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9th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2008

作者： Tar, József K. Rudas, Imre J. Bitó, János F. Machado, José A. Tenreiro Kozlowski, Krzysztof R. Institute of Intelligent Engineering Systems Budapest Tech Bécsi út 96/B H-1034 Budapest Hungary Department of Electrotechnical Engineering Institute of Engineering of Porto Rua Dr. Antonio Bernardino de Almeida 4200-072 Porto Portugal Control and Systems Engineering Computing Science and Management Poznan University of Technology ul. Piotrowo 3a 60-965 Poznan Poland

In this paper some refinement of a novel control approach is reported that fits to the "traditional line of thinking" according to which in the most practical cases neither very precise, nor even complete system model is needed for obtaining precise control for dynamical systems. The validity of this statement is briefly pointed out in the most popular approaches as the main idea of the "Robust Sliding Mode / Variable Structure controllers", in the Adaptive Inverse Dynamics and in the Slotine-Li Adaptive controllers based on Lyapunov's 2nd Method, and in a recently published problem tackling using the simple geometric interpretation of the Singular Value Decomposition (SVD). In the present approach the originally proposed convergent, iterative Cauchy sequences are nonlinearly moderated to adaptively control a coupled nonlinear system, the cart plus double pendulum serving as popular paradigm of dynamicall not very well conditioned systems. It is shown that the proposed moderation removes the small sharp fluctuation in the control torque that inherently belonged to the original solution without significantly degrading the control quality. This statement is substantiated by simulation results.

关键词： Singular value decomposition

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Stabilizing Interconnection Characterization for Multi-Agent Systems with Dissipative Properties

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IFAC Proceedings Volumes 2008年第2期41卷 1571-1577页

作者： Sandra Hirche Shinji Hara Institute of Automatic Control Engineering Technische Universität München D-80290 Munich GERMANY Department of Information Physics and Computing The University of Tokyo Tokyo 113-8656 JAPAN

This paper addresses the problem of stabilization and output-synchronization for a network of interconnected nonlinear agents, where each agent is assumed to be dissipative with respect to a specified quadratic supply rate which may differ among the agents. Main results concern the characterization and design of the information exchange structure for stabilization. Applying a linear protocol here, the associated interconnection matrix is characterized based on LMI's, as well as on spectral properties. Additionally a synthesis based on LMI's under structural constraints is proposed. The results are validated in simulations.

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Simple efficient techniques for creating effective 3D impressions from 2D original images

Simple efficient techniques for creating effective 3D impres...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Julian Balcerek Adam Dąbrowski Adam Konieczka Department of Computing Science and Management Chair of Control and System Engineering Division of Signal Processing and Electronic Systems Poznan University of Technology Poznan Poland

In this paper simple techniques based on nonlinear geometric transformations are presented for creating an effective 3D impression (stereovision or illusion of depth) from a single 2D original. Our aim is to propose semi-automatic ways to transform 2D images into their suggestive but plausible 3D anaglyph versions. Three conversion methods based on a binary depth map are proposed and the influence of various RGB component shifts on the 3D impression quality is studied.

关键词： Image color analysis Three dimensional displays Materials Cameras Image segmentation Convergence

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Functional Transforms in MR Image Segmentation

Functional Transforms in MR Image Segmentation

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3rd International Symposium on Communications, control, and Signal Processing (ISCCSP 2008), vol.3

作者： Andrea Gavlasova Ales Prochazka Jaroslav Pozivil Oldrich Vysata Department of Computing and Control Engineering Institute of Chemical Technology in Prague Prague Czech Republic Neurocenter Caregroup Rychnov nad Kneznou Czech Republic

Image segmentation, feature extraction and image components classification form a fundamental problem in many applications of multi-dimensional signal processing. The paper is devoted to the use of watershed transform for image segmentation in connection with wavelet transform allowing image de-noising and image components feature extraction. Proposed methods are applied for biomedical image analysis and processing. The study of MR image segmentation devoted to the detection of its specific components results in the proposal of the appropriate image preprocessing to reduce problems of its oversegmentation. Resulting algorithms include the use of wavelet transform and gradient methods in the preprocessing stage. Proposed algorithms are verified for simulated images and applied for a selected MR biomedical images containing different structures.

关键词： Image de-noising Image segmentation Watershed transform Distance transform Discrete wavelet transform Image classification Feature based segmentation Biomedical image processing

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STSLib and its application to two benchmarks

STSLib and its application to two benchmarks

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International Workshop on Discrete Event Systems, WODES

作者： Chuan Ma W. M. Wonham Department of Computing and SoftwareInformation Technology Building McMaster University Hamilton ONT Canada Systems Control Group Department of Electrical and Computer Engineering University of Toronto ONT Canada

State tree structures (STS) are an adaptation of statecharts to supervisory control theory. STSLib is a C++ library that we have developed to support the symbolic analysis and synthesis of STS. This paper presents a short introduction to the library, and then applies the library to two benchmarks: (1) cat and mouse tower (CMT), (2) dining philosophers (DP). We demonstrate that STSLib can design optimal nonblocking supervisors for systems of state size up to 10 626 , and the resulting controllers are tractable and readily comprehensible.

关键词： Discrete event systems Conferences

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Possible adaptive control by tangent hyperbolic fixed point transformations used for controlling the Φ6-Type Van der Pol Oscillator

Possible adaptive control by tangent hyperbolic fixed point ...

