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International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： Marijan Martinović Damir Žarko Stjepan Stipetić Tino Jerčić Marinko Kovačić Zlatko Hanić Dave Staton Department of Electric Machines Drives and Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Motor Design Ltd Ellesmere UK

This paper presents summarized electromagnetic and thermal design of interior permanent magnet motor for a low-floor tram TMK 2200. Motor geometry is optimized for maximum torque density using differential evolution algorithm. The influences of winding configuration on power losses and thermal transients in the motor during one driving cycle of the tram have been analyzed. The results indicate that an optimal number of turns per slot and parallel paths can be found to yield minimum temperatures in various parts of the motor considering the intermittent character of the load.

关键词： Traction motors Induction motors Permanent magnet motors Torque Coils Windings Synchronous motors

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Joint video adaptation and erasure code for video broadcast in wireless networks

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Science China(Information Sciences) 2013年第10期56卷 102-116页

作者： HE NengQiang ZHANG XueDan LI YiPeng CAO JianNong LI Zhu REN Yong Department of Electronic Engineering Tsinghua University Department of Automation Tsinghua University Department of Computing Hong Kong Polytechnic University

Advances in wireless access technologies such as WiMax and LTE have accelerated the development of wireless video *** existing erasure codes are designed for wireless data broadcasting,their potential can only be realized for wireless video broadcasting if the distortions associated with video packets and their complex decoding dependency are taken into *** this paper,we propose the greedy video erasure code(GVEC)to minimize average video distortion by accounting for the temporal scalable decoding dependency among video frames e.g.I,P and B frames in *** is a greedy algorithm and sufers from high computational *** practical implementation,we have designed the joint video adaptation and erasure code(JVEC)with lower complexity,which can generate erasure codes on the fly to guarantee the decoding of important video *** results show that the performance of JVEC is very close to that of GVEC,and is superior to that of existing erasure *** results also show the existence of a performance tradeof between video distortion and video packet throughput.

关键词： wireless video broadcast erasure code video analysis

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A Novel Fusion Algorithm for Visible and Infrared Image using Non-subsampled Contourlet Transform and Pulse-coupled Neural Network

A Novel Fusion Algorithm for Visible and Infrared Image usin...

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International Conference on Computer Vision Theory and Applications

作者： Chihiro Ikuta Songjun Zhang Yoko Uwate Guoan Yang Yoshifumi Nishio Department of Electrical and Electronic Engineering Tokushima University Department of Computing Mathematics School of Science Xi'an Jiaotong University Department of Automation Science and Technology School of Electronic and Information Engineering Xi'an Jiaotong University

ISBN: (纸本)9781479976867

An image fusion algorithm between visible and infrared images is significant task for computer vision applications such as multi-sensor systems. Among them, although a visible image is clear perfectly able to be seen through the naked eyes, it is often suffers with noise;while an infrared image is unclear but it has high anti-noise property. In this paper, we propose a novel image fusion algorithm for visible and infrared images using a non-subsampled contourlet transform (NSCT) and a pulse-coupled neural network (PCNN). First, we decompose two original images above mentioned into low and high frequency coefficients based on the NSCT. Moreover, each low frequency coefficients for both images are duplicated at multiple scales, and are processed by laplacian filter and average filter respectively. Finally, we can fuse the normalized coefficients by using the PCNN. Conversely, we can reconstruct a fused image based on the low and high frequency coefficients, which are fused by using the inverse NSCT. Experimental results show that the proposed image fusion algorithm surpasses the conventional and state-of-art image fusion algorithm.

关键词： Image Fusion Visible Image Infrared Image Pulse Coupled Neural Network Non-subsampled Contourlet Transform

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Robust control reconfiguration of resource allocation systems with Petri nets and integer programming

Robust control reconfiguration of resource allocation system...

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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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Nonlinear Control Model of Synchronous Motor with Excitation and Damper Windings

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Journal of Energy and Power engineering 2014年第2期8卷 379-389页

作者： Marijo Sundrica Zlatko Maljkovic Electric Power Generation Department KONCAR--Power Plant and Electric Traction Engineering lnc. Zagreb 10000 Croatia Dep. of Electric Machines Drives and Automation Faculty of Electrical Engineering and Computing Zagreb 10000 Croatia

In this paper, a new control method for synchronous motor with excitation and damper windings is presented. It is based on one type of nonlinear control; feedback linearization control. To make a realization in the sense of electric drive, symmetricM space vector PWM （pulse width modulation） is applied. Estimation of damper winding currents via Lyapunov function for the whole estimated system is done. The aim of control is to make tracking system for rotor speed and square of stator flux. Simulation of motor starting to predefined operating points is done, and also maintaining these points during step change of load torque is obtained. Simulations give good results.

