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1st Self-Organization and Autonomous Systems in computing and Communications Conference, SOAS 2005

作者： Jiang, Ping Peng, Yonghong Mair, Quentin Yuan, Mingwei School of Informatics University of Bradford United Kingdom School of Computing and Mathematical Sciences Glasgow Caledonian University United Kingdom Department of Information and Control Engineering Tongji University China

ISBN: (纸本)1586035770

In today’s hyper-competitive business environments virtual organisations are becoming highly dynamic and unpredictable. Individuals may want to work together across organisation boundaries but do not have much prior knowledge of others. The semantic web and its associated new standards appear very promising as candidates to support a new generation of virtual organisations. In this paper a behaviour based organisation, Social Behaviour Networks, is proposed. In order to sense the changes on the web this paper focuses on a virtual sensor for allocating tasks amongst agents based on the announcements of tasks and capabilities of agents in DAML (DARPA Agent Markup Language). Due to the autonomy of agents the announcements are often vague and in a very high dimensional space. The ontology can provide useful information for achieving variable-resolution sensing from an individual agent’s perspective and reducing the dimensions of the virtual space. The variable-resolution virtual sensors are based on hierarchical clustering analysis to reveal the level of similarity of announcements in the web. © 2005 The authors. All rights reserved.

关键词： Autonomous agents

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Experimental investigations of a direct adaptive neurofuzzy controller

Experimental investigations of a direct adaptive neurofuzzy ...

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IEEE Conference on control Technology and Applications (CCTA)

作者： E.K. Nyarko N. Peric I. Petrovic Department of Automation and Process Control Faculty of Electrical Engineering University of Osijek Osijek Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The control of dynamical systems with inherent non-linear characteristics has motivated research in non-linear control theory. Two main approaches to dealing with uncertainties in control systems design are adaptive and robust control. In this paper, discrete direct adaptive control of unknown non-linear SISO systems is considered. The controller is implemented using a fuzzy neural network. The control concept is tested on a laboratory pilot plant and compared to a standard discrete PID Takahashi controller

关键词： Programmable control Adaptive control control systems Nonlinear control systems control theory Uncertainty Adaptive systems Robust control Fuzzy neural networks Fuzzy control

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Nonlinear control Analysis on Nonholonomic Dynamic Systems with Affine Constraints

Nonlinear Control Analysis on Nonholonomic Dynamic Systems w...

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IEEE Conference on Decision and control

作者： Tatsuya Kai H. Kimura S. Hara Department of Mechanical Engineering Grad. School of Engineering Osaka University Japan Biological Control Systems Laboratory RIKEN Bio-Mimetic Control Research Center Japan Department of Information Physics and Computing Grad School of Information Science and Technology University of Tokyo Japan

This paper deals with nonholonomic control systems subject to affine constraints. We first derive several preliminary properties of nonholonomic dynamic systems with affine constraints (NDSAC). We then investigate local accessibility and local controllability of the NDSAC based on both Sussmann's theorem and linear approximation approaches. Conditions for local asymptotic stabilizability of the NDSAC by linear state feedback and nonlinear smooth state feedback are also derived. Finally, two physical examples are illustrated to confirm the results.

关键词： Nonlinear control systems control systems control system analysis Vehicle dynamics State feedback Linear approximation Kinematics controllability Linear feedback control systems Biological control systems

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Analytical Determination of Describing Function of Nonlinear Element with Fuzzy Logic

Analytical Determination of Describing Function of Nonlinear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： T. Sijak O. Kuljaca R. Antonic L. Kuljaca Control Engineering Department Brodarski Institute Zagreb Croatia Department of Advanced Technologies Alcorn State University USA Maritime Faculty University of Split Split Croatia Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

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On-line recognition of metabolic state of Baker's yeast culture 9th

On-line recognition of metabolic state of Baker's yeast cult...

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9th IFAC International Symposium on Computer Applications in Biotechnology, CAB 2004

作者： Hrnčiřík, P. Vovsík, J. Náhlík, J. Department of Computing and Control Engineering Institute of Chemical Technology Prague Technická 5 Prague 6166 28 Czech Republic

This paper presents the comparison of two approaches based on artificial intelligence techniques solving the task of on-line recognition of metabolic state of baker's yeast culture in a fed-batch cultivation. The first approach is represented by a knowledge-based system containing expert knowledge in the form of production rules. The other approach is based on the application of the fuzzy neural network paradigm enabling the automatic extraction of the recognition rules from experimental data. Performance of both approaches is discussed using results obtained from tests on experimental data from a laboratory cultivation unit. Copyright © IFAC Computer Applications in Biotechnology, Nancy, France, 2004.

关键词： Metabolism

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Sparse models for gender classification

Sparse models for gender classification

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International Conference on Automatic Face and Gesture Recognition

作者： N.P. Costen M. Brown S. Akamatsu Department of Computing and Mathematics Manchester UK Department of Systems Control Engineering Hosei University Tokyo Japan

A class of sparse regularization functions is considered for the developing sparse classifiers for determining facial gender. The sparse classification method aims to both select the most important features and maximize the classification margin, in a manner similar to support vector machines. An efficient process for directly calculating the complete set of optimal, sparse classifiers is developed. A single classification hyper-plane, which maximizes posterior probability of describing training data, is then efficiently selected. The classifier is tested on a Japanese gender-divided ensemble, described via a collection of appearance models. Performance is comparable with a linear SVM, and allows effective manipulation of apparent gender.

关键词： Support vector machines Support vector machine classification Robustness Training data Face recognition Mathematics control engineering Testing Image processing Computer vision

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Improved basic planar algorithm of vehicle guidance through ...

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International Symposium on Communications control and Signal Processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction control engineering Automatic control control engineering computing Automotive engineering Automation

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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On-Line Recognition of Metabolic State of Baker's Yeast Culture

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IFAC Proceedings Volumes 2004年第3期37卷 397-402页

作者： P. Hrnčiřik J. Vovsík J. Náhlík Department of Computing and Control Engineering Institute of Chemical Technology Prague Technická 5 166 28 Prague 6 Czech Republic fax: +420 224 355 053

This paper presents the comparison of two approaches based on artificial intelligence techniques solving the task of on-line recognition of metabolic state of baker's yeast culture in a fed-batch cultivation. The first approach iS represented by a knowledge-based system containing expert knowledge in the form of production rules. The other approach is based on the application of the fuzzy neural network paradigm enabling the automatic extraction of the recognition rules from. experimental data. Performance of both approaches is discussed using results obtamed from tests on experimental data from a laboratory cultivation unit.

关键词： Fermentation processes Fuzzy systems Neural networks Recognition Rule-based systems

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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