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Model Fusion via a Master Fuzzy System with Special Application to engineering Materials

IFAC Proceedings Volumes 2011年第1期44卷 11732-11737页

作者： Qian Zhang Mahdi Mahfouf John R. Yates Christophe Pinna George Panoutsos Soufiene Boumaiza Richard J. Greene Luis De Leon Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK School of Mechanical Aerospace and Civil Engineering The University of Manchester M60 1QD UK Department of Mechanical Engineering The University of Sheffield Sheffield S1 3JD UK Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany

Abstract To improve the modelling performance, one should either propose new modelling methodologies or make the best of existing models. In this paper, the study is concentrated on the latter solution, where a structure-free modelling paradigm is proposed to combine various modelling techniques in ‘symbiosis’ using a ‘master fuzzy system'. This approach is shown to be able to include the advantages of different modelling techniques altogether by minimising efforts relating optimisation of final structure. The proposed approach is then successfully applied to predict machining induced residual stresses for aerospace alloy components as well as mechanical properties of heat-treated alloy steels.

关键词： Fuzzy modelling Prediction problems Material Mechanical properties Steel

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Hybrid Satellite-Terrestrial Architecture for control systems Education

Hybrid Satellite-Terrestrial Architecture for Control System...

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International Conference on computer Modeling and Simulation, UKSIM

作者： Vasilis N. Tsoulkas Athanasios A. Pantelous Leonidas Dritsas Christos Papachristos Center for Security Studies/Minist. of Citizen Protection (KEMEA) Athens Greece Department of Mathematical Sciences University of Liverpool UK Division of Automatic Control Hellenic Air Force Academy Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National and Technical University of Athens Greece

In this paper, the modules for the conceptual design of an innovative e-learning platform using satellite communications for teaching control systems theory courses are presented. All necessary tools and mechanisms are provided enabling real time text, and audio/video based communication between tutors and learners. The end-user driven services include: virtual classroom, offline operation, sharing of applications, private/ public chatting, audio/video streaming. A concise description of the pilot architecture which depends on the DVB-RCS standard is presented justifying further the choice of the proposed platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broad-band technologies (DVB-RCS/WiMAX, DVB-RCS/Wi-Fi) are further justified.

关键词： Streaming media Satellites Digital video broadcasting Servers Training control systems Materials

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On validation of the safety analysis of modern railway systems

On validation of the safety analysis of modern railway syste...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Oleg Lisagor Linling Sun Tim Kelly Chao Liu Ru Niu High Integrity Systems Engineering Group Department of Computer Science University of York UK Key State Laboratory of Railway Traffic Control & Safety Beijing Jiaotong University China

Safety analysis is a key activity for the development of railway transportation systems. The analysis is used not only to determine whether new systems do not expose the general public to unduly high levels of risks, but also to inform the development process itself through identification and allocation of appropriate requirements. Whilst inadequate and inaccurate safety analysis may have potentially catastrophic consequences, it is rarely validated in practice. This paper presents a case for validation of safety analysis of the railway systems along with a technical approach to such validation. The approach is based on the concept of Failure Injection and the Lightweight Refinement relation. The paper further argues that the safety analysis validation should be embedded in a wider uncertainty management framework and shows how this can be made consistent with the spirit of the existing safety standards of the railway domain.

关键词： Safety Europe

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Distributed Output Regulation of Uncertain and Switching Multi-Agent systems via Internal Model Design

Distributed Output Regulation of Uncertain and Switching Mul...

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2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Xiaoli Wang Yiguang Hong Zhong-Ping Jiang School of Information Science and Engineering Harbin Institute of Technology atWeihaiWeihai 264209 Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy o Department of Electrical and Computer Engineering Polytechnic Institute of New York University Six

In this paper, the distributed robust output regulation problem of linear multi-agent systems (MAS) is considered. The driving force from the active leaders or the environmental disturbances is formulated as an input of an exogenous system (or exosystem) of the considered multi-agent networks. A systematic distributed design approach is proposed to handle output regulation via dynamic output feedback with the help of canonical internal model (IM). With common solutions of regulator equations and Lyapunov functions, the distributed robust output regulation with switching interconnection topology is designed to achieve collective aims.

