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European control Conference

作者： Marko Gulin Mario Vasak Mato Baotic Department of Control and Computer Engineering of University of Zagreb Faculty of Electrical Engineering and Computing

ISBN: (纸本)9781467371605

Microgrid is a cluster of distributed generation sources, storages and loads that cooperate so as to improve the reliability and quality of the local power supply and of the power system. In this paper we present a power flow optimization of a DC microgrid that consists of photovoltaic array, batteries stack and fuel cells stack with electrolyser, and is connected to the grid via bidirectional power converter. The optimization problem aims to minimize microgrid operating costs and is formulated using a linear program that takes into account the storages charge and discharge efficiency, and considers the residual state of the energy storage systems in the criterion function. Performance of the proposed approach is verified through year-scale simulations based on the actual meteorological, electricity price and consumption data. The analysis performed points out that especially for short prediction horizons it is very important to ensure proper penalization of the residual storages state in the criterion function in order to yield optimum revenue from microgrid operation.

关键词： MICRO-GRID storages criterion function power systems Power flow electrolyzer Cache Memory System linear programming Analysis Electric Power Source

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Measuring and Modelling Delays in Robot Manipulators for Temporally Precise control Using Machine Learning

Measuring and Modelling Delays in Robot Manipulators for Tem...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Thomas Timm Andersen Heni Ben Amor Nils Axel Andersen Ole Ravn Department of Automation and Control DTU Electrical Engineering Technical University of Denmark Lyngby Denmark College of Computing Georgia Tech Institute for Robotics and Intelligent Machines Atlanta GA USA

Latencies and delays play an important role in temporally precise robot control. During dynamic tasks in particular, a robot has to account for inherent delays to reach manipulated objects in time. The different types of occurring delays are typically convoluted and thereby hard to measure and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using modern machine learning methods. The resulting models can be used to predict the delays as well as the uncertainty of the prediction. Experiments on two widely used robot platforms show significant actuation and response delays in standard control loops. Predictive models can, therefore, be used to reason about expected delays and improve temporal accuracy during control. The approach can easily be used on different robot platforms.

关键词： Delays Robot sensing systems Predictive models Robot control Solid modeling Service robots

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Bringing generations together: Social network adapted for elders

Bringing generations together: Social network adapted for el...

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International Symposium on Electronics in Marine (ELMAR)

作者： Igor Piljić Leon Dragić Petar Franček Mario Kovač Hrvoje Mlinanć Darko Gvozdanović Faculty of Electrical Engineering and Computing/Department of Control and Computer Engineering Zagreb Croatia Sveuciliste u Zagrebu Zagreb Zagreb HR Engagement practice eHealth Ericsson Nikola Tesla d.d Zagreb Croatia

Using modern social media solutions requires skills and technical knowledge that elders usually do not possess. In this paper we present social network adapted for elders in order to reconnect them with friends and family. Main features of this social network are platform independent video communication, simple user interface and intuitive navigation. In addition, we integrated e-health service to expand usability of developed social network by providing elders with a content they might find interesting.

关键词： Social network services Media WebRTC Sociology Statistics Medical services Streaming media

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Overcoming E-health interoperability obstacles: Integrating PHR and EHR using HL7 CCD

Overcoming E-health interoperability obstacles: Integrating ...

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International Symposium on Electronics in Marine (ELMAR)

作者： Petar Franček Igor Piljić Leon Dragić Hrvoje Mlinanć Mario Kovač Darko Gvozdanović Faculty of Electrical Engineering and Computing/Department of Control and Computer Engineering Zagreb Croatia Sveuciliste u Zagrebu Zagreb Zagreb HR Engagement practice eHealth Ericsson Nikola Tesla d.d. Zagreb Croatia

Reliable e-health system is a backbone of modern society. It is dependent to all constitute components and interaction among them. In this paper EHR and PHR are used for sharing data as an example of major components. Creating communication adapter, an interoperability solution has been proposed. Solution describes gathering data for PHR and, using URL link generated by a third party application, creation of EHR record for referencing medical images. Random link is generated and stored in EHR using CCD without compromising security, integrity or other requests required to operate with medical data.

