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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Dingyü Xue YangQuan Chen School of Information Science and EngineeringNortheastern University Shenyang 110004 P R China Department of Electrical & Computer Engineering Center for Self-Organizing & Intelligent Systems (CSOIS) Utah State University Logan UT 84322-4120 USA

In the paper,a MATLAB based graphical user interface OptimFOPID is presented for designing optimum fractional-order PID-type controllers of different types,under different criteria,for linear fractional-order *** opti... 详细信息

关键词： Controller OptimFOPID:A MATLAB Interface For Optimum Fractional-Order PID Controller Design For Linear Fractional-Order Plants

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Fractional-order circuit elements with memory

Fractional-order circuit elements with memory

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International Carpathian Control Conference (ICCC)

作者： 1Ivo Petráš YangQuan Chen Institute of Control and Informatization of Production Processes BERG Faculty Technical University of Košice Kosice Slovakia Department of Electrical and Computer Engineering Center for Self-Organizing and Intelligent Systems Utah State University Logan UT USA

This paper deals with the fractional-order memristive, memcapacitative, and meminductive systems and their utilization in design of the new circuits with memory. We provide a mathematical description of such systems by using a technique of the fractional calculus. Some possible applications of “mem” systems are mentioned in article as well.

关键词： Memristors Capacitors Inductors Fractional calculus Equations

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Residual muscle contraction and prosthetic socket interface force in a transtibial amputee upon the osteomyoplastic procedure - A preliminary study

Residual muscle contraction and prosthetic socket interface ...

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2012 ISSNIP Biosignals and Biorobotics Conference: Biosignals and robotics for Better and Safer Living, BRC 2012

作者： Mai, Anh Commuri, Sesh Day, Jonathan Dionne, Carol Ertl, William J. J. School of Electrical and Computer Engineering University of Oklahoma Norman OK 73019 United States Intelligent and Robotic Systems United States Department of Orthopaedic Surgery and Rehabilitation Orthotic/Prosthetic Section University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Mechanical Therapy Research Laboratory Department of Rehabilitation Sciences United States College of Allied Health University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Department of Orthopedic Surgery and Rehabilitation United States College of Medicine University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States

ISBN: (纸本)9781467324762

In the Transtibial Osteomyoplastic Amputation (TOA) technique, the fibular end and the tibial end are connected to each other by a bone bridge in order to stabilize the bony anatomy of the residual limb. In addition, during the myoplasty procedure, the ends of the muscles are secured to one another and to the bony foundations to re-establish the length-tension relationship. In contrast to conventional amputation techniques in which the muscles are cut and the length-tension relationship is lost overtime, the TOA procedure is anticipated to allow muscles to actively contract and return blood to the heart more efficiently [1]. In this study, the outcomes of the TOA procedure were investigated by measuring electromyography signals from the tibialis anterior and gastrocnemius muscles on the amputated leg as well as the interface force inside the prosthetic socket at the end-bearing level of a transtibial amputee. The subject had undergone the TOA procedure and the study was conducted while the subject walked on different terrain (level ground with different speeds, stairs, and incline) with two different kinds of prosthetic feet. Preliminary results showed that (1) the residual muscles appeared to be active while walking on various terrain, and (2) the activation level of the residual tibialis anterior muscle was found to be related to the force variation inside the prosthetic socket. © 2012 IEEE.

关键词： Muscle

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{\cal U}Boost: Boosting with the Universum

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2012年第4期34卷 825-832页

作者： Chunhua Shen Peng Wang Fumin Shen Hanzi Wang Australian Center for Visual Technologies and School of Computer Science University of Adelaide North Terrace SA Australia School of Automation Science and Electrical Engineering Beihang University Beijing China School of Computer Science and Technology Nanjing University of Science and Technology of PLA Nanjing China Cognitive Science Department School of Information Science and Technology and Fujian Key Laboratory of the Brain-like Intelligent Systems Xiamen University Xiamen Fujian China School of Computer Science University of Adelaide SA Australia

It has been shown that the Universum data, which do not belong to either class of the classification problem of interest, may contain useful prior domain knowledge for training a classifier [1], [2]. In this work, we design a novel boosting algorithm that takes advantage of the available Universum data, hence the name UBoost. UBoost is a boosting implementation of Vapnik's alternative capacity concept to the large margin approach. In addition to the standard regularization term, UBoost also controls the learned model's capacity by maximizing the number of observed contradictions. Our experiments demonstrate that UBoost can deliver improved classification accuracy over standard boosting algorithms that use labeled data alone.

