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Discrete fractional calculus: Non-equidistant grids and variable step length

Discrete fractional calculus: Non-equidistant grids and vari...

ASME 2011 International Design engineering Technical Conferences and computers and Information in engineering Conference, IDETC/CIE 2011

作者： Podlubny, Igor Skovranek, Tomas Petras, Ivo Verbickij, Viktor V. Chen, YangQuan Jara, Blas M. Vinagre BERG Faculty Technical University of Kosice B. Nemcovej 3 04200 Kosice Slovakia Institute of Mathematics Economics and Mechanics Odessa National University Dvoryanskaya 2 Odessa 65082 Ukraine Center for Self-Organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University 4120 Old Main Hill Logan UT 84322-4120 United States School of Industrial Engineering University of Extremadura Avda. de Elvas s/n Badajoz 06071 Spain

ISBN: (纸本)9780791854808

In this paper we further develop Podlubny's matrix approach to discretization of integrals and derivatives of arbitrary real order. Numerical integration and differentiation on a set of non-equidistant nodes is described and illustrated by several examples of numerical solution of fractional differential equations. In this paper, for the first time, we present a variable step length approach that we call "the method of large steps", since it is applied in combination with the matrix approach for each "large step". This new method is also illustrated by an example. The presented approach allows fractional order differentiation and integration of non-uniformly sampled signals, and opens the way to development of variable and adaptive step length techniques for fractional differential equations. © 2011 by ASME.

关键词： Differentiation (calculus)

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AASVMES: An intelligent expert system for realization of Adaptive Autonomy using Support Vector Machine

AASVMES: An intelligent expert system for realization of Ada...

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International Conference on Control, Instrumentation, and Automation

作者： N. Hassanpour M. A. Zamani A. Fereidunian H. Lesani Systems and Machines Research Laboratory (SMRL) Control and Intelligent Processing Center of Excellence (CIPCE) School of ECE University of Tehran Tehran Iran Electrical and Computer Engineering Department K. N. Toosi University of Technology Tehran Iran

We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), referred to as Adaptive Autonomy Support Vector Machine Expert System (AASVMES). The proposed system prescribes proper Levels of Automation (LOAs) for various environmental conditions, here modeled as Performance Shaping Factors (PSFs), based on the extracted rules from the experts' judgments. SVM is used as an expert system inference engine. The practical list of PSFs and the judgments of GTEDC's (the Greater Tehran Electric Distribution Company) experts are used as expert system database. The results of implemented AASVMES in response to GTEDC's network are evaluated against the GTEDC experts' judgment. Evaluations show that AASVMES has the ability to predict the proper LOA for GTEDC's Utility Management Automation (UMA) system, which changes in relevance to the changes in PSFs; thus providing an adaptive LOA scheme for UMA.

关键词： Support vector machines Training Expert systems Complexity theory Automation Adaptive systems Humans

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MARGIN AND DOMAIN INTEGRATED CLASSIFICATION FOR IMAGES

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International Journal of Information Acquisition 2011年第1期8卷 1-16页

作者： YEN-LUN CHEN YUAN F. ZHENG YI LIU Center for Intelligent and Biomimetic Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 P. R. China Department of Electrical and Computer Engineering The Ohio State University Columbus OH 43210 USA PIPS Technology A Federal Signal Company Knoxville TN 37932 USA

Multi-category classification is an ongoing research topic in image acquisition and processing for numerous applications. In this paper, a novel approach called margin and domain integrated classifier (MDIC) is addressed. It merges the conventional support vector machine (SVM) and support vector domain description (SVDD) classifiers, and handles multi-class problems as a combination of several target classes plus outliers. The basic idea behind the proposed approach is that target classes possess structured characteristics while outliers scatter around in the feature space. In our approach, the domain description and large-margin discrimination are adjustable and therefore yield higher classification accuracy which leads to better performance than conventional classifiers. The properties of MDIC are analyzed and the performance comparisons using synthetic and real data are presented.

关键词： Margin and domain integrated classification (MDIC) pattern classification multi-category classification support vector machine (SVM) support vector domain description (SVDD)

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Hybrid Spectral Domain Ray Tracing Algorithm for Fast Analysis of On-Chip Terahertz Integrated Antenna

Hybrid Spectral Domain Ray Tracing Algorithm for Fast Analys...

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2011 IEEE International Symposium on Antennas and Propagation(APSURSI 2011)

作者： Daniel M. Hailu Mohammad Neshat Safieddin Safavi-Naeini CIARS (Center for Intelligent Antenna and Radio Systems) Electrical and Computer Engineering Dept. University of Waterloo 200 University Avenue West Waterloo ON. N2L 3G1 Canada Department of Electrical and Computer Engineering University of Waterloo Waterloo ON. N2L 3G1 Canada

ISBN: (纸本)9781424495627;9781424495634

We present a computationally efficient general Hybrid Spectral Ray Tracing (HSRT) method that requires one spectral domain integration step for each observation point. The HSRT method is capable of modeling arbitrary three-dimensional dielectric and metallic structures. As an example, the HSRT method is applied to on-chip dipole antenna backed by Silicon lens and integrated with a 180-GHz VCO in SiGe:C BiCMOS technology. We compare and validate the HSRT method for different reflection orders with measurements.

