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Design, Automation and Test in Europe Conference and Exhibition

作者： S. Hadjitheophanous C. Ttofis A. S. Georghiades T. Theocharides Department of Electrical and Computer Engineering KIOS Research Center of Intelligent Systems and Networks University of Cyprus Nicosia Cyprus

ISBN: (纸本)9783981080162

Stereoscopic 3D reconstruction is an important algorithm in the field of computer Vision, with a variety of applications in embedded and real-time systems. Existing software-based implementations cannot satisfy the performance requirements for such constrained systems; hence an embedded hardware mechanism might be more suitable. In this paper, we present an architecture of a 3D reconstruction system for stereoscopic images, which we implement on Virtex2 Pro FPGA. The architecture uses a Sobel edge detector to achieve real-time (75 fps) performance, and is configurable in terms of various application parameters, making it suitable for a number of application environments. The paper also presents a design exploration on algorithmic parameters such as disparity range, correlation window size, and input image size, illustrating the impact on the performance for each parameter.

关键词： Hardware Field programmable gate arrays Image reconstruction Image edge detection computer vision Application software Real time systems computer architecture Detectors Algorithm design and analysis

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Fault tolerant positioning using WLAN signal strength fingerprints

Fault tolerant positioning using WLAN signal strength finger...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： C. Laoudias M. P. Michaelides C. G. Panayiotou KIOS Research Center of Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

Accurate and reliable location estimates using wireless networks are important for enabling indoor location oriented services and applications, such as in-building guidance and asset tracking. Providing adequate level of accuracy in case of faults or attacks to the positioning system is equally significant, thus our main interest is on the fault tolerance of positioning methods, rather than the absolute accuracy in the fault-free case. We introduce several fault models to capture the effect of failures in the wireless infrastructure or malicious attacks and discuss how these models can simulate the corruption of signal strength values during positioning. The models are used to investigate the fault tolerance of positioning methods and evaluate them in terms of their performance degradation as the percentage of corrupted signal strength measurements increases. Experimental results using our fault models are also presented.

关键词： Fault tolerance Fault tolerant systems Wireless LAN Data models Accuracy Artificial neural networks Measurement

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Distributed fault detection and accommodation with partial communication

Distributed fault detection and accommodation with partial c...

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International Symposium on Communications Control and Signal Processing (ISCCSP)

作者： Panagiotis Panagi Marios M. Polycarpou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

In the recent years there has been an increased interest in the analysis and design of distributed control systems. This is motivated by the distributed nature of many systems, found in diverse areas such as manufacturing, transportation, power systems, mobile robotics, etc. Moreover, a key objective in engineering is the design of reliable systems that are able to operate within certain performance margins even in the presence of slowly developing faults. A distributed fault diagnosis and accommodation scheme needs to be able to provide reliable and safe operation of the distributed system, with limited information exchange between the individual subsystems. Towards this direction, this paper presents a distributed fault detection and accommodation design for a class of nonlinear interconnected subsystems. A fault may occur in the subsystems local dynamics as well as in the interconnections between the subsystems. The subsystems are allowed to exchange state information, according to a tracking error-based communication protocol. The distributed fault detection and accommodation architecture is based on the use of adaptive approximation models which utilize local, as well as, remote communicated state information.

关键词： Fault detection Power system reliability electrical fault detection Mobile communication Distributed control Manufacturing Transportation Power system analysis computing Power system faults Mobile robots

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A comparative evaluation of low-cost IMUs for unmanned autonomous systems

A comparative evaluation of low-cost IMUs for unmanned auton...

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International Conference on Multisensor Fusion and Integration for intelligent systems (MFI)

作者： Haiyang Chao Calvin Coopmans Long Di YangQuan Chen Center of Self-Organizing and Intelligent Systems Electrical and Computer Engineering Department Utah State University Logan UT USA

Inertial measurement units (IMUs) are widely used for navigation and calibration purposes on unmanned autonomous vehicles. This paper provides a comparative survey and evaluation of the low-cost IMUs focusing on both the possible sensor packages and the available software solutions. Several example IMUs are compared in detail including inertial only IMUs, GPS-coupled IMUs, and hobbyist-level IMUs. The future direction of low-cost IMUs are discussed including optical-flow-based solutions and collaborative IMUs.

关键词： Accelerometers Estimation Kalman filters Global Positioning System Vehicles Equations

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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Heterogeneous artificial agents for triage nurse assistance

Heterogeneous artificial agents for triage nurse assistance

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IEEE-RAS International Conference on Humanoid Robots

作者： D.M. Wilkes Stan Franklin Erdem Erdemir Stephen Gordon Steve Strain Karen Miller Kazuhiko Kawamura Center of Intelligent Systems and Electrical and Computer Engineering Vanderbilt University USA Cognitive Computing Research Group Institute of Intelligent Systems University of Memphis Memphis TN USA Department of Electrical Engineering and Computer Science Vanderbilt University USA Electrical Engineering Vanderbilt University USA Cognitive Computing Research Group Institute of Intelligent Systems University of Memphis USA Clinical Research Operations for Emergency Medicine Vanderbilt University USA Center of Intelligent Systems and Electrical and Computer Engineering Vanderbilt University Nashville TN USA