关键词： Boosting Training Educational institutions Optimization Algorithm design and analysis Histograms Accuracy

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Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger

Cortex Inspired Model for Inverse Kinematics Computation for...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Rodolphe J. Gentili Hyuk Oh Javier Molina James A. Reggia José L. Contreras- Vidal Department of Kinesiology School of Public Health Maryland Robotics Center Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Systems Engineering and Automation Technical University of Cartagena 30202 Cartagena Spain Department of Computer Science University of Maryland Institute for Advanced Computer Studies University of Maryland College Park MD 20742 USA Department of Electrical and Computer Engineering University of Houston Houston TX 77004 USA

ISBN: (纸本)9781424441198

In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multijointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands.

关键词： reaching prosthetic providing

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Optimal PMU placement for improving hybrid state estimator accuracy

Optimal PMU placement for improving hybrid state estimator a...

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2011 IEEE PES Trondheim PowerTech: The Power of Technology for a Sustainable Society, POWERTECH 2011

作者： Asprou, Markos Kyriakides, Elias KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Cyprus

ISBN: (纸本)9781424484195

With the deployment of Synchronized Measurement Technology (SMT), many applications of the existing Supervisory Control and Data Acquisition (SCADA) system have been significantly improved. SMT may be used in many SCADA functions;one of its fundamental applications is in state estimation. The Phasor Measurement Unit (PMU) is the main component of the SMT, providing synchronized phasor measurements from the power system. It is therefore important to determine the optimal PMU locations for improving certain aspects related to state estimation. In this paper, the optimal PMU placement for improving state estimation accuracy is examined. The state estimator incorporates both conventional and synchronized measurements as the full deployment of PMUs in the power systems is neither affordable by electric utilities nowadays, nor practical. The concept of the hybrid state estimator as well as the proposed methodology for determining optimal PMU placements for improving its associated accuracy is presented in this paper. The hybrid state estimator is applied to the IEEE 14, 30, and 57 bus systems. The proposed PMU placement methodology is utilized to determine the optimal PMU placement in these systems. The accuracy of the conventional and hybrid state estimator when applied to IEEE 14, 30, and 57 bus system is also compared. © 2011 IEEE.

关键词： State estimation

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Automating short-term insertion of parts for heterogeneous robots using a control basis approach

Automating short-term insertion of parts for heterogeneous r...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Rojas, Juan Peters II, Richard A. Electrical and Computer Engineering Department Center for Intelligent Systems Vanderbilt University Nashville TN 37235 United States

ISBN: (纸本)9781612848679

robotics technology is quickly evolving and demanding robots to perform more actions and with greater complexity. Modular construction tasks are well suited for heterogenous robots. In this paper we studied if modularizing a distributed multi-agent architecture with a control modular framework was a viable approach to generate complex robotic behavior with short term autonomy. To this end we tasked a heterogeneous robot team to perform an assembly task using force sensing. We also studied which robots would be better suited for a given task. Our experimental results concluded that the modular control approach was viable to generate short-term autonomous complex robotic behavior and our analysis characterized the advantages of each robot for the assembly task. © 2011 IEEE.

关键词： Modular construction

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Fault isolation and impact evaluation of water distribution network contamination

Fault isolation and impact evaluation of water distribution ...

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作者： Eliades, Demetrios G. Polycarpou, Marios M. KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia CY-1678 Cyprus

ISBN: (纸本)9783902661937

The security of drinking water distribution operation is an important issue that has received increased interest within the last few years. The US Environmental Protection Agency (EPA) has issued guidelines for water utilities regarding which qualitative and quantitative metrics to monitor, as well as what response actions to take from the moment a contamination fault alarm has been triggered, until the fault has been accommodated and the system has returned to normal operation. "Expanded Sampling" is a type of response action, in which the water utilities examine the water quality at certain locations in the network after a contamination fault has been detected, to help evaluate the contamination impact and locate the source-area. In this framework, fixed quality sensors are used to detect the presence of any contaminant in the network, while and manual quality samplings are used for fault isolation and impact evaluation. In this work, a computational approach is proposed for choosing a sequence of nodes in the distribution network to perform expanded sampling, so that the water contamination impact is evaluated and the source-area is isolated, with as few manual quality samplings as possible and by minimizing the impact-risk. The proposed method is based on constructing a decision tree using multiple objectives. To illustrate the solution methodology, results are presented based on a water distribution system. © 2011 IFAC.

关键词： Decision trees

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on Control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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