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An introduction to the special issue: Modeling and control of integrated bio-systems

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WSEAS Transactions on systems 2012年第7期11卷 221-222页

作者： Vassileva, Svetla Neri, Filippo Department of Integrated Systems Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria Department of Computer Science University of Naples federico II Naples Italy

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Distributed ADMM for Model Predictive Control and Congestion Control

Distributed ADMM for Model Predictive Control and Congestion...

引用

IEEE Annual Conference on Decision and Control

作者： Joao F. C. Mota Joao M. F. Xavier Pedro M. Q. Aguiar Markus Puschel Department of Electrical and Computer Engineering Carnegie Mellon University Institute of Systems and Robotics Instituto Superior Tecnico Technical University of Lisbon Department of Computer Science ETH Zurich

ISBN: (纸本)9781467320658

Many problems in control can be modeled as an optimization problem over a network of nodes. Solving them with distributed algorithms provides advantages over centralized solutions, such as privacy and the ability to process data locally. In this paper, we solve optimization problems in networks where each node requires only partial knowledge of the problem's solution. We explore this feature to design a decentralized algorithm that allows a significant reduction in the total number of communications. Our algorithm is based on the Alternating Direction of Multipliers (ADMM), and we apply it to distributed Model Predictive Control (MPC) and TCP/IP congestion control. Simulation results show that the proposed algorithm requires less communications than previous work for the same solution accuracy.

关键词： distributed model predictive control Communication Research PROBLEM SOLUTION Model predictive control Predictive control distributed algorithms Privacy nonlinear model predictive control Batch data processing control simulation Solutions Standing Orders Ganglia

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Conception and Evaluation of a Novel Variable Torsion Stiffness for Biomechanical Applications

Conception and Evaluation of a Novel Variable Torsion Stiffn...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： J. Schuy P. Beckerle J. Wojtusch S. Rinderknecht O. von Stryk Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universitat Darmstadt Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universitat Darmstadt

ISBN: (纸本)9781457711992

This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.

关键词： Vessel traffic services VTS Knee Joint Conception Mechanical Torsion Simulation results stiffness control power requirement Clock weights

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Defining the intrinsic Data Quality for Web portals

Defining the intrinsic Data Quality for Web portals

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8th International Conference on Web Information systems and Technologies, WEBIST 2012

作者： Moraga, Carmen Caro, Angélica Moraga, M. Ángeles Muñoz, Rodrigo Romo Calero, Coral Alarcos Research Group Institute of Information Technologies and Systems University of Castilla-La Mancha Paseo de la Universidad 4 Ciudad Real Spain Department of Computer Science and Information Technologies University of Bio Bio Chillán Chile Department of Business Management University of Bio Bio Chillán Chile

ISBN: (纸本)9789898565082

Web portals facilitate access to data on the Internet. Their use and quantity have increased, which has led to the need to satisfy user preferences in order for them to continue on the market. One competition-based strategy is to provide an adequate quality of service, and one of the key factors in this is the quality of the data provided by the Web portal. Bearing this in mind, we have defined a Data Quality (DQ) Model for Web portals. This model is composed of 42 DQ characteristics which are organized into two points of view and four DQ categories. In this paper we present work which is based on the statistical study of users' opinions of one of the characteristics in the model - the Intrinsic DQ category. Our objective is to determine which characteristics in the Intrinsic category will be most relevant as regards the users' gender, age range, level of studies and knowledge of computing, thus allowing us to verify that, according to the aforementioned parameters, the importance of some characteristics varies with regard to others. For example, women place more importance upon Credibility, while men view the Accessibility of the data in Web Portals as being more important.

