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A high order sliding mode observer for systems in triangular input observer form

A high order sliding mode observer for systems in triangular...

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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, Héctor Department of Electrical Engineering and Computer Computer Science Automatic Control Laboratory CINVESTAV Unidad Guadalajara Av. del Bosque 1145 45015 Zapopan Jalisco Mexico Universidad Nacional de Colombia Sede Medellín Escuela de Ingeniería Eléctrica y Mecánica Facultad de Minas Cr. 80 No. 65 - 223 Medellín Antioquia Colombia

ISBN: (纸本)9781457716904

This paper deals with the design of a high order sliding mode observer for a class of nonlinear systems that can be described in the São called triangular input observer form. The mathematical tools required to make the system transformation to such form are alSão presented. At last, we show the performance of the observers with several simulation examples, including the application of a CSTR process model. © 2011 IEEE.

关键词： Sliding mode control

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An improved evolvable oscillator for all flight mode control of an insect-scale flapping-wing micro air vehicle

An improved evolvable oscillator for all flight mode control...

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Congress on Evolutionary Computation

作者： John C. Gallagher Michael W. Oppenheimer Department of Computer Engineering and Science Wright State University Dayton OH USA Control Design and Analysis Branch Air Force Research Laboratory OH USA

In previous work, we presented an adaptive evolvable oscillator that enables online, in-flight, adaptation of a rigorous controller for hovering in an insect-scale flapping wing micro air vehicle based on the Harvard RoboFly. That particular evolvable hardware oscillator, however, was a proof-of-concept prototype and is incapable of supporting the types of signal adaptation necessary to support on-line correction for other flight modes (E.G. roll, pitch, forward translation, etc.). This paper introduces a new oscillator design capable of supporting signal adaptation for all possible flight modes of the vehicle. It will also present preliminary experimental results demonstrating the adaptive oscillator to be capable of correcting for vehicle faults in a two degree of freedom (2DOF) control task requiring simultaneous regulation of vehicle altitude and roll. The paper will conclude with discussion of application of this adaptive, evolvable oscillator to full vehicle control.

关键词： Vehicles Oscillators Registers Table lookup Random access memory Frequency control Hardware

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Marginal analysis on binary pairwise Gibbs random fields

Marginal analysis on binary pairwise Gibbs random fields

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IEEE International Conference on Automation science and engineering (CASE)

作者： Tung Le Christoforos N. Hadjicostis Manufacturing Execution and Control Group SIMTech AStar Singapore Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign IL USA

In this paper, we study marginal problems for a class of binary pairwise Gibbs random fields (BPW-GRFs). Given a BPW-GRF associated with a family of binary positive pairwise potentials, finding the exact marginal for each random variable is typically an NP-hard problem. In this paper, we develop upper and lower bounds of the true marginals in BPW-GRFs. Our bounds can be easily computed via an iteration on appropriate trees that are constructed from the corresponding BPW-GRF graphs. We prove that these marginal bounds outperform existing bounds. We also show via simulations that this improvement is significant on graphs with weak potentials.

关键词： Surface acoustic waves Vegetation Force Markov processes Random variables Probability distribution Algorithm design and analysis

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Local feature based mammographic tissue pattern modelling and breast density classification

Local feature based mammographic tissue pattern modelling an...

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2011 4th International Conference on Biomedical engineering and Informatics, BMEI 2011

作者： Chen, Zhili Denton, Erika Zwiggelaar, Reyer Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Department of Computer Science Aberystwyth University Aberystwyth SY23 3DB United Kingdom Deparment of Breast Imaging Norfolk and Norwich University Hospital Norwich NR4 7UY United Kingdom

ISBN: (纸本)9781424493524

It has been shown that there is a strong correlation between breast tissue density/patterns and the risk of developing breast cancer. Thus, modelling mammographic tissue patterns is important for quantitative analysis of breast density and computer-aided mammographic risk assessment. In this paper, we first review different local feature based texture representation algorithms, where images are represented as occurrence histograms over a dictionary of local features. Subsequently, we use these approaches to model mammographic tissue patterns based on local tissue appearances in mammographic images. We investigate the performance of different breast tissue representations for breast denstiy classification. The evaluation is based on the full MIAS database using BIRADS ground truth. The obtained classification results are comparable with existing work, which indicates the potential capability of local feature based texture representation in mammographic tissue pattern analysis. © 2011 IEEE.

关键词： Risk assessment

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Dependency Analysis for Learning Class Structure for Novice Java Programmer

Dependency Analysis for Learning Class Structure for Novice ...

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2011 IEEE 2nd International Conference on Software engineering and Service science(ICSESS 2011)

作者： Tomoyoshi Wakabayashi Shinpei Ogata Saeko Matsuura Department of Electronic Engineering and Computer Science Graduate School of Engineering Shibaura Institute of Technology SIT SaitamaJapan Functional Control Systems Graduate School of Engineering Shibaura Institute of Technology SIT SaitamaJapan

Novice Java programmers often cannot make well structured program,so that the program does not have much *** dependency between fields and methods in classes often causes such inappropriate class structure,so responsibility of each class becomes unclear and the readability of the program is *** programs are difficult to identify the causes of bugs,so that novice programmers often lose the desire to learn *** paper proposes a way to learn how to develop a well structured Java program,which includes subject design,evaluation tool,and a web-based programming exercise environment by analyzing some source codes of novice Java programmers.

