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IEEE Conference on Decision and control

作者： B. Lennartson R. Middleton A.-K. Christiansson Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden

A unified and general framework is presented for H/sub /spl infin// control of mixed continuous-time and discrete-time time-varying (periodic) systems. Using the delta operator, a close relationship is shown between the continuous- and discrete-time solutions. No assumptions are made on certain system matrices being zero or normalized, which makes the approach general and easy to apply. A combined continuous/discrete-time lifting procedure is shown to be useful, especially for ill-conditioned systems. This procedure together with the delta formalism results in a numerically robust design method concerning both short and long sampling periods for systems with W-conditioned dynamics, including widely spread eigenvalues.

关键词： control systems Sampling methods Riccati equations Automatic control Robustness Design methodology Eigenvalues and eigenfunctions Differential equations Automation Laboratories

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Petri net-based design of modular supervisors for remotely human control systems

Petri net-based design of modular supervisors for remotely h...

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SICE Annual Conference

作者： Jin-Shyan Lee Meng-Chu Zhou Pau-Lo Hsu Department of Electrical & Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Electrical & Computer Engineering New Jersey Institute of Technology Newark NJ USA Laboratory of Complex Systems & Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)4907764227

In an Internet-based control system, particular human operations may violate desired requirements and lead to destructive failure. For such human-in-the-loop systems, this paper extends the remote supervisory scheme by Lee and Hsu (2003) to a modular one so as to reduce the supervisor synthesis complexity. Also, remote human issued commands are guaranteed to meet required specifications. A rapid thermal process in semiconductor manufacturing systems is provided to show the practicability of the proposed approach.

关键词： Humans control systems Supervisory control Automatic control Internet control system synthesis Rapid thermal processing Error correction control engineering Intelligent systems

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Low order sampled data H/sub /spl infin// control using the delta operator and LMIs

Low order sampled data H/sub /spl infin// control using the ...

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IEEE Conference on Decision and control

作者： B. Lennartson R. Middleton A.-K. Christiansson T. McKelvey Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

A procedure for H/sub /spl infin// optimization of low order controllers for discrete-time and sampled-data systems is presented in this paper. Generally, low order H/sub /spl infin// controllers may be achieved by solving bilinear matrix inequalities (BMIs). In this paper an iterative alternation between two LMIs gives a suboptimal solution. To avoid local minima in this search the initial controller is obtained by a frequency weighted controller reduction scheme, where the closed loop properties of a full order controller is taken into account. A minimal number of parameters in the state space realization of the controller also reduces the complexity and improves numerical robustness. The complete presentation is based on delta operator models, which shows a close relationship between the continuous- and discrete-time solutions. The sensitivity of the ordinary discrete-time shift operator LMI formulation to small sampling periods is also analyzed.

关键词： control systems Linear matrix inequalities Sampling methods Automatic control Frequency Weight control Robust control Signal processing State-space methods Robustness

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Robustness of dual-rate inferential MPC systems

Robustness of dual-rate inferential MPC systems

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American control Conference (ACC)

作者： J.A. Rossiter J. Sheng T. Chen S.L. Shah Department of Automatic Control & Systems Engineering Sheffield University Sheffield UK Coordinated Science Laboratory University of Illinois Urbana USA Department of Electrical & Computer Engineering University of Alberta Edmonton AB Canada Department of Chemical & Materials Engineering University of Alberta Edmonton AB Canada

This paper investigates the robustness of dual-rate MPC systems with a proposed inferential control strategy. It shows that for some scenarios where a high-frequency model plant mismatch is presented, such dual-rate i... 详细信息

关键词： Robustness Robust stability Predictive models Robust control control systems Predictive control Strontium control system analysis Integrated circuit modeling Time varying systems

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Using a non-prior training active feature model

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag 2004.

关键词： Optical flows

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Optimizing the structure of hierarchical mixture of experts using genetic algorithms

Optimizing the structure of hierarchical mixture of experts ...

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International IEEE Conference on Intelligent systems, IS

作者： D.A. Karras C.E. Vlitakis Y.S. Boutalis B.G. Mertzios Chalkis Institute of Technology Department Automation and Hellenic Open University Athens Greece Department Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Thessdoniki Institute of Technology Laboratory of Automatic Control Systems Thessaloniki Hellas and Democritus University Xanthi Greece

This study is an effort to give a practical solution in the problem of optimizing the structure of the hierarchical mixture of experts model, which is a natural extension of the associative Gaussian mixture of experts system. We present two novel methods for optimizing such structures using genetic algorithms. Special concern is taken for reducing the computational time so as to efficiently allow the structure to "grow" while it evolves with the genetic algorithm. The main contribution of the paper lies on the efficient, topologically oriented, representations of such architectures so as to be optimized through involving genetic algorithms.