关键词： Portals

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D-ADMM: A distributed algorithm for compressed sensing and other separable optimization problems

D-ADMM: A distributed algorithm for compressed sensing and o...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： João F. C. Mota João M. F. Xavier Pedro M. Q. Aguiar Markus Püschel Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh USA Institute of Systems and Robotics Instituto Superior Técnico Technical University of Lisbon Portugal Department of Computer Science ETH Zurich Switzerland

We propose a distributed, decentralized algorithm for solving separable optimization problems over a connected network of compute nodes. In a separable problem, each node has its own private function and its own private constraint set. Private means that no other node has access to it. The goal is to minimize the sum of all nodes' private functions, constraining the solution to be in the intersection of all the private sets. Our algorithm is based on the alternating direction method of multipliers (ADMM) and requires a coloring of the network to be available beforehand. We perform numerical experiments of the algorithm, applying it to compressed sensing problems. These show that the proposed algorithm requires in general less iterations, and hence less communication between nodes, than previous algorithms to achieve a given accuracy.

关键词： Optimization Compressed sensing Signal processing algorithms Minimization Color Convergence Image color analysis

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Herb 2.0: Lessons learned from developing a mobile manipulator for the home

Herb 2.0: Lessons learned from developing a mobile manipulat...

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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Saturated Output Feedback Control of a Quadrotor Aircraft

Saturated Output Feedback Control of a Quadrotor Aircraft

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American Control Conference

作者： D. Cabecinhas R. Cunha C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (数字)9781457710964

ISBN: (纸本)9781457710957

This paper addresses the problem of steering a quadrotor vehicle along a prescribed trajectory. The problem is formulated so as to enforce bounds on the thrust actuation and present robustness against possible disturbances resulting from errors in the estimation of the aircraft state. The proposed solution consists of a nonlinear state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of exponentially decaying observer errors, ii) ensures global regulation of the trajectory tracking errors, and iii) defines the thrust actuation as a saturated function of the position and linear velocity errors. Simulation results are presented to assess the performance and robustness of the proposed controller.

关键词： Trajectory Vehicles Observers Lyapunov methods Convergence Vectors Robustness

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Almost Global Stabilization of a Vertical Take-Off and Landing Aircraft in Hovered Flight

Almost Global Stabilization of a Vertical Take-Off and Landi...

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American Control Conference

作者： P. Casau D. Cabecinhas C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781457710957

This paper proposes a controller which stabilizes a fixed-wing Unmanned Air Vehicle (UAV) in hovered flight. A six degree-of-freedom dynamic model is developed for an underactuated model-scale aircraft and a simpler three degree-of-freedom model is derived for controller design purposes. A novel nonlinear controller which renders the hovering position of the simplified system dynamics almost globally exponentially stable is proposed. Lateral stabilization is achieved by means of classic linear optimal control techniques. The nonlinear controller is designed so as to provide unidirectional thrust. Moreover, the closed-loop system is Input-to-State Stable (ISS) in the presence of unknown disturbances. realistic simulation results demonstrate the controller's effectiveness and robustness when dealing with the problem at hand.

关键词： Aircraft Aerodynamics Atmospheric modeling Aerospace control Vehicle dynamics Standards Vehicles

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Wind Turbines Fault Detection and Identification Using Set-Valued Observers

Wind Turbines Fault Detection and Identification Using Set-V...

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American Control Conference

作者： P. Casau P. Rosa C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781457710957

Research on wind turbine Operations & Maintenance (O&M) procedures is critical to the expansion of Wind Energy Conversion systems (WEC). In order to reduce O&M costs and increase the lifespan of the turbine, we study the application of Set-Valued Observers (SVO) to the problem of Fault Detection and Isolation (FDI) of wind turbines, by taking advantage of the recent advances in SVO theory for model invalidation. A simple wind turbine model is presented along with possible faulty scenarios. The SVO algorithm is built upon these dynamics, taking into account process disturbances, model uncertainty, and measurement noise. The FDI algorithm is assessed within a publicly available benchmark model, using Monte-Carlo simulation runs.

关键词： Wind Energy Conversion systems Defect detection Monte Carlo technique Noise measurement Observers turbines Life span operational approach

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