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World Congress on Intelligent control and Automation (WCICA)

作者： Qiubin Luo Qiuming Li Rupeng Feng Department of Computer Harbin University Harbin China Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automatic Test and Control Harbin Institute of Technology Harbin China

An adaptive predictive control method is presented for nonlinear discrete system by introducing multi-layer recursive method into the predictive control strategy. In this method, nonlinear system is substituted with a time-varying linear system firstly, and then multi-layer recursive is used to identify and to forecast the varied parameters in order to get the predictive output of system model. At last, adaptive predictive control is designed for the original nonlinear system. The simulation results show the effectiveness of the presented method

关键词： Programmable control Adaptive control Predictive control Nonlinear systems automatic control Nonlinear control systems control systems automatic testing System testing Time varying systems

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Document image segmentation using Gabor wavelet and kernel-based methods

Document image segmentation using Gabor wavelet and kernel-b...

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Systems and control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

作者： Yu-Long Qiao Zhe-Ming Lu Chun-Yan Song Sheng-He Sun Department of Automatic Test and Control Harbin Institute of Technology Harbin China College of Information and Computer Engineering Northeast Forestry University Harbin China

ISBN: (纸本)0780393953

The document image segmentation is an important component in the document image understanding. kernel-based methods have demonstrated excellent performances in a variety of pattern recognition problems. This paper applies kernel-based methods and Gabor wavelet to the document image segmentation. The feature image are derived from Gabor filtered images. Taking the computational complexity into account, we subject the sampled feature image to spectral clustering algorithm (SCA). The clustering results serve as training samples to train a support vector machine (SVM). The initial segmentation is obtained by assigning class labels to pixels of the feature image with the trained SVM. A proper post-processing is used to improve the segmentation result. Several representative document images scanned from popular newspapers and journals are employed to verify the effectiveness of our algorithm.

关键词： Gabor filters computational complexity feature extraction image segmentation pattern clustering support vector machines Gabor wavelet method computational complexity document image segmentation filtered images kernel method pattern recognition problems s

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Using MILP for UAVs Trajectory Optimization under Radar Detection Risk

Using MILP for UAVs Trajectory Optimization under Radar Dete...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jose J. Ruz Orlando Arevalo Jesus M. de la Cruz Gonzalo Pajares Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Spain Department of Software Engineering and Artificial Intelligence Universidad Complutense de Madrid Spain

This paper presents an approach to trajectories optimization for unmanned aerial vehicle (UAV) in presence of obstacles, waypoints, and threat zones such as radar detection regions, using mixed integer linear programming (MILP). The main result is the linear approximation of a nonlinear radar detection risk function with integer constraints and indicator 0-1 variables. Several results are presented to show that the approach can yields trajectories depending on the acceptable risk of detection.

关键词： Radar detection Unmanned aerial vehicles Radar cross section Mixed integer linear programming Constraint optimization Humans Missiles Turning computer architecture automatic control

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Parity based fault estimation for nonlinear systems: an LMI approach

Parity based fault estimation for nonlinear systems: an LMI ...

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American control Conference (ACC)

作者： Sing Kiong Nguang Ping Zhang S. Ding Department of Electrical and Computer Engineering University of Auckland New Zealand Institute for Automatic Control and Complex Systems AKS Faculty of Engineering University of Duisburg-Essen Duisburg Germany

This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems, and power spectra of the faults are incorporated into the design procedure. The design procedure is given in terms of a family of linear matrix inequalities (LMIs). Finally, a numerical example is given to illustrate the effectiveness of the proposed design techniques

关键词： Nonlinear systems Fuzzy systems Linear systems Power system modeling Fault detection State-space methods Nonlinear dynamical systems Takagi-Sugeno model Linear matrix inequalities Principal component analysis

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Optimal Deployment of Distributed Passive Measurement Monitors

Optimal Deployment of Distributed Passive Measurement Monito...

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IEEE International Conference on Communications (ICC)

作者： Chengchen Hu Bin Liu Zhen Liu Shifang Gao Dapeng Wu Department of Computer Science and Technology Tsinghua University Beijing China Department of Automatic Control Northwest Polytechnical University Xi'an Shaanxi China Department of Electrical and Computer Engineering University of Florida Gainesville FL USA

Flow-level traffic measurement is important for network management. The widely used centralized per-flow measurement faces a great challenge due to the demanding requirement on both memory bandwidth and memory size within a single traffic monitor. This paper addresses the issue of deploying a Distributed Passive Measurement System (DPMS) in a large scale network; specifically, we study how to optimally place traffic monitors and sample stochastic traffic flows, so that the probability of a packet being sampled (a.k.a. measurement coverage) is maximized. We formulate this problem as a Stochastic Chance Constrained Optimization (SCCO) problem; and we propose a Hybrid Intelligent (HI) algorithm to solve this problem. The HI algorithm consists of two major components, namely, uncertain function approximation and genetic algorithm. Equipped with the HI algorithm, we are able to address the optimal tradeoff between measurement coverage and deployment cost for networks with random traffic, which has not been studied before. Our simulations and experiments demonstrate the effectiveness of our algorithm, i.e., a small deployment cost or a small number of monitors are sufficient to maintain a high level of measurement coverage.

