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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Puljiz, David Varga, Maja Bogdan, Stjepan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

ISBN: (纸本)9783902823113

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies. © 2012 IFAC.

关键词： Sensory perception

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

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Recent advances on the energy management of a Hybrid Electric vehicle

Recent advances on the energy management of a Hybrid Electri...

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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Efstathiou, D.S. Petrou, A.K. Spanoudakis, P. Tsourveloudis, N.C. Valavanis, K.P. Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 United States

ISBN: (纸本)9781467325318

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (H2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption. © 2012 IEEE.

关键词： Hybrid vehicles

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Agent-based cyber control strategy design for resilient control systems: Concepts, architecture and methodologies

Agent-based cyber control strategy design for resilient cont...

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2012 5th International Symposium on Resilient control systems, ISRCS 2012

作者： Rieger, Craig Zhu, Quanyan Başar, Tamer Instrumentation Control and Intelligent Systems Idaho National Laboratory Idaho Falls ID United States Coordinated Science Laboratory Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign 1308. W. Main St. Urbana IL United States

ISBN: (纸本)9781467301633

The implementation of automated regulatory control has been around since the middle of the last century through analog means. It has allowed engineers to operate the plant more consistently by focusing on overall operations and settings instead of individual monitoring of local instruments (inside and outside of a control room). A similar approach is proposed for cyber security, where current border-protection designs have been inherited from information technology developments that lack consideration of the high-reliability, high consequence nature of industrial control systems. Instead of an independent development, however, an integrated approach is taken to develop a holistic understanding of performance. This performance takes shape inside a multi-agent design, which provides a notional context to model highly decentralized and complex industrial process control systems, the nervous system of critical infrastructure. The resulting strategy will provide a framework for researching solutions to security and unrecognized interdependency concerns with industrial control systems. © 2012 IEEE.

关键词： Networked control systems

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control Lyapunov Functions and Hybrid Zero Dynamics

Control Lyapunov Functions and Hybrid Zero Dynamics

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IEEE Annual Conference on Decision and control

作者： Aaron D. Ames Kevin Galloway J. W. Grizzle Department of Mechanical Engineering Texas A&M University Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan

ISBN: (纸本)9781467320658

Hybrid zero dynamics extends the Byrnes-Isidori notion of zero dynamics to a class of hybrid models called systems with impulse effects. Specifically, given a smooth submanifold that is contained in the zero set of an output function and is invariant under both the continuous flow of the system with impulse effects as well as its reset map, the restriction dynamics is called the hybrid zero dynamics. Prior results on the stabilization of periodic orbits of the hybrid zero dynamics have relied on input-output linearization of the transverse variables. The principal result of this paper shows how control Lyapunov functions can be used to exponentially stabilize periodic orbits of the hybrid zero dynamics, thereby significantly extending the class of stabilizing controllers. An illustration of this result on a model of a bipedal walking robot is provided.

关键词： Liapunov function Zero HYBRID PERIODIC ORBITS dynamics Zero set Hybrid electric vehicles biped walking robot Stabilising Continuous flow

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A hierarchical neural network architecture for classification

A hierarchical neural network architecture for classificatio...

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9th International Symposium on Neural Networks, ISNN 2012

作者： Wang, Jing He, Haibo Cao, Yuan Xu, Jin Zhao, Dongbin Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston RI 02881 United States MathWorks Inc. Natick MA 01760 United States Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ 07030 United States State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642313455

In this paper, a hierarchical neural network with cascading architecture is proposed and its application to classification is analyzed. This cascading architecture consists of multiple levels of neural network structure, in which the outputs of the hidden neurons in the higher hierarchical level are treated as an equivalent input data to the input neurons at the lower hierarchical level. The final predictive result is obtained through a modified weighted majority vote scheme. In this way, it is hoped that new patterns could be learned from hidden layers at each level and thus the combination result could significantly improve the learning performance of the whole system. In simulation, a comparison experiment is carried out among our approach and two popular ensemble learning approaches, bagging and AdaBoost. Various simulation results based on synthetic data and real data demonstrate this approach can improve the classification performance. © 2012 Springer-Verlag.

关键词： Adaptive boosting

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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A recursive local linear estimator for identification of nonlinear ARX systems

A recursive local linear estimator for identification of non...

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Universite Libre de Bruxelles

作者： Zhao, Wen-Xiao Zheng, Wei Xing Bai, Er-Wei Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Beijing China National Center for Mathematics and Interdisciplinary Sciences CAS Beijing China School of Computing Engineering and Mathematics University of Western Sydney Penrith NSW 2751 Australia Department of Electrical and Computer Engineering University of Iowa Iowa City IA 52242 United States

In this work, we propose a recursive local linear estimator (RLLE) for identification of nonlinear autoregressive systems with exogenous inputs, along with an analysis of its strong consistency and asymptotical mean s... 详细信息

ISBN: (纸本)9783902823069

关键词： Mean square error

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Robust positive invariance and ultimate boundedness of nonlinear systems

Robust positive invariance and ultimate boundedness of nonli...

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Mediterranean Conference on control and Automation (MED)

作者： George Bitsoris Marina Vassilaki Nikolaos Athanasopoulos Control Systems Laboratory of the Electrical and Computer Engineering Department University of Patras Patras Greece Department of Electrical Engineering School of Pedagogical and Technological Education Athens Greece Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands

In this article the problem of characterizing sets, described by vector nonlinear inequalities of the form v(x) ≤ w, as robustly positively invariant and targets of uniformly ultimate bounded nonlinear systems is investigated. The class of general parameter uncertain continuous-time dynamical systems affected by exogenous disturbances is considered. The approach is based on establishing an associated monotone nonlinear comparison system. A numerical example is presented to illustrate the approach.

关键词： Robustness Vectors Nonlinear systems Uncertain systems Trajectory Linear matrix inequalities Differential equations

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