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Fast Computation of Orthogonal Fourier-Mellin Moments Using Modified Direct Method

Fast Computation of Orthogonal Fourier-Mellin Moments Using ...

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International Conference on Systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell Thessaloniki Institute of Technology Thessaloniki Greece

A novel, modified direct method for Orthogonal Fourier-Mellin Moments (OFMMs) computation, which lacks of any factorial terms, is presented. The proposed algorithm is based on the substitution of the factorial terms by their approximate values, according to Stirling's Approximation formula. In this way, a new set of orthogonal moments, which are approximate versions of the original ones, are extracted. The approximation error introduced by the Stirling's Approximation formula is of low order and thus the resulted moments do not significantly differ from their original values. The resulted formulas are factorial free and therefore the time needed to compute the OFMMs is less than this of the conventional direct method.

关键词： Polynomials automation Pattern recognition Kernel Laboratories Automatic control control systems Feature extraction Approximation algorithms Approximation error

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Highly Compressed Zernike Moments by Smoothing

Highly Compressed Zernike Moments by Smoothing

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International Conference on Systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell. Thessaloniki Institute of Technology Thessaloniki Greece

A novel methodology that improves the discrimination capabilities of the compressed feature vectors, used in pattern recognition tasks, is presented in this paper. The Zernike moment signals of some patterns are extracted and are compressed by using a typical wavelet compression technique. In order to increase the compression ratio without loosing a great amount of significant information, the moment signals are smoothed appropriately before the compression. As a result, highly compressed feature vectors that include enough classification information are derived. The resulted improved features are studied for their discriminative power through appropriate experiments.

关键词： Smoothing methods Image coding Polynomials automation Feature extraction Pattern classification Digital images Image reconstruction Laboratories Automatic control

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Resource Allocation for a Life Science automation Line: a Petri nets Approach

Resource Allocation for a Life Science Automation Line: a Pe...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Tao Hong Mo-Yuen Chow Advanced Diagnosis Automation and Control (ADAC) Laboratory Electrical & Computer Engineering Department North Carolina State University NC USA

High-throughput screening (HTS) processes have been increasingly used in the life sciences area for diverse bio-chemical experiments. This paper investigates the resource allocation issue of scheduling HTS processes under multiple constraints including operation constraints, resource constraints, starvation constraints and multi-experiment constraints. We first use timed transition Petri nets (PN) to model the HTS processes. We then illustrate the transition variant property of the PN model, and propose an efficient best-first (E-BF) algorithm combined with PN execution to find the schedule. Finally we apply the E-BF algorithm to three typical HTS experimental processes under different resource constraints and compare the E-BF algorithm with a traditional best-first (BF) algorithm as case studies. The results show that the E-BF algorithm can be used to allocate resources for HTS processes properly and can easily be more efficient than the BF algorithm when applied to transition variant PN.

关键词： Resource management Petri nets High temperature superconductors Scheduling algorithm Job shop scheduling Mathematical model Humans Robotics and automation Automatic control USA Councils

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Accumulated effect parameter tuning method for geometrical path tracking of wheeled mobile robots

Accumulated effect parameter tuning method for geometrical p...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Rangsarit Vanijjirattikhan Manas Talukdar Mo-Yuen Chow Advanced Diagnosis Automation and Control Laboratory Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA

This paper proposes a novel method for parameter tuning in geometrical path tracking algorithms for wheeled mobile robots. Geometrical path tracking has the advantage in its ease of implementation. However, before using such an algorithm, several critical parameters need to be found experimentally. Such a procedure is quite time consuming and unreliable. Moreover, there is no certainty that the parameters found using this method will hold for different kinds of paths. The research presented in this paper addresses this particular issue. A tuning method called Accumulated Effect (AE) parameter tuning method is proposed for determining the appropriate parameter values which will hold for different paths under different conditions. This method is based on the steady state of a mobile robot, tracking a circular path. The effectiveness of this method has been demonstrated using simulation results for three different path tracking algorithms.

关键词： Mobile robots Trajectory Kinematics Automatic control Steady-state Programmable control Adaptive control Neurofeedback Error correction Robotics and automation

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A Simple control Solution for Traction Motor Used in Hybrid Vehicles

A Simple Control Solution for Traction Motor Used in Hybrid ...

