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IEEE Transactions on Haptics: Editorial

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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An Indoor Localization Algorithm for Lighting control using RFID

An Indoor Localization Algorithm for Lighting Control using ...

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IEEE Energy 2030 Conference, ENERGY

作者： Zi-Ning Zhen Qing-Shan Jia Chen Song Xiaohong Guan Department of Automation Tsinghua University Beijing China Center for Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing China United Technologies Research Center China and the Tsinghua-UTC Research Institute for Integrated Building Energy Safety and Control Systems Beijing 100084 P. R. China (phone: +86-10-62772183 fax: +86-10-62770554 e-mail: songc@***) SKLMS Laboratory and System Engineering Institute Xi''an Jiaotong University Xi'an China

Occupant's identity and location are important information for lighting control in order to reduce the energy consumption while increasing livelihood. While active RFID system provides occupant's identity, it is nontrivial to localize the occupant's location in an indoor environment due to the multipath effect, the changing environment, and the unreliable communication link. In this paper, we implement a system with multiple active RFID readers, and develop a localization algorithm based on support vector machine (SVM). The algorithm uses round-robin comparison to localize the occupant to one of the multiple regions in a floor. The geometric relationship among the rooms and the historical localization data are used to further improve the localization accuracy. Numerical results demonstrate a high localization accuracy of this algorithm. We hope this work sheds insight on lighting control for energy saving and an increased livelihood.

关键词： Lighting control Radiofrequency identification Energy consumption Active RFID tags Educational institutions Indoor environments Round robin Support vector machines Humans Safety

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A new approach in urban traffic control systems

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Periodica Polytechnica Transportation Engineering 2007年第1-2期35卷 3-13页

作者： Varga, István Bokor, József Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2 H-1111 Budapest Hungary

The paper proposes some new methods for traffic control systems design. The goal was to find solutions that make possible to give constraints in course of the estimation process of the road traffic parameters and the traffic controller system design. The proposed solutions are built on the constrained Moving Horizon Estimation and the Fault Detection Filter technique.

关键词： Traffic control

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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2007 Mediterranean Conference on control and automation, MED

作者： Edelmayer, A. Miranda, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary Faculty of Engineering Department of Chemical Engineering Mérida Venezuela

ISBN: (纸本)142441282X

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter. ©2007 IEEE.

关键词： Fault tolerance

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Electric impedance assisted micropipette aspiration

Electric impedance assisted micropipette aspiration

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29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07

作者： Kovanen, Katrin Lukkari, Mikko Purmonen, Sami Ylikomi, Timo Viitanen, Jouko Kallio, Pasi J. Institute of Automation and Control Tampere University of Technology 33101 Tampere Finland Department of Cell Biology Medical School University of Tampere 33014 Tampere Finland Digital Information Systems Technical Research Center of Finland Tampere FI-33101 Finland Institute of Automation and Control Tampere University of Technology P.O.Box 692 33101 Tampere Finland

ISBN: (纸本)1424407885

Micropipette aspiration is a technique to selectively isolate cells from cell cultures using suction pressure. Cells can selectively be isolated one by one from neighboring cells into the micropipette. This paper presents a novel micropipette aspiration system assisted by an impedance measurement system. Furthermore, a method to reduce the adhesion force at a single cell level for a gentler detachment of the cell from a cultivation surface and surrounding cell connections is proposed. ©2007 IEEE.

关键词： Electric impedance measurement

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On testing and measurement tools for control of wireless telecommunication networks

On testing and measurement tools for control of wireless tel...

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MIPRO 2007 - 30th Jubilee International Convention: Telecommunications and Information

作者： Gadewadikar, Jyotirmay Kuljaca, Ognjen Sijak, Tomislav Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Fort Worth TX 76118 United States Department of Advanced Technology Systems Research Institute Alcorn State University Lorman MS 39096 United States Brodarski Institute Control Engineering Department Av. V. Holjevca 20 10020 Zagreb Croatia

ISBN: (纸本)9789532330281

Over the years a lot of rigorous mathematical analysis has been done by the systems and controls community for optimization of multivariable systems with a mathematically rigorous systems theoretic approach. In parallel, wireless telecommunication industry was working on performance measurement analysis tools and achieved demonstrable optimization. This paper will elaborate on the need for finding common grounds between optimization of telecommunication networks and optimal control theory;some existing measurement tools will be presented. Decision on measurement tools for designing optimal, reliable telecommunications networks implies tradeoffs between reliability, capacity, and the economics of meeting present and future customer demands. The creation of efficient wireless networks is an everyday challenge in front of service providers. In this paper there are first identified the parameters which can and should be measured to facilitate the optimization for performance of telecommunication networks. Secondly, there are given available resources on measurements tools for these parameters, together with a comparative analysis. Finally, the hardware setup for the some of these measurements will be explained. © 2007 by MIPRO.

关键词： Telecommunication industry

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A Far-Range Off-line Camera Calibration Method for Stereo Lane Detection systems

A Far-Range Off-line Camera Calibration Method for Stereo La...

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IEEE Instrumentation and Measurement Technology Conference

作者： Andras Bodis-Szomoru Tamas Daboczi Zoltan Fazekas Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated. Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision. Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods.

关键词： Cameras Calibration Remotely operated vehicles Sensor systems Mobile robots Navigation Lenses Vehicle detection Parameter estimation Position measurement

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MOVEMENT -Modular Versatile Mobility Enhancement System

MOVEMENT -Modular Versatile Mobility Enhancement System

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IEEE International Conference on Robotics and automation (ICRA)

作者： Peter Mayer Georg Edelmayer Gert Jan Gelderblom Markus Vincze Peter Einramhof Marnix Nuttin Thomas Fuxreiter Gernot Kronreif Institute integrated study University of Technology Vienna Vienna Austria Institute for Rehabilitation and Research Hoensbroek Netherlands Automation and Control Institute University of Technology Vienna Vienna Austria Department of Mechanical Engineering Katholieke Universiteit Leuven Leuven Belgium Department of Clinical Systems & Simulation Austrian Research Centers GmbH Wien Austria Department of Mechatronik Automation Systems Austrian Research Centers GmbH Seibersdorf Austria

Although powered wheelchairs provide a well established solution for severely impaired persons they do not cover all needs regarding mobility of people with impairment. In the course of the EC funded research project MOVEMENT a novel approach for a highly adaptable and modular mobility enhancement system is targeted to cover additional user needs. A system consisting of a robotic platform and several dockable application modules is developed that additionally provides assistance for the driving process itself to the user or even takes over the complete driving autonomously. The project also includes development of new solutions for navigation of mobile robot systems including a "low-cost" sensor system as well as adaptable HMI components. This paper describes the concept and the first prototyping results.

关键词： Wheelchairs Navigation Mobile robots Robotics and automation Automatic control Robot sensing systems Intelligent robots control systems Sensor systems Prototypes

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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