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4th IFAC Workshop on Distributed Estimation and control in Networked systems, NecSys 2013

作者： Liu, Yang Lunze, Jan Seventh Research Division Department of Systems and Control Beihang University Beijing 100191 China Institute of Automation and Computer Control Ruhr-Universität Bochum 44801 Bochum Germany

ISBN: (纸本)9783902823557

The output synchronization problem is investigated for multiple linear agents with external disturbances that are guided by a leader with different dynamics. A method is presented for designing a networked controller that synchronizes the agents to the heterogeneous leader. First, a general dynamic controller with two inputs is proposed that introduces the model of the leader as an internal reference model into the control loop of all following agents. Second, the two inputs to the local controllers of the followers are designed by H∞ control theory such that the resulting closed-loop system achieves the output synchronization with a desired disturbance attenuation performance. The proposed method is applied to the leader-follower synchronization of vehicles in a platoon. Copyright © 2013 IFAC.

关键词： Multi agent systems

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Denoising and rhythms extraction of EEG under +Gz acceleration based on wavelet packet transform

Denoising and rhythms extraction of EEG under +Gz accelerati...

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2013 7th ICME International Conference on Complex Medical Engineering, CME 2013

作者： Li, Yifeng Zhang, Tao Deng, Lue Wang, Bei Nakamura, Masatoshi Department of Automation Tsinghua University Beijing 100084 China Key Laboratory of Advanced Control and Optimization for Chemical Processes Shanghai 200237 China Air Force Institute of Aeromedicine Beijing 100142 China Research Institute of Systems Control Saga University Saga 840-0047 Japan

ISBN: (纸本)9781467329699

Filtering and feature extraction are very important in the analysis and study of EEG signal under +Gz acceleration. In this study, a new filter of different frequency characteristics of EEG signal under +Gz acceleration is constructed and four kinds of rhythms of EEG signal are extracted by using wavelet packet transformation. EEG under different G loads is analyzed and compared, and then EEG dynamic characteristics are studied in order to analyze its advantages and disadvantages. Experimental results show that wavelet packet method can effectively suppress interference bands in EEG, such as EMG, power and so on, and effectively reflect the dynamic characteristics of different rhythms, exhibiting good characteristics. The proposed method is also applicable for analyzing and studying other dynamic biomedical signals. © 2013 IEEE.

关键词： Extraction

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Fall detection for elderly by using an intelligent cane robot based on center of pressure (COP) stability theory

Fall detection for elderly by using an intelligent cane robo...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Pei Di Jian Huang Shotaro Nakagawa Kosuke Sekiyama Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Institute for Advanced Research Nagoya University Chikusa-ku Nagoya Japan The Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China The Faculty of Science and Engineering Meijo University Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user's “walking intention”, which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors, a laser ranger finder (LRF) and an on-shoe load sensor. The human fall model was represented in a two-dimensional space, where the relative position between the center of pressure (COP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Artificial intelligence

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Reliable Guaranteed-Cost control for a Class of Nonlinear Stochastic systems with Fading Performance Output

Reliable Guaranteed-Cost Control for a Class of Nonlinear St...

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第三十二届中国控制会议

作者： HU Jun WANG Zidong SHEN Bo He Xiao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Department of Automation Tsinghua University Department of Information Systems and Computing Brunel University School of Information Science and Technology Donghua University

ISBN: (纸本)9781479900305

This paper is concerned with the reliable guaranteed-cost control problem for a class of discrete nonlinear stochastic systems with actuator failures and fading performance *** stochastic nonlinearities described by statistical means could cover several types of well-studied stochastic ***,the phenomenon of fading performance output occurs in a random way and the fading probability is governed by a random variable satisfying a certain probability distribution with known conditional *** main purpose of this paper is to design a reliable controller,over a given finite-horizon,such that the optimized upper bound to the pre-deflned performance index is guaranteed for the addressed systems in the presence of actuator failures,stochastic nonlinearities and fading performance ***,a numerical example is given to illustrate the effectiveness of the proposed control scheme.

关键词： Guaranteed-cost control Reliable control Fading performance output Time-varying systems Stochastic nonlinearities

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Development of a vehicle simulator based on a real car for research and education purposes

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34th FISITA World Automotive Congress

作者： Szalay, Zsolt Gáspár, Péter Kánya, Zoltán Nagy, Dávid Department of Automobiles Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Inventure Automotive Electronics RandD Budapest Hungary

ISBN: (纸本)9783642337376

The chapter presents a hardware-in-the-loop simulation environment, which is built in such a way that the simulator tends to the real vehicle functions as much as possible. The simulation system contains several components such as an Human Machine Interface (HMI), a high-accuracy validated simulation software operated on a PC and a visual systemwith real-time graphics. The simulator is equally suitable for educational and research purposes. All the vehicle engineer students use the simulator system during their curriculum, enabling the thorough understanding of modern vehicle functions, thus improving the competence of future generations of engineers. Moreover, the simulator system projects ahead the opportunity of new vehicle research that induces considerable additional scientific results. © Springer-Verlag 2013.