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Zsuzsa Preitl Peter Bauer Jozsef Bokor Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Electric motors (EM) are widely used in industry for a large variety of applications, such as traction motors used in electric and hybrid vehicles. In this paper a hybrid electric vehicle is considered, which contains both an internal combustion engine and an EM. Without focusing on the other components of the vehicle, the EM is treated in detail, both regarding modelling aspects and control solutions. After a brief modelling of the plant, two cascade speed control solutions are presented: first a classical PI+PI cascade control solution is presented. Then a correction term is introduced as a PI + a non-homogenous structured PI controller solution. The controllers are developed using the Modulus-Optimum method for the inner loop, and the extended symmetrical optimum method, corrected based on the 2p-SO-method, for the outer loop (for a more efficient disturbance rejection). Simulations were performed using numerical values taken from a real application consisting in a hybrid vehicle prototype, showing satisfactory behaviour.

关键词： Traction motors Hybrid electric vehicles Power system modeling Mathematical model Automatic control automation Internal combustion engines Velocity control control systems Generators

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LPV control for the Air Path System of Diesel Engines

LPV Control for the Air Path System of Diesel Engines

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International Conference on control and automation (ICCA)

作者： Lihua Liu Xiukun Wei Xiaohe Liu Department of Computer Science and Automation Beijing Institute of Machinery Beijing China Delft Center for Control and Systems Delft University of Technnology Delft Netherlands

This paper addresses the gain scheduled H infin control issue for the air path system of diesel engines. The air path system is modeled as a linear parameter varying (LPV) system, where the system matrices are dependent on two exogenous variables: the engine speed and the turbine vane position. The open loop frequency property is presented as well as the detailed synthesis procedure of the gain scheduled controller such as the weighting function selection and design. A comparative study between the gain scheduled LPV control and the H infin control is investigated. Simulation results are shown to demonstrate the effectiveness of the gain scheduled LPV controller.

关键词： control systems Diesel engines Job shop scheduling Open loop systems control system synthesis Automatic control automation Nonlinear control systems computer science Machinery

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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Mediterranean Conference on control and automation (MED)

作者： G. E. Panagiotakis F. N. Koumboulis P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Psachna Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived.

关键词： Output feedback Delay effects control systems Laplace equations Robotics and automation Proportional control Polynomials Matrices Automatic control Robot control

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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Mediterranean Conference on control and automation (MED)

作者： F. N. Koumboulis N. D. Kouvakas P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Chalkis Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input-single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example.

关键词： Delay effects Output feedback Delay systems Robotics and automation Sufficient conditions Automatic control Robot control Proportional control control systems

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Robust Adaptive control of Coordinated Multiple Mobile Manipulators

Robust Adaptive Control of Coordinated Multiple Mobile Manip...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhijun Li Shuzhi Sam Ge Zhuping Wang Department of Automation Shanghai Jiaotong University Shanghai China Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Control Theory & Engineering University of Tongji Shanghai China

In this paper, robust adaptive controls of multiple mobile manipulators carrying a common object in a cooperative manner have been investigated with unknown inertia parameters and disturbances. At first, a concise dynamics consisting of the dynamics of mobile manipulators and the geometrical constraints between the end-effectors and the object is developed for coordinated multiple mobile manipulators, Then, robust adaptive controls have been designed where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. Simulation studies on the control of coordinated two wheels driven mobile manipulators have been used to show the effectiveness of the proposed scheme.

关键词： Robust control Adaptive control Manipulator dynamics Robot kinematics Mobile robots Uncertainty control systems Motion control Tracking Programmable control

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An Initial Rotor Position Estimation Method for Switched Reluctance Motor without Using Machine Parameter

An Initial Rotor Position Estimation Method for Switched Rel...

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International Conference on Electrical Machines and Systems 2007(ICEMS2007)(第十届国际电机与系统会议)

作者： K. Tungpimolrut S. Kachapornkul P.Somsiri P. Jitkreeyarn Tadashi Fukao Akira Chiba Industrial Control and Automation Laboratory Section National Electronics and Computer Technology C Department of Electrical Engineering Faculty of Science and Technology Tokyo University of Science

In this paper a method to estimate the initial rotor position of the switched reluctance motor (SRM) at the stand still condition is proposed. The proposed method can be implemented by the simple microcontroller based system, and it is not necessary to know the magnetization curves. The impulse gate drive signal is applied and the winding current is detected and its approximate value is used for calculating the rotor position. The compensation method to reduce the estimation error thorough one cycle is also mentioned. The proposed method is implemented with the 6-stator-pole and 4- rotor-pole, 1.5 kW 3-phase switched reluctance motor.

关键词： Switched reluctance motor initial rotor position estimation

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