关键词： Output regulation Multi-agent systems Internal Model Switching Topology

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Designing Games for Distributed Optimization

Designing Games for Distributed Optimization

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IEEE Conference on Decision and control

作者： Na Li Jason R. Marden Control and Dynamical Systems California Institute of Technology Pasadena CA 91125 USA Department of Electrical Computer & Energy Engineering University of Colorado at Boulder Boulder CO 80309 USA

ISBN: (纸本)9781612848006

The central goal in multiagent systems is to design local control laws for the individual agents to ensure that the emergent global behavior is desirable with respect to a given system level objective. Ideally, a system designer seeks to satisfy this goal while conditioning each agent's control law on the least amount of information possible. Unfortunately, there are no existing methodologies for addressing this design challenge. The goal of this paper is to address this challenge using the field of game theory. Utilizing game theory for the design and control of multiagent systems requires two steps: (i) defining a local objective function for each decision maker and (ii) specifying a distributed learning algorithm to reach a desirable operating point. One of the core advantages of this game theoretic approach is that this two step process can be decoupled by utilizing specific classes of games. For example, if the designed objective functions result in a potential game then the system designer can utilize distributed learning algorithms for potential games to complete step (ii) of the design process. Unfortunately, designing agent objective functions to meet objectives such as locality of information and efficiency of resulting equilibria within the framework of potential games is fundamentally challenging and in many case impossible. In this paper we develop a systematic methodology for meeting these objectives using a broader framework of games termed state based potential games. State based potential games is an extension of potential games where an additional state variable is introduced into the game environment hence permitting more flexibility in our design space. Furthermore, state based potential games possess an underlying structure that can be exploited by distributed learning algorithms in a similar fashion to potential games hence providing a new baseline for our decomposition.

关键词： computer personnel Objective function State variable Agents decision makers

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Vision system for mobile robots for tracking moving targets, based on robot motion and stereo vision information

Vision system for mobile robots for tracking moving targets,...

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IEEE/SICE International Symposium on System Integration

作者： Tae-Il Kim Wook Bahn Changhun Lee Tae-jae Lee Muhammad Muneeb Shaikh Kwang-soo Kim Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision-tracking for mobile robots, which tracks a moving target based on robot motion and stereo vision information. The proposed system controls pan and tilt actuators attached to a stereo camera, using the data from a gyroscope, robot wheel encoders, pan and tilt actuator encoders, and the stereo camera. Using this proposed system, the stereo camera always faces the moving target. The developed system calculates the angles of the pan and tilt actuators by estimating the relative position of the target with respect to the position of the robot. The developed system estimates the target position using the robot motion information and the stereo vision information. The movement of the robot is modeled as the transformation of the frame, which consists of a rotation and a translation. The developed system calculates the rotation using 3-axis gyroscope data and the translation using robot wheel encoder data. The proposed system measures the position of the target relative to the robot, combining the encoder data of pan and tilt actuators and the disparity map of the stereo vision. The inevitable mismatch of the data, which occurs from the asynchrony of the multiple sensors, is prevented by the proposed system, which compensates for the communication latency and the computation time. The experimental results show that the developed system achieves excellent tracking performance in several motion scenarios, including combinations of straights and curves and climbing of slopes.

关键词： Cameras Mobile robots Robot vision systems Actuators Instruction sets

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Adaptive disassembly sequence control by using mobile robots and system information

Adaptive disassembly sequence control by using mobile robots...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： A. Radaschin A. Filipescu V. Minzu E. Minca Control Systems Department of Automation and Electical Engineering University Dunarea de Jos of Galati Galati Romania Department of Automation and Electical Engineering University Dunarea de Jos of Galati Romania Department of Automation Computer Science and Electrical Engineering Valahia University of Targoviste Targoviste Romania

Assembly and disassembly processes are similar from the viewpoint of automation. Assembly process is more or less a “classical” subject; disassembly process is more a quite new field. Flexible system are very important issue in the current industry when disassembling and recycling tasks have to be performed. These tasks can be performed by a human operator or by a robot system. In this paper an autonomous robot with manipulator system perform the required task for different operation. This system takes into consideration the necessary task to perform the disassembly of a component using robots synchronization with flexible line process. The proposed algorithm is to distribute the task among the robot and flexible line and takes into consideration the characteristics of each sequence that needs to be followed to perform the required disassembly of the product. The proposed system is validated by experiments using several types of components.

