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Cyclic Scheduling of Multimodal Processes in Crystalline-like Network Structures

Procedia Computer Science 2014年 35卷 1567-1576页

作者： Grzegorz Bocewicz Robert Wójcik Zbigniew Banaszak Department of Electronics and Computer Science Koszalin University of Technology Sniadeckich 2 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Department of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

The paper introduces the concept of a crystalline-like model of a computer communication network (CCN) composed of routers forming a repeating or periodic arrangement. The considered homogenous network assumes the same routers servicing the same number of transmissions form an array. In such a network several isomorphic sub-networks encompassing packet transmission processes serviced by each router, interact each other as to provide a variety of demand-responsive host-server transmission services. In that context, a crystalline-like layout of physically different, however functionally identical, routers provides a homogenous array supporting computer network flows. In turn, packet transmission flows are treated as multimodal processes encompassing arbitrarily given inter-computer communications. Assuming the packets passing their origin-destination routes are synchronized by the same mechanism of packet transmission the problem boils down to a communication processes scheduling. Since concurrent transmission flows are processed along the same presumed routes, hence the schedules sought are cyclic ones. In general case, cycles of multimodal processes depend on CNN's periodicity. That objective to develop conditions allowing one to calculate the cyclic schedule of whole CCN while taking into account only periodicity of its repeating isomorphic structure.

关键词： cyclic scheduling multimodal networks constraint programming structures composition

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Simulation and experimental study on attitude control of quadrotor

Simulation and experimental study on attitude control of qua...

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IEEE International Conference on Robotics and Biomimetics

作者： Nuttakorn Trirattanawananon Benjamas Panomruttanarug Kohji Higuchi Félix Mora-Camino Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Graduate School of Informatics and Engineering University of Electro-Communications Tokyo Japan French Civil Aviation Institute Toulouse France

ISBN: (纸本)9781479973989

This paper studies dynamic behavior of a quadrotor in both simulation and experiment when tracking desired attitude angles. The flight attitude control implemented in this research is designed based on a feedback control with an inner-loop structure as in the Aeroquad project. The feedback control configuration is applied to the dynamic model of a DIY qaudrotor UAV to simulate its attitude tracking behavior when tuning the PID gains based on a heuristic approach. The well-tuned PID controller is therefore applied to the experiment to validate the desired tracking response.

关键词： Attitude control Rotors Aerospace electronics DC motors Mathematical model Hardware Aerodynamics

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Proceedings from the 9th annual conference on the science of dissemination and implementation: Washington, DC, USA. 14-15 December 2016

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Implement Sci 2017年第SUPPL 1期12卷 48-48页

