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MULTI-ROBOT systemS: FROM FINITE AUTOMATA TO MULTI-AGENT systemS

IFAC Proceedings Volumes 2007年第18期40卷 121-126页

作者： Doru Panescu ştefan Dumbrava “Gh. Asachi” Technical University of Iaşi Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Applied Informatics Bd. D. Mangeron 53 A Iaşi Romania dorup@ac.tuiasi.ro sdumbrav@ac.tuiasi.ro

An attempt to connect finite automata theory with multi-agent systems is presented. The purpose is to obtain an accurate way to plan and control the robot activities within a multi-robot system. The proposed model is an adapted Moore machine, which is to be used with a contract net protocol agent coordination procedure. The considered architecture was tested in an educational flexible manufacturing system with two industrial robots.

关键词： Robotics multi-robot systems multi-agent systems robot programming finite automata flexible manufacturing systems

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Active Eye-tracking system by Using Quad PTZ Cameras

Active Eye-tracking System by Using Quad PTZ Cameras

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Annual Conference of Industrial Electronics Society

作者： Chao-Ning Chan Shunichiro Oe Chern-Sheng Lin Department of Intelligence Systems and Information Science Faculty of Engineering University of Tokushima Japan Department of Automatic Control Engineering Feng Chia University FCU Taichung Taiwan

There have been many researches on eye-tracking systems to estimate eye gaze and integrated with head movement tracking. In this paper, we describe an active eye- tracking system that can provide usability improvement of human-machine interface (HMI) with quad PTZ cameras. We propose an active tracking architecture for real-time eye- tracking in an open environment to get a wide-angle and long-distance available range. We implemented four following parts: face tracking module by Adaboost algorithm, eye detection module by Cognitive calibration algorithm, active control module by integration algorithm and input control module by diagonal-box checker search. We presented an active eye-tracking system that users can use it in unrestricted posture with different angles and distance to the pc. It can calculate the camera target position and then map the gazing point to screen coordinate. We can choice any user to track eye gazing when there are multi-users in front of the pc. The results provide a useful HMI for large head motion and long distance usages.

关键词： Cameras Calibration Usability Magnetic heads Contacts Magnetic field measurement Face detection Humans Lenses Magnetic sensors

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Development of an active gaze tracking system in unrestricted posture

Development of an active gaze tracking system in unrestricte...

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International Conference on control, Automation and systems ( ICCAS)

作者： Chan Chao Ning Oe Shunichiro Chern-Sheng Lin Department of Intelligence Systems and Information Science Faculty of Engineering University of Tokushima Japan Department of Automatic Control Engineering Feng Chia University FCU Taichung Taiwan

In this paper we describe an active gaze-tracking system that can provide an interactive interface with computer by using PTZ cameras. We propose an active tracking architecture for real-time gaze-tracking in an open environment and recorded the data into the database for diagnosis. When the cursor is out of control by gazing, a technical improvement theory is used to account for the reflective action of psychological natural reaction to correct the relevant process automatically. This architecture consists of four following parts: face tracking module, eye tracking module, active control module and input control module. We present a high accuracy gaze tracking system which can dynamically estimate the better target position of four PTZ and map the gazing point to screen coordinates. A user can use the active gaze-tracking system without difficult calibration and restricted posture.

关键词： Calibration Usability automatic control Target tracking Cameras Magnetic heads Contacts Magnetic field measurement Psychology Humans

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Hybrid Model Predictive control Based on Wireless Sensor Feedback: An Experimental Study

Hybrid Model Predictive Control Based on Wireless Sensor Fee...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 5511-5970

作者： Alberto Bemporad Stefano Di Cairano Erik Henriksson Karl Henrik Johansson Department of Information Engineering Faculty of Engineering University of Sienna Siena Italy The Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781424414970;1424414970

This paper presents the design and the experimental validation of model predictive control (MPC) of a hybrid dynamical process based on measurements collected by a wireless sensor network. The proposed setup is the prototype of an industrial application in which a remote station controls the process via wireless network links. The experimental platform is a laboratory process consisting of four infrared lamps, controlled in pairs by two on/off switches, and of a transport belt, where moving parts equipped with wireless sensors are heated by the lamps. By approximating the stationary heat spatial distribution as a piecewise affine function of the position along the belt, the resulting plant model is a hybrid dynamical system. The control architecture is based on the reference governor approach: the process is actuated by a local controller, while a hybrid MPC algorithm running on a remote base station sends optimal belt velocity set-points and lamp on/off commands over a network link exploiting the information received through the wireless network. A discrete-time hybrid model of the process is used for the hybrid MPC algorithm and for the state estimator.