关键词： Synchronous motor nonlinear control Lyapunov stability observer control feedback linearization electric drivesimulation.

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Stability Analysis of a Multirotor UAV with Robust Backstepping Controller

Stability Analysis of a Multirotor UAV with Robust Backstepp...

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IEEE Latin American Robotics Symposium, LARS

作者： Armando S. Sanca Pablo J. Alsina Jés J.F. Cerqueira Department of Technology State University of Feira de Santana Bahia Brazil Department of Computing Engineering and Automation - UFRN Natal-RN Brazil Department of Electrical Engineering Federal University of Bahia Salvador BA Brazil

In this paper, the stability analysis of an hexarotor micro-aerial vehicle for outdoor applications using IMU sensors is presented. The dynamic model of the hexarotor was expressed using the Newton-Euler laws jointly with a full state robust backstepping controller, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The experimental hexarotor is equipped with an IMU/sonar sensors, which appropriately provides measurements of attitude and altitude. For the performance of the robust controller, sensors were modeled as real measurements with unknown bias and white noise. The bounded attitude/altitude controller were derived on the robust practical stability that deals with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances.

关键词： Stability analysis Backstepping Robustness Lyapunov methods Rotors Equations Asymptotic stability

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Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

Cooperative and Geometric Learning Algorithm (CGLA) for path...

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作者： Zhang, Baochang Liu, Wanquan Mao, Zhili Liu, Jianzhuang Shen, Linlin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China Department of Computing Curtin University Perth WA 6102 Australia Shenzhen Key Laboratory of Spatial Smart Sensing and Services School of Computer Science and Software Engineering Shenzhen University China Media Laboratory Huawei Technologies Co.Ltd. Shenzhen 518129 China

In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs. © 2014 Elsevier Ltd. All rights reserved.

关键词： Motion planning

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Graph cut and image segmentation using mean cut by means of an agglomerative algorithm

Graph cut and image segmentation using mean cut by means of ...

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Elaine Ayumi Chiba Marco Antonio Garcia de Carvalho André Luís da Costa Computing Visual Lab UNICAMP Limeira SP Brazil Computing Visual Lab School of Technology - FT University of Campinas - UNICAMP Limeira - SP Brazil Department of Computer Engineering and Industrial Automation UNICAMP Campinas SP Brazil

ISBN: (纸本)9781479976867

Graph partitioning, or graph cut, has been studied by several authors as a tool for image segmentation. It refers to partitioning a graph into several subgraphs such that each of them represents a meaningful object of interest in the image. In this work we propose a hierarchical agglomerative clustering algorithm driven by the cut and mean cut criteria. Some preliminary experiments were performed using the benchmark of Berkeley BSDS500 with promising results.

关键词： Image segmentation Clustering algorithms Measurement Partitioning algorithms Image edge detection Benchmark testing Couplings

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Design of RF BAW-based ΣΔ Modulators

Design of RF BAW-based ΣΔ Modulators

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IEEE Latin American Symposium on Circuits and Systems (LASCAS)

作者： Diomadson Belfort Sebastian Y. C. Catunda Hassan Aboushady Automation and Computing Engineering Department Federal University of Rio Grande do Norte University of Pierre and Marie Curie - UPMC Laboratory of Informatics of Paris 6 - LIP6

Analysis of the Bulk Acoustic Wave (BAW) resonator modeled as a two-port device is presented for applications in Sigma Delta Modulator (ΣΔM) based Analog-to-Digital Converter (ADC). The design of BAW-based Continuous Time (CT) ΣΔM starting from a Discrete Time (DT) model, which is designed from scratch, is presented and explained in details. In order to convert a DT ΣΔM into CT BAW-based ΣΔM, Finite Impulse Response (FIR) filters are used in the feedback path increasing the degrees of freedom. We discuss and validate the calculation of the FIR filter coefficients by using a design example of BAW-based ΣΔMs.

关键词： Band-pass filters Bulk acoustic wave devices Modulation Capacitors Radio frequency Signal to noise ratio Mathematical model

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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