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IEEE International Symposium on Intelligent control (ISIC)

作者： J. Hatonen K.L. Moore D.H. Owens Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Systems Engineering Laboratory University of Oulu Linnanmaa Finland Department of Electrical and Computer Engineering College of Engineering Utah State University Logan UT USA

In this paper discrete-time iterative learning control (ILC) systems are analysed from an algebraic point of view. The algebraic analysis shows that an ILC synthesis problem can be considered as a tracking problem of a multi-channel step-function. Furthermore, the plant to be controlled is a static multivariable plant. Another major contribution of this paper is a general convergence theory of ILC systems in terms of their closed-loop poles. This convergence theory shows that time-variant ILC control laws should be typically used instead of time-invariant control laws in order to guarantee good transient tracking behaviour. Simulations high-light the different theoretical findings in this paper.

关键词： Iterative methods automatic control control systems Convergence Systems engineering and theory Intelligent systems Educational institutions Laboratories control system synthesis Modeling

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Enhancement of the DNA microarray chip images

Enhancement of the DNA microarray chip images

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International Conference on Digital Signal Processing (DSP)

作者： M.K. Szczepanski B. Smolka K.N. Plataniotis A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Gliwice Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto Canada

In this paper a novel method of noise reduction in color images is presented. The new technique is capable of attenuating both impulsive and Gaussian noise, while preserving and even enhancing the sharpness of the image edges. Extensive simulations reveal that the new method outperforms significantly the standard techniques widely used in multivariate signal processing. In this work we apply the new noise reduction method for the enhancement of the images of gene chips. We demonstrate that the new technique is capable of reducing various kinds of noise present in microarray images and that it enables efficient spot location and estimation of the gene expression level, due to the smoothing effect and preservation of the spot edges. This paper contains the comparison of the new technique of noise reduction with the standard procedures used for the processing of vector valued images, as well as examples of the efficiency of the new algorithm when applied to typical microarray images.

关键词： DNA Probes Fluorescence Noise reduction Gene expression Sequences Surface emitting lasers Strontium Educational institutions Color

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New technique for the restoration of noisy color images

New technique for the restoration of noisy color images

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International Conference on Digital Signal Processing (DSP)

作者： B. Smolka M.K. Szczepanski K.N. Plataniotis A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Gliwice Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto Canada

In this paper we propose a new efficient algorithm of noise suppression in color images. The new technique of multichannel image enhancement is capable of reducing impulsive and Gaussian noise and it outperforms the standard methods of noise reduction. In this paper a new smoothing operator, based on a random walk model and on a fuzzy similarity membership function of pixels connected by digital paths is introduced. The efficiency of the proposed method has been tested on the standard color images using the widely used objective image quality measures.

关键词： Image restoration Colored noise Color Image enhancement Gaussian noise Noise reduction Smoothing methods Testing Measurement standards Image quality

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ROBUST SPECIFICATION INFLUENCE ON FEEDBACK control STRATEGIES

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IFAC Proceedings Volumes 2002年第1期35卷 425-430页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía 31006 Pamplona SPAIN

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design.

关键词： Robust control Uncertain dynamical systems Quantitative Feedback Theory

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An optimal attitude control of small satellite with momentum wheel and magnetic torquerods

An optimal attitude control of small satellite with momentum...

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World Congress on Intelligent control and Automation (WCICA)

作者： Zhang Fan Shang Hua Mu Chundi Lu Yuchang Department of Computer Science and Technology Tsinghua University Beijing China Qingdao Branch Naval Aeronautic Engineering College Qingdao Shandong China Department of Automatic Control Tsinghua University Beijing China

In order to improve the pointing accuracy of a small satellite, the attitude control system is controlled with pitch-axis momentum and three-axis magnetic torquerods. The satellite dynamics equation and kinematic equation are built with the method of quaternion. For each of the three body axes, well-known PD control torque equations are adopted. Three position, three rate, and a dumping control gains are optimally found by building up the optimal attitude control model. In the model, two single objectives: the minimum of the transient time and the minimum of the sum of both the square sum of the attitude angle error and the square sum of the angle rate error are integrated into the multi objectives with multiobjective optimization method. The constraints require that the attitude angle, the angle rate, the three-axis dipole moment and the pitch wheel momentum should not exceed the required value. Finally, an application to the attitude control of a small satellite is presented as an example. Results show that the optimal control algorithm is feasible, effective, and reliable, and attitude control performance is also significantly improved after optimization, compared to the traditional PD control.

