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IEEE Annual Conference on Decision and Control

作者： Christodoulos Keliris Marios M. Polycarpou Thomas Parisini KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus Dept. of Electrical and Electronic Engineering Imperial College London UK

ISBN: (纸本)9781467360890

This paper develops an adaptive approximation based approach for distributed fault diagnosis for a class of interconnected continuous-time nonlinear systems with modeling uncertainties and measurement noise. The proposed approach integrates learning with filtering techniques and allows the derivation of tight detection thresholds. This is accomplished in two ways: at first, by learning the modeling uncertainty through adaptive approximation methods, so that the learned function is used for the derivation of the residual signal, and then by using filtering for dampening measurement noise. The required signals for both tasks are derived through a two-stage filtering process, by exploiting the properties of the filtering framework. Finally, simulation results are used to demonstrate the effectiveness of the proposed approach.

关键词： Fault detection Approximation methods Noise Noise measurement Uncertainty Vectors Adaptation models

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Fair resource allocation in multiuser OFDMA downlink with passive eavesdropping

Fair resource allocation in multiuser OFDMA downlink with pa...

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IEEE International Conference on Wireless and Mobile Computing, Networking And Communications (WiMob)

作者： Sotiris Karachontzitis Stelios Timotheou Ioannis Krikidis Kostas Berberidis Computer Engineering and Informatics Dept. & RACTI/RU-8 University of Patras Greece KIOS Research Center for Intelligent Systems and Networks University of Cyprus Cyprus Department of Electrical and Computer Engineering University of Cyprus Cyprus

In this paper, we study the problem of resource allocation for a multiuser orthogonal frequency-division multiple access (OFDMA) downlink with eavesdropping. The considered setup consists of a base station, several users and a single eavesdropper that indents to wiretap the transmitted message within each OFDMA subchannel. By taking into consideration the existence of the eavesdropper, the base station aims to assign subchannels and allocate the available power in order to optimize the max-min fairness criterion over the users' secrecy rate. The investigated problem is hard to be solved because of its combinatorial and nonlinear nature. Thus, optimality is discussed for two particular cases where the available power tends to infinity and zero, respectively. The optimal solution is obtained by formulating a mixed integer linear problem in the first case and a series of linear sum assignment problems in the second. In addition, two low-complexity solutions are presented which are based on decoupling the subchannel and the power allocation subproblems. Numerical results are provided to illustrate the performance of the presented solutions.

关键词： Resource management Wireless communication Security Physical layer Conferences Mobile computing Downlink

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A New Approach for Simultaneous Localization of UAV and RF Sources (SLUS)

A New Approach for Simultaneous Localization of UAV and RF S...

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International Conference on Unmanned Aircraft systems

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran

ISBN: (纸本)9781479923779

In this paper, a new approach for Simultaneous Localization of UAV and RF Sources (SLUS) is proposed. In the UAV-based localization of RF sources, such as a cell phone in a search and rescue mission, the UAV navigation errors are a significant source of localization error. Although the use of GPS can reduce UAV localization error significantly resulting in more accurate RF source localization, however, if the GPS is not available temporarily or permanently, the accuracy of UAV-based localization decreases rapidly. The proposed approach solves these two connected problems, i.e. UAV localization and RF source localization, simultaneously to decrease the error of UAV position estimation and the error of RF sources localization. The prediction of UAV pose is done in parallel to RF source position prediction first. Then the predicted states are augmented and the augmented predicted state information is corrected in SLUS using the range and bearing observations. The simulation results show that this method can reduce RF source's position estimation error and prevent the divergence of UAV navigation in latitude and longitude channels. In the other words, the RF features available in the environment can be used to improve the UAV navigation.

关键词： RF source localization UA V navigation SLAM Kalman filter RSSI AOA

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Optimization of elevator evacuation considering potential over-crowding

Optimization of elevator evacuation considering potential ov...

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World Congress on intelligent Control and Automation (WCICA)

作者： Ning Ding Tao Chen Peter B. Luh Hui Zhang Center for Intelligent and Networked Systems Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs Connecticut USA Institute of Public Safety Research Tsinghua University Beijing China

Many countries, such as the US, China, and the UK, have considered using safe elevators (such as fire elevators) on safe floors (such as refuge floors) in high-rise buildings to speed up emergency evacuation. However, for safety reasons such as sheave traction and brake capability, elevators are designed not to operate when overloaded. Overcrowding, then, may actually slow down building evacuation when a car is overloaded. As a result, how to speed up elevator evacuation considering potential overcrowding is an important issue. This problem is difficult because of the uncertain traffic and complicated elevator scheduling. To reduce the traffic uncertainties, one trend is to use the surveillance cameras in smart high-rise buildings to know the number of waiting evacuees. To avoid the phenomenon of elevator overloading, multiple elevators will be sent to the same floor based on the number of waiting evacuees. To reduce the complication of elevator scheduling, all the elevators are divided into groups with one or more elevators in each group. Then these groups will be dispatched to different floors according to the numbers of waiting evacuees. Our objective is to minimize the evacuation time with the constraints of evacuees' safety. The Genetic Algorithm toolbox in Matlab is used to solve this problem. A case study is used to demonstrate that, compared with the building where one floor can be served by one car, our elevator scheduling can reduce the evacuation time.

关键词： Elevators Floors Fires Genetic algorithms MATLAB

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Triangular Geometry based Optimal Motion Planning using RRT*-Motion Planner

Triangular Geometry based Optimal Motion Planning using RRT*...

