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International Conference on Information and automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines Computer vision

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Hierarchical modelling in biology: Systematic building of limb models

Hierarchical modelling in biology: Systematic building of li...

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作者： Fazekas, C.S. Kozmann, G.Y. Hangos, K.M. Department of Information Systems University of Veszprém Veszprém Hungary Research Institute for Technical Physics and Materials Sciences Department of Biomedical Engineering Budapest Hungary Computer and Automation Research Institute Systems and Control Laboratory Budapest Hungary

ISBN: (纸本)008045108X

A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed. Copyright © 2005 IFAC.

关键词： Hierarchical systems

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Prediction-based diagnosis and loss prevention using model-based reasoning

Prediction-based diagnosis and loss prevention using model-b...

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18th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert systems: Innovations in Applied Artificial Intelligence, IEA/AIE 2005

作者： Námeth, Erzsábet Lakner, Rozália Hangos, Katalin M. Cameron, Ian T. Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Computer Science University of Veszprám Veszprám Hungary School of Engineering University of Queensland Brisbane Australia

ISBN: (纸本)3540265511

A diagnostic expert system established on model-based reasoning for on-line diagnosis and loss prevention is described in the paper. Its diagnostic "cause-effect" rules and possible actions (suggestions) are extracted from the results of standard HAZOP analysis. Automatic focusing as well as "what-if" type reasoning for testing hypothetical actions have been also implemented. The diagnostic system is tested on a granulator drum of a fertilizer plant in a simulation test-bed. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Artificial intelligence

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HIERARCHICAL MODELLING IN BIOLOGY: SYSTEMATIC BUILDING OF LIMB MODELS

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IFAC Proceedings Volumes 2005年第1期38卷 49-54页

作者： Cs. Fazekas Gy. Kozmann K.M. Hangos Department of Information Systems University of Veszprém Veszprém Hungary Department of Biomedical Engineering Research Institute for Technical Physics and Materials Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

关键词： Biomedical system model hierarchical system muscle tendon aponeurosis pennation sarcomere

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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American control Conference (ACC)

作者： B. Vanek T. Peni J. Bokor G. Balas Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a model predictive control (MPC) outer loop controller specifies the command signals for the 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

关键词： Trajectory Unmanned aerial vehicles Communication system control Aerodynamics Aircraft Vehicle dynamics Predictive models Predictive control Aerospace control Polynomials

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Nonlinear analysis and control of a continuous fermentation process

Nonlinear analysis and control of a continuous fermentation ...

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作者： Szederkényi, G. Kristensen, N.R. Hangos, K.M. Bay Jørgensen, S. Systems and Control Research Laboratory Computer and Automation Institute HAS P.O. Box 63 H-1518 Budapest Hungary Department of Chemical Engineering Technical University of Denmark DK-2800 Lyngby Denmark

Different types of nonlinear controllers are designed and compared for a simple continuous bioreactor operating near optimal productivity. This operating point is located close to a fold bifurcation point. Nonlinear analysis of stability, controllability and zero dynamics is used to investigate open-loop system properties, to explore the possible control difficulties and to select the system output to be used in the control structure. A wide range of controllers are tested including pole placement and LQ controllers, feedback and input-output linearization controllers and a nonlinear controller based on direct passivation. The comparison is based on time-domain performance and on investigating the stability region, robustness and tuning possibilities of the controllers. controllers using partial state feedback of the substrate concentration and not directly depending on the reaction rate are recommended for the simple fermenter. Passivity based controllers have been found to be globally stable, not very sensitive to the uncertainties in the reaction rate and controller parameter but they require full nonlinear state feedback. © 2002 Published by Elsevier Science Ltd.

关键词： Fermentation

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Input reconstruction by means of system inversion: Application to fault detection and isolation 15th

Input reconstruction by means of system inversion: Applicati...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Szigeti, F. Bokor, J. Edelmayer, A. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.P. 11 La Hechicera Venezuela

ISBN: (纸本)9783902661746

This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated. Copyright © 2002 IFAC.

关键词： Fault detection

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Using multiple orientational filters of steerable pyramid for image registration

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Information Fusion 2002年第3期3卷 203-214页

作者： Liu, Zheng Khing Ho, Yeong Tsukada, Kazuhiko Hanasaki, Koichi Dai, Yaping Li, Lingqi Control and Instrumentation Division School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Nanyang Avenue Singapore Department of Earth Resources Engineering Graduate School of Engineering Kyoto University 6068501 Kyoto Japan Department of Automation Beijing Institute of Technology Beijing 100081 China Institute for Aerospace Research National Research Council of Canada Building M-14 Ottawa Ont. K1K 2K5 Montreal Road 1191 Canada

Images acquired by different methodologies are fused to achieve more accurate information and a comprehensive understanding about the objects. With an increasing number of sensors involved, the signal acquisition and analysis system will benefit from the technique named sensor fusion or data fusion. Many successful applications have been found in the areas of computer vision, remote sensing, medical diagnosis, non-destructive testing, etc. Before the image fusion operation, a preprocessing, i.e. registration, needs to be performed, which ensures that all pixels are associated with corresponding physical points of the object. In this paper, we present an automatic two-dimensional image registration method by using a so-called steerable pyramid transform. Based on the steerability of the transform, image features along certain orientations can be obtained. Thereafter, an edge detector, such as Sobel, can further extract oriented edge features of the image. A coarse-to-fine procedure is adopted to utilize these features to achieve the registration result. The effectiveness of the proposed method is illustrated by the experimental results. © 2002 Elsevier Science B.V. All rights reserved.

关键词： Feature extraction Image fusion Image registration Steerable pyramid

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The automated lane-changing model of intelligent vehicle highway systems

The automated lane-changing model of intelligent vehicle hig...

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International Conference on Intelligent Transportation

作者： Lingxi Li Fei-Yue Wang Center for Intelligent Control and Systems Engineering Institute of Automation Chinese Academy and Sciences Beijing China Advanced research in Complex Systems Department of Systems and Industrial Engineering of University of Arizona Tucson AZ USA

Current traffic control and management systems are mainly macro-level vehicle coordination control models, not to take into account the factors of the individual car in the systems. This paper proposes an intelligent lane-changing model of the intelligent vehicle highway systems. This model is based on the traffic density distribution and safety control methods. Finally, we use simulation software to verify its feasibility and show that this model can achieve a higher traffic throughput and reduce the total travel time.

关键词： Intelligent vehicles Automated highways Traffic control Road transportation Automatic control Throughput Road vehicles Cellular neural networks Weight control Velocity control

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