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2009 American control Conference (ACC 2009)

作者： Marek Przedwojski Krzysztof Galkowski Peter H Bauer Eric Rogers School of Electronics and Computer Science University of Southampton UK Institute of Control and Computation Engineering University of Zielona Gora Poland Department of Electrical Engineering University of Notre Dame USA

ISBN: (纸本)9781424445233

This paper addresses the problem of synchronization errors in distributed dynamical systems. In particular, it focuses on the question of stability for the case where all subsystems have the same sampling frequency, but different switching times. In contrast to previous work, the approach taken here models the set of system matrices that arise using a polytopic uncertainty approach, where a polytope vertex corresponds to a possible state matrix of the overall system. System stabilization is then approached through state feedback and LMI techniques are used to generate the control law matrices. A method to handle the combinatorial explosion of the number of polytope vertices is developed and illustrated using an example from swarm system navigation.

关键词： Robust stability Frequency synchronization Clocks Circuits control systems Error correction State feedback Switches Robust control Sampling methods

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The real-time video stabilization for the rescue robot

The real-time video stabilization for the rescue robot

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SICE Annual Conference

作者： Jen-Pin Hsiao Cheng-Chung Hsu Tzu-Chiang Shih Pau-Lo Hsu Syh-Shiuh Yeh Bor-Chyun Wang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Mechanical Engineering National Taipei University of Technology Taipei Taiwan Department of Computer Science and Information Engineering China University of Technology Hukou Taiwan

When rescue robots navigate in a rough terrain, significant vibration of the video occurs unavoidably and a video stabilization system is proposed in this paper to reduce the disturbance on the visual system of the present rescue robots. The Kalman filter is applied to estimate the motion vector of the robot and the false estimation occurrence can be thus greatly reduced by applying analysis of correlation and variance of the motion vector estimation. With a hierarchical searching algorithm implemented on the TI DSP 6437, the frame rate can be improved from 10 fps to 28 fps to realize the real-time video stabilization and furthermore, the cooperative mission of multiple rescue robots has been achieved by applying the developed visual servo technique. The proposed virtual bounded motion control algorithm further leads the robots approaching the target precisely with cooperation of multiple rescue robots. The demo video is available at: http://***/DemoVideo/.

关键词： Robot sensing systems Mobile robots Motion estimation Optical noise Visual servoing Navigation Motion control Wireless sensor networks Vibrations Motion analysis

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Decision support tool for resource allocation subject to imprecise data constraints

Decision support tool for resource allocation subject to imp...

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International Conference on control and Automation (ICCA)

作者： Grzegorz Bocewicz Zbigniew A. Banaszak Wojciech Muszynski Department of Computer Science and Management Technical University Koszalin Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

This paper deals with resource allocation in multi-project manufacturing system design, where more than one shared renewable resource type may be required by the manufacturing operation and the availability of each type is time limited. The aim of the paper is to present a knowledge-based and constraint programming-driven approach to resource allocation where that data can be imprecise. The presented design scheme is used as a framework for developing a task oriented decision support tool for project portfolio prototyping (DST4P 3 ). The tool provides a prompt and interactive service to a set of routine queries defined in terms of both direct and inverse resource allocation tasks.

关键词： Resource management Production Fuzzy set theory Decision making Portfolios Decision support systems Electronic mail Logic programming Job shop scheduling Automatic control

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Improving Software Testing Cost-Effectiveness through Dynamic Partitioning

Improving Software Testing Cost-Effectiveness through Dynami...

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International Conference on Quality Software

作者： Zhi Quan Zhou Arnaldo Sinaga Lei Zhao Willy Susilo Kai-Yuan Cai School of Computer Science and Software Engineering University of Wollongong Wollongong NSW Australia Department of Automatic Control Beijing Aeronautics and Astronautics University Beijing China

ISBN: (纸本)9781424459124

We present a dynamic partitioning strategy that selects test cases using online feedback information. The presented strategy differs from conventional approaches. Firstly, the partitioning is carried out online rather than off-line. Secondly, the partitioning is not based on program code or specifications; instead, it is simply based on the fail or pass information of previously executed test cases and, hence, can be implemented in the absence of the source code or specification of the program under test. The cost-effectiveness of the proposed strategy has been empirically investigated with three programs, namely SPACE, SED, and GREP. The results show that the proposed strategy achieves a significant saving in terms of total number of test cases executed to detect all faults.

关键词： Software testing Subspace constraints Aerodynamics Costs computer science Software engineering Fault detection Adaptive control Cybernetics Software quality

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Full scale application support on Windows Mobile devices by data prebuffering using SQL CE database

Full scale application support on Windows Mobile devices by ...

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IEEE GCC Conference & Exhibition

作者： Ondrej Krejcar Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Centre of Applied Cybernetics VSB-Technical University of Ostrava Ostrava Poruba Czech Republic

The paper deal with a mobile wireless connected devices and the problem of their slow wireless connection. The main area of interest is in a model of data prebuffering based system enhancement for locating and tracking users of our control system inside the buildings. The experimental framework prototype uses a WiFi network infrastructure to let a mobile device determine its indoor position. User location is used for data prebuffering and pushing information from server to user's PDA. All server data are saved as artifacts (together) with its position information in building. The accessing of prebuffered data on mobile device can highly improve response time needed to view large multimedia data. On mobile device the SQL Server CE database is used. Mobile device operate with Windows Mobile 6.0 operation system which is real time. All operations in such mobile clients are deterministic.

