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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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On the Existence of Compositional Barrier Certificates

On the Existence of Compositional Barrier Certificates

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IEEE Annual Conference on Decision and control

作者： Christoffer Sloth Rafael Wisniewski George J. Pappas Department of Computer Science Aalborg University Section of Automation & Control Aalborg University Department of Electrical and Systems Engineering University of Pennsylvania

ISBN: (纸本)9781467320658

This paper provides a necessary and sufficient condition for the compositional verification of a continuous system with additively separable barrier functions. The compositional safety verification enables the verification of an inter-connection of subsystems. The idea behind the compositional analysis is to allow the verification of systems with a high dimension, by the verification of multiple lower dimensional subproblems. In the compositional safety analysis, a particular structure is imposed on the barrier certificate, restricting the applicability of the method. We show an example of a system that cannot be verified using the compositional method, but can be verified using a centralized method. This example highlights how not to decompose systems, and should be used to guide the decomposition of a system into appropriate subsystems. Finally, we provide a second condition for the compositional safety analysis that enables the verification of the counterexample, by imposing a less restrictive structure of the barrier function. This shows that the counterexample can be solved with a compositional method, but at an increased computational complexity.

关键词： Verification Safety Analysis Counter example Licence optical coherence tomography angiography device system parameter Safety Verification continuous systems complexity classes decomposition SUB-SYSTEM barrier barriers

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Solving optimal power flow problems subject to distributed generator failures via particle swarm intelligence

Solving optimal power flow problems subject to distributed g...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Qi Kang MengChu Zhou Chi Xu Department of Control Science and Engineering University of Tongji Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

Distributed generation (DG) of power has played an ever-increasing role in a smart power system, often termed as a smart grid. Their use can, however, cause more risk to the entire system since their power outputs are often affected by uncontrollable environments, e.g., weather. Power flow problems as a nonlinear optimization one become much more challenging when one or more distributed generators fail to achieve their desired performance levels. This work formulates a particle swarm optimization method to solve them by considering controllable and uncontrollable distributed generators in a smart grid. Such a method is often sensitive to the initialization conditions and weighting factors. This work presents several typical different initialization strategies and decides the most suitable weighting factors. They are comprehensively investigated via an IEEE 14-bus system subject to the failure of uncontrollable distributed generators.

关键词： Fuels Generators Linear programming Sociology Statistics Load flow Simulation

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Correcting open-answer questionnaires through a Bayesian-network model of peer-based assessment

Correcting open-answer questionnaires through a Bayesian-net...

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： Andrea Sterbini Marco Temperini Department Computer Science University of Roma La Sapienza Rome Italy Department Computer Control and Management Engineering University of Roma La Sapienza Rome Italy

We have previously shown that, with the help of peer-assessment and of a finite-domain constraint-based model of the student's decisions, the teacher could have a complete assessment of the answers to open-ended questions, by grading just a subset of the answers (as low as half of the lot) and having the rest of the grading inferred by the supporting system. In this paper we present a probabilistic version of the earlier model, using Bayesian networks instead than constraints. Our aims are both defining the approach and prepare its validation: 1) modeling the peer-assessment activity of a student that evaluates others' answers, 2) using peer-assessment to help the teacher with a faster/shorter assessment process, 3) inferring the student's level of competence and ability to judge, from peer-assessment and from (partial) teacher-assessment, 4) learning the conditional probabilistic tables (CPTs) of the model from student data, and 5) comparing the probability distribution of competences in the class at different course phases. The model is under development and test with real data. We are developing a web-based interface to deliver open-answer and peer-assessment questionnaires and to assist the teacher-assessment.

