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An equivalent control based second order sliding mode observer using robust differentiators

An equivalent control based second order sliding mode observ...

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2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic control, LARC 2011

作者： Sánchez-Torres, Juan Diego Loukianov, Alexander G. Murillo, Julián Alberto Patiño Giraldo, Bertulfo Botero, Hector Department of Electrical Engineering and Computer Computer Science Automatic Control Laboratory CINVESTAV Unidad Guadalajara Mexico Universidad Nacional de Colombia Sede Medelln Escuela de Ingeniería Eléctrica y Mecánica Facultad de Minas Cr.80 No. 65 - 223 Medellín Antioquia Colombia

ISBN: (纸本)9781457716904

In this paper a sliding-mode observer for a class of non-linear systems is proposed. The observer is based on the equivalent control method. The mathematical tools required to design such an observer are alSão presented. The proposed scheme can ensure finite time convergence of the observer and the reduction of chattering effect due to relay-type correction terms. Several examples are presented to illustrate the proposed method. © 2011 IEEE.

关键词： Linear systems

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Viral quasispecies reconstruction from amplicon 454 pyrosequencing reads

Viral quasispecies reconstruction from amplicon 454 pyrosequ...

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IEEE International Conference on Bioinformatics and Biomedicine Workshops (BIBMW)

作者： Nicholas Mancuso Bassam Tork Pavel Skums Ion Măndoiu Alex Zelikovsky Department of Computer Science Georgia State University Atlanta GA USA Centers for Disease Control and Prevention Atlanta GA USA Department of Computer Science & Engineering University of Connecticut Storrs CT USA

We consider the quasispecies spectrum reconstruction problem in amplicon reads. The main contribution of this paper is several methods to reconstruct HCV quasispecies from simulated error-free amplicon reads. Our comparison with existing methods for quasispecies spectrum reconstruction both based on shotgun and amplicon reads show significant advantages of the proposed technique. In most of the cases, even low coverage allows to reconstruct majority of quasispecies and very accurately estimate their frequencies in the simulated samples. The source code for all implemented algorithms is available at https://***/nmancuso/bioa/.

关键词： Assembly Bioinformatics Genomics Entropy Bandwidth Human immunodeficiency virus Viruses (medical)

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Event detection in composite context aware-service

Event detection in composite context aware-service

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3rd International Conference on Ubiquitous and Future Networks, ICUFN 2011

作者： Na, Woongsoo Cho, Sungrae Kim, Eungha Choi, Youngil School of Computer Engineering and Science Chung-Ang University 221 Heukseok Dongjak Seoul Korea Republic of Cognitive Service Control Research Team Internet Service Research Department Electronics and Telecommunications Research Institute 138 Gajeongno Yuseong-gu Daejeon Korea Republic of

ISBN: (纸本)9781457711763

Recent computing paradigm will advance in a form of more user-centric services spurred by smart phone where smart phone users enjoy a large variety of contextual information. Under the context-aware domain, contexts are forming more complicated and thus the concept of composite context has been proposed. While providing a useable context to users is important, it is also essential to reserve such a composite context even if it is not available. Once the context is available to user, there should be a methodology maintained to alarm the user of its existence. In this paper, we propose new event detection architecture for new composite system. In the later part of the paper, we provide two case studies using the proposed event detection architecture: video streaming service and office automation service. © 2011 IEEE.

关键词： Information services

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ORF-MOSAIC for Adaptive control of a Biomimetic Arm

ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

引用

IEEE International Conference on Robotics and Biomimetics

作者： M. Mahdi Ghazaei A. Henrik Jorntell Rolf Johansson Department of Computer Science Faculty of Engineering Lund University Department of Experimental Medical Sciences Section for Neurophysiology Lund University Department of Automatic Control Faculty of Engineering Lund University

ISBN: (纸本)9781457721366

This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30×30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model.

关键词： Arm spiral arm adaptive control Cerebellum Biomimetics external electric field Workplace Standing Orders Epicoccum

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Wireless MIMO switching with zero-forcing relaying

Wireless MIMO switching with zero-forcing relaying

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2011 49th Annual Allerton Conference on Communication, control, and Computing, Allerton 2011

作者： Wang, Fanggang Liew, Soung Chang Guo, Dongning Institute of Network Coding Chinese Univ. of Hong Kong Hong Kong State Key Lab. of Rail Traffic Control and Safety EIE Beijing Jiaotong Univ. China Department of Electrical Engineering and Computer Science Northwestern Univ. China

ISBN: (纸本)9781457718168

A wireless relay with multiple antennas is called a multiple-input- multiple-output (MIMO) switch if it forms a one-to-one mapping from the inputs (uplinks) to the outputs (downlinks). This paper studies the case with N source stations and N destination stations (which may be the same set), so that the mapping is any permutation of the N inputs. Moreover, the switching is achieved by "precode-and-forward", i.e., the relay precodes the received vector signal by a zero-forcing matrix and transmits it, so that each destination station receives only its desired signal with enhanced noise but no interference. Assuming full channel state information is available at the switch, the design of the zero-forcing precoder for maximizing some performance metric based on the received signal-to-noise ratios is investigated. The problem with two stations is completely solved in closed form in certain cases. In other cases, heuristic algorithms are proposed to optimize the precoder. These algorithms are shown to be near-optimal. © 2011 IEEE.

关键词： Beamforming

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The Minimum Principle for Time-Varying Hybrid Systems with State Switching and Jumps

The Minimum Principle for Time-Varying Hybrid Systems with S...

