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Actionable topological mapping for navigation using nearby objects

Actionable topological mapping for navigation using nearby o...

2012 IEEE International Conference on Automation science and engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Kim, Junyoung Kim, Juyong You, Seungil Oh, Yoonseon Oh, Songhwai School of Electrical Engineering and Computer Science and ASRI Seoul National University Seoul 151-744 Korea Republic of Department of Control and Dynamical Systems California Institute of Technology Pasadena CA 91125 United States

ISBN: (纸本)9781467304283

In this paper, we propose a mapping and navigation method for mobile robots with low computational resources and limited memory capacity. The proposed navigation method is based on topological mapping of visual features for its compact representation and robustness in localization. In order to improve the localization accuracy and minimize the memory requirement, we propose the use of visual features from nearby objects. This paper presents a new topological map, called an actionable topological map, which is constructed using visual features from nearby objects and motion information between places in the map. By incorporating motion information, we make it easier for a robot to navigate using the compact representation of a topological map. The proposed method is suitable for light-weight, low-cost robotic platforms due to its low computational and space requirements. We demonstrate the effectiveness of our approach in experiments using an inexpensive, off-the-shelf robotic platform. © 2012 IEEE.

关键词： Mobile robots

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New predictive control scheme for networked control systems

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Circuits, Systems, and Signal Processing 2012年第3期31卷 945-960页

作者： Liu, Bo Xia, Yuanqing Mahmoud, Magdi S. Wu, Harris Cui, Shisheng Department of Automatic Control Beijing Institute of Technology Beijing 100086 China Systems Engineering Department King Fahd University of Petroleum and Minerals PO Box 5067 Dhahran 31261 Saudi Arabia College of Business and Public Administration Old Dominion University Norfolk VA 23529 United States Computer Science Department Stanford University Stanford CA 94305 United States

This paper is concerned with the design of networked control systems with random network-induced delay and data dropout. It presents a new control scheme, which is termed networked predictive control with optimal estimation. Based onMultirate Kalman Filtering, the measured data which are out of sequence or delayed can be used to improve the precision of estimation. The control prediction generator provides a set of future control predictions to make the closed-loop system achieve the desired control performance and the compensator removes the effects of the network transmission with time delay and data dropout. Simulation results are presented to illustrate the effectiveness of the control strategy via comparing with control schemes without any compensation for the network. © Springer science+Business Media, LLC 2011.

关键词： Networked control systems

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On Mode-Dependent l2-l∞ Filtering for Network-Based Discrete-Time Systems

On Mode-Dependent l2-l∞ Filtering for Network-Based Discret...

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第八届中国多智能体系统与控制会议(MASC'2012)

作者： Lei Zhong Lin Li Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China

The main goal of this paper is to investigate the energy-to-peak filtering problem for a class of network-based discrete-time *** network-induced delays are modeled as a Markov chain with partly unknown transition *** this assumption,the filter is more general in comparison with the existing methods that take the transition probabilities completely known or completely unknown.A mode-dependent full-order filter is constructed by taking the unknown probabilities into a convex *** using a new bounded real lemma,sufficient LMI conditions are derived to ensure the corresponding filtering errors system is stochastically stable with a guaranteed l2-l∞ performance index.A numerical example is presented to illustrate the effectiveness of the proposed approach.

关键词： Discrete-time system Markov Chain l2-l∞ filtering transition probabilities uncertainty

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ToucHMore toolchain and system software for energy and variability customisation

ToucHMore toolchain and system software for energy and varia...

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IEEE International High-Level Design Validation and Test Workshop

作者： Neil C. Audsley Ian Gray Andrea Acquaviva Ralph Haines Department Computer Science University of York UK Department of Control and Computer Engineering Politecnico di Torino Italy ATEGO UK

Run-time platform variability presents a number of challenges to the system software in order that a run-time environment is presented to applications that sufficiently masks dynamic platform variability (including fabrication variability), whilst allowing applications to tune overall system performance to exploit key aspects of dynamic energy usage and platform variability. The approach taken within the Touchmore project is to model key aspects of the platform in order that performance and variability can be understood and exploited by the system software. In turn, the system software (comprising OS and run-time) utilises the model so that aspects of variability and energy usage are abstracted from the platform, then monitored and controlled in order to meet policy goals, eg. energy minimisation. This paper documents aspects of the modeling and system software structure to show how the Touchmore project is managing energy and platform variability using customisation of the application, system software and toolchain.

