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SICE Annual Conference

作者： Juntao Li Yingmin Jia Junping Du Fashan Yu Department of Systems and Control Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper proposes an adaptive multi-class support vector machine for simultaneous microarray classification and gene selection. By evaluating the gene ranking significance, the adaptive multi-class support vector machine is shown to encourage an adaptive grouping effect in the process of building classifiers, thus leading a sparse multi-classifiers with enhanced interpretability. Based on a reasonable correlation between the two regularization parameters, an efficient solution path algorithm is developed for solving the proposed support vector machine. Experiments performed on the leukaemia data set are provided to verify the obtained results.

关键词： Support vector machines Support vector machine classification Electronic mail Programmable control Adaptive control Gene expression Learning systems Automatic control control systems Telecommunication control

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MABEL, A New Robotic Bipedal Walker and Runner

MABEL, A New Robotic Bipedal Walker and Runner

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2009 American control Conference (ACC 2009)

作者： J.W. Grizzle Jonathan Hurst Benjamin Morris Hae-Won Park Koushil Sreenath Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI 48109-2122 USA Mechanical Engineering 204 Rogers Hall Oregon State University Corvallis OR 97331 USA Eaton Innovation Center 26201 Northwestern Highway Southfield MI 48076 USA Mechanical Engineering Department University of Michigan Ann Arbor MI 48109-2125 USA

ISBN: (纸本)9781424445233

This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots. One of the purposes of building the mechanism is to explore a novel powertrain design that incorporates compliance, with the objective of improving the power efficiency of the robot, both in steady state operation and in responding to disturbances. A second purpose is to inspire the development of new feedback control algorithms for running on level surfaces and walking on rough terrain. A third motivation for building the robot is science and technology outreach;indeed, it is already included in tours when K-through-12 students visit the College of engineering at the University of Michigan. MABEL is currently walking at 1.1 m/s on a level surface, and a related monopod at Carnegie Mellon is hopping well, establishing that the testbed has the potential to realize its many objectives.

关键词： Alfven surface Robot stability operations runners walking dynamic efficiency Walkers colleges Rough terrain Buildings construction robot

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Global automata: A new approach on modelling industrial systems

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International Journal of Industrial and systems engineering 2008年第4期3卷 383-406页

作者： Deligiannis, Vasileios Manesis, Stamatis Lygeros, John Systems and Measurement Laboratory Department of Electrical and Computer Engineering University of Patras Rion-Patras 26500 Greece ETH Zurich Automatic Control Laboratory Physikstrasse 3 Zurich 8092 Switzerland

This paper introduces Global Automata as a new approach on modelling contemporary industrial systems. Global automata are based on automata philosophy and, as their name reveals, they constitute a super-set of existing automata types. Their implementation field is, therefore, wider in comparison with other available types. Their main characteristic is that they are especially oriented for industrial use. As regards to model architecture, they introduce new formulation parameters diversifying from conventional types, while they keep some common basic features. A formal definition of global automata is given as also two useful tools for system modelling, which are state aggregation and automata composition. Their use is illustrated with two representative industrial examples. © 2008, Inderscience Publishers.

关键词： Industrial engineering

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A Notion of Stochastic Input-to-State Stability and Its Application to Stability of Cascaded Stochastic Nonlinear systems

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Acta Mathematicae Applicatae Sinica 2008年第1期24卷 141-156页

作者： Shu-jun Liu Ji-feng Zhang Zhong-ping Jiang Department of Mathematics Southeast University Nanjing 210096 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100080 China Department of Electrical and Computer Engineering Polytechnic University 5 Metrotech Center Brooklyfl N.Y. 11201 USA

In this paper, the property of practical input-to-state stability and its application to stability of cascaded nonlinear systems are investigated in the stochastic framework. Firstly, the notion of （practical） stochastic input-to-state stability with respect to a stochastic input is introduced, and then by the method of changing supply functions, （a） an （practical） SISS-Lyapunov function for the overall system is obtained from the corresponding Lyapunov functions for cascaded （practical） SISS subsystems.

关键词： Stochastic nonlinear systems Stochastic input-to-state stability （SISS） SISS-Lyapunov function

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Adaptive H∞ optimal control strategy based on nonminimal state space realization

Adaptive H∞ optimal control strategy based on nonminimal st...

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ASME International Mechanical engineering Congress and Exposition, IMECE 2007

作者： Yucelen, Tansel Pourboghrat, Farzad Embedded Control Systems Laboratory Southern Illinois University Carbondale United States Electrical and Computer Engineering Department Southern Illinois University Carbondale United States

ISBN: (纸本)0791843033

This paper presents a new adaptive H∞ optimal control algorithm for multiple-input multiple-output (MIMO) continuous-time linear systems, based on a new nonminimal state space realization (NSSR), using measured inputs and outputs, without differentation. The proposed methodology combines a recursive Kalman filter (RKF) parameter estimation algorithm, and a gradient-type neural network algorithm to approximate the solution to the algebraic Riccati-Matrix equation (ARME), which is essential to design the H∞ optimal control. Actual hardware experiments using a DSP have been carried out in order to verify the applicability and the performance of the proposed integrated modeling-control method for vibration control of a flexible plate system. Copyright © 2007 by ASME.

关键词： Optimal control systems

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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GA based input-output feedback linearization controller for rotary inverted pendulum system

GA based input-output feedback linearization controller for ...

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International Symposium on Mechatronics and Its Applications, ISMA

作者： Iraj Hassanzadeh Saleh Mobayen Research Laboratory of Robotics Control Engineering Department Faculty of Electrical Computer Engineering University of Tabriz Tabriz Iran

This paper presents an optimum approach to design input-output feedback linearization (IOFL) controller for a rotary inverted pendulum (RIP) using the Binary Genetic Algorithm. Genetic Algorithms (GAs) are stochastic global search methods that emulate the process of natural evolution and because of their simplicity and robustness, they are more popular and applicable. The primary design goal is to minimize the integral absolute error of system angles and velocities and balance the pendulum in the inverted position by minimizing overshoot, settling time and rise time of step response. An objective function using these indexes is established. Then by minimizing the objective function using Binary Genetic algorithm, the optimal controller parameters can be assigned. Simulation results verified capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems.

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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