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2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016

作者： Kecskés, István Odry, Ákos Burkus, Ervin Odry, Péter Óbuda University Doctoral School of Applied Informatics and Applied Mathematics Budapest Hungary University of Dunaújváros Department of Control Engineering and Information Technology Dunaújváros Hungary

ISBN: (纸本)9781509018970

The driving of the Szabad(ka)-II hexapod robot was characterized with its minimal and non-optimized structure during the development of the robot. For this driving algorithm, a simulation environment has been developed, and based on the simulation model and recorded measurement results, the aforementioned algorithm has been validated. In the next step of the development, the optimization of the robot driving algorithm was elaborated in its simulation environment. In order, to implement the optimized controllers and trajectory, the software of the embedded system has to be rewritten, through which the developed fuzzy controllers and the high resolution leg-trajectories could be run on the robot. This paper on the one hand, introduces the essential aspects of the implementation and realization procedures of the optimized driving algorithm, on the other hand, gives a comparison assessment of the old and the new driving algorithms. © 2016 IEEE.

关键词： Trajectories

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Selection of Decentralised control Structures: Structural Methodologies and Diagnostics

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IFAC-PapersOnLine 2016年第9期49卷 80-85页

作者： Karcanias, N. Leventides, J. Milonidis, E. Meintanis, I. Systems and Control Research Centre School of Mathematics Computer Science and Engineering City University London Northampton Square LondonEC1V 0HB United Kingdom University of Athens Department of Economics Section of Mathematics and Informatics Pezmazoglou 8 Athens Greece

The paper aims at formulating an integrated approach for the selection of decentralized control structures using a number of structural criteria aiming at facilitating the design of decentralised control schemes. This requires the selection of decentralisation structure that will allow the generic solvability of a variety of decentralised control problems, such as pole assignment by decentralised output feedback. The approach is based on the use of necessary and sufficient conditions for generic solvability and exact solvability of decentralised control problems. The generic solvability conditions lead to characterisations of inputs and outputs channel partitions. The exact solvability conditions use criteria on avoiding the presence of fixed modes, as well as necessary conditions for pole assignment, expressed in terms of properties of Plcker invariants and Markov type matrices. The structural approach provides a classification of desirable input and output partitions based on structural criteria and it is embedded in an overall framework that may involve aspects related to large scale design. © 2015

关键词： Decentralized control Algebra control theory Feedback Multivariable systems Poles Algebraic method Decentralised control Geometric method Linear multivariable systems Output feedback controls Structural methods

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System Degeneracy and the Output Feedback Problem: Parametrisation of the Family of Degenerate Compensators

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IFAC-PapersOnLine 2016年第9期49卷 68-73页

作者： Karcanias, N. Meintanis, I. Leventides, J. Systems and Control Research Centre School of Mathematics Computer Science and Engineering City University London Northampton Square LondonEC1V 0HB United Kingdom University of Athens Department of Economics Section of Mathematics and Informatics Pezmazoglou 8 Athens Greece

The paper provides a new characterisation of constant and dynamic degenerate compensators for proper multivariable systems. The motivation stems from the very important property that degenerate feedback gains may be used for the linearisation of the pole assignment map and enable frequency assignment. The objective is the characterisation and parametrisation of all feedback gains that may allow the asymptotic linearisation of the pole placement map. Such a parametrisation introduces new degrees of freedom for the linearisation of the related frequency assignment map and plays an important role to the solvability of the output feedback pole assignment problem. The paper reviews the Global Asymptotic Linearisation method associated with the core versions of determinantal pole assignment problems and defines the conditions which characterises degenerate solutions of different types. Using the theory of ordered minimal bases, we provide a parametrisation of special families of degenerate compensators according to their degree. Finally, the special properties of degenerate solutions that allow frequency assignment are considered. © 2015

关键词： Feedback Algebra Combinatorial optimization control theory Degrees of freedom (mechanics) Multivariable systems Poles Algebraic method Geometric method Linear multivariable systems Output feedback controls Pole assignment

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Zero Assignment Problem in RLC Networks

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IFAC-PapersOnLine 2016年第9期49卷 92-98页

作者： Leventides, John Livada, Maria Karcanias, Nicos University of Athens Department of Economics Section of Mathematics and Informatics Pezmazoglou 8 Athens Greece City University London Systems and Control Research Centre School of Mathematics Computer Science & Engineering Northampton Square LondonEC1V 0HB United Kingdom