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ICCC 2008 - IEEE 6th International Conference on Computational Cybernetics

作者： Tar, József K. Bitó, János F. Rudas, Imre J. Kozlowski, Krzysztof R. Tenreiro Machado, José A. Budapest Tech John Von Neumann Faculty of Informatics Inst. of Intelligent Engineering Systems Bécsi út 96/B Budapest H-1034 Hungary Poznan University of Technology Computing Science and Management Chair of Control and Systems Engineering ul. Piotrowo 3a 60-965 Poznan Poland Institute of Engineering of Porto Department of Electrotechnical Engineering Rua Dr. Antonio Bernardino de Almeida 4200-072 Porto Portugal

ISBN: (纸本)9781424428755

In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function based techniques is that its fundament is some simple geometric consideration allowing to formulate the control task as a Fixed Point Problem for the solution of which various Contractive Mappings can be created that generate Iterative Cauchy Sequences for Single Input - Single Output (SISO) systems. These sequences can converge to the fixed points that are the solutions of the control tasks. Recently alternative potential solutions were proposed and sketched by the use of special functions built up of the "response function" of the excited system under control. These functions have almost constant values apart from a finite region in which they have a "wrinkle" in the vicinity of the desired solution that is the "proper" fixed point of these functions. It was shown that at one of their sides these fixed points were repulsive, while at the opposite side they were attractive. It was shown, too, that at the repulsive side another, so called "false" fixed points were present that were globally attractive, with the exception of the basins of attraction of the "proper" ones. This structure seemed to be advantageous because no divergences could occur in the iterations, the convergence to the "false" values could easily be detected, and by using some ancillary tricks in the most of the cases the solutions could be kicked from the wrong fixed points into the basins of attraction of the "proper ones". It was expected that via adding simple rules to the application of these transformations good adaptive control can be developed. However, due to certain specialties of these functions practical problems arose. In the present paper novel transformations are presented that seem to evade these difficulties. Their applicability is illustrated via simulations in the ad

关键词： Lyapunov functions

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An Application of Convex Optimization Concepts to Approximate Dynamic Programming

An Application of Convex Optimization Concepts to Approximat...

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2008 American control Conference (ACC), vol.10

作者： Edilson F. Arruda Marcelo D. Fragoso Joao Bosco R. do Val Department of Systems And Control National Laboratory for Scientific Computing Petropolis Rio de Janeiro Brazil Department of Telematics School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil

This paper deals with approximate value iteration (AVI) algorithms applied to discounted dynamic (DP) programming problems. The so-called Bellman residual is shown to be convex in the Banach space of candidate solutions to the DP problem. This fact motivates the introduction of an AVI algorithm with local search that seeks an approximate solution in a lower dimensional space called approximation architecture. The optimality of a point in the approximation architecture is characterized by means of convex optimization concepts and necessary and sufficient conditions to global optimality are derived. To illustrate the method, two examples are presented which were previously explored in the literature.

关键词： Dynamic programming Function approximation Approximation algorithms Sufficient conditions Stochastic processes Large-scale systems Heuristic algorithms Robustness Convergence Computer architecture

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An Effective and Robust Pedestrians Detecting Algorithm & Symposia

An Effective and Robust Pedestrians Detecting Algorithm & Sy...

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International Conference on Intelligent Transportation

作者： Zhipeng Li Yun Sun Fuqiang Liu Wenhuan Shi Key Laboratory of Embedded System and Service Computing supported by Ministry of Education University of Tongji Shanghai China School of Electronics and Information Engineering University of Tongji Shanghai China Department of Control Science and Technology Shanghai Jiaotong University Shanghai China

In this paper, we present a pedestrian detection approach using spatial histograms of oriented gradients feature. As spatial histograms of oriented gradients consist of marginal distributions of an image over local and global patches, they can preserve shape and contour of a pedestrian simultaneously. There are two main contributions in this paper. First of all, we expand the histograms of oriented gradients features from single-size to variable-size which can capture local and global feature of pedestrian automatically. We call theses feature as the "spatial histograms of oriented gradients". Secondly, we employ histogram similarity and Fisher criterion to measure discriminability of features and select some discriminative features to identify the pedestrian. SVM classifier is constructed to train the selected features from target and surrounding background. The proposed algorithm is tested on some public database. Experimental results show that the proposed approach is efficient and rapid in pedestrian detection.

关键词： Robustness Conferences Histograms Support vector machines Shape Intelligent transportation systems Sun Support vector machine classification Computer vision Image edge detection

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Global robust synchronization of the Duffing system and Van der Pol oscillator

Global robust synchronization of the Duffing system and Van ...

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IEEE Conference on Decision and control

作者： Weijie Sun Daizhan Cheng Jie Huang College of Automation Science and Engineering South China University of Technology Guangzhou China Institute of Mathematics and System Science Chinese Academy and Sciences Beijing China Laboratory of Applied Control and Computing Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, we study the global robust synchronization problem of the controlled Duffing system and the Van der Pol oscillator. By employing the internal model approach, we first show that the problem can be converted into a global robust stabilization problem of a time-varying nonlinear system in lower triangular form. Then we show that the global stabilization problem of the lower triangular system is solvable, thus leading to the solution of the global robust synchronization problem.

关键词： Robustness Oscillators control systems Robust control Time varying systems Nonlinear systems Partial differential equations Automatic control Sun Output feedback

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