关键词： Servers Databases IEEE 802.11 Standards Mobile communication Mobile handsets control systems Buildings

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Rapid automatic segmentation and visualization of teeth in CT-scan data

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Journal of Applied sciences 2009年第11期9卷 2031-2044页

作者： Akhoondali, H. Zoroofi, R.A. Shirani, G. Control and Intelligent Processing Center of Excellence Faculty of Engineering School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Oral and Maxillofacial Surgery Faculty of Dentistry Medical Science University of Tehran Tehran Iran

In this study, a fast automatic method is proposed for the segmentation and visualization of teeth in multi-slice CT-scan data of the head. The algorithm consists of five main procedures. In the first part, the mandible and maxilla are separated using maximum intensity projection in the y direction and a step like region separation algorithm. In the second part, the dental region is separated using maximum intensity projection in the z direction, thresholding and cropping. In the third part, the teeth are rapidly segmented using a region growing algorithm based on four thresholds which are used to distinguish between seed points, teeth and none teeth tissue. In the fourth part, the results are visualized using iso-surface extraction and surface and volume rendering. A semi-automatic method is also proposed for rapid metal artifact removal. Results on multiple dadasets have shown the success of the algorithm with the dental region separation and segmentation procedure taking an average of only 2.4 sec to complete for each jaw making it at least tens of times faster than any previously proposed method. © 2009 Asian Network for Scientific Information.

关键词： computerized tomography

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Fully automatic extraction of panoramic dental images from CT-scan volumetric data of the head

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Journal of Applied sciences 2009年第11期9卷 2106-2114页

In this study, a fully automatic technique is proposed for the extraction of panoramic dental images from CT-scan images of the teeth. The process is performed in three steps: Mandibular region isolation, mandibular curve creation and panoramic image extraction. First the mandibular region is isolated. To do this the maxilla and mandible are separated from each other by finding the slice separating them. Then an image of the maximum intensity projection of the slices containing the mandible is obtained. The projection of the mandible is then isolated from the other bones. Using the isolated mandible region an initial curve is created. Nine control points are then selected on the curve. These control points are used to create a fine curve using cubic splines. The formula for each spline segment is used to find the perpendicular lines to the spline on each point on the spline. These perpendicular lines are then used in all slices (mandible and maxilla) to create the panoramic images. The algorithm has many advantages over earlier methods. Results using multiple datasets have shown that the algorithm is robust. © 2009 Asian Network for Scientific Information.

关键词： computerized tomography

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Polynomial kernel function and its application in locally polynomial neurofuzzy models

Polynomial kernel function and its application in locally po...

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International CSI computer Conference, CSICC

作者： A. Shirvani H. Chegini S. Setayeshi C. Lucas Tehran Science and Research Branch Computer Engineering Department Islamic Azad University Iran Faculty of Nuclear Engineering and Physics Amirkabir University of Technology슠 Tehran Iran Electrical and Computer Engineering Department Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran

Polynomials are one of the most powerful functions that have been used in many fields of mathematics such as curve fitting and regression. Low order polynomials are desired for their smoothness, good local approximation and interpolation. Being smooth, they can be used to locally approximate almost any derivable function. This means that when linear functions fail in approximation (e.g. where the first order Taylor expansion equals zero) polynomial functions can be used in local approximation, such that one can achieve better estimations at extremums. In this paper, application of polynomial kernel functions in locally linear neurofuzzy models is shown. Using polynomial kernels in local models, better local approximations in prediction of chaotic time series such as Mackey-Glass is achieved, and the capability of the neurofuzzy network is enhanced.

关键词： Polynomials Kernel Neurons Predictive models Power engineering and energy Chaos Application software Physics computing Power engineering computing Taylor series

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Simultaneous localization of mobile robot and multiple sound sources using microphone array

Simultaneous localization of mobile robot and multiple sound...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jwu-Sheng Hu Chen-Yu Chan Cheng-Kang Wang Chieh-Chih Wang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Computer Science and Graduate Institute of Networking and Multimedia National Taiwan University Taipei Taiwan

Sound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross correlation method for estimating time delays between microphones under multi-source environments is described. A method to compute the far field source directions as well as the speed of sound using the estimated time delays is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearings-only SLAM procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown which is solved using FastSLAM. The experimental results demonstrate the effectiveness of the proposed approaches.

关键词： Microphone arrays Mobile robots Delay effects Equations Delay estimation Robustness Signal processing Intelligent robots Multiple signal classification Robotics and automation

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Discrete time consensus problem using optimal control

Discrete time consensus problem using optimal control

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SICE Annual Conference

作者： Jinyoung Lee Jung-Su Kim ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Seoul National University of Technology Seoul South Korea

This paper presents several design methods for consensus algorithm in discrete time formulation. To this end, we investigate a consensus condition and design a consensus algorithm based on the condition first. Second, it is discussed how a robust consensus algorithm can be designed using LQR (linear quadratic regulator). Finally, a constrained consensus problem is introduced and a brief idea tackling the problem is described using MPC (model predictive control).

关键词： Optimal control Algorithm design and analysis Tree graphs Robustness Predictive models Predictive control Uncertainty Graph theory computer science Instruments

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