A dream of humanoid robot researchers is to develop a complete “human-like” (whatever that means) artificial agent both in terms of body and brain. We now have seen an increasing number of humanoid robots (such as Honda's ASIMO, Aldebaran's Nao and many others). These, however, display only a limited number of cognitive skills in terms of perception, learning and decision-making. On the other hand, brain research has begun to produce computational models such as LIDA. In this paper, we propose an intermediate approach for body-brain integration in a form of a scenario-based distributed system. Busy hospital Emergency departments (ED) are concerned with shortening the waiting times of patients, with relieving overburdened triage team physicians, nurses and medics, and with reducing the number of mistakes. Here we propose a system of cognitive robots and a supervisor, dubbed the TriageBot System that would gather both logistical and medical information, as well as take diagnostic measurements, from an incoming patient for later use by the triage team. TriageBot would also give tentative, possible diagnoses to the triage nurse, along with recommendations for non-physician care Some of the robots in the TriageBot System would be humanoid in form, but it is not necessary that all of them take this form. Advances in humanoid robotic design, in sensor technology, and in cognitive control architectures make such a system feasible, at least in principle.

关键词： Robot sensing systems Robot kinematics computer architecture Humanoid robots Pain

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Distributed Dynamic Resource Allocation in Tandem Networks

Distributed Dynamic Resource Allocation in Tandem Networks

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2010 IEEE Global Telecommunications Conference GLOBECOM 2010

作者： Michael M. Markou Christos G. Panayiotou KIOS Research Center of Intelligent Systems and Networks University of Cyprus Nicosia Cyprus KIOS Research Center of Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

Considering a tandem network of queues (each representing the buffer in a router) our objective is to allow each individual queue to dynamically control its own parameters (in this paper the buffer size) using only information available locally and from neighboring nodes. For each node we adopt control approaches that are based on Infinitesimal Perturbation Analysis (IPA) estimates of certain performance measures. In this family of approaches we investigate collaboration schemes that can lead us to global optimal (or near optimal) solutions. The contribution of the paper is the design of a simple protocol that allows neighboring nodes to collaboratively exchange information in order to converge to a global optimal solution.

关键词： Peer to peer computing Games Stochastic processes Fluids Optimization Analytical models Simulation

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Synchronized measurements in power system operation: International trends and research

Synchronized measurements in power system operation: Interna...

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IEEE General Meeting Power& Energy Society

作者： Elias Kyriakides Gerald T. Heydt KIOS Research Center for Intelligent Systems and Networks and the Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus School of Electrical Computer and Energy Engineering Arizona State University USA

Synchronized measurements offer an opportunity for the wide area monitoring of power systems. There is an international trend in installing synchronized measurement devices and attempting to incorporate them in operational practices. This panel addresses international developments and research activities in the installation and use of synchronized measurement devices in power systems. The views of the panelists, drawn from academic, research, and industry experiences, will add to the important topic of synchronized measurements and their incorporation in power system operational practices.

关键词： Synchronization Transmission line measurements Power measurement Power system dynamics Phasor measurement units Current measurement

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Fractional calculus, delay dynamics and networked control systems

Fractional calculus, delay dynamics and networked control sy...

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International Symposium on Resilient Control systems, ISRCS

作者： YangQuan Chen Center of Self-Organizing & Intelligent Systems (CSOIS) Department of Electrical & Computer Engineering Utah State University Logan UT USA

In networked control systems (NCS), the spiky nature of the random delays makes us wonder about the benefits we can expect if the spikiness, or what we call delay dynamics can be considered in the NCS controller design. It turns out that the spikiness of the network induced random delays can be better characterized by the so-called α-stable processes, or processes with fractional lower-order statistics (FLOS) which are linked to fractional calculus. Many real dynamic systems are better characterized using a noninteger order dynamic model based on fractional calculus or, differentiation or integration of non-integer order. Traditional calculus is based on integer order differentiation and integration. The concept of fractional calculus has tremendous potential to change the way we see, model, and control the nature around us. Denying fractional derivatives is like saying that zero, fractional, or irrational numbers do not exist. This article proposes a transformative research idea to link fractional calculus, delay dynamics and NCSs. Specifically, fractional order modeling of delay dynamics will be used to better characterize the dynamic delay behavior. Then, a fractional order controller will be designed based on the fractional order delay dynamic model. Initial evidence confirmed that, incorporating delay dynamics in the controller design offers improved NCS control performance.

关键词： Delay Networked control systems Fractional calculus Tuning Robustness Predictive models

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Optimal disturbance rejection via integral sliding mode control for uncertain systems in regular form

Optimal disturbance rejection via integral sliding mode cont...

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2010 11th International Workshop on Variable Structure systems, VSS 2010

作者： Rubagotti, Matteo Estrada, Antonio Castaños, Fernando Ferrara, Antonella Fridman, Leonid Department of Mechanical and Structural Engineering Università degli Studi di Trento Via Mesiano 77 38123 Trento Italy Department of Control and Robotics Engineering Faculty C.P. 04510. Mexico City Mexico McGill Center for Intelligent Machines Montreal QC Canada Department of Computer Engineering and Systems Science Università degli Studi di Pavia Via Ferrata 1 27100 Pavia Italy

ISBN: (纸本)9781424458318

This paper considers the problem of using an integral sliding mode strategy to reduce the disturbance terms acting on nonlinear systems in regular form. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it can guarantee the minimization of the disturbance terms. Simulation examples shows the effectiveness of the proposal. © 2010 IEEE.

关键词： Disturbance rejection

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