关键词： Hybrid modes Wireless networks network links Predictive control Maximum Allowable Concentration Model predictive control State estimation remote base station Model checking Infrared lamps Lamps directional function distant station local controller distributed model predictive control

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EXPONENTIAL TRACKING control OF SERVOMOTOR USED FOR SHIPS

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IFAC Proceedings Volumes 2007年第17期40卷 254-259页

作者： Jasmina V. Lozanovic Dragan V. Lazic Aleksandar S. Sedmak Faculty of Mechanical Engineering Innovation Center University of Belgrade Belgrade Serbia (Tel: +381 63 633 767) Faculty of Mechanical Engineering Department of Automatic Control University of Belgrade Belgrade Serbia Faculty of Mechanical Engineering Innovation Center University of Belgrade Belgrade Serbia

Background: According to the fundamental importance of the tracking theory on technical systems (ship servomotor), the main goal of this paper is a further development of the theory and the application of the tracking, especially to the practical tracking concept. Results: The plant under consideration is an electro-pneumatic ship servomotor. This system is often applied as the final control element of a controller in automatic control systems. The correction device for the mentioned plant will be a digital computer. The mentioned control forces the observed plant output to track the desired output value with prespecified accuracy. In this paper the simulation results produced by practical tracking control algorithm on an electro-pneumatic servo system will be presented.

关键词： Self-adaptive principle positive feedback non-linear systems electro-pneumatic ship servomotor

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MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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Robust PID decentralized controller design using LMI

Robust PID decentralized controller design using LMI

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1st IFAC Workshop on Applications of Large Scale Industrial systems, ALSIS'06

作者： Rosinová, Danica Veselý, Vojtech Department of Automatic Control Systems Faculty of Electrical Engineering and IT Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9783902661159

The new LMI based method for robust stability analysis for linear uncertain system with PID controller is proposed. The general constrained structure of controller matrix is considered appropriate for both output feedback and decentralized control and the respective guaranteed cost control design scheme is presented. The sufficient robust stability condition is developed for extended quadratic performance index including first derivative of the state vector to damp oscillations. The obtained stability condition is formulated for parameter-dependent Lyapunov function. Copyright © 2006 IFAC.

关键词： Lyapunov functions

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Digitally controlled sliding mode based servo-system with active disturbance estimator

Digitally controlled sliding mode based servo-system with ac...

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2006 International Workshop on Variable Structure systems, VSS'06

作者： Veselić, Boban Milosavljević, Čedomir Peruničić-Draženović, Branislava Mitić, Darko IEEE Serbia Department of Automatic Control Faculty of Electronic Engineering University of Niš Aleksandra Medvedeva 14 18000 Niš Serbia Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Zmaja od Bosne bb 71000 Sarajevo Bosnia and Herzegovina

ISBN: (纸本)1424402085

This paper considers the design of robust servo-system for accurate tracking of complex referent signals in the presence of internal and external disturbances. Discrete-time sliding mode tracking controller is employed in servo-system design. In order to improve tracking accuracy, application of active disturbance estimator is suggested. The same sliding mode controller, designed for reference tracking of nominal system, is identically implemented in the control subsystem within the estimator. The overall servo-system exhibits high tracking accuracy under action of parameter uncertainties and external disturbances. Experimental results confirm the effectiveness of the proposed servo-system structure. © 2006 IEEE.

关键词： Sliding mode control

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Simulation and experimental studies of hybrid learning control with acceleration feedback for flexible manipulators

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8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005

作者： Md Zain, M.Z. Alam, M.S. Tokhi, M.O. Mohamed, Z. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia

ISBN: (纸本)3540264132

This paper presents investigations at developing a hybrid iterative learning control scheme with acceleration feedback (PDILCAF) for flexible robot manipulators. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. In this work the dynamic model of the flexible manipulator is derived using the finite element (FE) method. A collocated proportional- derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control with acceleration feedback and genetic algorithms (GAs) for optimization of the learning parameters for control of vibration (flexible motion) of the system. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the hybrid learning control scheme without and with acceleration feedback is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various. © 2006 Springer-Verlag Berlin Heidelberg.

关键词： Genetic algorithms

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Efficient allocation of distributed object-oriented tasks to a pre-defined scheduled system

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International Journal of computers and Applications 2006年第1期28卷 35-42页

作者： Fergany, T. Sarhan, Amany Computer Science Department New Heaven University New Heaven City CT United States Computers and Automatic Control Engineering Faculty of Engineering Tanta University Egypt University of New Haven Department of Computer Science Computers and Automatic Control Department Tanta University

key phase in the design process of software for distributed systems is the allocation of the software components to the available hardware. A problem arises when a software/hardware mismatch occurs. This paper presents a solution to that problem by introducing a technique that guarantees efficient allocation of predefined scheduled object-oriented software components to the available hardware based on genetic algorithm. The allocation is to be made dynamically in a system with a predefined schedule. We thus modified the parameters of the genetic search technique to allow converging to the best solution in a relatively short time to be suitable for the dynamicity of the allocation. The performance of the allocation technique is evaluated in terms of the time cost (CPU clock pulses for more generality) required for the GA search to converge to the optimal allocation structure of the software components. The results obtained by the proposed technique are compared against the results from the branch-and-bound search technique. The experimental results indicate the effectiveness of the proposed technique in reaching the optimal allocation in considerable time, showing that it requires much less time than branch-and-bound.

关键词： Object oriented programming

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