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IEEE Conference on Decision and control

作者： Benjamin Passenberg Marion Leibold Olaf Stursberg Martin Buss Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9781612848006

The hybrid minimum principle (HMP) is extended to hybrid systems with autonomous (internally forced) switching on switching manifolds, controlled (externally forced) switching, jumps of the continuous state when switching, and time-varying functions for specifying the continuous and discrete dynamics. The formulation of the hybrid optimal control problem (HOCP) includes running, switching, and terminal costs. The HMP provides necessary optimality conditions for a solution of the HOCP and can be used as basis for developing numerical optimal control algorithms.

关键词： minimum principle hybrid systems switching time varying Manifolds

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Partitioning methods used in DBS treatments analysis results

Partitioning methods used in DBS treatments analysis results

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International Joint Conference on Neural Networks (IJCNN)

作者： Oana Geman Cornel Turcu Department of Automatic Control and Computers Faculty of Electrical Engineering and Computer Science University Stefan cel Mare of Suceava Suceava Romania

Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-term stimulation at frequencies greater than 100Hz. The mechanism by which chronic, electrical Deep Brain Stimulation with high frequency, suppresses tremor in Parkinson's disease is unknown, but might involve a gradual change in network properties controlling the generation of tremor. First, we performed linear and nonlinear analysis of the tremor signals to determine a set of parameters and rules for recognizing the behavior of the investigated patient and to characterize the typical responses for several forms of DBS. Second, we found patterns for homogeneous group for data reduction. We used Data Mining and Knowledge discovery techniques to reduce the number of data. Then, we found "clusters" the most well-known used and commonly partitioning methods used: K-means and K-medoids. To support such predictions, we develop a model of the tremor, to perform tests determining the DBS reducing the tremor or inducing tolerance and lesion if the stimulation is chronic.

关键词： Satellite broadcasting Clustering algorithms Time series analysis Correlation Algorithm design and analysis Mathematical model Software algorithms

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Design of a FPGA based position PI servo controller for a DC motor with dry friction

Design of a FPGA based position PI servo controller for a DC...

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Southern Conference on Programmable Logic

作者： Luis F. Castano Gustavo A. Osorio Perception and Intelligent Control Group Department of Electrical and Electronics Engineering and Computer Science Universidad Nacional de Colombia Manizales Colombia

In this paper we present the design, implementation and experimental validation of a FPGA based position servo controller for a DC motor with dry friction. VHDL and block diagram modules for trajectory generation, encoder signal decoding, PI controller and PWM control signal generation are described. The control system is implemented in the DE3 board of Terasic Technologies Inc using Quartus II environment of Altera Corporation. Servo system simulation was made using Simulink. The analytical non linear model for the anti-windup saturation on the integral control action, saturation on the actuator and dry friction is validated through experiments and simulations.

关键词： DC motors Servomotors Field programmable gate arrays Trajectory Shafts Digital signal processing Pulse width modulation

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Effects of statistical distribution on nonlinear correlation coefficient

Effects of statistical distribution on nonlinear correlation...

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IEEE Instrumentation and Measurement Technology Conference

作者： Zhiyuan Shen Qiang Wang Yi Shen School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Department of Control Science and Engineering Harbin Institute of Technology Harbin China

Nonlinear Correlation Coefficient (NCC) is proposed to quantitatively measure the nonlinear relation between the variables. Much attention paid on NCC leads to application being far from the basic research. In this paper, we propose a mathematical framework to systematically analyze the effects of statistical distribution on NCC. It is found that the arbitrary distortion on distribution leads to the decreasing of NCC and the sharing structure of the concerned distribution minimizes the NCC. Furthermore, considering the situation of a sequence of discrete observations, we provide a collection of rigorous logistic results to justify NCC is an increasing function of sequence length. The numerical examples on Lorenz and linear auto-regression system are used to illustrate proposed results suitably and effectively.

关键词： Correlation Statistical distributions Entropy Q measurement Mechanical variables measurement Time measurement Random variables

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The influence of the spatial separation of control elements on the workload for mobile information systems 11

The influence of the spatial separation of control elements ...

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13th International Conference on Human-computer Interaction with Mobile Devices and Services, Mobile HCI 2011

作者： Ziegler, Jens Graube, Markus Suhrbier, Alexander Wessel, Niels Malberg, Hagen Urbas, Leon Department of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology 01062 Dresden Germany Institute for Applied Computer Science KIT Karlsruhe Institute of Technology 76344 Eggenstein-Leopoldshafen Germany Department of Physics Humboldt-Universität Zu Berlin 10115 Berlin Germany Institute for Biomedical Engineering Dresden University of Technology 01062 Dresden Germany

ISBN: (纸本)9781450305419

Mobile information systems (MIS) are finding their way into private and business every-day activities. There are also increased attempts to establish MIS for on-site activities in industrial facilities. Industrial environments, however, place significantly higher demands on mobile user interfaces than office or home environments. Common interaction styles are often unsuitable for this domain. MIS comprising specialized configurations like wearable systems might overcome current limitations. Wearable systems make it possible to arrange system components in the immediate environment of the user's body in order to create an ergonomic and intuitive user interface. However, the use of distributed, body-worn user interfaces, and in particular separation of input and output devices, might increase the workload for the user. This study examines the extent to which the separation of input and output devices affects the workload for wearable MIS. Three interaction styles in two different configurations are investigated with four different measures to determine the workload covering both objective and subjective indicators. This investigation shows that there is no significant increase of workload in general. However, the measurement of the heart rate variability revealed subtle but significant differences between the two configurations, particularly for one interaction style. These findings indicate that physiological measures can provide more detailed and subtle information about additional workload and its source than other measures. © 2011 ACM.

关键词： Human computer interaction

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