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International Workshop on Advanced Motion Control

作者： Ahmed Hussain Qureshi Saba Mumtaz Khawaja Fahad Iqbal Yasar Ayaz Mannan Saeed Muhammad Osman Hasan Whoi Yul Kim Moonsoo Ra Robotics And Intelligent Systems Engineering (RISE) Lab SMMENational University of Sciences And Technology. Islamabad Pakistan Department of Electronic Engineering College of Engineering Hanyang University Seoul South Korea School of Electrical Engineering And Computer Sciences (SEECS) National University of Sciences And Technology. Islamabad Pakistan

ISBN: (纸本)9781479957637

RRT* is a recent and improved variant of the RRT path finding algorithm. While RRT concentrates on simply finding an initial obstacle-free path, RRT* guarantees eventual convergence to an optimum, collision-free path for any given geometrical environment. On the other hand, the main limitations of RRT* include its slow processing rate and high memory utilization due to the large number of iterations required to achieve optimal path solution. This paper presents Triangular Geometerised-RRT* (TG-RRT*) which incorporates Triangular geometrical methods in the RRT* algorithm and improves its processing time by decreasing the number of iterations required for optimal solution. Simulation results under different environments demonstrate an improved convergence rate of TG-RRT*, in comparison with RRT*.

关键词： RRT Sampling based Optimal Motion Planning Directed Sampling

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Vehicular Data Offloading under Uncertain Journey Planners

Vehicular Data Offloading under Uncertain Journey Planners

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2nd International Conference on Connected Vehicles and Expo (ICCVE)

作者： Kolios, Panayiotis Ellinas, Georgios Panayiotou, Christos KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus|c|

ISBN: (纸本)9781479924912

Self-information broadcast messages are recurrently send out by vehicular terminals to establish their presence and hence improve situational awareness in road transportation. Importantly, such information snippets could prove invaluable to cloud-based intelligent transportation system services that aim to improve safety, traffic efficiency, and offer a plethora of infotainment services. However, due to the bulk nature of the aggregated load collected by vehicular peers, the delivery of this traffic to the infrastructure proves to be a challenging task. The latter offloading problem is considered in this work, in which each individual vehicular station decides on the offloading strategy that maintains proper utilization of the available infrastructure network. For this purpose, a graph theoretic approach is followed in which stations first estimate the potential of eventually being serviced by an available infrastructure node and then decide on the best offloading strategy that minimizes the load variance between the current and subsequent serving nodes. Performance analysis results illustrate that the proposed solution provides substantial load balancing gains and is computationally efficient to implement in practice for arbitrarily large network instances.

关键词： Vehicular Networks Cellular Networks Heterogeneous intelligent Transportation systems Vehicular Data Offloading

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Active Wing Shaping Control of an Elastic Aircraft

Active Wing Shaping Control of an Elastic Aircraft

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American Control Conference

作者： Wilfred Nobleheart Animesh Chakravarthy Nhan Nguyen Department of Aerospace Engineering at Wichita State University Wichita KS 67260. Department of Aerospace Engineering and Department of Electrical Engineering & Computer Science at Wichita State University Wichita KS 67260. Research Scientist in the Intelligent Systems Division at NASA Ames Research Center Moffett Field CA 94035.

ISBN: (纸本)9781479932757

In recent years, lightweight materials have been adopted in airframe design as a means to reduce aircraft weight. These lightweight materials provide adequate strength and durability, but at the expense of reduced structural rigidity. This increase in structural flexibility leads to a significant increase in the effects of aero-elastic interaction forces and moments, which can lead to important aircraft stability and control issues. In this paper, the optimal control design of an elastically shaped aircraft that has highly flexible wings is discussed. The aircraft has the capability to actively change the wing twist and bending in flight so as to achieve a local angle of attack distribution that is optimal for the specific flight condition. The aircraft has twenty three control surfaces, distributed along the trailing edge and leading edge of each wing. A multi-objective performance index that includes an explicit drag minimization term is considered, and a static output feedback controller design is performed using this performance index. Simulation results demonstrate the optimal wing shape change trajectories as well as the validity of the designed controller in stabilizing this elastic aircraft. The drag reduction achieved using static output feedback is compared with that obtained using full state feedback.

关键词： Active Wing Shaping Control Elastic Aircraft Active Aircraft Wings State feedback flight conditions performance indicators Aircraft Stability and Control control surfaces Lightweight materials Output feedback static output Trailing edges drag reduction Leading edges

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Experimental study on pedestrians' collision avoidance

Experimental study on pedestrians' collision avoidance

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World Congress on intelligent Control and Automation (WCICA)

作者： Yuan Gao Tao Chen Peter B. Luh Hui Zhang Center for Intelligent and Networked Systems Tsinghua University Beijing People's Republic of China Institute of Public Safety Research Tsinghua University Beijing People's Republic of China Department of Electrical and Computer Engineering University of Connecticut Storrs United States of America

Modeling and simulating of pedestrians movement have attracted much attention because they provide reproducible results, which are important to evaluate evacuation facilities and risks. It is well accepted the movement of individuals is affected by interactions with others and the environment. However, factors affecting the interactions are not fully studied and experiments are needed. This paper studies the impact of speeds on how pedestrians respond to obstacles, i.e., avoid collisions. Experiments were conducted in which participants were instructed to perform collision avoidance tasks with obstacles at two levels of both normal and high speeds. The avoidance tasks include avoiding collisions by stopping at or bypassing obstacles. Trajectories of participants were extracted from video recordings. How speed affects (1) the timing and magnitude of the deceleration of participants stopping at obstacles; (2) and the minimum distance to obstacles for participants bypassing obstacles were studied. It is concluded that speed significantly affects participants' collision avoidance: compared with participants at the normal speed, participants at the high speed start to stop further away from obstacles with higher deceleration when stopping at obstacles; and they need more space when bypassing obstacles. Results of the experiments are now being used to refine pedestrian models.

关键词： Collision avoidance Trajectory Vehicles Mathematical model Visualization Fitting Educational institutions

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