关键词： Antennas method of moments multi-level fast multi-pole method geometrical optics graphics processing unit (GPU) hyper-hemispherical lens lens antennas spectral ray tracing terahertz radiation ANTENNA Spectral domain Ray tracing system-on-chip terahertz metal structure BiCMOS technology Integrate DIPOLE ANTENNAS antennae HYBRID Hybrid electric vehicles

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Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

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Adaptive and Repetitive Controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

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IEEE International Conference on robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements Control Architecture Manipulators Unknown parameter Linear Combination

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Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations

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Numerical Mathematics(Theory,Methods and Applications) 2010年第2期3卷 162-177页

作者： Haiyang Chao Yang-Quan Chen Center for Self Organizing and Intelligent Systems Electrical and Computer Engineering Department Utah State University Logan UT 84322 USA.

This paper considers how to use a group of robots to sense and control a diffusion *** diffusion process is modeled by a partial differential equation (PDE),which is a both spatially and temporally variant *** robots can serve as mobile sensors,actuators,or *** Voronoi Tessellations based coverage control algorithm is proposed for the cooperative sensing *** the diffusion control problem,this paper considers spraying control via a group of networked mobile robots equipped with chemical neutralizers,known as smart mobile sprayers or actuators,in a domain of interest having static mesh sensor network for concentration *** paper also introduces the information sharing and consensus strategy when using centroidal Voronoi tessellations algorithm to control a diffusion *** information is shared not only on where to spray but also on how much to spray among the mobile *** from using CVT and information consensus seeking for sensing and control of a diffusion process are demonstrated in simulation results.

关键词： Consensus centroidal Voronoi tessellations diffusion process distributed control mobile actuator and sensor networks.

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An active visual loop closure detection and validation system for topological SLAM

An active visual loop closure detection and validation syste...

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2010 Australasian Conference on robotics and Automation, ACRA 2010

作者： Wen, Lik Lui, Dennis Jarvis, Ray Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780980740417

Loop closing is a vital component for mobile robot navigation without a priori information of the environment, since the mobile robot has to explore, build and at the same time maintain a globally consistent map. Moreover, it allows the mobile robot to recover from positional drifts due to errors associated with sensor measurements once loop closing is performed. In this paper, an active loop closing detection and validation system for a fully autonomous vision-based mobile robot performing topological SLAM is presented. It integrates an appearance-based mapping and localization system with the path planner to achieve an active loop closing system. This system does not only detect loop closures but actively validates them by taking advantage of the tight integration with the path planner. Experimental results conducted in a semi-outdoor environment validate the proposed system.

关键词： Mobile robots

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A constrained hybrid state estimator including pseudo flow measurements

A constrained hybrid state estimator including pseudo flow m...

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7th Mediterranean Conference and Exhibition on Power Generation, Transmission, Distribution and Energy Conversion, MedPower 2010

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

ISBN: (纸本)9781849193191

Synchronized measurement technology (SMT) is increasingly deployed in modern power systems. Although it can be used in many applications in modern energy management centers, the most natural application of SMT is in the area of state estimation. The incorporation of synchrophasors provided by the Phasor Measurement Units (PMUs), in the state estimation process has improved many aspects of the state estimation procedure, such as the accuracy, observability and convergence. In this paper, a hybrid state estimator that incorporates pseudo power flow measurements is presented. The performance of the estimator is assessed and compared to the conventional state estimator.

关键词： State estimation

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A multifunctional HIL testbed for multirotor VTOL UAV actuator

A multifunctional HIL testbed for multirotor VTOL UAV actuat...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded systems and Applications, MESA 2010

作者： Chéron, Corentin Aaron Dennis Vardan Semerjyan Chen, YangQuan Department of Electrical and Computer Engineering Center for Self-Organizing and Intelligent Systems Utah State University United States

ISBN: (纸本)9781424471010

Application driven multirotor UAV design becomes an emerging challenge as missions' needs require improved performance. In this paper, a multifunctional identification and control testbed for UAV actuators is introduced. Brushless controllers, motors and propeller pairs need to be chosen precisely to achieve optimal performance. Accurate identification of intrinsic parameters of those actuators and their comparison allow the engineer to decide between choosing existing parts or designing their own. Furthermore, we introduce a real-time MATLAB interface that allows to reduce implementation time when developing brushless motors control algorithms. © 2010 IEEE.

关键词： Actuators

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