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International Conference on Physics and control

作者： Simin Yu Jinhu Lu Henry Leung Guanrong Chen College of Automation Guangdong University of Technology Guangzhou China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Calgary AB Canada Department of Electronic Engineering City University of Hong Kong China

A systematic methodology for generating multi-folded torus chaotic attractors from a simple three-dimensional piecewise-linear system is presented in this paper. Theoretical analysis shows that multi-folded torus chaotic attractors can be created via alternative switching between two piecewise-linear systems. A novel circuit diagram is designed for physically creating multi-folded torus chaotic attractors. This is the first time in the literature to experimentally verify a maximum 9-folded torus chaotic attractor that is generated by an analog circuit.

关键词： Chaos Piecewise linear techniques Oscillators Laboratories Analog circuits Electric breakdown Bifurcation Educational institutions Automation Automatic generation control

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems Embedded system computer science

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Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

Virtual attractive-repulsive potentials for cooperative cont...

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American control Conference (ACC)

作者： B.Q. Nguyen Yao-Ling Chuang D. Tung Chung Hsieh Zhipu Jin Ling Shi D. Marthaler A. Bertozzi R.M. Murray Department of Electrical Engineering Vision Laboratory University of California Los Angeles Los Angeles CA USA Department of Physics Duke University Durham NC USA Department of Computer Science Vision Laboratory University of California Los Angeles Los Angeles CA USA Department of Electrical Engineering California Institute of Technology Pasadena CA USA Control and Dynamical Systems California Institute of Technology Pasadena CA USA Department of Mathematics Vision Laboratory University of California Los Angeles Los Angeles CA USA

We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech multi vehicle wireless testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

关键词： Vehicle dynamics Motion control Biological system modeling Testing Open loop systems Motion planning Robot kinematics Remotely operated vehicles Equations Propulsion

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Transport of Mars-Crossing Asteroids from the Quasi-Hilda Region

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Physical Review Letters 2005年第23期94卷 231102-231102页

作者： Michael Dellnitz Oliver Junge Martin W. Lo Jerrold E. Marsden Kathrin Padberg Robert Preis Shane D. Ross Bianca Thiere Faculty of Computer Science Electrical Engineering and Mathematics University of Paderborn D-33095 Paderborn Germany Navigation and Mission Design Jet Propulsion Laboratory California Institute of Technology M/S 301-140L 4800 Oak Grove Drive Pasadena California 91109 USA Control and Dynamical Systems California Institute of Technology MC 107-81 Pasadena California 91125 USA Department of Aerospace and Mechanical Engineering University of Southern California Los Angeles California 90089 USA

We employ set oriented methods in combination with graph partitioning algorithms to identify key dynamical regions in the Sun-Jupiter-particle three-body system. Transport rates from a region near the 3∶2 Hilda resonance into the realm of orbits crossing Mars’ orbit are computed. In contrast to common numerical approaches, our technique does not depend on single long term simulations of the underlying model. Thus, our statistical results are particularly reliable since they are not affected by a dynamical behavior which is almost nonergodic (i.e., dominated by strongly almost invariant sets).

关键词： Astrophysics

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Fusion of visual and thermal signatures with eyeglass removal for robust face recognition

Fusion of visual and thermal signatures with eyeglass remova...

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2004 IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2004

作者： Heo, Jingu Kong, Seong G. Abidi, Besma R. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions. © 2004 IEEE.

关键词： Face recognition

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Application of uncertain variables in an adaptive decision system for a complex of operations

Application of uncertain variables in an adaptive decision s...

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15th International Conference on systems Science

作者： Orski, Donat Sugisaka, Masanori Institute of Control and Systems Engineering Wroclaw University of Technology Wyb. Wyspianskiego 27 50-370 Wroclaw Poland Artificial Life and Robotics Laboratory Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1192 Japan

The paper concerns a decision plant consisting of parallel operations, which are described by relational models with unknown parameters. Unknown parameters are assumed to be values of uncertain variables characterized by certainty distributions given by an expert. The solution of a decision problem and, consequently, performance of the knowledge-based decision system is very sensitive to the forms and parameters of certainty distributions. In the paper it is showed how application of an adaptation process, consisting in step by step changing of parameters in certainty distributions based on current performance evaluation, may improve performance of a decision system under consideration. An illustrative example and results of simulations are included.

关键词： Decision support systems

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Excitation of terahertz plasma oscillations in a field-effect heterostructure device by ultrashort optical pulses: Physics and modeling

Excitation of terahertz plasma oscillations in a field-effec...

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International Conference on Ultrafast Phenomena, UP 2004

作者： Ryzhii, V. Khmyrova, I. Ryzhii, M. Satou, A. Otsuji, T. Shur, M.S. Computer Solid State Physics Laboratory University of Aizu Aizu-Wakamatsu965-8580 Japan Department of Control Engineering and Science Kyushu Institute of Technology Iizuka820-8502 Japan Department of Electrical Computer and Systems Engineering Rcnssclaer Polytechnic Institute Troy12180 United States

We report on the proposal and modeling of a heterostructure device similar to a field-effect transistor using optical excitation of electron plasma oscillations and intended for generation of terahertz signals. ©... 详细信息

ISBN: (纸本)3540241108

关键词： Field effect transistors

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First step toward Internet based embedded control system

First step toward Internet based embedded control system

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Asian control Conference

作者： E. Suwartadi C. Gunawan A. Setijadi C. Machbub Laboratory for Control and Computer Systems Department of Electrical Engineering Bandung Institute of Technology Indonesia

IP network has been evolving significantly in last decade. Many computers and devices have been attached to the IP network and many applications were taken place over it. One of interesting applications is building embedded control system which has connectivity to Internet. This paper explains an implementation of embedded web server with security support which becomes an example of control application over IP network. A security algorithm, TEA (tiny encryption algorithm), has been implemented in a microprocessor system together with TCP/IP stack. The microprocessor system is based on 8051 family microcontroller which serves as web server. The encryption algorithm is processed both on server and client. Therefore in clients need a plug in, which run encryption mechanism, so that they can access the embedded Web server safely.

关键词： Internet control systems IP networks Application software Web server Cryptography Microprocessors computer networks TCPIP Microcontrollers

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Conditions for uniform solvability of parameter-dependent Lyapunov equations with applications

Conditions for uniform solvability of parameter-dependent Ly...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We consider the problem of finding a common quadratic Lyapunov function to demonstrate stability of a family of matrices which incorporate design freedoms. Generically, this can be viewed as picking a family of controller (or observer) gains so that the family of closed-loop system matrices admits a common Lyapunov function. We provide several conditions, necessary and sufficient, for various structures of matrix families. Families of matrices containing a subset of diagonal matrices invariant under the design freedoms is also considered since this is a case that occurs in many applications. Conditions for uniform solvability of the Lyapunov equations are explicitly given and involve inequalities regarding relative magnitudes of terms in the matrices. Motivating applications of the obtained results to observer and controller designs for time-varying, switched, and nonlinear systems are highlighted.

关键词： Equations Symmetric matrices Application software Lyapunov method control systems Time varying systems Nonlinear systems Robot control Laboratories Design engineering

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