关键词： System software computer architecture Unified modeling language Java Digital signal processing Hardware

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Fuzzy Logic-Based Scheme for Load Balancing in Grid Services

Fuzzy Logic-Based Scheme for Load Balancing in Grid Services

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Conference on computer science and Software engineering(CSSE 2012)

作者： Tarek Helmy Hamdi Al-Jamimi Bashar Ahmed Hamzah Loqman Information and Computer Science Department College of Computer Science and EngineeringKing Fahd University of Petroleum and Minerals “On leave from College of Engineering Department of Computers Engineering & Automatic ControlTanta University

Load balancing is essential for efficient utilization of resources and enhancing the responsiveness of a computational grid, especially that hosts of services most frequently used, i.e. food, health and nutrition. Various techniques have been developed and applied;each has its own limitations due to the dynamic nature of the grid. Efficient load balancing can be achieved by an effective measure of the node's/cluster's utilization. In this paper, as a part of an NSTIP project # 10-INF1381-04 and in order to assess of FAQIH framework ability to support the load balance in a computational grid that hosts of food, health and nutrition inquire services. We detail the design and implementation of a proposed fuzzy-logic-based scheme for dynamic load balancing in grid computing services. The proposed scheme works by using a fuzzy logic inference system which uses some metrics to capture the variability of loads and specifies the state of each node per a cluster. Then, based on the overall nodes' states, the state of the corresponding cluster will be defined in order to assign the newly arrived inquires such that load balancing among different clusters and nodes is accomplished. Many experiments are conducted to investigate the effectiveness of the proposed fuzzy-logic-based scheme to support the load balance where the results show that the proposed scheme achieves really satisfactory and consistently load balance than of other randomize approaches in grid computing services.

关键词： Fuzzy Logic Load Balancing Grid Computing.

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Maturity of software modelling and model driven engineering: A survey in the Italian industry

Maturity of software modelling and model driven engineering:...

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16th International Conference on Evaluation & Assessment in Software engineering (EASE 2012)

作者： Federico Tomassetti Marco Torchiano Alessandro Tiso Filippo Ricca Gianna Reggio Department of Control and Computer Engineering Politecnico di Torino Italy Department of Computer and Information Science Universitá di Genova Italy

ISBN: (纸本)9781622762538

Background: The main claimed advantage of model driven engineering is the improvement of productivity. However, little information is available about its actual usage during software development and maintenance in the industry. Objective: The main aim of this work is investigating the level of maturity in the usage of software models and model driven engineering in the Italian industry. The perspective is that of software engineering researchers. Method: First, we conducted an exploratory personal opinion survey with 155 Italian software professionals. The data were collected with the help of a web-based on-line questionnaire. Then, we conducted focused interviews with three software professionals to interpret doubtful results. Results: Software modelling is a very relevant phenomenon in the Italian industry. Model driven techniques are used in the industry, even if (i) only for a limited extent, (ii) despite a quite generalized dissatisfaction about available tools and (iii) despite a generally low experience of the IT personnel in such techniques. Limitations: Generalization of results is limited due to the sample size. Moreover, possible self-exclusion from participants not interested in modelling could have biased the results. Conclusion: Results reinforce existing evidence regarding the usage of software modelling and (partially of) model driven engineering in the industry but highlight several aspects of immaturity of the Italian industry.

关键词： Model driven engineering computer software Maturity Modeling computer programs Public Opinion Polls industries immaturity Italian Italian Software design exclusion

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Development of a cloud-computing-based equipment monitoring system for machine tool industry

Development of a cloud-computing-based equipment monitoring ...

