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

作者： Zamfirescu, Constantin B. Pirvu, Bogdan-Constantin Loskyll, Matthias Zuehlke, Detlef Innovative Factory Systems Trippstadter Strasse 122 Kaiserslautern Germany Lucian Blaga University of Sibiu Faculty of Engineering Department of Computer Science and Automatic Control Emil Cioran 17 Sibiu Romania

ISBN: (纸本)9783902823625

To engineer the factory of the future the paper argues for a reference model that is not necessary restricted to the control component, but integrates the physical and human components as well. This is due to the real need to accommodate the latest achievements in factory automation where the human is not merely playing a simple and clear role inside the control-loop, but is becoming a composite factor in a highly automated system ("man in the mesh"). The concept is demonstrated by instantiating the anthropocentric cyber-physical reference architecture for smart factories (ACPA4SF) in a concrete case study that needs to accommodate the ongoing researches from the SmartFactoryKL facility (e.g. augmented reality, mobile interaction technology, virtual training of human operators). © IFAC.

关键词： Embedded systems

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Mixed reality to support new learning paradigms

Mixed reality to support new learning paradigms

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

作者： Maria-Iuliana Dascalu Alin Moldoveanu Eman Ahmad Shudayfat Department of Engineering in Foreign Languages University POLITEHNICA of Bucharest Bucharest Romania Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania

Mixed reality (MR) concepts gained significant importance in recent years, tending to be more and more domain-specific. The current paper presents a survey on MR educational applications and debates whether they are suitable or not to support several new learning paradigms. The technological specifications and challenges of each analyzed application are provided, in the context of current trends of MR and technological developments. Among others, the innovative criterion of virtual-real merging degree is introduced. Also, the benefits and drawbacks of exploiting MR to implement such paradigms are underlined.

关键词： Virtual reality Cognition Collaboration Three-dimensional displays Educational institutions Merging

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Optimization of membership functions of Sugeno-Takagi fuzzy logic controllers with two inputs and one output using genetic algorithms

Optimization of membership functions of Sugeno-Takagi fuzzy ...

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International Symposium on Telecommunications (BIHTEL)

作者： Nadir Kapetanović Nedim Osmić Samim Konjicija Department for Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Sarajevo Bosnia and Herzegovina

It is well known that the process of tuning a fuzzy logic controller is almost always a very complex task, which is time consuming, very laborious and often requires expert knowledge of the controlled system. Mapping of fuzzy logic controller's parameters (rule base and membership functions of input(s) and output(s)) into a performance measure in a closed analytical form is near impossible to get, and thus the use of any classical optimization method is automatically ruled out. Knowing this, genetic algorithms with a fitness function in a form of cumulative response error represent a good choice of the optimization method. This approach enables the use of offline optimization of membership functions' parameters (which are being coded into chromosomes). Sugeno-Takagi fuzzy logic controllers with a proportional and a derivative component, and also with a fixed rule base are used in this approach. Experimental results of both simulations and validations on real systems are given in this paper and they show the good performance of this approach.

关键词： DC motors Optimization Biological cells Encoding Genetic algorithms Fuzzy sets Fuzzy logic

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Navigational 3D audio-based game-training towards rich auditory spatial representation of the environment

Navigational 3D audio-based game-training towards rich audit...

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

作者： Oana Bălan Alin Moldoveanu Florica Moldoveanu Maria-Iuliana Dascălu Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania Department of Engineering Taught in Foreign Languages University POLITEHNICA of Bucharest Bucharest Romania

As the number of people suffering from visual impairments continuously increases, there is strong need for efficient sensory substitution devices, that can support creating a rich mental spatial depiction of the environment. The use of the auditory sense has proved to be an effective approach towards creating a method of interaction with the elements of the surrounding space in a way which resembles the natural 3D visual representation of normal sighted people. Training is an essential component in the process of employing an auditory-based visual substitution device for blind people, as it helps them to learn and become proficient to process and decode the audio information and convert it into spatial mental representation. Taking into account the well-known advantages of game based learning, we propose a new method of training, consisting in a navigational 3D audio-based game. In this exploratory, goal-directed application, the player has to perform route-navigational tasks under different conditions, with the purpose of training and testing their orientation and mobility skills, relying exclusively on the perception of 3D audio cues. Experimental results showed that this game-based learning strategy leads to substantial improvements and can be a starting point for developing more enhanced sound-based navigational applications. The ludic-oriented, motivational training approach achieved straightforward immersion and concentration on the cognitive depiction of the environment, ensuring behavioral gains in the sound-directed spatial orientation.

关键词： Games Three-dimensional displays Navigation Training Visualization Sonification Auditory system

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Development of paraplegic quadriceps muscle model using ANN and ANFIS

Development of paraplegic quadriceps muscle model using ANN ...

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International Colloquium on Signal Processing & Its Applications, CSPA

作者： S. M. Salleh R. Jailani M. O. Tokhi Faculty of Electrical Engineering Universiti Teknologi MARA Malaysia Shah Alam Selangor Department of Automatic Control and System Engineering University of Sheffied United Kingdom

This paper presents the development of Quadriceps muscle model by using Artificial Neural Network (ANN) and Adaptive Neuro Fuzzy Inference system (ANFIS) based on Functional Electrical Stimulation (FES). The impacts of the output torque with different stimulation parameters (frequency, pulse width and sampling time) are investigated. These parameters will be used to develop the paraplegic muscle models. Muscle models developed are validated with the clinical data to evaluate the accuracy of the output torque predicted compare to the actual paraplegic muscle torque. From the study, ANN is found to be the most accurate model compare to ANFIS with the value of mean squared error of 0.3758. Both developed models in this study can be used in a various control strategies to control FES parameters during rehabilitation proses using FES.

