technology Pasadena USA

This paper presents a new method to estimate the relative motion of a vehicle from images of a single camera. The biggest problem in visual motion estimation is data association; matched points contain many outliers that must be detected and removed so that the motion can be estimated accurately. A very established method for robust motion estimation in the presence of outliers is the five-point RANSAC algorithm. Five-point RANSAC operates by generating motion hypotheses from randomly-sampled minimal sets of five-point correspondences. These hypotheses are then tested against all data points and the motion hypothesis that after a given number of iterations returns the largest number of inliers is taken as the solution to the problem. A typical drawback of RANSAC is that the number of iterations required to find a suitable solution grows exponentially with the number of outliers, often requiring thousands of iterations for typical data from urban environments. Another problem is that - due to its random nature - sometimes the found solution is not the “best” solution to the motion estimation problem. In this paper, we describe an algorithm for relative motion estimation in the presence of outliers, which does not rely on RANSAC. Contrary to RANSAC, motion hypotheses are not generated from randomly-sampled point correspondences, but from a “proposal distribution” that is built by exploiting the vehicle non-holonomic constraints. We show that not only is the proposed algorithm significantly faster than RANSAC, but that the returned solution may also be better in that it favors the underlying motion model of the vehicle, thus overcoming the typical limitations of RANSAC. Additionally, the proposed algorithm provides the likelihood of the motion estimate, which can be very useful in all those applications where a probability distribution of the position of the vehicle is required (e.g., SLAM). Finally, the performance of the proposed method is compared to that of the sta

关键词： Vehicles Cameras Proposals Motion estimation Wheels Urban areas Three dimensional displays

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An integrated e-Learning solution for control systems education and future perspectives

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International Journal of Simulation: systems, Science and Technology 2011年第1期12卷 10-19页

作者： Tsoulkas, Vasilis N. Pantelous, Athanasios A. Dritsas, Leonidas Papachristos, Christos Center for Security Studies-KEMEA Ministry of Citizen Protection-KEMEA Athens Greece National Delegate to the European Space Agency-JCB/ESA ESA France Department of Mathematical Sciences University of Liverpool Liverpool United Kingdom Hellenic Air Force Academy Division of Automatic Control Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National Technical University of Athens Athens Greece

Technical characteristics of an innovative prototype e-learning platform using satellite communications for control theory courses are exposed. A detailed account of all necessary tools and mechanisms is presented enabling real time text, and audio/video based communication between tutors and learners. The provided end-user driven services include: a virtual classroom, offline operation, sharing of applications, private/public chatting, audio/video streaming. In addition a concise description of the pilot network architecture depending on the DVB-RCS standard is presented justifying further the choice of the communications platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broadband technologies (DVB-RCS/ WiMAX, DVB-RCS/Wi-Fi) are further analyzed and justified. Finally some conclusive anticipated directions related to the future of modern control courses education in connection with state of art technological advances are explored.

关键词： control theory

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Opposition-based shuffled PSO with passive congregation applied to FM matching synthesis

Opposition-based shuffled PSO with passive congregation appl...

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Congress on Evolutionary Computation

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

Synthesis of musical instruments or human voice is a time consuming process which requires theoretical and experimental knowledge about the synthesis engine. Commonly, performers need to deal with synthesizer interfaces and a process of trial and error for creating musical sounds similar to a target sound. This drawback can be overcome by adjusting automatically the synthesizer parameters using optimization algorithms. In this paper a hybrid particle swarm optimization (PSO) algorithm is proposed to solve the frequency modulation (FM) matching synthesis problem. The proposed algorithm takes advantage of a shuffle process for exchanging information between particles and applies the selective passive congregation and the opposition-based learning approaches to preserve swarm diversity. Both approaches for injecting diversity are based on simple operators, preserving the easy implementation philosophy of the particle swarm optimization. The proposed hybrid particle swarm optimization algorithm was validated for a three-nested FM synthesizer, which represents a 6-dimensional multimodal optimization problem with strong epistasis. Simulation results revealed that the proposed algorithm presented promising results in terms of quality of solutions.

关键词： Frequency modulation Optimization Equations Convergence Particle swarm optimization Genetic algorithms

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IEEE Journal on Emerging and Selected Topics in Circuits and systems: Inaugural editorial

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IEEE Journal on Emerging and Selected Topics in Circuits and systems 2011年第1期1卷 1-3页

作者： Pedram, Massoud Delgado-Restituto, Manuel MacIi, Enrico Setti, Gianluca Department of EE-Systems University of Southern California Los Angeles CA 90089-2562 United States Parque Tecnolagico de la Cartuja Instituto de Microelectranica de Sevilla Seville 41092 Spain Department of Control and Computer Engineering Politecnico di Torino Torino 10129 Italy Department of Engineering University of Ferrara Ferrara 44100 Italy

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