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Tool support for the design of self-optimizing mechatronic multi-agent systems

International Journal on Software Tools for Technology Transfer 2008年第3期10卷 207-222页

作者： Burmester, Sven Giese, Holger Münch, Eckehard Oberschelp, Oliver Klein, Florian Scheideler, Peter Software Engineering Group Department of Computer Science University of Paderborn Paderborn Germany System Analysis and Modeling Group Hasso Plattner Institute University of Potsdam Potsdam Germany Control Engineering and Mechatronics University of Paderborn Paderborn Germany Heinz Nixdorf Institute University of Paderborn Paderborn Germany

Complex technical systems, such as mechatronic systems, can exploit networking as well as the computational power available today to achieve an automatic improvement of the technical system performance at run-time through self-optimization. To realize this vision, appropriate means for the design of such self-optimizing mechatronic systems are required. Well-established techniques and tools for the modeling of cognitive behavior, reflective behavior, and control behavior exist. However, to really enable self-optimization and its full potential, these different aspects have to be safely integrated in a manner that remains comprehensible to the designer. In this article, we present how this required integration has been realized at the semantic level by extending the unified modeling language (UML), and at the tool level by integrating the CAE tool CAMeL and the CASE tool Fujaba real-time tool suite. The presented Mechatronic UML approach supports the design of verifiable, complex, reconfigurable mechatronic systems using the multi-agent system metaphor. © Springer-Verlag 2008.

关键词： Multi agent systems

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Igital redesign of the decentralized adaptive control for linear large-scale systems with actuator faults

Igital redesign of the decentralized adaptive control for li...

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10th IASTED International Conference on control and Applications, CA 2008

作者： Tsai, J.S.H. Lin, M.H. Guo, S.M. Sun, P.Y. Shieh, L.S. Liu, C.R. Department of Electrical Engineering Control System Laboratory National Cheng Kung University Tainan 701 Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan 701 Taiwan Department of Electrical and Computer Engineering University of Houston Houston TX 77204-4005 United States

ISBN: (纸本)9780889867468

A novel digital redesign of the analog model-reference-based decentralized adaptive controller is proposed for the sampled-data large scale system consisting of N interconnected linear subsystems with actuator faults. The adaptation of the analog controller gain is derived by using the model-reference adaptive control theory based on Lyapunov method. In this paper, it is shown that the sampled-data decentralized adaptive control system is theoretically possible to asymptotically track the desired output with a specified performance even when actuator faults occur. Then, a method of actuator fault recovery is proposed. With the estimated faults, one can use the proposed input compensation method to solve actuator faults. In this paper, we also introduce a prediction-based digital redesign method to develop the corresponding sampled-data controller for the sampled-data decentralized adaptive control systems.

关键词： Lyapunov methods

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An Intelligent Robot based on Sound Source Localization and Ultrasound Distance Detection

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自动化技术与应用 2008年第11期27卷 22-28页

作者： Charlie Shucheng ZHU Mickey Zhen WANG Tina Wei ZHUO Linzhong ZHU Department of Electrical and Computer Engineering The Hong Kong University of Science and Technology HK Department of Computer Control System Shajiao B Power Station Ltd. Shenzhen 518102 China

In both industrial and research areas of electronic engineering,Sound Source Localization for robot control has always been an interesting subject to be further *** some dangerous situation,especially when a special driver is required to implement a particular task,the device should be able to combine robotics control technology with Sound Source Localization,and take actions according to the different response *** this research project,a multifunc-tional model driver,named "Mobile Island",has been designed and built up by integrating the Emulator 8051 micro-controller,Intel 8255 interfaces,some components and other necessary *** intelligent Mobile Island imple-mented by C language programs can operate under three control *** the sound control Mode 1,the model driver can detect and track a target by Sound Source Localization and then turn and move toward the *** the keypad control Mode 2,it can be controlled by a manual *** the free run Mode 3,Mobile Island can move and turn by *** finding an object in front,it will turn away before moving forward again,so that it can avoid crashing on the obstacle.

关键词：智能机器人声源定位方法超声检测距离

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An error-locating signature analyzer to identify faulty units in digital systems

An error-locating signature analyzer to identify faulty unit...

