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作者： Angulo, Fabiola Fossas, Enric Ocampo, Carlos Olivar, Gerard Department of Electrical Electronic and Computer Science Universidad Nacional de Colombia Cra. 27 No. 64-60 Manizales Colombia Institute of Industrial and Control Engineering Technical University of Catalonia Avda. Diagonal 647 08027 Barcelona Spain Technical University of Catalonia Rambla Sant Nebridi 10 08222 Terrasa Spain Department of Applied Mathematics 4 Technical University of Catalonia Avda. Vctor Balaguer s/n E-08800 Vilanova i la Geltru Spain

ISBN: (纸本)008045108X

in this paper a new design for controlling dynamical systems has been applied to buck converters driven with a PWM centered pulse and (Zero Average Dynamics) ZAD-strategy. Chaotic operation has been stabilized with the so-called Fixed Point Induced control (FPIC) technique. Also, the same converter with delay, whose 1-periodic orbit is always unstable, has been stabilized. Simulations are compared with the TDAS stabilization technique. Once a 1-periodic orbit has been stabilized, the dynamics shows the same characteristics and advantages of the ZAD design, such as robustness, fixed switching frequency (with zero average on the sliding surface) and a low output error. Copyright © 2005 IFAC.

关键词： Stabilization

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Distributed sensor networks based on mobile agents paradigm

Distributed sensor networks based on mobile agents paradigm

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Southeastern Symposium on System Theory

作者： M. Ketel N.S. Dogan A. Homaifar Department of Computer Science North Carolina Agriculture and Technical State University Greensboro NC USA Department of Electrical & Computer Engineering North Carolina Agriculture and Technical State University Greensboro NC USA NASA Autonomous Control and Information Technology Center North Carolina Agriculture and Technical State University Greensboro NC USA

Distributed sensor networks (DSNs) are being developed for a wide range of applications. A sensor networks consist of a large number of nodes performing distributed sensing/event detection. Sensor nodes are energy-constrained, efficient routing is essential for increasing the lifetime of a sensor network. A DSN requires interoperability, low latency, and low power consumption in order to operate for long periods of time. Due to power constraints, DSN should be able to operate at low data rates and still delivering acceptable quality of service. In a DSN the energy required for communications tasks is usually much greater than the energy required for computational tasks. To reduce the data communication between nodes and to maximize the network lifetime, we propose to use the mobile-agent paradigm. In mobile-agent based DSN9 instead of moving data from an individual sensor node to a processing center as in the client-server based computing, mobile agents are dispatched from the processing center to the sensor nodes and process data locally. By moving code to the data, a mobile agent can reduce latency, bandwidth and vulnerability to network disconnection.

关键词： Mobile agents computer networks Routing Data communication Bandwidth Wireless communication Application software Delay Wireless sensor networks Capacitive sensors

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Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

Virtual attractive-repulsive potentials for cooperative cont...

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American control Conference (ACC)

作者： B.Q. Nguyen Yao-Ling Chuang D. Tung Chung Hsieh Zhipu Jin Ling Shi D. Marthaler A. Bertozzi R.M. Murray Department of Electrical Engineering Vision Laboratory University of California Los Angeles Los Angeles CA USA Department of Physics Duke University Durham NC USA Department of Computer Science Vision Laboratory University of California Los Angeles Los Angeles CA USA Department of Electrical Engineering California Institute of Technology Pasadena CA USA Control and Dynamical Systems California Institute of Technology Pasadena CA USA Department of Mathematics Vision Laboratory University of California Los Angeles Los Angeles CA USA

We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech multi vehicle wireless testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

关键词： Vehicle dynamics Motion control Biological system modeling Testing Open loop systems Motion planning Robot kinematics Remotely operated vehicles Equations Propulsion

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Task Characterisation and Cross-Platform Programming Through System Identification

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International Journal of Advanced Robotic Systems 2005年第4期2卷

