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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Bei Wang Xingyu Wang Masatoshi Nakamura Department of Automation School of Information Science and Engineering East China University of Science and Technology Shanghai China Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

In this study, the automatic technique for the continuous light sleep level estimation and prediction is developed. The ultimate purpose is to realize the automatic sleep level evaluation for short-term day time nap sleep. The main method is based on the conditional probability obtained according to the characteristics of neuro-physiological signals including EEG, EOG and EMG. The estimated and predicted sleep level are compared with the visual inspection. The obtained results showed that the presented automatic technique is practicable to be an assistant subjective evaluation tool for sleep level analysis.

关键词： Electromyography Inspection

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Recursive filtering for a class of nonlinear systems with missing measurements

Recursive filtering for a class of nonlinear systems with mi...

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2012 UKACC International Conference on control, control 2012

作者： Hu, Jun Wang, Zidong Shen, Bo Cai, Chenxiao Lam, James Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Department of Information Systems and Computing Brunel University London UB8 3PH United Kingdom Institute for Automatic Control and Complex Systems University of Duisburg-Essen D-47057 Duisburg Germany School of Automation Nanjing University of Science and Technology 210094 Nanjing China Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781467315609

This paper is concerned with the finite-horizon recursive filtering problem for a class of nonlinear time-varying systems with missing measurements. The missing measurements are modeled by a series of mutually independent random variables obeying Bernoulli distributions with possibly different occurrence probabilities. Attention is focused on the design of a recursive filter such that, for the missing measurements, an upper bound for the filtering error covariance is guaranteed and such an upper bound is subsequently minimized by properly designing the filter parameters at each sampling instant. The desired filter parameters are obtained by solving two Riccati-like difference equations that are of a recursive form suitable for online applications. A simulation example is exploited to demonstrate the effectiveness of the proposed filter design scheme. © 2012 IEEE.

关键词： Difference equations

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Fault tolerant adaptive estimation of nonlinear processes using redundant measurements

Fault tolerant adaptive estimation of nonlinear processes us...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Miranda, M. Edelmayer, A. Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes 5101 Mérida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781467325318

This paper presents a dual layer approach for robust fault tolerant estimation of nonlinear processes using a combined adaptive extended Kalman filter and fault detection and filter reconfiguration. From the one hand, the filter is made robust in face of environment uncertainty using adaptive filtering. To this end, the filter identifies the measurement covariance by means of recursive estimation, upon which the adaptation relies, to suppress the effect of sporadic variations in the quality of measurements as well as compensates for incipient sensor faults. From the other hand, fault monitoring is continuously applied to the filter's innovation in an attempt to initiate filter reconfiguration when the adaptation mechanism alone is not able to overcome the failure situation. The discussion of the results is embedded in the application framework of state estimation of a batch distillation process. © 2012 IEEE.

关键词： Fault detection

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Assessment of two pressure-velocity coupling strategies for local meshless numerical method

Assessment of two pressure-velocity coupling strategies for ...

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作者： Kosec, G. Vertnik, R. Šarler, B. Jožef Stefan Institute Laboratory for Parallel and Distributed Computing Slovenia University of Nova Gorica Laboratory for Multiphase Processes Slovenia Štore Steel D.o.o. Research Slovenia Centre of Excellence for Biosensors Automation and Process Control Laboratory for Advanced Materials Systems Slovenia

The performance of two pressure-velocity coupling strategies, associated with the primitive variable solution of incompressible Newtonian fluid with the meshless Local Radial Basis Function Collocation Method (LRBFCM), is compared with respect to computational efficiency, stability, accuracy and spatial convergence. The LRBFCM is structured with multiquadrics on five noded support domains. The explicit time stepping is used. The Backward-Facing Step problem (BFS) has been selected as a benchmark problem, previously tackled by several numerical methods. The semi-local fractional step method (FSM) and completely local pressure-velocity couplings (LPVC) are compared. The numerical results are validated against previously published data. The results are represented and compared in terms of a convergence plot of the reattachment position. We show that both approaches provide reasonable results;however, LVPC is less computationally complex and less stable in comparison to FSM. © 2012 WIT Press.

关键词： Computational efficiency

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Model recovery anti-windup control for linear discrete time systems with magnitude and rate saturation

Model recovery anti-windup control for linear discrete time ...

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American control Conference

作者： T. Peni B. Kulcsar J. Bokor Systems and Control Laboratory of Control and Automation Research Intitute of HAS Kende 13-17 Budapest Hungary Department of Signals and Systems Chalmers University of Technology SE-412-96 Sweden

ISBN: (纸本)9781457710957

The paper proposes a model recovery anti-windup (MRAW) scheme for linear time-invariant and discrete-time systems under magnitude and rate saturation. The method is a modified, discrete-time counterpart of the algorithm presented in [4]. As it is usual in the MRAW framework the AW compensator contains the exact copy of the plant in order that the ideal (unsaturated) behavior can be preserved in the states. The compensator is a controller that aims to push the plant towards this intended behavior. The design of this control action can be reduced to a construction of a stabilizing state feedback acting on the saturated plant. In [4] this feedback is a linear one, which is designed by convex optimization by enlarging the ellipsoidal approximation of the invariant domain. This paper presents a different, set-theoretic approach, which is based on the precise construction of the maximal control invariant set. The proposed control is a nonlinear one generated by point wise convex optimization.