The paper deals with the problem of zero assignment in RLC networks by selection of appropriate values for the non- dynamical elements, the resistors. For a certain family of network redesign problems by the additive perturbations may be described as diagonal perturbations and such modifications are considered here. This problem belongs to the family of DAP problems (Determinantal Assignment Problem) and has common features with the pole assignment problem by decentralized output feedback and the zero assignment problem via structured additive perturbations. We demonstrate that the sufficient condition for generic zero assignment by selecting the resistors holds true. This condition is related to the rank of the differential of the related map and holds true generically when the degrees of freedom of the matrix of resistors exceeds the number of frequencies to be assigned (n > p + q). Using this result, we show through a generic example that the sufficient condition for the general zero assignment problems in RLC networks is satisfied and thus, zero assignment can be achieved via resistor determination. © 2015

关键词： Resonant circuits Algebra Circuit theory Combinatorial optimization Degrees of freedom (mechanics) Resistors System theory Algebraic geometry Assignment problems Common features Diagonal perturbation Output feedback Pole assignment problem Show through Zero assignment

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Selection of Decentralised Schemes and Parametrisation of the Decentralised Degenerate Compensators

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IFAC-PapersOnLine 2016年第9期49卷 74-79页

The design of decentralised control schemes has two major aspects. The selection of the decentralised structure and then the design of the decentralised controller that has a given structure and addresses certain design requirements. This paper deals with the parametrisation and selection of the decentralized structure such that problems such as the decentralised pole assignment may have solutions. We use the approach of global linearisation for the asymptotic linearisation of the pole assignment map around a degenerate compensator. Thus, we examine in depth the case of degenerate compensators and investigate the conditions under which certain degenerate structures exist. This leads to a parametrisation of decentralised structures based on the structural properties of the system. © 2015

关键词： Decentralized control Algebra control theory Multivariable systems Poles Algebraic method Decentralised control Geometric method Linear multivariable systems Output feedback controls Pole assignment

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Ductal carcinoma in situ detection in breast thermography by extreme learning machine and combination of statistical measure and fractal dimension

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Journal of Ambient Intelligence and Humanized Computing 2017年 1-11页

作者： Wang, Shui-Hua Muhammad, Khan Phillips, Preetha Dong, Zhengchao Zhang, Yu-Dong Jiangsu Key Laboratory of Advanced Manufacturing Technology HuaiyinJiangsu223003 China School of Computer Science and Technology Henan Polytechnic University JiaozuoHenan454000 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing China College of Software Convergence Sejong University Seoul Korea Republic of Department of Informatics University of Leicester LeicesterLE1 7RH United Kingdom West Virginia School of Osteopathic Medicine 400 N Lee St LewisburgWV24901 United States Translational Imaging Division and MRI Unit Columbia University and New York State Psychiatric Institute New YorkNY10032 United States

Ductal carcinoma in situ (DCIS) is a severe breast disease. It generates little symptom and may be neglected in prodromal stage. In this study, we developed a novel DCIS detection method based on breast thermography, which can provide earlier alert than other exams. We created a 40 breast-thermogram dataset. We used six statistical measures, and we used fractal dimension to describe the texture measure. The extreme learning machine was used as the classifier. Our developed system yielded a sensitivity of 93.0 ± 2.6%, a specificity of 92.5 ± 2.6%, and an accuracy of 92.8 ± 1.8%. The extreme learning machine was better than support vector machine, artificial neural network, decision tree, and weighted k-nearest neighbors. Besides, our developed system was superior to six state-of-the-art approaches. © 2017 Springer-Verlag GmbH Germany, part of Springer Nature

关键词： Fractal dimension

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Supervisory control of Discrete-event Systems under Attacks

arXiv

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arXiv 2017年

作者： Wakaiki, Masashi Tabuada, Paulo Hespanha, João P. Graduate School of System Informatics Kobe University Kobe657-8501 Japan Department of Electrical Engineering University of California Los AngelesCA90095-1594 United States Center for Control Dynamical-systems and Computation University of California Santa BarbaraCA93106-2560 United States

We consider a multi-adversary version of the supervisory control problem for discrete-event systems, in which an adversary corrupts the observations available to the supervisor. The supervisor’s goal is to enforce a specific language in spite of the opponent’s actions and without knowing which adversary it is playing against. This problem is motivated by applications to computer security in which a cyber defense system must make decisions based on reports from sensors that may have been tampered with by an attacker. We start by showing that the problem has a solution if and only if the desired language is controllable (in the Discrete event system classical sense) and observable in a (novel) sense that takes the adversaries into account. For the particular case of attacks that insert symbols into or remove symbols from the sequence of sensor outputs, we show that testing the existence of a supervisor and building the supervisor can be done using tools developed for the classical DES supervisory control problem, by considering a family of automata with modified output maps, but without expanding the size of the state space and without incurring on exponential complexity on the number of attacks considered. Copyright © 2017, The Authors. All rights reserved.