关键词： component Refactoring Java Programming Learning Class Structure

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Human interaction recognition in YouTube videos

Human interaction recognition in YouTube videos

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International Conference on Information, Communications and Signal Processing

作者： Sunyoung Cho Seongho Lim Hyeran Byun Haejin Park Sooyeong Kwak Department of Computer Science Yonsei University Seoul South Korea Miss Poters School Farmington USA Department of Control Instrumentation Engineering Hanbat National University Daejeon South Korea

ISBN: (纸本)9781457700293

This paper introduces the use of annotation tags for human activity recognition in video. Recent methods in human activity recognition use more complex and realistic datasets obtained from TV shows or movies, which makes it difficult to obtain the high recognition accuracies. We improve the recognition accuracies using annotation tags of the video. Tags tend to be related to video contents, and human activity videos frequently contain tags relevant to their activities. We first collect a human activity dataset containing tags from YouTube. Under this dataset, we automatically discover relevant tags and their correlation with human activities. We finally develop a framework using visual content and tags for activity recognition. We show that our approach can improve recognition accuracies compared with other approaches that only use visual content.

关键词： Videos Humans Visualization YouTube Correlation Motion pictures TV

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Application of convex optimization in integrated design of five-bar mechanism

Application of convex optimization in integrated design of f...

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World Congress on Intelligent control and Automation (WCICA)

作者： Hong Wang Jiangzhao Yang Zexiang Li Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China

In this paper, we presented an integrated design methodology for a five-bar mechanism. Five-bar mechanisms are often used in applications that require high speed and high precision motion control. One example of such applications is the semiconductor wire bonding process. In this process, the tip acceleration needs to reach 10g to 15g with sub-micron precision and little vibration. In order to meet such strict design requirements, we first developed a dynamic equation for the rigid five-bar mechanism and obtained a simplified model for designing the structure distribution of the mechanism. Secondly, taking both mechanical and controller parameters as design variables, we formulated the settling time and overshoot functions of the closed-loop system and investigated the convexity features of them. By properly choosing optimal variables, we obtained a convex function which is treated as an objective function with a set of real constraints in an optimization problem. Finally, by optimization algorithm of differential evolution, we obtained a set of global optimal values including mechanical and controller parameters. The effectiveness of the proposed design approach is demonstrated by simulation results.

关键词： Reactive power Optimization Mercury (metals)

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Optimal Tracking of a sEMG based Force Model for a Prosthetic Hand

Optimal Tracking of a sEMG based Force Model for a Prostheti...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Chandrasekhar Potluri Madhavi Anugolu YimeskerYihun Alex Jensen Steve Chiu Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) College of Engineering Idaho State University MCERC College of Engineering Idaho State University Department of Electrical Engineering and Computer Science MCERC Idaho State University Department of Mechanical Engineering MCERC Idaho State University

ISBN: (纸本)9781424441211

This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a prosthetic hand. System Identification (SI) is used to obtain the dynamic relation between the sEMG and the corresponding skeletal muscle force. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion-based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system model provides the estimated finger forces to be produced as input to the prosthetic hand. Optimal tracking method has been applied to track the estimated force profile of the Fusion based sEMG-force model. The simulation results show good agreement between reference force profile and the actual force.

关键词： SEMA5B gene Prosthetic hand Skeletal muscle multiple-input single-output Fusion reactions Fusion, biological Gaussian filter

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NN/RISE-based asymptotic tracking control of uncertain nonlinear systems

NN/RISE-based asymptotic tracking control of uncertain nonli...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Qinmin Yang S. Jagannathan Youxian Sun State Key Laboratory of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hangzhou Zhejiang China Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

This paper presents a novel control methodology for the tracking control of a high-order continuous time nonlinear systems with unknown dynamics and external disturbance. The control signal consists of the robust integral of the sign of the error (RISE) feedback signal multiplied with an adaptive gain plus neural network (NN) output. The two-layer NN learns the system dynamics in an online manner while residual reconstruction errors and the external bounded system disturbances are overcome by the RISE signal. Semi-global asymptotic tracking performance is theoretically guaranteed by using the Lyapunov standard method, while the NN weights and all other signals are shown to be bounded. Further, simulations results are present to illustrate the control performance.

关键词： Artificial neural networks Approximation methods Asymptotic stability Nonlinear systems Trajectory Stability analysis Robustness

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Human arm motion modeling and long-term prediction for safe and efficient Human-Robot-Interaction

Human arm motion modeling and long-term prediction for safe ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hao Ding Gunther Reißig Kurniawan Wijaya Dino Bortot Klaus Bengler Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Institute of Ergonomics Technische Universität München Garching Germany

Modeling and predicting human behavior is indispensable when industrial robots interacting with human operators are to be manipulated safely and efficiently. One challenge is that human operators tend to follow different motion patterns, depending on their intention and the structure of the environment. This precludes the use of classical estimation techniques based on kinematic or dynamic models, especially for the purpose of long-term prediction. In this paper, we propose a method based on Hidden Markov Models to predict the region of the workspace that is possibly occupied by the human within a prediction horizon. In contrast to predictions in the form of single points such as most likely human positions as obtained from previous approaches, the regions obtained here may serve as safety constraints when the robot motion is planned or optimized. This way one avoids collisions with a probability not less than a predefined threshold. The practicability of our method is demonstrated by successfully and accurately predicting the motion of a human arm in two scenarios involving multiple motion patterns.

关键词： Hidden Markov models Humans Robots Safety Predictive models Trajectory Silicon

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