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Canadian Conference on Electrical and computer Engineering (CCECE)

作者： Vadim Geurkov Vladimir Dynkin Reza Sedaghat Electrical and Computer Engineering Department Ryerson University Toronto Canada Department of System Identification Institute for Control Science Moscow Russia

In conventional signature analysis, faulty units are identified by mismatch between the actual and reference signatures. The amount of reference signatures can be quite large for a complex system that requires high testing resolution. This complicates the diagnosis procedure. We show how under certain restrictions this amount can be reduced, preserving the diagnosis resolution and the aliasing rate. We construct a signature analyzer that is capable of locating faulty units. If the analyzer is implemented in the external automated test equipment, its throughput requirements can be diminished.

关键词： Error analysis Fault diagnosis Digital systems Circuit faults system testing Hardware computer errors Error correction Redundancy Fault detection

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The Imbalanced Problem in Mass-spectrometry Data Analysis

The Imbalanced Problem in Mass-spectrometry Data Analysis

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第二届最优化与系统生物学国际研讨会

作者： Hao-Hua Meng Guo-Zheng Li Rui-Sheng Wang Xing-Ming Zhao Luonan Chen School of Computer Engineering and Science Shanghai University Department of Control Science and Engineering Tongji University School of Information Renmin University of China Institute of System Biology Shanghai University

In many cases, protein mass-spectrometry data are imbalanced, i.e. the number of positive examples is much less than that of negative ones, which generally degrade the performance of classifiers used for protein recognition. Despite its importance, few works have been conducted to handle this problem. In this paper, we present a new method that utilizes the EasyEnsemble algorithm to cope with the imbalance problem in mass-spectrometry data. Furthermore, two feature selection algorithms, namely PREE (Prediction Risk based feature selection for EasyEnsemble) and PRIEE (Prediction Risk based feature selection for Individuals of EasyEnsemble), are proposed to select informative features and improve the performance of the EasyEnsemble classifier. Experimental results on three mass spectra data sets demonstrate that the proposed methods outperform two existing filter feature selection methods, which prove the effectiveness of the proposed methods.

关键词： Mass-spectrometry, Feature selection, Ensemble

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Utilizing Model Structure for Efficient Simultaneous Localization and Mapping for a UAV Application

Utilizing Model Structure for Efficient Simultaneous Localiz...

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IEEE Conference on Aerospace

作者： Rickard Karlsson Thomas B. Schon David Tornqvist Gianpaolo Conte Fredrik Gustafsson Division of Automatic Control Department of Electrical Engineering Linköping University Linkoping Sweden Division of Artificial Intelligence and Integrated Computer System Department of Computer and Information Science Linköping University Linkoping Sweden

This contribution aims at unifying two recent trends in applied particle filtering (PF). The first trend is the major impact in simultaneous localization and mapping (SLAM) applications, utilizing the FastSLAM algorithm. The second one is the implications of the marginalized particle filter (MPF) or the Rao-Blackwellized particle filter (RBPF) in positioning and tracking applications. Using the standard FastSLAM algorithm, only low-dimensional vehicle models are computationally feasible. In this work, an algorithm is introduced which merges FastSLAM and MPF, and the result is an algorithm for SLAM applications, where state vectors of higher dimensions can be used. Results using experimental data from a UAV (helicopter) are presented. The algorithm fuses measurements from on-board inertial sensors (accelerometer and gyro) and vision in order to solve the SLAM problem, i.e., enable navigation over a long period of time.

关键词： Simultaneous localization and mapping Unmanned aerial vehicles Particle filters Filtering Particle tracking Computational modeling Helicopters Fuses Time measurement Sensor fusion

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Stability of Hybrid Impulsive systems With Time Delays and Stochastic Effects

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IFAC Proceedings Volumes 2008年第2期41卷 5933-5938页

作者： Zhichun Yang Yiguang Hong Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing 100080 China Chongqing Key Lab of Operations Research and System Engineering Department of Mathematics and Computer Science Chongqing Normal University Chongqing 400047 China

In this paper, a class of hybrid impulsive systems with time delays and stochastic effects are considered. We obtain some criteria on the global exponential stability in mean square for the impulsive stochastic delayed systems. To do this, differential inequalities and ℒ-operator inequalities are developed. An example is given to illustrate the effectiveness of our results.