作者： David Chambers Lisa Simpson Gila Neta Ulrica von Thiele Schwarz Antoinette Percy-Laurry Gregory A. Aarons Ross Brownson Amanda Vogel Shannon Wiltsey Stirman Kenneth Sherr Rachel Sturke Wynne E. Norton Allyson Varley Cynthia Vinson Lisa Klesges Suzanne Heurtin-Roberts M. Rashad Massoud Leighann Kimble Arne Beck Claire Neely Jennifer Boggs Carmel Nichols Wen Wan Erin Staab Neda Laiteerapong Nathalie Moise Ravi Shah Susan Essock Margaret Handley Amy Jones Jay Carruthers Karina Davidson Lauren Peccoralo Lloyd Sederer Todd Molfenter Ashley Scudder Sarah Taber-Thomas Kristen Schaffner Amy Herschell Eva Woodward Jeffery Pitcock Mona Ritchie JoAnn Kirchner Julia E. Moore Sobia Khan Shusmita Rashid Jamie Park Melissa Courvoisier Sharon Straus Daniel Blonigen Allison Rodriguez Luisa Manfredi Andrea Nevedal Joel Rosenthal David Smelson Christine Timko Nicole Stadnick Jennifer Regan Miya Barnett Anna Lau Lauren Brookman-Frazee Erick Guerrero Karissa Fenwick Yinfei Kong Gregory Aarons Rebecca Lengnick-Hall Benjamin Henwood Nina Sayer Craig Rosen Robert Orazem Brandy Smith Lindsey Zimmerman David Lounsbury Rachel Kimerling Jodie A. Trafton Steven Lindley Rahul Bhargava Hal Roberts Laura Gibson Gabriel J. Escobar Vincent Liu Benjamin Turk Arona Ragins Patricia Kipnis Ashley Ketterer Gruszkowski Michael W. Kennedy Emily Rentschler Drobek Lior Turgeman Aleksandra Sasha Milicevic Terrence L. Hubert Larissa Myaskovsky Youxu C. Tjader Robert J. Monte Kathryn G. Sapnas Edmond Ramly Diane R Lauver Christie M Bartels Shereef Elnahal Andrea Ippolito Hillary Peabody Carolyn Clancy Randall Cebul Thomas Love Douglas Einstadter Shari Bolen Brook Watts Vera Yakovchenko Angela Park William Lukesh Donald R. Miller David Thornton Mari-Lynn Drainoni Allen L. Gifford Shawna Smith Julia Kyle Mark S Bauer Daniel Eisenberg Celeste Liebrecht Michelle Barbaresso Amy Kilbourne Elyse Park Giselle Perez Jamie Ostroff Sarah Greene Michael Parchman Brian Austin Eric Larson Stefanie Ferreri Chris Shea Megan Smith Kea Turner Jennifer Bacci Kyle Bigham Geoffr Division of Cancer Control and Population Sciences National Cancer Institute Rockville MD 20850 USA AcademyHealth Washington DC 20009 USA Department of Learning Informatics Management and Ethics Karolinska Institutet Stockholm 17177 Sweden Department of Psychiatry University of California San Diego San Diego CA 92093 USA George Warren Brown School of Social Work Washington University in St. Louis St. Louis MO 63130 USA Center for Global Health National Cancer Institute Rockville MD 20850 USA Dissemination and Training Division VA National Center for PTSD Palo Alto CA 94305 USA Department of Global Health University of Washington Seattle WA 98105 USA Center for Global Health Studies Fogarty International Center National Institutes of Health Bethesda MD 20912 USA School of Public Health University of Alabama at Birmingham Birmingham AL 35243 USA School of Public Health University of Memphis Memphis TN 38152 USA USAID Applying Science to Strengthen and Improve Systems (ASSIST) Project Bethesda Maryland 20814 USA Institute for Health Research Kaiser Permanente Denver CO 80231 USA ICSI Institute for Clinical Systems Improvement Bloomington MN 55425 USA Medicine University of Chicago Chicago IL 60637 USA Medicine Columbia University Medical Center New York NY 10032 USA Psychiatry Columbia University New York NY 10032 USA General Internal Medicine Epidemiology and Biostatistics University of California San Francisco San Francisco CA 94110 USA New York State Office of Mental Health New York NY 10001 USA Medicine Icahn School of Medicine at Mount Sinai New York NY 10029 USA Center for Health Enhancement System Studies University of Wisconsin Madison WI 53706 USA Department of Psychiatry University of Pittsburgh Pittsburgh PA 15213 USA Psychology University at Buffalo Buffalo NY 14260 USA Department of Psychology West Virginia University Morgantown WV 26506 USA MIRECC VA North Little Rock AR 72114 USA QUERI for Team-Based Behavioral Health Centr

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Reduced Sensitivity Solutions to Global Linearisation of the Pole Assignment Map

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IFAC Proceedings Volumes 2014年第3期47卷 4727-4732页

作者： John Leventides Nicos Karcanias Ioannis Meintanis Efstathios Milonidis Systems and Control Centre School of Engineering and Mathematical Sciences City University London Northampton Square London EC1V 0HB UK University of Athens Department of Economics Section of Mathematics and Informatics Pezmazoglou 8 Athens Greece

The problem of pole assignment, by static output feedback controllers has been tackled as far as solvability conditions and the computation of solutions when they exist by a powerful method referred to as global linearisation. This is based on asymptotic linearisation (around a degenerate point) of the pole placement map. The essence of the present approach is to reduce the multilinear nature of the problem to the solution of a linear set of equations. The solution is given in closed form in terms of a one-parameter family of static feedback compensators, for which the closed-loop poles approach the required ones as ɛ → 0. The use of degenerate compensators makes the method numerically sensitive. This paper develops further the global linearisation framework by developing numerical techniques which make the method less sensitive to the use of degenerate solutions as the basis of the methodology. The proposed new computational framework for finding output feedback controllers improves considerably the sensitivity properties by using a predictor-corrector numerical method based on homotopy continuation. The modified method guarantees the maximum distance from the degenerate point. The current numerical method developed for the constant output feedback extends also to the case of dynamic output feedback.