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2012 IEEE International Conference on Automation science and engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Hung, Min-Hsiung Lin, Yu-Chuan Quoc Huy, Tran Yang, Haw-Ching Cheng, Fan-Tien Department of Computer Science and Information Engineering Chinese Culture University Taipei Taiwan Institute of Manufacturing Information and Systems National Cheng Kung University Tainan Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

ISBN: (纸本)9781467304283

This paper aims to present the design of a cloud computing-based equipment monitoring system (EMS), called CCEMS, for the CNC machine tool industry to illustrate the paradigm shift of EMSs from basing on the Internet to basing on the cloud. In the CCEMS, Graphical User Interface (GUI) plays an important role that allows users to interact with the system for controlling and operating equipment, monitoring equipment performance and statuses, detecting and diagnosing equipment faults, conjecturing production quality and precision of equipment, and so on. To overcome the shortcomings of traditional Web GUIs, this paper proposes a novel Web application implementation framework, called NWAIF, for the CCEMS, by using Service-Oriented Architecture (SOA) and Rich Internet Application (RIA) technology. Finally, a paradigm CCEMS for monitoring CNC machine tools is constructed and used to validate the efficacy of the CCEMS and NWAIF. Testing results show that the paradigm CCEMS meets the desired functional requirements and the GUIs created by using the proposed NWAIF is superior to traditional Web-based GUIs in terms of shorter response times to complete the testing operations. © 2012 IEEE.

关键词： Graphical user interfaces

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Research on Stochastic Stability of Model Based Networked control System

Research on Stochastic Stability of Model Based Networked Co...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Fengxia Xu Qunhong Tian Zhongda Lu Wu Ouyang College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

In this paper, We analysis on the Model-Based Networked control System where the plant is continuous and the states are available (full state feedback). we consider the problem of having a sensor that is connected to the actuator/controller by a network. Two types of stochastic stability are discussed, namely Almost Sure or Probability-1 Asymptotic Stability and Mean Square or Quadratic Asymptotic Stability. The stochastic stability of NCS is analyzed and proved.

关键词： Networked control System stochastic stability Mean Square Stability Quadratic Asymptotic Stability

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Hierarchical and distributed discrete event control of manufacturing processes

Hierarchical and distributed discrete event control of manuf...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Olaf Stursberg Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

The supervisory controllers used in manufacturing processes to establish nominal sequences of production steps can theoretically be synthesized based on the supervisory control theory (SCT). The fact, that in practice manual design procedures are preferred over the SCT, is (among other reasons) due to the fact that the models used in the SCT are of an abstract type rather than reflecting the signal flow within a discretely controlled process, and that sets of permissible behaviors are obtained rather than selected (optimal) behaviors within this set. This paper proposes a modeling and synthesis scheme for discrete control which aims at retaining the closed loop structure of the controlled process. An algebraic representation of the discrete event dynamics is chosen to enable the transfer of concepts from continuous control to the supervisory control task. In addition, the scheme considers that the plant to be controlled often comprises continuous quantities (from which events need to be extracted), and that larger manufacturing processes typically have a modular and hierarchical structure.

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Asynchronous dual descent for separable network optimisation

Asynchronous dual descent for separable network optimisation

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American control Conference (ACC)

作者： Olivier Bilenne Department of Electrical Engineering and Computer Science Control Systems Group Technical University of Berlin Germany

This study is concerned with the class of convex network optimisation problems forming the Network Utility Maximisation (NUM) framework. Dual decomposition is commonly used to decompose the NUM problem into smaller problems that can be solved locally by the nodes. The typical dual descent techniques suffer however from slow convergence and require the distributed computations to be synchronised. Yet global node synchronisation is a difficult task in self-organised ad-hoc networks, where preference is given to asynchronous protocols. The algorithm proposed in this study proceeds sequentially and asynchronously for each node to local projected gradient descents, combined with local step-size selection routines of the type Armijo. Global convergence is ensured provided that the gradient of the dual function is Lipschitz continuous. Scaling the gradient to the local Newton directions accelerates the process and guarantees linear convergence. The proposed algorithm is tested on the problem of maximum-lifetime routing of a wireless sensor network.

关键词： Convergence Optimization Vectors Nickel Mercury (metals) Symmetric matrices Acceleration

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