关键词： Telecommunication traffic Size measurement Bandwidth Large-scale systems Stochastic systems Stochastic processes Constraint optimization Approximation algorithms Function approximation Genetic algorithms

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A Mixed H2/H∞ control Problem with controller Degree Constraint

A Mixed H2/H∞ Control Problem with Controller Degree Constr...

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IEEE Conference on Decision and control

作者： Ningbo Yu Li Qiu Automatic Control Laboratory ETH Zurich Zurich Switzerland Department of Electronic & Computer Engineering Hong Kong University of Science and Technology Hong Kong China

ISBN: (纸本)1424401704;9781424401703

In this paper, we consider a special mixed H 2 /H ∞ optimal control problem which is to obtain the optimal H 2 controller under H ∞ norm and controller degree constraints for an SISO plant. The H ∞ norm constraint on the controller is to achieve a certain level of closed-loop stability robustness against the gap metric, nu-gap metric, or normalized coprime factor uncertainties. The degree constraint requires the degree of the controller to be bounded by that of the plant. We first characterize the set of all feasible stabilizing controllers that meet both the degree and H ∞ norm constraints in terms of a finite dimensional convex set. We then carry out an optimization over the convex parameter set to find the controller that gives the optimal H 2 transient performance. Examples and observations are presented, and comparisons with the results obtained by other H 2 /H ∞ mixed optimization methods are made

关键词： Optimal control Hydrogen Upper bound Robust stability Robust control Feedback Attenuation measurement Riccati equations Centralized control USA Councils

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Adaptive predictive control of nonlinear system base on multi-layer recursive method

Adaptive predictive control of nonlinear system base on mult...

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6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Qiubin, Luo Qiuming, Li Rupeng, Feng Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Department of Computer Harbin University Harbin 150080 China Department of Automatic Test and Control Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)1424403324

关键词： Predictive control systems

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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INFLUENCE OF SCALING AND UNFOLDING IN PCA BASED MONITORING OF NUTRIENT REMOVING BATCH PROCESS

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IFAC Proceedings Volumes 2006年第13期39卷 114-119页

作者： Magda Ruiz Kris Villez Gurkan Sin Joan Colomer Peter Vanrrolleghem 1Control Engineering and Intelligent Systems Group –eXiT Department of Electronics Computer Science and Automatic Control University of Girona Campus Montilivi CP 17071 Building PIV Girona - Spain Department of Applied Mathematics Biometrics and Process Control Ghent University Coupure Links 653 B-9000 Ghent – Belgium

The data set of batch biological and biotechnological processes can be organized in a three-way data matrix. In this paper the usefulness of different PCA approaches for monitoring is analyzed. Different ways of unfolding and scaling of data have been applied to a pilot-scale SBR data. PCA is used to reduce the dimensionality and to remove the non-linearity dynamic of the data. Moreover, a new method to select the number of principal components is proposed. Loadings graphics are used to determinate the predominant variables for each one. The results show that whatever model can be applied depending on the goal of the monitoring, however the models implicate possible false alarms or faults omission.

关键词： Biological Process Process monitoring Multiway Principal Component Analysis (MPCA)

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INTERVAL ASYMPTOTIC ESTIMATOR FOR CHLORINE MONITORING IN DRINKING WATER DISTRIBUTION SYSTEMS

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IFAC Proceedings Volumes 2006年第14期39卷 35-40页

作者： R. Łangowski M.A. Brdys Department of Automatic Control Gdansk University of Technology ul G. Narutowicza 11/12 80-952 Gdansk Poland School of Engineering Department of Electrical Electronic and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

Asymptotic and interval observer for quality monitoring in drinking water distribution systems is derived in this paper. It produces robust interval bounds on the estimated state variables of the water quality. Solving two differential equations generates the bounds; hence the numerical efficiency is sufficient for on-line monitoring of the water quality. The observer is applied to example water network and tight bounds-estimates are obtained.

关键词： estimators bounding method dynamic modelling water quality

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