关键词： Satellites Wheels Magnetic moments Equations PD control Optimal control Torque control control systems Kinematics Quaternions

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

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IEEE International Conference on Systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots Robotics and automation Humans Graphics Virtual environment Machine vision computer science Augmented virtuality

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Hybrid position/force control of constrained robot manipulator based on a feedforward neural network

Hybrid position/force control of constrained robot manipulat...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Lianfang Tian Jun Wang Zongyuan Mao Department of Mechanical Engineering University of California Riverside CA USA Department of Automation and Computer-aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Department of Automatic Control Engineering South China University of Technology Guangzhou China

In this paper, the control of constrained robotic manipulators is addressed and the solution of a reduced order model is obtained through a nonlinear transformation. A set of differential-algebraic equations are first derived. Then controllers are designed for position and force control. The position control involves the position and velocity feedback of end-effector, while the force control is developed based on an artificial neural network. The weights of the neural network are updated online using the force error as the objective function. An example of a 2-DOF manipulator system is studied in detail. Comparisons between a conventional PID controller and the designed controller are made and a practical application is carried out. The results demonstrate the effective performance of the system.

关键词： Force control Manipulators Neural networks Feedforward neural networks Artificial neural networks Robot control Reduced order systems Differential equations Nonlinear equations Position control

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Constrained motion control of flexible manipulators based on a dynamic neural network

Constrained motion control of flexible manipulators based on...

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IEEE International Conference on Industrial Technology (ICIT)

ISBN: (纸本)0780376579

In this paper, a neural network approach is proposed for the motion control of a constrained flexible manipulator system, whereby both the contact force and the position of the end-effector contacting with a surface are controlled. The dynamic equations, vibration of the flexible link and constrained force are derived. The developed control scheme can adaptively estimate the dynamics of the manipulator by utilizing a dynamic recurrent neural network (DRNN) to approximate the underlying dynamics. Local stability of the system is discussed. The results confirm that the designed controller performs remarkably well.

关键词： Manipulator dynamics Motion control Neural networks automatic control Uncertainty control systems Motion planning Force control Equations Stability

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A pattern recognition approach to intelligent behaviour: switching the strategies

A pattern recognition approach to intelligent behaviour: swi...

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International IEEE Conference on Intelligent Systems, IS

作者： L. Frangu E. Ceanga S. Caraman Y. Boutalis Department of Automatic Control E2809CDunarea de Jos#x201D University Galati Romania Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

The paper deals with the intelligent pattern recognition control systems. The concept of strategic situation is introduced, in the context of hierarchical structured control systems. It allows the investigation of the properties of the pattern recognition based control systems. The interaction between the system that recognizes strategies and the environment is described, along with the examples of control systems that allow such an approach. A case study, carried out on a simple process, is presented, to illustrate the method in a plausible context.

关键词： Pattern recognition control systems automatic control Intelligent control Process control Switches Humans Mobile robots Genetic algorithms Adaptive systems

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TWO - LEVEL DISSOLVED OXYGEN control FOR ACTIVATED SLUDGE PROCESSES

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IFAC Proceedings Volumes 2002年第1期35卷 467-472页

作者： M.A. Brdys W. Chotkowski K. Duzinkiewicz K. Konarczak R. Piotrowski Department of Automatic Control Technical University of Gdansk ul. G Narutowicza 11/12 80 952 Gdansk Poland School of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

Two-level controllers for dissolved oxygen reference trajectory tracking for activated sludge processes is proposed and investigated. Both the nutrient and the phosphorous removal from a wastewater by its biological treatment using an activated sludge technology are considered. Typically, an aeration system itself is a complicated hybrid nonlinear dynamical system with faster dynamics compared to internal dynamics of the dissolved oxygen at a biological reactor. It is common approach to neglect this dynamics and also important operational limitations of this system such as a limited frequency of allowed switching of the blowers. The paper proposes a two level controller to track prescribed dissolved oxygen trajectory. The upper level control unit produces desired aeration flow set points. For this unit the aeration system is an actuator. The nonlinear model predictive control algorithm is applied to design this controller unit. Also, the predictive control is used to design the lower level control unit based on a linearised hybrid dynamics of the aeration process. The overall controller is validated by simulation using real data sets and ASM2d model of the biological reactor.

关键词： bio-technical processes nonlinear systems set-point control predictive control hierarchical control

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