关键词： discrete time systems control action State feedback EARTHQUAKE MAGNITUDE plants time-invariant Saturated Invariant Linear

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Active suspension control design for unmanned ground vehicles

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Periodica Polytechnica Transportation Engineering 2012年第1期40卷 27-32页

作者： Nagy, Dávid Gáspár, Péter Department of Control for Transportation and Vehicle Systems BME H-1111 Budapest Stoczek Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17 H-1111 Budapest Hungary

This paper presents the design of an active suspension control system for an unmanned ground vehicle (UGV). The purpose is to design an active suspension control for a low-speed (less than 1 m/s) o-road UGV in order to be able to move through rugged terrain with the least pitch and roll motion. Classical active suspension design methods cannot be used for minimizing pitch and roll angles, therefore a new approach is applied. The control design is based on the LQG method. The control system uses only pitch and roll angular rate signals, which ensures a simple and cheap control system, but any bias error on the gyro signals cause some problems in reconstructing angles. The control algorithm consists of an optimal state-feedback fed by an augmented observer for estimating the states and the bias error of the gyro sensors. The appropriate tuning of the observer is introduced, which eliminates the bias error problem and ensures the fast reconstruction of the states for the optimal state-feedback. In simulations, the active suspension control system shows high performance at minimizing pitch and roll angles. © Periodica Polytechnica 2012.

关键词： Gyroscopes

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Coordinated dynamic mission planning scheme for intelligent multi-agent systems

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Journal of Central South University 2012年第11期19卷 3170-3179页

作者：彭军文孟飞谢国祺张晓勇 Kuo-chi LIN School of Information Science and Engineering Central South UniversityChangsha 410075China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation(Central South University) Changsha 410075China Embedded Systems and Networking Laboratory Hunan Provincial Key Laboratory of Network and Information Security(Hunan University)Changsha 410075China Department of Mechanical and Aerospace Engineering University of Central FloridaOrlandoFL 32816USA

Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the execution order constraints,and the dynamic environment *** address it,a coordinated dynamic mission planning scheme is proposed utilizing the method of the weighted AND/OR tree and the *** the scheme,the mission is decomposed into a time-constraint weighted AND/OR tree,which is converted into an AOE-Network for mission ***,a dynamic planning algorithm is designed which uses task subcontracting and dynamic re-decomposition to coordinate *** scheme can reduce the task complexity and its execution time by implementing real-time dynamic *** simulation proves the effectiveness of this approach.

关键词： weighted AND/OR tree multiple intelligent agent coordinated dynamic mission planning AOE-Network

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Model-based ℋ2/ℋ∞ control design of integrated vehicle tracking systems

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Periodica Polytechnica Transportation Engineering 2012年第2期40卷 87-94页

作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation BME Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17. H-1111 Budapest Hungary

The paper presents the design of an integrated heavy vehicle system which consistsof the driveline, the brake, the suspension and the steering components. The purpose ofthe integration is to create an adaptive cruise control which is able to keep the distance from the preceding vehicle and track the path on roads. The vehicle model consists of the dynamics of the sprung mass and the unsprung masses and handles the effects of road and wind disturbances. The design of the adaptive cruise-control system is based ontheℋ2/ ℋ∞ control method. The operation of the controlled system is illustrated through simulation examples. © Periodica Polytechnica 2012.

关键词： Magnetic levitation vehicles

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Embedding shape memory alloy actuators in miniature articulating polymer structures using in-mold assembly

Embedding shape memory alloy actuators in miniature articula...

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40th Annual North American Manufacturing research Conference, NAMRC40

作者： Ananthanarayanan, Arvind Ho, Mingyen Ehrlich, Leicester Desai, Jaydev P. Gupta, Satyandra K. Biomimetics Robotics Lab. Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA United States Robotics Automation and Medical Systems Lab. Department of Mechanical Engineering University of Maryland College Park MD United States Advanced Manufacturing Lab. Department of Mechanical Engineering University of Maryland College Park MD United States Department of Mechanical Engineering Institute of Systems Research University of Maryland College Park MD United States

ISBN: (纸本)9781622762477

Fabrication and assembly of highly articulating structures has been a challenge for manufacturing engineers for several years. This challenge is further enhanced when the structures are in the miniature size scales. As part of our previous work, we have developed a process called in-mold assembly to tackle this challenging manufacturing and assembly task. However, attaching the actuators to such miniature structures remains a challenging task and can be expensive in terms of costs. In this work, we will demonstrate a single step in-mold assembly method to fabricate miniature multi degree of freedom (DOF) mechanical devices with embedded SMA actuators. We have developed design optimization methods to shield the SMA actuators from the thermal cycles seen during the injection molding process. This is done to minimize thermal impact on the SMA actuators during embedding in in-mold assembled articulating joints. We have also developed experimental methods to calibrate the force and position of the embedded SMA actuators with respect to temperature. Our experimental results indicate that the SMA behavior is very repeatable with respect to temperature. Hence temperature can be used as a sensory feedback for position and force control. Using the approaches developed as part of this work, we have successfully fabricated an in-mold assembled multi DOF miniature robot with embedded SMA actuators.

关键词： Fabrication

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Analysis of driver behavior related to look-ahead control *

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IFAC Proceedings Volumes 2012年第24期45卷 268-273页

作者： András Mihály Balázs Németh Péter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 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

The paper focuses on the design of look-ahead control, in which road inclinations, speed limits and traveling time are taken into consideration. In the control system the longitudinal control incorporates the brake and traction forces to achieve the required velocity. The advantage of the method is that during the travel of the vehicle the control calculates the appropriate velocity, with which the number of unnecessary accelerations and brakings and their durations can be significantly reduced. The velocity proposed by the automatic system may interfere with the velocity selected by the driver. In the paper the system based on look-ahead control is compared to a vehicle operated by a driver using a hardware-in-the-loop simulation system.

关键词： look-ahead control driver-in-the-loop robust control optimization

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