关键词： Genetic algorithms Biological cells Optimization methods Neural networks Classification tree analysis Automation Decision trees Expert systems computer architecture Supervised learning

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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An object-oriented design paradigm for standard CMOS fabrication technology

An object-oriented design paradigm for standard CMOS fabrica...

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International Conference on Microelectronics, ICM

作者： B. Hekmatshoar C. Lucas Thin Film Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran Control Systems Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

The object-oriented design methodology has been manipulated to model the standard CMOS fabrication technology. Detecting and characterizing the objects and classes within the basic object-oriented features of encapsulation, inheritance and polymorphism, as well as discussing the model framework and model characterization has been the main pursuits of this works. This modeling approach puts forth the chance of a fully automated fabrication system, with well-characterized hardware and reusable software. This model is also a promising candidate for enhancing the system performance to the minimum level required for fully integrated agent-oriented entities, which can reconfigure themselves for future technology generations.

关键词： CMOS technology Fabrication Object oriented modeling Semiconductor device modeling Design methodology Object detection Encapsulation Hardware Software reusability System performance

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Implementation of a neural network based system for estimating the strength of a board using mixed signals

Implementation of a neural network based system for estimati...

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： H. Saboksayr A. Saravi P.D. Lawrence F. Lam IEEE Control System Society Vancouver Canada Robotics and Control Laboratoryratory Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada Robotics and Control Laboratory Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada Department of Wood Science University of British Columbia Vancouver Canada

An intelligent lumber grading system was developed to provide a new way for estimating the strength of a board by posing the estimation problem as an empirical learning problem. This system processed the X-ray image, extracted geometric features (of 1000 boards that eventually underwent destructive strength testing), and predicted the strength of the lumber by using a neural network. The X-ray image was passed through a threshold filter to separate the knots based on the fact that a denser knot produces a local maximum (as a rounded protrusion in an otherwise almost flat density surface) of the X-ray image. Each knot was modeled by a three-dimensional-cone with seven parameters. Information on all the detected knots such as volume, and knot-area-ratio were fed to a processor to generate 16 geometrical features (such as; the average of knot area ratio, and the number of knots detected in each board), which characterize each board. Then by using back-propagation as the training method, cross correlation as the measure of accuracy, and actual strength of a thousand boards as the empirical data set, a neural network was trained to estimate the strength of each board. The learning system consisted of three layers, with 1, 5, 16 neurons in output, hidden and input layer respectively. Ten-fold cross validation was used to produce an unbiased accuracy of the estimation problem. The learning and testing sets comprised of 900 and 100 boards respectively. By repeating the learning and testing for ten times and averaging the results, a coefficient of determination of 0.4059 was reached in this study for using X-ray images alone. The same methodology was applied to MOE (modulus of elasticity) and a coefficient of determination of 0.56 was reached. The results were improved by fusing the X-ray image and MOE using a learning system consisting of three layers, with 1, 5, 40 neurons in output, hidden and input layer respectively. Ten-Fold cross validation resulted in a coefficient o

关键词： Neural networks X-ray imaging Feature extraction Learning systems Neurons Intelligent systems System testing Filters Character generation Elasticity

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Textual message read by a mobile robot

Textual message read by a mobile robot

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Letourneau F. Michaud J.-M. Valin C. Proulx Department of Electrical Engineering and Computer Engineering Universite de Sherbrooke LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Sherbrooke Quebec CANADA

Giving the ability to read characters and symbols is highly desirable for increased autonomy of mobile robots operating in the real world. The idea is fairly simple: give a robot the ability to acquire an image of a message to read, extract the symbols and recognize them. Image character recognition research has been going on for decades now, with good results. But compared to conventional character recognition systems, the challenge with a mobile robot is to find a textual message to capture in the world and to get a good view of the message, knowing that the viewpoint of the robot depends on its position in relation to the message, which cannot be pre-specified. In this paper we present our approach making it possible for an autonomous mobile robot to read messages. We outline the constraints under which the approach works, and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a pan-tilt-zoom camera.

关键词： Mobile robots Robot vision systems Cameras Intelligent robots Character recognition Image recognition Navigation Laboratories Mobile computing Intelligent systems

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