关键词： Linear systems algebraic systems theory degenerate compensators global linearisation

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Sampling-based Trajectory Imitation in Constrained Environments using Laplacian-RRT

Sampling-based Trajectory Imitation in Constrained Environme...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Nierhoff Sandra Hirche Yoshihiko Nakamura Institute of Automatic Control Engineering (LSR) Faculty of Electrical Engineering Technische Universitat Munchen D-80290 Munchen Germany Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku 113-8656 Tokyo Japan

ISBN: (纸本)9781479969357

This paper presents an incremental sampling-based approach for trajectory imitation in cluttered environments using the RRT~* algorithm. Inspired by the discrete Laplace-Beltrami operator the underlying distance metric is based upon the difference from a reference trajectory through a quadratic distance term incorporating velocity and acceleration deviations along the trajectory. Mathematically-backed approximations in combination with a task-space bias make it possible to use standard nearest neighbor methods in task space when expanding the RRT~*-tree. It is shown that metric-consistent biases considerably increase the convergence speed. The proposed approach is validated in simulations in a 2D environment and in experiments using a HRP-4 humanoid robot.

关键词： trajectory imitation Task space distance metric Humanoid robots Environments nearest neighbor algorithm Converge

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Bayesian tracking and multi-core beamforming for estimation of correlated brain sources

Bayesian tracking and multi-core beamforming for estimation ...

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IET Conference on Data Fusion & Target Tracking 2014: Algorithms and Applications (DF&TT 2014)

作者： Petia Georgieva Filipe Silva Nidhal Bouaynaya Lyudmila Mihaylova Institute of Electronics Engineering and Telematics of Aveiro (IEETA) Department of Electronics Telecommunications and Informatics(DETI) University of Aveiro 3810-193 Aveiro Portugal College of Engineering Rowan University USA Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK

ISBN: (纸本)9781632666642

The main contribution of this paper is the general framework, termed multi-core Beamformer Particle Filter (multi-core BPF), for solving the ill-posed EEG inverse problem. The method combines a particle filter (statistical approach) for reconstruction of the brain source spatial locations and a multi-core Beamformer (deterministic approach) for estimation of the corresponding dipole waveforms in a recursive way The intuition behind is to benefit from the advantages of both deterministic and statistical inverse problem solvers in order to improve the estimation accuracy without increasing the complexity and the computational cost. Our simulations show that the proposed algorithm can reconstruct reliably the few most active (the dominant) brain sources that have generated the registered EEG measurements. The main advantage of the method is that in contrast to conventional (single-core) Beamforming spatial filters, the proposed Multi-core Beamformer explicitly takes into consideration the potential temporal correlation between the dipoles.

关键词： Bayesian tracking Particle filtering Multi-core beamforming Brain sources Particle filters Beamforming dipoles Cerebrum Inverse method problem solver

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Identification of C38 colon adenocarcinoma growth under bevacizumab therapy and without therapy

Identification of C38 colon adenocarcinoma growth under beva...

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International Symposium on Computational Intelligence and informatics

作者： Johanna Sápi Dániel András Drexler Zoltán Sápi Levente Kovács Obuda University Institute of Applied Informatics Physiological Controls Group Budapest Hungary Department of Control Engineering and Information Technology Budapest University of Technology and Ecnomics Budapest Hungary Department of Pathology and Experimental Cancer Research Semmelweis University Budapest Hungary

Model identification allows to design different control strategies for antiangiogenic cancer therapy, and create model-based treatment protocols. These model-based protocols can be more effective than the current ones, since they provide individual treatment for the patients. The aim of this paper is to investigate C38 colon adenocarcinoma growth in three different cases: (1) tumor growth without therapy, (2) tumor growth with one Avastin dose for a 18-day therapy (10 mg/kg), (3) tumor growth with one-tenth dose of control Avastin dose spread over 18 days. Parametric model identification was carried out for these three cases and the relationship between the measured tumor attributes (volume, mass and vascularization) was analyzed. Effect of low-dose therapy was also examined.

