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IEEE International Conference on Robotics and automation (ICRA)

作者： Eui-jung Jung Ho Yul Lee Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Shin'ichi Yuta School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent Systems Research Institute Ubiquitous Functions Research Group AIST Japan Department of Control and Instrumentation Engineering Korea University South Korea Institute of Engineering Mechanics and Systems University of Tsukuba Japan

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

关键词： Navigation Mobile robots Wheels Kinematics Computer science Position measurement Roads Robotics and automation USA Councils Motion planning

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Sequential flocking control system for multiple mobile robots

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2008年第6期25卷 1117-1120+1127页

作者： Cheng, Lei Yu, Hui Wu, Huai-Yu Wang, Yong-Ji Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan University of Science and Technology Wuhan 430081 China Institute of Nonlinear and Complex Systems Three Gorges University Yichang 443002 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Flocking control is a new type of control which coordinates the motions among multiple mobile robots. Current researches focus their attention on leaderless flocking controller design. We, in this paper, present the design of a sequential flocking control for multiple mobile robots, and put forward the corresponding performance evaluation method. Firstly, we briefly review the existing theories of agent-based sequential formation control;and then, transfer the agent-based flocking control strategy to the design of overall control algorithm for mobile robots, by considering the dynamics of nonholonomic mobile robot. To analyze the sequential flocking system, a flocking performance analysis method based on the least stability time (LST) is proposed. Simulations of real problems illustrate the processes of control and analysis of a multiple mobile robots sequential flocking system. The simulation results demonstrate the efficacy of our proposed procedure.

关键词： Mobile robots

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Robust Adaptive Fault-Tolerant control of the F-14 Aircraft under Sensor Failures

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IFAC Proceedings Volumes 2008年第2期41卷 10172-10177页

作者： Sajjad Fekri Dawei Gu Ian Postlethwaite Michael Athans Control & Instrumentation Research Group Department of Engineering University of Leicester U.K. (Tel: +44-116-2522567 Fax: +44-116-2522619 Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal also Professor of EE&CS (emeritus) MIT Cambridge MA U.S.A.

This paper presents a novel fault detection and isolation (FDI) architecture applied to the lateral-directional axis of an F-14 aircraft during powered approach to landing under sensor failures. The fault-tolerant architecture employed is based on the so-called “Robust Multiple-Model Adaptive control” (RMMAC) and hence is referred to as “RMMAC/FDI”. The results demonstrate successful stability and performance of the RMMAC/FDI architecture.

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Packet-loss dependent controller design for networked control systems via switched system approach

Packet-loss dependent controller design for networked contro...

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IEEE Conference on Decision and control

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Zhuxinzhuang Beijing China The Seventh Research Division Beihang University Beijing China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9781424431236

The stabilization problem of networked control systems with bounded packet loss is addressed. We model such networked control systems as a class of switched systems, and present sufficient conditions for the stabilization by using a packet-loss dependent Lyapunov function. Moreover, different from existing results, we propose the design for packet-loss dependent stabilizing controllers for two types of packet-loss processes: one is a arbitrary packet-loss process, and the other is a Markovian packet-loss process. Several numerical examples and simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： control systems Networked control systems Switched systems Sufficient conditions Optimal control Delay effects Communication system control Communication system traffic control Feedback control Electrical equipment industry

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An Indoor Localization Algorithm for Lighting control using RFID

An Indoor Localization Algorithm for Lighting Control using ...

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IEEE Energy 2030 Conference, ENERGY

作者： Zi-Ning Zhen Qing-Shan Jia Chen Song Xiaohong Guan Department of Automation Tsinghua University Beijing China Center for Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing China United Technologies Research Center China and the Tsinghua-UTC Research Institute for Integrated Building Energy Safety and Control Systems Beijing 100084 P. R. China (phone: +86-10-62772183 fax: +86-10-62770554 e-mail: songc@***) SKLMS Laboratory and System Engineering Institute Xi''an Jiaotong University Xi'an China

Occupant's identity and location are important information for lighting control in order to reduce the energy consumption while increasing livelihood. While active RFID system provides occupant's identity, it is nontrivial to localize the occupant's location in an indoor environment due to the multipath effect, the changing environment, and the unreliable communication link. In this paper, we implement a system with multiple active RFID readers, and develop a localization algorithm based on support vector machine (SVM). The algorithm uses round-robin comparison to localize the occupant to one of the multiple regions in a floor. The geometric relationship among the rooms and the historical localization data are used to further improve the localization accuracy. Numerical results demonstrate a high localization accuracy of this algorithm. We hope this work sheds insight on lighting control for energy saving and an increased livelihood.

关键词： Lighting control Radiofrequency identification Energy consumption Active RFID tags Educational institutions Indoor environments Round robin Support vector machines Humans Safety

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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2007 Mediterranean Conference on control and automation, MED

作者： Edelmayer, A. Miranda, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary Faculty of Engineering Department of Chemical Engineering Mérida Venezuela

ISBN: (纸本)142441282X

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter. ©2007 IEEE.

关键词： Fault tolerance

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Foundation of Notation and Classification of Nonconventional Static and Dynamic Neural Units

Foundation of Notation and Classification of Nonconventional...

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IEEE International Conference on Cognitive Informatics

作者： Ivo Bukovsky Zeng-Guang Hou Jiri Bila Madan M. Gupta Department of Instrumentation and Control Engineering Czech Technical University Czech Republic Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Canada

The paper introduces basic types of nonconventional artificial neural units and focuses their notation and classification: namely; the notation and classification of dynamic higher-order nonlinear neural units, time-delay dynamic neural units, and time-delay higher-order nonlinear neural units is introduced. Brief introduction into the simplified parallel of higher-order nonlinear aggregating function of artificial nonconventional neural units and synaptic and somatic operation of biological neurons is made. Based on still simplified mathematical notation, it is proposed that nonlinear aggregating function of neural inputs should be understood as composition of synaptic as well as partial somatic neural operation also for static neural units. Thus it unravels novel, simplified, yet universal insight into understanding more computationally powerful neurons. The classification of nonconventional artificial neural units is founded first according to nonlinearity of aggregating function, second according to the dynamic order, third according to time-delay implementation within neural units.

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On testing and measurement tools for control of wireless telecommunication networks

On testing and measurement tools for control of wireless tel...

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MIPRO 2007 - 30th Jubilee International Convention: Telecommunications and Information

作者： Gadewadikar, Jyotirmay Kuljaca, Ognjen Sijak, Tomislav Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Fort Worth TX 76118 United States Department of Advanced Technology Systems Research Institute Alcorn State University Lorman MS 39096 United States Brodarski Institute Control Engineering Department Av. V. Holjevca 20 10020 Zagreb Croatia

ISBN: (纸本)9789532330281

Over the years a lot of rigorous mathematical analysis has been done by the systems and controls community for optimization of multivariable systems with a mathematically rigorous systems theoretic approach. In parallel, wireless telecommunication industry was working on performance measurement analysis tools and achieved demonstrable optimization. This paper will elaborate on the need for finding common grounds between optimization of telecommunication networks and optimal control theory;some existing measurement tools will be presented. Decision on measurement tools for designing optimal, reliable telecommunications networks implies tradeoffs between reliability, capacity, and the economics of meeting present and future customer demands. The creation of efficient wireless networks is an everyday challenge in front of service providers. In this paper there are first identified the parameters which can and should be measured to facilitate the optimization for performance of telecommunication networks. Secondly, there are given available resources on measurements tools for these parameters, together with a comparative analysis. Finally, the hardware setup for the some of these measurements will be explained. © 2007 by MIPRO.

关键词： Telecommunication industry

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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