关键词： Muscles Artificial neural networks Mathematical model Data models Force Biological system modeling Adaptation models

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Embedding of nonlinear systems in a linear parameter-varying representation 19

Embedding of nonlinear systems in a linear parameter-varying...

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

作者： Abbas, Hossam S. Tóth, Roland Petreczky, Mihály Meskin, Nader Mohammadpour, Javad Department of Electrical Engineering College of Engineering Qatar University PO Box 2713 Doha Qatar Control Systems Group Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands Department of Computer Science and Automatic Control Ecole des Mines de Douai Douai59508 France Intelligent Control Systems Lab. College of Engineering University of Georgia AthensGA30602 United States Electrical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

ISBN: (纸本)9783902823625

This paper introduces a systematic approach to synthesize linear parameter-varying (LPV) representations of nonlinear (NL) systems which are originally defined by control affine state-space representations. The conversion approach results in LPV state-space representations in the observable canonical form. Based on the relative degree concept of NL systems, the states of a given NL representation are transformed to new coordinates that provide its normal form. In the SISO case, all nonlinearities of the original system are embedded in one NL function which is factorized to construct the LPV form. An algorithms is proposed for this purpose. The resulting transformation yields an LPV model where the scheduling parameter depends on the derivatives of the inputs and outputs of the system. In addition, if the states of the NL model can be measured or estimated, then the procedure can be modified to provide LPV models scheduled by these states. Examples are included for illustration. © IFAC.

关键词： State space methods

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Minimum residual methods for cloth simulation

Minimum residual methods for cloth simulation

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

作者： Mihai Frâncu Florica Moldoveanu Doctoral School of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania Department of Computer Science and Engineering University POLITEHNICA of Bucharest Bucharest Romania

This paper presents a new method for cloth simulation which improves the position based dynamics method, first popularized for games by Jakobsen. We are replacing the widely used iterative relaxation techniques (Jacobi and Gauss-Seidel) with conjugate gradient like methods (Minimum Residual and Conjugate Residuals) and show that they have better convergence and stability properties. They are also as easy to parallelize as Jacobi and can be optimized to faster versions, well suited for real-time applications. We tested our method on multi-core processors and obtained considerable speedups while maintaining iteration count and accuracy.

关键词： Jacobian matrices Convergence Springs Games Force Iterative methods Stability analysis

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Human face detection from images, based on skin color

Human face detection from images, based on skin color

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

作者： Hesham A. Alabbasi Florica Moldoveanu Doctoral School of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania Department of Computer Science and Engineering University POLITEHNICA of Bucharest Bucharest Romania

Face detection is necessary in many applications, like those for face recognition, face tracking in video sequences, gender classification, biometric identification, Human Computer Interaction systems, and others. There are many approaches to face detection. The majority of them use a window-based classifier, which detects human faces by translating a window on the entire image. This detection method is not independent of illumination conditions, scale variation or pose variation. In this paper, we propose a skin color based face detection technique. First, the input image is resized and light corrected. Then, the resulted image is segmented based on skin color, using a combination of segmentation in RGB and HSV color spaces, followed by segmentation in YCbCr using the Elliptical model. The skin tone segmented image is then combined with the edges from the input image and further processed by applying the morphological operations of erosion and holes filling. In the last stage the bounding box of the detected face is displayed. The experimental results show that our method has a high accuracy in face detection from single face images. The detected faces can be of different sizes, in different poses and expressions, under unconstrained lighting conditions.

关键词： Image color analysis Skin Face Image segmentation Face detection Image edge detection Lighting

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Fault diagnosis methodology based on nonlinear system modelling and frequency analysis

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IFAC Proceedings Volumes 2014年第3期47卷 8278-8285页

作者： Rafael S. Bayma Zi-Qiang Lang Department of Automatic Control and Systems Engineering The University of Sheffield. Mappin Street Sheffield S13JD UK Faculty of Electrical Engineering CAMTUC Universidade Federal do Para Brazil

In this paper, a new fault diagnosis methodology based on nonlinear system modelling and frequency analysis is developed. The method is derived via resolving several fundamental issues associated with conducting system fault diagnosis using the NARMAX (Nonlinear Auto-Regressive Moving Average with eXougenous inputs) modelling and NOFRFs (Nonlinear Output Frequency Response Functions) based frequency analysis, which was recently proposed and extends the well-known linear system modelling and FRF (Frequency Response Function) based frequency analysis to the nonlinear case. Simulation studies verify the effectiveness of the new method and demonstrate the performance of the method when applied to address a mechanical structural system fault diagnosis problem. The new methodology has the potential to resolve a wide range of input output data based engineering system fault diagnosis problems

关键词： Fault detection and diagnosis Nonlinear system identification Volterra series Frequency Analysis Associated linear equations

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Data hiding using steganography

Data hiding using steganography

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2013 IEEE 12th International Symposium on Parallel and Distributed Computing, ISPDC 2013

作者： DǍgǍdiţǍ, Monica Adriana Sluşanschi, Emil Ioan Dobre, RǍzvan University Politehnica of Bucharest Faculty of Automatic Control and Computers Computer Science and Engineering Department Romania

ISBN: (纸本)9780769550183

It is a truth universally acknowledged that 'a picture is worth a thousand words'. The emerge of digital media has taken this saying to a complete new level. By using steganography, one can hide not only 1000, but thousands of words even in an average sized image. This article presents various types of techniques used by modern digital steganography, as well as the implementation of the least significant bit (LSB) method. The main objective is to develop an application that uses LSB insertion in order to encode data into a cover image. Both a serial and parallel version are proposed and an analysis of the performances is made using images ranging from 1:9 to 131 megapixels. © 2013 IEEE.

关键词： Steganography

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