关键词： Automobile drivers

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Design of optimal cruise control considering road and traffic information

Design of optimal cruise control considering road and traffi...

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5th IFAC Symposium on System Structure and control, SSSC 2013

作者： Németh, Balázs Csikós, Alfred Gáspár, Péter Varga, István Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Stoczek u. 2 H-1111 Budapest Hungary

ISBN: (纸本)9783902823250

This paper proposes a design method for cruise control systems via reference speed optimization considering road and traffic information. During the optimization several factors are considered such as road inclinations, intersections, traffic lights, preceding vehicles, speed limits, engine emissions and traveling time. The purpose of speed design is to reduce the longitudinal energy, fuel consumption and engine emissions in such a way that the travel time does not increase significantly. The information package of traffic lights also infuences the design process. The signals from the road and traffic are handled jointly with the dynamic equations of the vehicle and built into the control design of reference speed. A robust control is designed, which is able to take into consideration both disturbances and uncertainties. The method is illustrated through simulation examples. © 2013 IFAC.

关键词： Engines

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Functionality identification for the testing systems with large-scale highly-concentrated wind power integration by long-distance transmission lines

Functionality identification for the testing systems with la...

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IEEE PES Innovative Smart Grid Technologies Conference Europe (ISGT Europe)

作者： Jiabing Hu Yunhe Hou Feng Liu Yongning Chi Shuanglei Feng Haiyan Tang Guobing Song Xiaoming Yuan State Key Lab of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and Technology Wuhan China Department of Electrical and Electronic Engineerig The University of Hong Kong Hong Kong China State Key Lab of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China China Electric Power Research Institute Beijinz China Department of Electrical Engineering Xi’ an Jiaotong University Xi'an China

ISBN: (纸本)9781479977215

Large-scale, highly-concentrated wind power integrated into grids through long transmission lines will bring significant challenges to power system operation during steady-state and dynamic processes. Tremendous research has been conducted in this critical area. However, few, if any available testing systems have been established to meet the requirements of the research on different time-scales. The objective of this paper is to identify the functionality requirements of the testing systems for the comprehensive studies, which covers different time-scale problems of power systems. For this purpose, the realistic Gansu power grids in China and wind farms in Jiuquan area are selected. As a typical power grid with large-scale highly-concentrated wind power integration by long-distance transmissions, the characteristics of the selected wind farms and power grid are discussed first. Two simplified systems are constructed associated with the major characteristics. The critical functionality requirements of the testing systems for different research purposes, i.e., system planning, operation, control, and protection, are identified. As the first step, this paper scopes the key requirements and, ultimately, a complete testing system is expected.

关键词： Wind power generation Power system stability Stability analysis Testing Wind farms Frequency control Power grids

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Enhancement of driver speed based on multi-criteria optimization

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Periodica Polytechnica Transportation Engineering 2013年第1期41卷 71-76页

作者： Mihály, András Németh, Balázs Gáspár, Péter Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2. H-1111 Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17. H-1111 Budapest Hungary

The paper focuses on the design of an adaptive cruise control system which follows the behavior of the driver besides the optimization of longitudinal energy and fuel consumption. By using road information about the future characteristics of the road, e.g. oncoming speed limits or road slopes, it is possible to modify the speed during the journey in advance. The aim is to enhance the comfort of the driver and the passengers by adopting the natural behavior of the driver in the speed selection process and at the same time road information is taken into consideration. The driver behavior is captured using a longitudinal driver model. The main novelty of the paper is the incorporation of the driver behavior in the look-ahead control algorithm. It is demonstrated in real data simulation that with the proposed method a significant amount of fuel can be saved while the speed profile is closer to that of the human driver.

关键词： Speed

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Experimental verification of vehicle platoon control algorithms

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Periodica Polytechnica Transportation Engineering 2013年第1期41卷 39-43页

作者： Aradi, Szilárd Rödönyi, Gábor Gáspár, Péter Hankovszki, Zoltán Kovács, Roland Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Knorr-Bremse R and D Center Major u. 69 H-1119 Budapest Hungary

Organizing a group of vehicles into a vehicle platoon in a way that, except for the leading vehicle, each platoon member can be autonomously driven has been a research goal for decades. Among other benefits this results in a decrease of fuel consumption and also in the driver's workload and an increase in a better use of road capacity. The recent developments in the area of active control systems for vehicles make it possible to realize more and more autonomous functions and the above defined cooperation between vehicles seems to be increasingly feasible. This article aims to point out that today it is possible to reach this goal without vehicle specific software and hardware.

关键词： Vehicles

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