检索结果-内蒙古大学图书馆

International Symposium on Communications control and Signal Processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction control engineering Automatic control control engineering computing Automotive engineering Automation

来源：评论

学校读者我要写书评

暂无评论

Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

引用

2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

On-Line Recognition of Metabolic State of Baker's Yeast Culture

引用

IFAC Proceedings Volumes 2004年第3期37卷 397-402页

作者： P. Hrnčiřik J. Vovsík J. Náhlík Department of Computing and Control Engineering Institute of Chemical Technology Prague Technická 5 166 28 Prague 6 Czech Republic fax: +420 224 355 053

This paper presents the comparison of two approaches based on artificial intelligence techniques solving the task of on-line recognition of metabolic state of baker's yeast culture in a fed-batch cultivation. The first approach iS represented by a knowledge-based system containing expert knowledge in the form of production rules. The other approach is based on the application of the fuzzy neural network paradigm enabling the automatic extraction of the recognition rules from. experimental data. Performance of both approaches is discussed using results obtamed from tests on experimental data from a laboratory cultivation unit.

关键词： Fermentation processes Fuzzy systems Neural networks Recognition Rule-based systems

来源：评论

学校读者我要写书评

暂无评论

Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

来源：评论

学校读者我要写书评

暂无评论

Certainty equivalence in constrained linear systems subject to stochastic disturbances

Certainty equivalence in constrained linear systems subject ...

引用

American control Conference (ACC)

作者： I. Batina A.A. Stoorvogel S. Weiland Department of Electrical Engineering Mathematics and Computer Delft University of Technnology Delft Netherlands Department of Mathematics and Computing Science Eindhovan University of Technology Eindhoven Netherlands Control Systems Group Department of Electronical Engineering Eindhovan University of Technology Eindhoven Netherlands

A sufficient condition is provided under which the optimal controller of a constrained optimization problem can be synthesized by combining an optimal state estimator with an optimal static state feedback. An application of a model predictive controller is considered that involves both input and state constraints in a system that is subject to stochastic disturbances.

关键词： Linear systems Stochastic systems State feedback State estimation control systems Optimal control Constraint optimization Q measurement Noise measurement Stochastic processes

来源：评论

学校读者我要写书评

暂无评论

Restricted frequency inequality is equivalent to restricted dissipativity

Restricted frequency inequality is equivalent to restricted ...

引用

IEEE Conference on Decision and control

作者： T. Iwasaki S. Hara A.L. Fradkov Department of Mechanical and AeroSpace Engineering University of Virginia Charlottesville VA USA Department of Information Physics and Computing University of Tokyo Bunkyo Tokyo Japan Control of Complex Systems Laboratory Institute for Problems of Mechanical Engineering Saint Petersburg Russia

A variety of powerful tools and results in systems and control theory rely on classical Kalman-Yakubovich-Popov-Zames results establishing equivalence between special frequency domain inequalities (FDIs), linear matrix inequalities (LMIs) and time domain inequalities (TDIs). Recent developments have addressed FDIs within (semi)finite frequency ranges to increase flexibility in the system analysis and synthesis. In this paper it is shown that validity of a general FDI within a restricted frequency range is equivalent to validity of the corresponding TDI under rate limitations specified by a matrix-valued integral quadratic constraint. The latter property of a system is termed "restricted dissipativity". Its special cases are "restricted passivity" and "restricted finite gain property". The equivalence between restricted FDI and restricted dissipativity is established for both continuous-time and discrete-time settings. The paper together with the previous developments extends Kalman-Yakubovich-Popov-Zames FDI-LMI-passivity results to FDIs specified within restricted frequency ranges.

关键词： Fault detection Frequency domain analysis Linear matrix inequalities Symmetric matrices control theory Frequency synthesizers control system synthesis Physics education Educational technology Aerospace engineering

来源：评论

学校读者我要写书评

暂无评论

Improved line-of-sight guidance for cruising underwater vehicles

引用

IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

来源：评论

学校读者我要写书评

暂无评论

Multiagent planning as control synthesis

Multiagent planning as control synthesis

引用

Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： Kiam-Tian Seow Chuan Ma M. Yokoo Division of Computing Systems School of Computer Engineering Nanyang Technological University Singapore Systems Control Group University of Toronto Toronto ONT Canada Department of Intellignet Systems Kyushu University Fukuoka Japan

来源：评论

学校读者我要写书评

暂无评论

On stabilization of linear systems with stochastic disturbances and input saturation

On stabilization of linear systems with stochastic disturban...

引用

IEEE Conference on Decision and control

作者： A. Stoorvogel S. Weiland A. Saberi Department of Mathematics and Computing Science Eindhovan University of Technology Eindhoven Netherlands Department of Electrical Engineering Mathematics and Computer Science Delft University of Technnology Delft Netherlands Control Systems Group Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands School of Electrical Engineering and Computer Science Washington State University Pullman WA USA

It is well-known that for linear systems internal asymptotic stability implies external stability in the sense that when the external input is in L/sub p/ then also the state will be in L/sub p/. However, for the control of linear systems with saturation where the controlled system is nonlinear this implication is no longer directly applicable. Several people have studied the effect of external inputs in L/sub p/ either directly or in the context of ISS as introduced by Sontag. In this paper we study the effect of external stochastic disturbances on linear systems with input saturation and we establish that when we can achieve internal global asymptotic stability then we can also achieve a bounded variance for the state.

关键词： Linear systems Stochastic systems Asymptotic stability control systems Feedback Nonlinear control systems Open loop systems Discrete time systems Mathematics Computer science

来源：评论

学校读者我要写书评

暂无评论

Multiagent planning as control synthesis

Multiagent planning as control synthesis

引用

Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2004

作者： Seow, Kiam-Tian Chuan, Ma. Yokoo, Makoto Division of Computing Systems School of Computer Engineering Nanyang Technological University Singapore 639798 Systems Control Group University of Toronto Toronto Ont. M5S 1A4 Canada Department of Intelligent Systems Fac. of Info. Sci. and Elec. Eng. Kyushu University 6-10-1 Hakozaki Higashi-ku Fukuoka 812-8581 Japan

ISBN: (纸本)1581138644

This paper proposes a new multiagent planning approach to coordination synthesis that views distributed agents as discrete-event processes. The connection between discrete-event control synthesis and coordination planning is first established, thereby enabling the exploitation of the vast body of knowledge and associated software synthesis tools from 'The Supervisory control of Discrete-Event Systems' for automatic coordination synthesis of distributed agents. Importantly, these coordinating agents designed collectively generate a behaviour guaranteed not to contradict any specified inter-agent constraint, is nonblocking and optimal. A simple planning methodology is proposed in terms of procedures supported by CTCT, an existing, freely available design tool developed based on the control synthesis framework. A simple example illustrates the use of the CTCT-based methodology to synthesize coordination modules for distributed agents. Discussions in relation to previous work examine the relative significance of the new multiagent planning framework.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：