关键词： Bayesian methods Probabilistic logic Data models Probability distribution Electronic learning Semantics Ontologies

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The information theory of filter

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Journal of Computational Information Systems 2012年第23期8卷 9995-10002页

作者： Su, Rijian Guo, Gongbing Ma, Shuangbao Kong, Li Deng, Lujuan School of Computer and Communication Zhengzhou University of Light Industry Zhengzhou 450002 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Filter circuits are mainly used to constraint the signal frequency bandwidth, separate signals from disturbance frequencies, and fast sharp pulse. However, in previous studies, the problems are analyzed mostly from the energy viewpoint. In this work we study the filter from the information theoreticviewpoint. Firstly, we have established the information model of the filter with entropy and power spectrum. Then, we have analyzed and computed entropy transform of four main types of filters. Finally, a calculation example has been given. Theoretical calculation and simulation results show that information will be lost through various types of filters;of course, the lost information is useless which is called noise. Moreover, there is a close relationship between entropy change per degree of freedom and frequency. For high passes and band-pass filter, the higher frequency, the less change of entropy. However, for low-pass filter is just the opposite. A similar situation also exists in band-rejection filter circuit. ©2012 by Binary Information Press.

关键词： Degrees of freedom (mechanics)

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Decentralized control of Heterogeneous Multi-agents in Collective Circular Motion

Decentralized Control of Heterogeneous Multi-agents in Colle...

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Chinese control Conference

作者： Zhiyong Chen Hai-Tao Zhang School of Electrical Engineering and Computer Science The University of Newcastle Department of Control Science and Engineering State Key Lab of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology

ISBN: (纸本)9781467325813

It is an interesting topic to study decentralized control algorithms for a group of agents to achieve a class of collective circular motion, or called torus. An algorithm was proposed in [1] where no global beacon information is required, however, the agents are homogeneous. In particular, it was assumed that the agents have a common nominal rotation radius and share a common reference frame. In this paper, an improved algorithm is proposed on heterogeneous agents by removing the two assumptions.

关键词： Multi-agent systems Collective behavior Circular motion Torus Heterogeneous multi-agents toruses Torus Circular motion Multi-agent systems decentralised control Agents REFERENCE FRAMES Collective Behavior

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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Distributed event-triggered control with network delays and packet losses

Distributed event-triggered control with network delays and ...

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IEEE Conference on Decision and control

作者： M. Guinaldo D. Lehmann J. Sánchez S. Dormido K. H. Johansson Department of Computer Science and Automatic Control UNED Spain School of Electrical Engineering Royal Institute of Technology (KTH) Sweden

This paper presents a distributed event-based control approach to cope with communication delays and packet losses affecting a networked dynamical system consisting of N linear time-invariant coupled systems. Two communication protocols are proposed to deal with these communication effects. It is shown that both protocols preserve the system stability in the sense that the state of every subsystem converges to a small region around the origin if the delay and the number of packet losses are bounded. Analytical expressions for the delay bound and the maximum number of consecutive packet losses are derived. Simulations illustrate the results.

关键词： Protocols Delay Nickel Packet loss Upper bound Bismuth

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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Learning active facial patches for expression analysis

Learning active facial patches for expression analysis

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Lin Zhong Qingshan Liu Peng Yang Bo Liu Junzhou Huang Dimitris N. Metaxas Department of Computer Science Rutgers University Piscataway NJ USA School of Information and Control Nanjing University of Information Science and Technology Nanjing China Department of Computer Science and Engineering University of Texas Arlington TX USA

In this paper, we present a new idea to analyze facial expression by exploring some common and specific information among different expressions. Inspired by the observation that only a few facial parts are active in expression disclosure (e.g., around mouth, eye), we try to discover the common and specific patches which are important to discriminate all the expressions and only a particular expression, respectively. A two-stage multi-task sparse learning (MTSL) framework is proposed to efficiently locate those discriminative patches. In the first stage MTSL, expression recognition tasks, each of which aims to find dominant patches for each expression, are combined to located common patches. Second, two related tasks, facial expression recognition and face verification tasks, are coupled to learn specific facial patches for individual expression. Extensive experiments validate the existence and significance of common and specific patches. Utilizing these learned patches, we achieve superior performances on expression recognition compared to the state-of-the-arts.

关键词： Face recognition Feature extraction Databases Support vector machines Facial muscles Educational institutions

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