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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty Dunãrea de Jos Galati University Galati Romania Control Systems and Applied Informatics Computer Science Faculty Dunãrea de Jos Galati University Galati Romania

Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate an adaptive nonlinear controller for the robot operation in the presence of disturbances and modeling inaccuracies. This paper introduces an adaptive real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Sliding mode control Programmable control Adaptive control Mobile robots Fault tolerance Robot control Delay Artificial intelligence Fuzzy control Fuzzy systems

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Local stability analysis of feedback linearizing schemes for a class of uncertain nonlinear systems

Local stability analysis of feedback linearizing schemes for...

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作者： Rohr, E.R. Pereira, L.F.A. Coutinho, D.F. School of Electrical Engineering and Computer Science University of Newcastle University Drive Callaghan NSW 2308 Australia Electrical Engineering Department Universidade Federal do Rio Grande do Sul Av. Osvaldo Aranha 103 Porto Alegre - RS Brazil Group of Automation and Control Systems PUCRS Av. Ipiranga 6681 90619-900 Porto Alegre Brazil

ISBN: (纸本)9783902661807

This work presents a (numerical) technique to the local stability analysis of feedback linearizing control schemes for a class of uncertain nonlinear systems. A nonlinear decomposition of vector functions is applied to transform the Lyapunov stability conditions into a set of state- and parameter-dependent LMI (linear matrix inequality) constraints, which are numerically solved in a finite set of points. The proposed method can deal with a large class of nonlinear systems as well as very complex Lyapunov function candidates. In addition, a maximized level set of the Lyapunov function is proposed as an estimate of the system stability region. © 2010 IFAC.

关键词： Lyapunov functions

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Scalable co-scheduling strategies in distributed computing

Scalable co-scheduling strategies in distributed computing

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ACS/IEEE International Conference on computer Systems and Applications

作者： Victor V. Toporkov Dmitry Yemelyanov Anna Toporkova Alexey Tselishchev Computer Science Department Moscow Power Engineering Institute Moscow Russia Automation and Artificial Intelligence in Control Department Moscow State Institute of Electronics and Mathematics Moscow Russia European Organization for Nuclear Research (CERN) Geneva Switzerland

In this paper, we present an approach to scalable co-scheduling in distributed computing for complex sets of interrelated tasks (jobs). The scalability means that schedules are formed for job models with various levels of task granularity, data replication policies, and the processor resource and memory can be upgraded. The necessity of guaranteed job execution at the required quality of service causes taking into account the distributed environment dynamics, namely, changes in the number of jobs for servicing, volumes of computations, possible failures of processor nodes, etc. As a consequence, in the general case, a set of versions of scheduling, or a strategy, is required instead of a single version. We propose a scalable model of scheduling based on multicriteria strategies. The choice of the specific schedule depends on the load level of the resource dynamics and is formed as a resource query which is sent to a local batch-job management system.

关键词： Processor scheduling Schedules Dynamic scheduling Resource management Computational modeling Nonhomogeneous media

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Considering predicted road conditions in vehicle control design using H ∞ method

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IFAC Proceedings Volumes 2010年第7期43卷 396-401页

作者： Balázs Németh Peter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary； Fax: +36-1-4633087； Phone: +36-1-4635574 Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary； Fax: +36-1-4667503； Phone: +36-1-2796171

The paper focuses on the design of a velocity control system which takes into consideration the knowledge of the predicted inclinations of the road along the track of the vehicle. By using this velocity control it is possible to reduce the operations of the actuators, i.e. the powertrain and the brake system. The longitudinal dynamics of the vehicle is formulated in a simplified control-oriented model, which contains the longitudinal control force and disturbances such as aerodynamic force, rolling resistance and road slope. If the inclination of the road surface is assumed to be known, it is considered in the calculation of the velocity tracking or the reference velocity. The design of the velocity tracking system is based on the H ∞ control theory. In order to take into consideration the effects of dynamic disturbances and sensor noises weighting functions of quality performances in the controlled system are designed. The operation of the method is demonstrated through simulation examples in Matlab/Simulink and CarSim environments.

关键词： vehicle dynamics velocity control robust control robust stability and performance automotive control

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Use of accelerometers for material inner defect detection

Use of accelerometers for material inner defect detection

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International Conference on Applied Electronics, AE

作者： Ondrej Krejcar Robert Frischer Department of Measurement and Control Center of Applied Cybernetics Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

This paper deals with a possibility of non-destructive diagnostics of solid objects by software analysis of vibration spectrum by accelerometers. By a use of MATLAB platform, a processing and information evaluation from accelerometer is possible. Accelerometer is placed on the measured object. The analog signal needs to be digitized by a special I/O device to be processed offline with FFT (Fast Fourier Transformation). The power spectrum is then examined by developed evaluating procedures.