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Analysis and Formulation of Printing Process to Develop Knowledge-Based Scheduling Software

Analysis and Formulation of Printing Process to Develop Know...

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International Conference on Innovative Computing, Information and control (ICICIC)

作者： Shimpei Matsumoto Koji Okuhara Nobuyuki Ueno Hiroaki Ishii Department of Computer and Control Engineering Oita National College of Technology Oita Japan Department of Management and Information System Prefectural University of Hiroshima Hiroshima Japan Graduate School of Information Science and Technology Osaka University Suita Osaka Japan

We have addressed the improvement of production efficiency and the review of business process for an automotive parts supplier, and the goal of this study is the development of production management software. This paper describes the business result analysis in printing process and a formulation of the tacit procedure by observing worker's empirical rule to develop the knowledge-based scheduling software. The whole of business processes are clarified by our previous researches, and the scheduling problem of printing process has been mainly discussed. Previously the printing process has been improved only by theoretical aspect, however it cannot flexibly respond to the change of production conditions such as the dispersion of order, the interrupt of urgent task, and the inventory quantity of parts in spite of the actual field can handle these. Therefore this paper regards that the technical know-how of tacit knowledge in the actual printing field is absolutely necessary factor in response to the change of production conditions, and a formulation designed to the minimization of setup operation are expressed.

关键词： Printing Production Job shop scheduling Business Lot sizing Manufacturing Color

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Robust stability and H-infinity control for uncertain discrete-time Markovian jump singular systems

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控制理论与应用（英文版） 2008年第2期6卷 133-140页

作者： Shuping MA Chenghui ZHANG Xinzhi LIU School of Mathematics and System Science Shandong University Jinan Shandong 250100 China School of Computer Science and Technology Shandong University Jinan Shandong 250061 China School of Control and Engineering Shandong University Jinan Shandong 250061 China Department of Applied Mathematics University of Waterloo Waterloo Ontario N2L 3G1 Canada

The robust stability and stabilization, and H-infinity control problems for discrete-time Markovian jump singular systems with parameter uncertainties are discussed. Based on the restricted system equivalent （r.s.e.） transformation and by introducing new state vectors, the singular system is transformed into a discrete-time Markovian jump standard linear system, and the linear matrix inequality （LMI） conditions for the discrete-time Markovian jump singular systems to be regular, causal, stochastically stable, and stochastically stable with 7- disturbance attenuation are obtained, respectively. With these conditions, the robust state feedback stochastic stabilization problem and H-infinity control problem are solved, and the LMI conditions are obtained. A numerical example illustrates the effectiveness of the method given in the oaoer.

关键词： Discrete-time singular system Markovian jump system Robust stability and stabilization H-infinitycontrol Linear matrix inequality（LMI）

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Optimal process design using soft computing approaches

Optimal process design using soft computing approaches

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SICE Annual Conference

作者： Jinn-Tsong Tsai Wen-Hsien Ho Gong-Ming Hsu Tung-Kuan Liu Jyh-Horng Chou Department of Computer Science National Ping Tung Universty of Education Ping Tung Taiwan Department of Medical Information Management Kaohsiung Medical University Kaohsiung Taiwan Metal Industries Research and Development Centre Kaohsiung Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

ISBN: (纸本)9784907764296

This paper proposes an optimal process design by using soft computing approaches. The proposed procedure integrates the Taguchi method, the artificial neural network, and the genetic algorithm. The Taguchi method is applied to collect experimental data representing the quality performances of a system. The artificial neural network is used to build a system model. The genetic algorithm is employed to search for the optimal process parameters. A process parameters design for a titanium dioxide (TiO 2 ) thin film of the vacuum sputtering process is studied in this paper. The result estimated from the system model of the proposed procedure is satisfactory.

关键词： Taguchi method Neural network Genetic algorithm Vacuum sputtering process Thin film

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