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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Noninvasive Continuous Blood Pressure Measurement and GPS Position Monitoring of Patients

Noninvasive Continuous Blood Pressure Measurement and GPS Po...

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IEEE Conference on Vehicular Technology (VTC)

作者： Ondrej Krejcar Zdenek Slanina Jan Stambachr Petr Silber Robert Frischer Department of Measurement and Control Faculty of Electrical Engineering and Computer Science 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)9781424425143

Need of blood pressure measurement is usable in wide spectrum of applications from physicians offices to home care applications. Many types of blood pressure measurement devices can be bought in electronics shops. All such devices are measurement devices which need to be in contact with human body (hand or foot mainly). Further they allow only one measurement per several minutes interval (typically 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 measures a blood pressure during a long time period and sends this information to remote operator's stations. In this station the analysis of receiving video data is made for several types of usage. In current state we develop a small device to scan a video or a set of images with the NIR (Near Infra Red) CCD camera. The video data are transferred by wireless connection to the computer where they are analyzed. The first results provide an indication to be a right way to obtain exact continuous blood pressure information. In the future there exists a way to integrate this blood pressure measurement system to concurrently developed biotelemetric system architecture for patients and physicians called Guardian. For position monitoring in outdoor areas there is developed GPS module which informs about patient location and brings very precise time basis for other measuring modules of Guardian system and time synchronization.

关键词： Blood pressure Biomedical monitoring Position measurement Pressure measurement Global Positioning System Patient monitoring Battery charge measurement Time measurement Humans Foot

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Approximation-Based Adaptive Tracking control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays

Approximation-Based Adaptive Tracking Control of Pure-Feedba...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Min Wang Shuzhi Sam Ge College of Automation and the Center for Control and Optimization South China University of Technology the Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China the Department of Electrical and Computer Engineering National University of Singapore

This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. A novel Lyapunov-Krasovskii functional is employed to compensate for the unknown function of current delayed state, which is effectively free from any restrictive assumption on unknown time-delay functions. The proposed control scheme guarantees the boundedness of all the signals in the closed-loop system and the tracking *** studies are provided to demonstrate the effectiveness of the proposed scheme.

关键词： Lyapunov Approximation-Based Adaptive Tracking control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays

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Gene Selection of Multiple Cancer Types via Huberized Multi-class Support Vector Machine

Gene Selection of Multiple Cancer Types via Huberized Multi-...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Juntao Li Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper proposes a new type of regularization in the context of multi-class support vector machine for simultaneous classification and gene *** combining the huberized hinge loss function and the elastic net penalty,the proposed support vector machine can do automatic gene selection and further encourage a grouping effect in the process of building classifiers,thus leading a sparse multi-classifiers with enhanced ***,a reasonable correlation between the two regularization parameters is proposed and an efficient solution path algorithm is *** of microarray classification are performed on the leukaemia data set to verify the obtained results.

关键词： Gene selection grouping effect microarray classification solution path support vector machine(SVM)

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Actuator fault detection and diagnosis based on morphology-wavelet

Actuator fault detection and diagnosis based on morphology-w...

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IEEE Conference on Decision and control

作者： Yi Zhang GuoLian Hou Baojiang Wu College of light Industry Hebei Polytechnic University Tangshan Hebei China Department of Automation North China Electric Power University Beijing China College of Computer and Automatic Control Hebei Polytechnic University Tangshan Hebei China

ISBN: (纸本)9781424438716

The paper described a novel method for detecting and identifying faults that occur in the actuator of control systems with input and output signals related to the component itself. The diagnosis algorithm consists of three steps: firstly, generalized morphological filter with multi-structure elements is designed to filter the random noise and impulse noise in actuator's input and output signals. And secondly, wavelet transform, which has been proposed for sensor's fault diagnosis some years ago, is developed for actuator's fault diagnosis. To effectively extract the abruptly fault characteristic, wavelet transform was used to analyze the filtered signals in this paper. By the Multi Resolution Analyzing (MRA), the faults can be detected accurately. Thirdly, according to calculating the Lipschitz Exponent (LE) at the fault's point, the fault type can be identified. The several typical faults such as fix, gain, bias have been studied. The effectiveness of the proposed approach is demonstrated by the means of experimental results and simulations.

关键词： Actuators Fault detection Fault diagnosis Filters Multiresolution analysis Wavelet transforms control systems Signal processing Signal design Algorithm design and analysis

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Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

Frequency-domain approach to robust iterative learning contr...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper deals with the robust iterative learning control(ILC) for time-delay systems(TDS) with both model and delay *** ILC algorithm with anticipation in time is considered,and a frequency-domain approach to its design is *** shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters:the lead time,the learning gain,and the performance weighting *** particular,if the lead time is chosen as just the delay estimate,then the convergence condition is derived independent of the delay and the *** this case,with the selection of the performance weighting function,the perfect tracking can be achieved,or the least upper bound of the L2-norm of the limit tracking error can be guaranteed less than the least upper bound of the L2-norm of the initial tracking error.

