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The 8th World Congress on Intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Zhenhua Li Henry Leung Liang Tao School of Control Science and Engineering Shandong University Jinan ShandongP.R.China Department of Electrical and Computer Engineering University of Calgary Calgary AlbertaCanada T2N School of Control Science and Engineering Shandong University JinanShandong P.R.China

In this paper, we present an approach for radar and electronic support measure (ESM) simultaneous registration and fusion. An expectation-maximization based extended Kalman smoother (EM-EKS) is developed here to perform fusing of the system states and to simultaneously estimate the sensor biases. computer simulations are carried out to validate the efficiencies and robustness of the proposed algorithm.

关键词： Kalman filters Radar tracking Mathematical model Radar measurements Noise Target tracking

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Fuzzy support vector machine with a fuzzy nearest neighbor classifier for insect footprint classification

Fuzzy support vector machine with a fuzzy nearest neighbor c...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Gyeongyong Heo Reinhard Klette Young Woon Woo Kwang-Baek Kim Nam Ho Kim Department of Multimedia Engineering Dongeui University Busan South Korea Department of Computer Science University of Auckland Auckland New Zealand Division of Computer Information and Engineering Silla University Busan South Korea Division of Electrical and Control Engineering Pukyong National University Busan South Korea

The support vector machine (SVM) of statistical learning theory was successfully applied in various fields, but still suffers from noise sensitivity originating from the fact that all the data points are treated equally. To relax this problem, the SVM was extended into a fuzzy SVM (FSVM) by the introduction of fuzzy memberships. The FSVM also has been further extended in two ways, by adopting a different objective function with the help of domain-specific knowledge, or by employing a different membership calculation method. In this paper we follow the second approach by proposing a new membership calculation method using a fuzzy k nearest neighbor classifier (F-KNN). Although there are already several membership calculation methods to enhance the performance of the FSVM, one problem in those methods is that they assume a specific data distribution. The F-KNN does not assume any data distribution, which helps the proposed method to accommodate various data distributions in real world problems. The proposed algorithm was applied to an insect footprint classification problem, and results verify the effectiveness of the method.

关键词： Support vector machines Training Kernel Insects Nearest neighbor searches Noise Sensitivity

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Steering of a 3D bipedal robot with an underactuated ankle

Steering of a 3D bipedal robot with an underactuated ankle

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Christine Chevallereau J.W. Grizzle Ching-Long Shih CNRS IRCCyN CNRS Nantes France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA EE Department National Taiwan University of Science and Technology Taipei Taiwan

This paper focuses on steering a 3D robot while walking on a flat surface. A hybrid feedback controller designed in for stable walking along a straight line is modified so that it is capable of adjusting the net yaw rotation of the robot over a step in order to steer the robot along paths with mild curvature. The controller is designed on the basis of a single pre-defined trajectory for periodic walking along a straight line. In order to illustrate the role of internal/external (i.e., medial/lateral) rotation at the hip in achieving curved walking motions, the performance of two robots, one with internal/external rotation and one without, is compared.

关键词： Legged locomotion Joints Foot Hip Robot kinematics Three dimensional displays

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Asymptotic suppression of a class of discrete-time hyperchaotic systems based on fuzzy control method

Asymptotic suppression of a class of discrete-time hyperchao...

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Chinese control Conference (CCC)

作者： Zhidan Wu Ying Pan Wei Deng Fusheng Song Fundamental Teaching Department of Computer & Mathematics Shenyang Normal University Shenyang P. R. China School of Mathematics & Computer Science Harbin University Harbin P. R. China Department of Automatic Control Engineering Shenyang Institute of Engineering Shenyang P. R. China

The chaotic suppression problem for a class of typical discrete-time hyperchaotic systems is investigated in this paper. A T-S fuzzy model-based control method is employed to eliminate hyperchaos in the considered discrete-time system. Firstly, the T-S fuzzy representation for the discrete-time hyperchaotic system is presented. Then, a state feedback controller is designed based on the parallel distributed compensation technique. According to the linear matrix inequality method and exact linearization technique, two kinds of approaches are given to solve the controller gain matrices. Finally, the validity of the proposed chaotic suppression method is illustrated by a numerical example.

关键词： Chaos Linear matrix inequalities control systems Electronic mail Numerical models Synchronization Adaptive systems

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Optimization of Image Fusion using Genetic Algorithms and Discrete Wavelet Transform

Optimization of Image Fusion using Genetic Algorithms and Di...

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： Chaunté W. Lacewell Mohamed Gebril Ruben Buaba Abdollah Homaifar Department of Electrical and Computer Engineering Autonomous Control and Information Technology Center NOAA ISET Cooperative Science Center North Carolina Agriculture and Technical State University Greensboro NC USA

Image fusion is the process of combining the most relevant information from multiple source images to obtain an accurate fused image. In this paper, we want to fuse visual and thermal satellite images. In order to provide enhanced information, we have investigated techniques of image fusion to obtain the most accurate information. This paper presents a technique which will produce an accurate fused image using discrete wavelet transform (DWT) for feature extraction and using Genetic Algorithms (GAs) to get the more optimized combined image. The performance of the proposed image fusion scheme is evaluated with mutual information (MI), root mean square error (RMSE), and it is also compared to the fused image that is generated by using Pixel Level GA based Image Fusion (PLGA_IF) and Discrete Wavelet Transform based Image Fusion (DWT_IF) techniques. Simulation results conducted with DWT and GA show that the proposed method outperforms the existing image fusion algorithms.