关键词： Medical services Charge coupled devices Interoperability Standards Biomedical imaging Electronic medical records Protocols

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Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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Device-Free Human Presence Detection Using Frequency Domain

Device-Free Human Presence Detection Using Frequency Domain

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IEEE International Workshop on Consumer Electronics

作者： Bojan Mrazovac Branislav M. Todorovic Dragan Kukolj Miodrag Temerinac Department for Computing and Control Engineering Faculty of Technical Sciences Novi Sad Serbia RT-RK Institute for Computer Based Systems Narodnog fronta 23a Novi Sad Serbia

ISBN: (纸本)9781509042692

Device-free human presence (DFHP) detection is a novel technique, mainly applicable to wireless sensor networks in which a human does not need to carry a wireless transceiver to be detected. Irregularities in the radio signal propagation pattern, expressed in a form of received signal strength indicator's (RSSI) variations can indicate possible presence of a human within the existing radio network. In this paper we propose DFHP detection method based on frequency analysis of RSSI variations. The main advantage of the proposed method compared to human detection method based on information entropy is the possibility to determine human presence from furniture layout change. The main drawback is a disability to recognize the absence from the presence of a motionless person in an environment. However, the combination of these two approaches defines a robust and cost-effective DFHP detection method that can be used in various smart home systems without the need for specific hardware installation and exploitation procedures.

关键词： fast Fourier transform human presence detection information entropy rssi

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Autonomous exploration of large unknown indoor environments for dense 3D model building 19

Autonomous exploration of large unknown indoor environments ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Maurović, Ivan Dakulović, Marija Petrović, Ivan University of Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Croatia

ISBN: (纸本)9783902823625

Autonomous exploration and mapping of indoor environments is important task for building inspections. Mapping of large environments in 3D requires high memory and computational consumptions. In this paper, we present a 3D exploration strategy for a mobile robot equipped with a 3D laser scanner. Our strategy does not require a map of the environment and ensures on-line exploration of large unknown spaces. We propose a room detection algorithm and focus on the room-by-room exploration keeping the memory and computational requirements low. We evaluated our strategy by simulations and experimentally using a real mobile robot. © IFAC.

关键词： Navigation

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One-shot Learning Gesture Recognition based on Improved 3D SMoSIFT Feature Descriptor from RGB-D Videos

One-shot Learning Gesture Recognition based on Improved 3D S...

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第27届中国控制与决策会议

作者： Jia Lin Xiaogang Ruan Naigong Yu Ruoyan Wei Electronic Information & Control Engineering College Beijing University of Technology Department of Computing Science University of AlbertaEdmonton T6G 2R3Canada

ISBN: (纸本)9781479970186

To satisfy the distinctive feature extraction requirement of one-shot learning gesture recognition for mobile robot control,a improved three-dimensional local sparse motion scale invariant feature transform(3D SMoSIFT) feature descriptor is proposed,which fuses RGB-D ***,gray pyramid,depth pyramid and optical flow pyramids are built as scale space for each gray frame(converted from RGB frame) and depth *** interest regions are extracted according the variance of optical flow,and variance is calculated in horizontal and vertical ***,corners are just extracted in each interest region as interest points,and then the information of gray and depth optical flow is simultaneously used to detect robust keypoints around the motion pattern in the scale ***,SIFT descriptors are calculated on 3D gradient space and 3D motion *** improved feature descriptor has been evaluated under a bag of feature model on one-shot learning Chalearn Gesture *** demonstrate that the proposed method distinctly improves the accuracy of gesture *** results also show that the improved 3D SMoSIFT feature descriptor surpasses other spatiotemporal feature descriptors and is comparable to the state-of-the-art approaches.