作者： Theocharis Kyriacou Ulrich Nehmzow Roberto Iglesias Steve Billings Department of Computer Science University of Essex United Kingdom Department of Electronics and Computer Science University of Santiago de Compostela Spain Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour, based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design *** iterative refinement could be reduced, we argue, if a more profound theoretical understanding of robot-environment interaction existed. In this paper, we therefore present a modelling method that generates a faithful model of a robot's interaction with its environment, based on data logged while observing a physical robot's behaviour. Because this modelling method — nonlinear modelling using polynomials — is commonly used in the engineering discipline of system identification, we refer to it here as “robot identification”.We show in this paper that using robot identification to obtain a computer model of robot-environment interaction offers several distinct advantages:*** compact representations (one-line programs) of the robot control program are *** model can be analysed, for example through sensitivity analysis, leading to a better understanding of the essential parameters underlying the robot's behaviour, *** generated, compact robot code can be used for cross-platform robot programming, allowing fast transfer of robot code from one type of robot to *** demonstrate these points through experiments with a Magellan Pro and a Nomad 200 mobile robot.

关键词： mobile robotics task identification cross-platform programming NARMAX modelling

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Transport of Mars-Crossing Asteroids from the Quasi-Hilda Region

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Physical Review Letters 2005年第23期94卷 231102-231102页

作者： Michael Dellnitz Oliver Junge Martin W. Lo Jerrold E. Marsden Kathrin Padberg Robert Preis Shane D. Ross Bianca Thiere Faculty of Computer Science Electrical Engineering and Mathematics University of Paderborn D-33095 Paderborn Germany Navigation and Mission Design Jet Propulsion Laboratory California Institute of Technology M/S 301-140L 4800 Oak Grove Drive Pasadena California 91109 USA Control and Dynamical Systems California Institute of Technology MC 107-81 Pasadena California 91125 USA Department of Aerospace and Mechanical Engineering University of Southern California Los Angeles California 90089 USA

We employ set oriented methods in combination with graph partitioning algorithms to identify key dynamical regions in the Sun-Jupiter-particle three-body system. Transport rates from a region near the 3∶2 Hilda resonance into the realm of orbits crossing Mars’ orbit are computed. In contrast to common numerical approaches, our technique does not depend on single long term simulations of the underlying model. Thus, our statistical results are particularly reliable since they are not affected by a dynamical behavior which is almost nonergodic (i.e., dominated by strongly almost invariant sets).

关键词： .graph orbits partitioning week ending Asteroids Preis Mars-Crossing Quasi-Hilda

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STABILIZATION OF CHAOS WITH FPIC: APPLICATION TO ZAD-STRATEGY BUCK CONVERTERS

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IFAC Proceedings Volumes 2005年第1期38卷 1183-1188页

作者： Fabiola Angulo Enric Fossas Carlos Ocampo Gerard Olivar Department of Electrical Electronic and Computer Science Universidad Nacional de Colombia. Cra. 27 No. 64-60 Manizales Colombia Institute of Industrial and Control Engineering Technical University of Catalonia Avda. Diagonal 647 pl 11 08027 Barcelona Spain Department of Systems Engineering Automatics and Industrial Informatics (ESAII) Technical University of Catalonia Rambla Sant Nebridi 10 planta 1 Ed TR-11 08222 Terrasa Spain Department of Applied Mathematics 4 Technical University of Catalonia Avda. Vctor Balaguer s/n E-08800 Vilanova i la Geltru Spain

In this paper a new design for controlling dynamical systems has been applied to buck converters driven with a PWM centered pulse and (Zero Average Dynamics) ZAD-strategy. Chaotic operation has been stabilized with the so-called Fixed Point Induced control (FPIC) technique. Also, the same converter with delay whose 1-periodic orbit is always unstable, has been stabilized. Simulations are compared with the TDAS stabilization technique. Once a 1-periodic orbit has been stabilized, the dynamics shows the same characteristics and advantages of the ZAD design, such as robustness, fixed switching frequency (with zero average on the sliding surface) and a low output error.