关键词： Discrete wavelet transforms Image fusion Gallium Genetics Satellites Search problems

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Iterative learning control of a class of fractional order nonlinear systems

Iterative learning control of a class of fractional order no...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Yan Li Hyo-Sung Ahn YangQuan Chen School of Control Science and Engineering Shandong University Shandong China Gwangju Institute of Science and Technology Gwangju South Korea Center for Self-Organizing and Intelligent Systems of Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper firstly addresses the convergence analysis of iterative learning control of a class of fractional order nonlinear systems using the generalized Gronwall-Bellman lemma. Detailed problem definition and conver... 详细信息

关键词： Nonlinear systems Convergence Simulation Fractional calculus Linear systems Differential equations Laplace equations

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Continuous Noninvasive Blood Pressure Measurement by Near Infra Red CCD Camera and Pulse Transmit Time Systems

Continuous Noninvasive Blood Pressure Measurement by Near In...

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International Conference on computer engineering and Applications (ICCEA)

作者： Petr Zurek Ondrej Krejcar Marek Penhaker Martin Cerny Robert Frischer Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy and Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

The need of continuous blood pressure measurement is usable in wide spectrum of applications from physicians practice to home care applications. Many types of blood pressure measurement devices can be bought in electronics shops. All such devices are contact measurement devices which need to be in contact of human body (hand or foot mainly). Secondary they allow only one measurement per several minutes interval (typically ones in 10 minutes). Our goal is to develop a small device for noninvasive continuous measurement of blood pressure. This device must be a small battery powered embedded system which measure a blood pressure during a long time period and send this information remotely to operator's stations. We would like to try two systems of blood pressure monitoring. The first one is system with NIR CCD camera (Near Infra Red), which measure the wide changes of the blood vessels and the second one is system, which measure the pulse transmit time (PTT). At the end we can compare the systems and get information, which system will be a right way to obtain exact continuous blood pressure information.

关键词： Pulse measurements Blood pressure Pressure measurement Time measurement Charge coupled devices Charge-coupled image sensors Biomedical monitoring Battery charge measurement Humans Foot

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Design and Realization of Low Cost Discrete PSD controller for Power Electronics Applications

Design and Realization of Low Cost Discrete PSD Controller f...

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International Conference on computer engineering and Applications (ICCEA)

作者： Ondrej Krejcar Michal Tutsch Robert Frischer Ivo Spicka Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy and Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

Most systems are controlling by common PID controllers. These PID controllers are available in variety possibilities. They are divided by types of controlling systems, by speed of action interference, by complexity, by robustness etc. Most of industrial controllers are very expensive and except of some basic setting they are not offering any other way, how to involve into controlling process. On the other side, developing new analog controller to control simple systems is not reasonable in financial or time issue. That's why we decided to build simple, discrete controller and implement its algorithm into single chip eight bit microcontroller (MCU). This discrete controller - PSD - is characteristic its simplicity and variability. It can control plenty of less complicated systems by a mere change of its characteristic parameters. Thanks to modern approach is possible to create a full-featured controller including power action element on an area equal to 7cm 2 .

关键词： Costs Power electronics control systems Three-term control Interference Robust control electrical equipment industry Industrial control Process control Microcontrollers

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Implementation of a 4-DOF parallel mechanism as a needle insertion device

Implementation of a 4-DOF parallel mechanism as a needle ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jaeheon Chung Hyo-Jeong Cha Byung-Ju Yi Whee Kuk Kim Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Fukuoka Japan School of Electrical Engineering and Computer Science Hanyang University Ansan South Korea Department of Control and Instrumentation Engineering Korea University South Korea

ISBN: (纸本)9781424450381;9781424450404

Recently, quite a few practical parallel mechanisms having spatial 3-DOF and 6-DOF have been introduced and implemented. However, not many useful practical applications using low-mobility parallel mechanisms having 4-DOF and 5-DOF have been developed. In this paper, we propose a 4-DOF parallel mechanism for needle insertion application in which proper orientation and needle insertion process are required. The mechanism has four outer chains and one passive middle chain through which a needle insertion motion occurs. The kinematic modeling and kinematic analysis are performed to understand the characteristics of this mechanism. Through the singularity analysis, a singularity-free design for the desired workspace is proposed. Finally, the effectiveness of this device as a needle insertion device is shown through experimental work.

关键词： Needles Kinematics Medical robotics Industrial training computer science Testing Surgery Robotics and automation USA Councils Parallel robots

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STD Approach for Simulation, control and Visualization of Color-sorting Machine

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IFAC Proceedings Volumes 2010年第24期43卷 276-279页

作者： Stepan Ozana Zdenek Slanina Martin Pies VSB-Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Ostrava-Poruba 17.listopadu 15 Czech Republic Stepan.Ozana@vsb.cz

The paper deals with simulation, control and visualization of color-sorting machine. It is based on Matlab family products. In particular, Matlab R2007b and Simulink as a general simulation environment, with Stateflow to simulate STD-based models. Virtual Reality Toolbox for 3D visualization and Real Time Toolbox for connection between simulation and real world. Using Tagaki-Sugeno method, expert fuzzy system is designed for color detection which is most crucial part of the project. Physical model of color-sorting machine was developed at the laboratory of department of Measurement and control. Because of complexity of the system it can be integrated in the lessons of Image Processing and control systems.

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