关键词： Accelerometers Vibrations Software Conferences Distortion measurement Converters Unified modeling language

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Continuous Noninvasive Blood Pressure Measurement by Near Infra Red CCD Camera and Pulse Transmit Time Systems

Continuous Noninvasive Blood Pressure Measurement by Near In...

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International Conference on computer Engineering and Applications (ICCEA)

作者： Petr Zurek Ondrej Krejcar Marek Penhaker Martin Cerny Robert Frischer Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy and Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

The need of continuous blood pressure measurement is usable in wide spectrum of applications from physicians practice to home care applications. Many types of blood pressure measurement devices can be bought in electronics shops. All such devices are contact measurement devices which need to be in contact of human body (hand or foot mainly). Secondary they allow only one measurement per several minutes interval (typically ones in 10 minutes). Our goal is to develop a small device for noninvasive continuous measurement of blood pressure. This device must be a small battery powered embedded system which measure a blood pressure during a long time period and send this information remotely to operator's stations. We would like to try two systems of blood pressure monitoring. The first one is system with NIR CCD camera (Near Infra Red), which measure the wide changes of the blood vessels and the second one is system, which measure the pulse transmit time (PTT). At the end we can compare the systems and get information, which system will be a right way to obtain exact continuous blood pressure information.

关键词： Pulse measurements Blood pressure Pressure measurement Time measurement Charge coupled devices Charge-coupled image sensors Biomedical monitoring Battery charge measurement Humans Foot

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Design and Realization of Low Cost Discrete PSD controller for Power Electronics Applications

Design and Realization of Low Cost Discrete PSD Controller f...

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International Conference on computer Engineering and Applications (ICCEA)

作者： Ondrej Krejcar Michal Tutsch Robert Frischer Ivo Spicka Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy and Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

Most systems are controlling by common PID controllers. These PID controllers are available in variety possibilities. They are divided by types of controlling systems, by speed of action interference, by complexity, by robustness etc. Most of industrial controllers are very expensive and except of some basic setting they are not offering any other way, how to involve into controlling process. On the other side, developing new analog controller to control simple systems is not reasonable in financial or time issue. That's why we decided to build simple, discrete controller and implement its algorithm into single chip eight bit microcontroller (MCU). This discrete controller - PSD - is characteristic its simplicity and variability. It can control plenty of less complicated systems by a mere change of its characteristic parameters. Thanks to modern approach is possible to create a full-featured controller including power action element on an area equal to 7cm 2 .

关键词： Costs Power electronics control systems Three-term control Interference Robust control Electrical equipment industry Industrial control Process control Microcontrollers

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Notice of Retraction: Material inner defect detection by a vibration spectrum analysis

Notice of Retraction: Material inner defect detection by a v...

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International Conference on Mechanical and Electronics Engineering (ICMEE)

作者： Ondrej Krejcar Robert Frischer Department of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

This article has been retracted by the publisher.

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Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

Adaptive flocking with a virtual leader of multiple agents g...

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作者： Su, Housheng Chen, Guanrong Wang, Xiaofan Lin, Zongli Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Department of Electronic Engineering City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong Department of Automation Shanghai Jiao Tong University Dongchuan Road 800 Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400473 Charlottesville VA 22904-4743 United States

ISBN: (纸本)9787894631046

We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.

关键词： Dynamics

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Feature selection and classification of breast cancer on dynamic Magnetic Resonance Imaging by using artificial neural networks

Feature selection and classification of breast cancer on dyn...

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Iranian Conference of Biomedical Engineering (ICBME)

作者： Farzaneh Keivanfard Mohammad Teshnehlab Mahdi Aliyari Shoorehdeli Ke Nie Min-Ying Su Electrical and Computer Engineering Department Khaje Nasir Toosi University of Technology Tehran Iran Electrical and Computer Engineering Department Advanced Process Automation and Control (APAC) Khaje Nasir Toosi University of Technology Tehran Iran Center for Functional Onco-Imaging and Department of Radiological Sciences University of California Irvine CA USA

In this paper, a new feature selection and classification methods based on artificial neural network are applied to classify breast cancer on dynamic Magnetic Resonance Imaging (MRI). The database including benign and malignant lesions is specified to select the features and classify with proposed methods. It is collected from 2004 to 2006. A forward selection method is applied to find the best features for classification. Moreover, artificial neural networks such as Multilayer Preceptron (MLP) neural network, Probabilistic Neural Network (PNN) and Generalized Regression Neural Network (GRNN) are applied to classify breast cancer into two groups; benign and malignant lesions. Training and recalling neural networks are obtained with considering four-fold cross validation.

关键词： Fires Entropy Correlation Artificial neural networks Lesions Jacobian matrices Kinetic theory

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