关键词： Chaos control Theory Converters Nonlinear control Stabilization methods

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An efficient two-level SOMART document Clustering through dimensionality reduction

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11th International Conference on Neural Information Processing, ICONIP 2004

作者： Hussin, Mahmoud F. Kamel, Mohamed S. Nagi, Magdy H. Dept of Computer Science and Automatic Control University of Alexandria Alexandria Egypt Dept of Electrical and Computer Engineering University of Waterloo WaterlooON Canada

ISBN: (纸本)3540239316

Document Clustering is one of the popular techniques that can unveil inherent structure in the underlying data. Two successful models of unsupervised neural networks, Self-Organizing Map (SOM) and Adaptive Resonance Theory (ART) have shown promising results in this task. The high dimensionality of the data has always been a challenging problem in document clustering. It is common to overcome this problem using dimension reduction methods. In this paper, we propose a new two-level neural network based document clustering architecture that can be used for high dimensional data. Our solution is to use SOM in the first level as a dimension reduction method to produce multiple output clusters, then use ART in the second level to produce the final clusters using the reduced vector space. The experimental results of clustering documents from the RETURES corpus using our proposed architecture show an improvement in the clustering performance evaluated using the entropy and the f_measure. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Self organizing maps

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Measurement system for data acquisition and electric arc furnace characteristic calculation

Measurement system for data acquisition and electric arc fur...

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2004 IFAC Workshop on Programmable Devices and Systems, PDS 2004

作者： Kazala, Robert Wcislik, Miroslaw Kielce University of Technology Faculty of Electrical Engineering Automatic Control and Computer Science Al. 1000-lecia PP7 Kielce25-314 Poland

The paper presents the requirements of measurement system for electric arc furnace parameters measurement and for working characteristic calculating. On this basis measurement signals were specified and measurement algorithms were developed. For data acquisition a special system was constructed. The system consists of portable computer with acquisition card and conditioning system with differential amplifiers, antialiasing filters and sample and hold circuits. The system is connected with interface build-up permanent in arc furnace. The system software makes possible on-line observation of measured signals values and save data to hard disk. Further calculations may be performed off-line using special developed algorithms. For system software development the open source Python language and GCC compiler for Windows were used. © 2004 IFAC.

关键词： Data acquisition

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Development of embedded control system for mobile objects using UML

Development of embedded control system for mobile objects us...

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2004 IFAC Workshop on Programmable Devices and Systems, PDS 2004

作者： Kotzian, Jiří Srovnal, Vilém VŠB - Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Czech Republic

This paper present methodology of developing a microprocessor based embedded system for the distributed control system. The control system is realized for controlling of small electro mobile. The system controls speed, direction, breaking, etc. There is used wireless communication. Methodology of developing is based on Unified Modelling Language UML. Whole system is modelled on PC and then implemented to given target. We are using 68HC12 Motorola microprocessors and RiMC UML modelling environment from I-logix. Distributed control system is based on CAN bus, which is also modelled. © 2004 IFAC.

关键词： Embedded systems

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Robust control of the real system with embedded computer

Robust control of the real system with embedded computer

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2004 IFAC Workshop on Programmable Devices and Systems, PDS 2004

作者： Srovnal, Vilém Slanina, Zdeněk VŠB - Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Department of measurement and control Czech Republic

This article deals with a robust control practical application designed and run on different kinds of embedded PCs. As a control object Ball and Beam experiment was chosen. The system was simulated on the mathematical model in Matlab and was subsequently applied to the real model of Ball and Beam. For measure and control in real-time there was used IO card from Advantech, embedded PC and operating system Linux. One part of that solution is a visualization of the process mentioned above, too. © 2004 IFAC.

关键词： Robust control

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