关键词： Game theory

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A Secured OpenFlow Protocol Using Elliptic Curves Cryptographic for Software Defined Networks

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Journal of Physics: Conference Series 2018年第1期1019卷

作者： Layth A Khalil Al Dulaimi R Badlishah Ahmad Naimah Yaakob Qasim Mohammed Hussein Embedded Networking and Advance Computing Cluster School of Computer & Communication Engineering Universiti Malaysia Perlis (UniMAP) Tingkat 1 Kampus Tetap Pauh Putra 02600 Arau Perlis Faculty of Informatics and Computing Universiti Sultan Zainal Abidin 21300 Kuala Terengganu Terengganu Malaysia Control and Computer Engineering Department. Tikrit University Tikrit - Iraq

A Software-Defined Network (SDN) architecture was proposed to enhance the performance, flexibility and scalability of networks. However, SDN features such as centralized controlling, network programmability and virtualization present new security challenges to networks. This article will address security challenges related to SDN connection data transfer channels (i.e., control layer and infrastructure layer) and propose a novel connection data transfer channels architecture based on an OpenFlow protocol. Existing SDN OpenFlow protocols rely on higher layer secure mechanisms such as TLS (Transport Layer Security) / SSL (Secure Sockets Layer) sessions. It is concluded that the transfer of secured data using elliptical curve encryption provides a more efficient SDN network. The proposed architecture was implemented in a testbed and its security features were analyzed.

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Augmented film narrative by use of non-photorealistic rendering

Augmented film narrative by use of non-photorealistic render...

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International Conference on 3D Imaging (IC3D)

作者： Victor Fajnzylber Larry González Pedro Maldonado Rafael Del Villar Rodrigo Yáñez Samuel Madariaga Milán Magdics Mateu Sbert Universidad de Chile Santiago de Chile CL University of Chile Biomedical Neuroscience Institute Universitv of Chile Communication and Image Institute Department of Control Engineering and Information Technology Budapest University of Technology and Economics University of Girona Institute of Informatics and Applications Tianjin University School of Computer Science and Technology

Our research is about the effects of non-photorealistic rendering in the perception of stereoscopic cinema. We conducted a study with 27 participants, using eye-tracker to evaluate ocular behavior during the free viewing of a stereoscopic film. We obtained ocular fixation data that were correlated with visual entropy. Gaze data leads us to believe that facing a highly abstract non-photorealistic scene the gaze seems to react under the effect of a perceptive anxiety. This ocular response seems to spontaneously assign greater sensorimotor resources to the analysis of the character's behavior, transforming his face into the main key to analyse the information and sense of the global scene. This behavior appears to us as an adaptive response to a visual environment endowed with abstraction and cognitive uncertainty. Our results could be useful for conceiving new non-photorealistic rendering tools for 3D films and cinematic virtual reality.

关键词： Visualization Three-dimensional displays Motion pictures Rendering (computer graphics) Tools Videos Stereo image processing

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Phase reduction and synchronization of a network of coupled dynamical elements exhibiting collective oscillations

arXiv

引用

arXiv 2017年

作者： Nakao, Hiroya Yasui, Sho Ota, Masashi Arai, Kensuke Kawamura, Yoji Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Department of Mechanical Engineering University of California Santa BarbaraCA93106 United States Department of Mechanical and Environmental Informatics Tokyo Institute of Technology Tokyo152-8552 Japan Ricoh Company Ltd. Japan Department of Statistics and Mathematics Boston University BostonMA02215 United States Department of Mathematical Science and Advanced Technology Japan Agency for Marine-Earth Science and Technology Yokohama236-0001 Japan

Networks of coupled dynamical elements exhibiting collective oscillations often play important functional roles in real-world systems. Here, a method for dimensionality reduction of such networks is proposed by extending the classical phase reduction method for nonlinear oscillators. By projecting the network state to a single phase variable, a simple one-dimensional phase equation describing the collective oscillation is derived. As an example, synchronization between collectively oscillating random networks of neural oscillators is studied. The derived phase equation is general and will have wide applicability in control and optimization of collectively oscillating networks. Copyright © 2017, The Authors. All rights reserved.

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