关键词： Tumors Medical treatment Mice Colon Cancer Protocols Inhibitors

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A note on improvement of adaptive observer robustness 19

A note on improvement of adaptive observer robustness

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Efimov, Denis Edwards, Christopher Zolghadri, Ali Non-A Team Inria Lille Parc Scientifique de la Haute Borne 40 Avenue Halley Villeneuve d'Ascq59650 France College of Engineering Mathematics and Physical Sciences University of Exeter ExeterEX4 4QF United Kingdom University of Bordeaux IMS-Lab. Automatic Control Group 351 Cours de la Libération Talence33405 France Department of Control Systems and Informatics National Research University ITMO 49 Kronverkskiy Av. Saint-Petersburg197101 Russia

ISBN: (纸本)9783902823625

In this paper the problem of adaptive observer design in the presence of disturbances is studied, and an augmented adaptive observer is proposed. First, the H∞ gain of a conventional adaptive observer is estimated, which characterizes the effect of disturbances on output errors. Next, it is shown that if the disturbance is "matched" in the plant equations, then it is possible to introduce additional sliding-mode feedback, dependent on the plant output, improving the accuracy of observation. Simulation results confirm the improvement. © IFAC.

关键词： Automation

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Retrospective Vision of a Long Term Innovative Experience

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Procedia - Social and Behavioral Sciences 2014年 141卷 15-19页

作者： Jose Manuel Lopez-Guede Manuel Graña Fernando Oterino Jesus Maria Larrañaga Department of Systems Engineering and Automatic Control University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Computer Science and Artificial Intelligence Faculty of Informatics Basque Country University (UPV/EHU) San Sebastian 20018 Spain Department of Electronics University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Business Management University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain

The purpose of this paper is to look back on a long term informal innovative experience carried out during the last nine years until the present one, and try to discern, with a retrospective and a long time vision, whether it has been as beneficial as expected once it has concluded. This experience has taken place in the University College of engineering of Vitoria (Basque Country University, Spain) since the year 2.004, and it has been accomplished in the subject Company Networks of Technical engineering in Management Computing. After the analysis of a number of data collected along these years, we found that we have reached the initial objective of increasing the enrolment in the subject that has driven the project, and other unexpected ones that are more important from a long time point of view. Once that nine years have lapsed and the project is going to be finished, we conclude that it is a very positive experience and we recommend doing the same with the new degrees of the European Higher Education Area (EHEA), as we plan.

关键词： Company Networks Active Learning Educational Innovation Project Cooperative Learning

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Educational Innovation Project in the Field of Industrial informatics

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Procedia - Social and Behavioral Sciences 2014年 141卷 20-24页

作者： Jose Manuel Lopez-Guede Manuel Graña Jesus Maria Larrañaga Fernando Oterino Department of Systems Engineering and Automatic Control University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Computer Science and Artificial Intelligence Faculty of Informatics Basque Country University (UPV/EHU) San Sebastian 20018 Spain Department of Business Management University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Electronics University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain

The objective of this paper is to describe an ongoing work that we are carrying out in the frame of an educational innovation project supported by the Education Advisory Service of the Vicerectorship for Teaching Quality and Innovation (University of the Basque Country, Spain). The project is driven by means of the subject of Industrial informatics of the degree of Industrial Electronic engineering and Automatics (University College of engineering of Vitoria, Basque Country University, Spain). The design of the project is based on the development of a collaborative work distributed among all the students of the subject, grouped in several teams or working groups. The work developed by each of those groups is complementary, and when all these parts of work are finished, all of them will fit together. The conclusion reached until this moment through the continuous tracking of the students is that there is an increased and more active attendance. Besides, the results reached by the students in different evaluations have improved those reached by means of the traditional paradigm of learning.

关键词： Industrial informatics Active Learning Educational Innovation Project Cooperative Learning

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