关键词： Three dimensional Sparse Motion Scale-invariant Feature Transiorm(3D SMoSlFT) One-shot Learning Gesture Recognition Variance of Optical FlowRGB-D Data

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Gravitational wave astronomy: the current status

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Science China(Physics,Mechanics & Astronomy) 2015年第12期58卷 3-43页

作者： BLAIR David JU Li ZHAO ChunNong WEN LinQing CHU Qi FANG Qi CAI RongGen GAO JiangRui LIN XueChun LIU Dong WU Ling-An ZHU ZongHong REITZE David H. ARAI Koji ZHANG Fan FLAMINIO Raffaele ZHU XingJiang HOBBS George MANCHESTER Richard N. SHANNON Ryan M. BACCIGALUPI Carlo GAO Wei XU Peng BIAN Xing CAO ZhouJian CHANG ZiJing DONG Peng GONG XueFei HUANG ShuangLin JU Peng LUO ZiRen QIANG Li'E TANG WenLin WAN XiaoYun WANG Yue XU ShengNian ZANG YunLong ZHANG HaiPeng LAU Yun-Kau NI Wei-Tou School of Physics The University of Western Australia State Key Laboratory of Theoretical Physics Institute of Theoretical Physics Chinese Academy of Sciences The School of Physics & Electronic Engineering Shanxi University Laboratory of All-Solid-State Light Sources Institute of Semiconductors Chinese Academy of Science State Key Laboratroy of Modern Optical Instrumentation Department of Optical Engineering Zhejiang University Laboratory of Optical Physics Institute of Physics Chinese Academy of Sciences Gravitational Wave and Cosmology Laboratory Department of Astronomy Beijing Normal University LIGO Laboratory California Institute of Technology Department of Physics University of Florida Department of Physics West Virginia University National Astronomical Observatory of Japan CSIRO Astronomy and Space Science International Centre for Radio Astronomy Research Curtin University SISSA Astrophysics Sector Institute of Applied Mathematics Academy of Mathematics and Systems Science Chinese Academy of Sciences University of Chinese Academy of Sciences Morningside Center of Mathematics Chinese Academy of Sciences State Key Laboratory of Scientific and Engineering Computing Academy of Mathematics and Systems ScienceChinese Academy of Sciences Department of Mathematics Henan University Department of Mathematics Capital Normal University Department of Geophysics College of the Geology Engineering and Geomatics Chang'an University QUEST Centre of Quantum Engineering and Space-Time Research Leibniz Universitt Hannover Max-Planck-Institut für Gravitationsphysik(Albert Einstein Institut) Aerospace Flight Dynamics Laboratory Beijing Aerospace Control Center Qian Xuesen Laboratory of Launch Vehicle Technology Center for Gravitation and Cosmology Department of Physics Tsing Hua University

In the centenary year of Einstein's General Theory of Relativity, this paper reviews the current status of gravitational wave astronomy across a spectrum which stretches from attohertz to kilohertz frequencies. Sect. 1 of this paper reviews the historical development of gravitational wave astronomy from Einstein's first prediction to our current understanding the spectrum. It is shown that detection of signals in the audio frequency spectrum can be expected very soon, and that a north-south pair of next generation detectors would provide large scientific benefits. Sect. 2 reviews the theory of gravitational waves and the principles of detection using laser interferometry. The state of the art Advanced LIGO detectors are then described. These detectors have a high chance of detecting the first events in the near future. Sect. 3 reviews the KAGRA detector currently under development in Japan,which will be the first laser interferometer detector to use cryogenic test masses. Sect. 4 of this paper reviews gravitational wave detection in the nanohertz frequency band using the technique of pulsar timing. Sect. 5 reviews the status of gravitational wave detection in the attohertz frequency band, detectable in the polarisation of the cosmic microwave background, and discusses the prospects for detection of primordial waves from the big bang. The techniques described in sects. 1–5 have already placed significant limits on the strength of gravitational wave sources. Sects. 6 and 7 review ambitious plans for future space based gravitational wave detectors in the millihertz frequency band. Sect. 6 presents a roadmap for development of space based gravitational wave detectors by China while sect. 7 discusses a key enabling technology for space interferometry known as time delay interferometry.

关键词： gravitational waves ground based detectors pulsar timing spaced based detectors CMB

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Erratum to: Multi-camera systems use for dental arch shape measurement

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The Visual Computer 2016年第5期33卷 689-689页

作者： Aleš Procházka Magdaléna Kašparová Mohammadreza Yadollahi Oldřich Vyšata Lucie Grajciarová Department of Computing and Control Engineering Institute of Chemical Technology Prague 6 Czech Republic Department of Stomatology 2nd Medical Faculty Charles University Prague 5 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Kralove Czech Republic

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