关键词： Planning Assembly Automation Plastics Mobile robots Educational institutions

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Inaugural Editorial

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IEEE Journal on Emerging and Selected Topics in Circuits and systems 2011年第1期1卷 1-3页

作者： Massoud Pedram Manuel Delgado-Restituto Enrico Macii Gianluca Setti Department of EE-Systems University of Southern California Los Angeles CA USA Instituto de Microelectranica de Sevilla Parque Tecnolagico de La Cartuja Seville Spain Department of Control and Computer Engineering Politecnico di Torino Torino Italy Department of Engineering University of Ferrara Ferrara Italy

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An equivalent control based second order sliding mode observer using robust differentiators

An equivalent control based second order sliding mode observ...

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IEEE Latin American Robotics Symposium, LARS

作者： Juan Diego Sánchez-Torres Alexander G. Loukianov Julián Alberto Patiño Murillo Bertulfo Giraldo Héctor Botero Department of Electrical Engineering and Computer Computer Science Automatic Control Laboratory Unidad Guadalajara CINVESTAV Mexico Escuela de Ingeniería Eléctrica y Mecánica Facultad de Minas Universidad Nacional de Colombia Sede Medellín Medellin Antioquia Colombia

In this paper a sliding-mode observer for a class of non-linear systems is proposed. The observer is based on the equivalent control method. The mathematical tools required to design such an observer are also presented. The proposed scheme can ensure finite time convergence of the observer and the reduction of chattering effect due to relay-type correction terms. Several examples are presented to illustrate the proposed method.

关键词： Observers Mathematical model Robustness Convergence Vectors Chemical reactors Equations

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Neural-fuzzy modelling of lung volume using absolute electrical impedance tomography

Neural-fuzzy modelling of lung volume using absolute electri...

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作者： Samuri, Suzani Mohamad Panoutsos, George Mahfouf, Mahdi Mills, G.H. Denaï, M. Brown, B.H. Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Dept. of Critical Care and Anaesthesia Northern General Hospital Sheffield United Kingdom School of Science and Eng. Teesside University Middlesbrough United Kingdom Dept. of Medical Physics Royal Hallamshire Hospital Sheffield United Kingdom

ISBN: (纸本)9789898425355

Electrical Impedance Tomography (EIT) has been the subject of intensive research since its development in the early 1980s by Barber and Brown at the department of Medical Physics and Clinical engineering, Hallamshire Hospital in Sheffield (UK). In particular, pulmonary measurement has been the focus of most EIT related research. One of the relatively recent advances in EIT is the development of an absolute EIT system (aEIT) which can estimate absolute values of lung resistivity and lung volumes. However, there is still active research in the area of validating and improving the accuracy and consistency of the aEIT estimation of lung volumes towards characterising the system as suitable for clinical use. In this paper we present a new approach based on Computational Intelligence (CI) modelling to model the 'Resistivity - Lung Volume' relationship that will allow more accurate lung volume predictions. Eight (8) healthy volunteers were measured simultaneously by the Sheffield aEIT system and a Spirometer and the recorded results were used to develop subject-specific Neural-Fuzzy models able to predict absolute values of lung volume based only on absolute lung resistivity data. The developed models show improved accuracy in the prediction of lung volumes, as compared with the original Sheffield aEIT system. However the interindividual differences observed in the subject-specific modelling behaviour of the 'Resistivity-Lung Volume' curves suggest that a model extension is needed, whereby the modelling structure auto-calibrates to account for subject (or patient-specific) inter-parameter variability.

关键词： Forecasting

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