关键词： Iterative learning control time-delay systems frequency-domain approach anticipation in time

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H∞-based design approach to discrete-time learning control systems with iteration-varying disturbances

H∞-based design approach to discrete-time learning control ...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

This paper is concerned with the iterative learning control(ILC) problem for discrete-time systems with iterationvarying *** the so-called super-vector approach to ILC,the discrete domain bounded real lemma is employed to develop a sufficient condition ensuring both the stability and the desired H∞ performance of the ILC *** is shown that this sufficient condition can be presented in terms of linear matrix inequalities(LMIs),which can also determine the learning gain matrix.A numerical simulation example is included to validate the theoretical results.

关键词： Iterative learning control discrete-time systems iteration-varying disturbances H_∞ performance linear matrix inequality

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Sensor and actuator fault detection and diagnosis based on morphology-wavelet

Sensor and actuator fault detection and diagnosis based on m...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yi Zhang Guolian Hou Yuanyuan Li Jingang Xu College of Light Industry Hebei Polytechnic University Tangshan China Department of Automation North China Electric Power University Beijing China Department of information engineering Shijiazhuang University of Economics Hebei China College of Computer and Automatic Control Hebei Polytechnic University Tangshan China

The paper described a structure of three modules diagnosis system for detecting and identifying faults that occur in the sensor and actuator of control systems with input and output signals related to the component itself. The diagnosis algorithm consists of three steps; firstly, generalized morphological filter with multi-structure elements is designed to filter the random noise and impulse noise in sensor's and actuator's input and output signals. And secondly, wavelet transform, which has been proposed for sensor's fault diagnosis some years ago, is developed for control system (sensor and actuator). To effectively extract the abruptly fault characteristic, a wavelet transform was used to analyze the filtered signals in this paper. By the multi resolution analyzing (MRA), the faults can be detected accurately. Thirdly, according to calculating the Lipschitz exponent (LE) at the fault's point, the fault type can be identified. The super-heated temperature control system has been studied. The effectiveness of the proposed approach is demonstrated by the means of experimental results and simulations.

关键词： Actuators Fault detection Fault diagnosis Sensor phenomena and characterization Sensor systems control systems Filters Multiresolution analysis Wavelet transforms Signal processing

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Robust Feedback Linearization Applied to a Separation Column for 13C

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AIP Conference Proceedings 2009年第1期1107卷 33-36页

作者： Eva‐Henrietta Dulf Cristina‐Ioana Pop Clement Festila Francisc Dulf aTechnical University of Cluj‐Napoca Faculty of Automation and Computer Science 25 Gh. Baritiu Str. 400027 Cluj‐Napoca Romania bUniversity of Agricultural Sciences and Veterinary Medicine Food Quality Control Department 3‐5 Mănăştur Str. Cluj‐Napoca Romania

In the present developing plan to apply the cryogenic technology for the production of the 13C, an efficient and safe operation is a strong reason to conceive and to apply a modern computer based control strategy. The authors are concerned with the problem of developing effective and readily implemental techniques for modelling and control of the isotope separation plant. These columns are characterized by complex nonlinearities, with large time‐delays. Furthermore, are subject to external disturbances, which are difficult to model. The present paper presents two models of the plant: a nonlinear model and a linear system obtained by robust feedback linearization.

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An Empirical Study of DV-Hop Localization Algorithm in Random Sensor Networks

An Empirical Study of DV-Hop Localization Algorithm in Rando...

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International Conference on Intelligent Computation Technology and automation, ICICTA

作者： Lingfei Wu Max Q.-H. Meng Zhenzhong Dong Huawei Liang Department of Automation University of Science and Technology Hefei Anhui China Center of Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electronic Engineering Chinese University of Hong Kong Hong Kong China Department of Computer Science University of Science and Technology Hefei Anhui China

ISBN: (纸本)9781424447411

Node localization is an important problem for location-dependent applications of wireless sensor networks. Aiming at the positioning problem of wireless sensor networks node location, an improved DV-Hop localization algorithm is proposed in this paper. The proposed method firstly recalculates the hop-size and sends different correction along different directions instead of computing a single correction to be broadcasted into the networks. Then we empirically evaluate the difference between distance estimate and actual distance through a number of simulation experiments statistical results. We find empirical parameter to improve the accuracy of distance estimate. Simulation results show that the performance of the proposed scheme outweighs classical DV-Hop algorithms, especially in lower connectivity.

关键词： Wireless sensor networks Intelligent sensors computer networks Intelligent networks Machine intelligence Biomimetics Intelligent robots Robotics and automation Broadcasting Computational modeling

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