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An integrated e-Learning solution for control systems education and future perspectives

International Journal of Simulation: Systems, Science and Technology 2011年第1期12卷 10-19页

作者： Tsoulkas, Vasilis N. Pantelous, Athanasios A. Dritsas, Leonidas Papachristos, Christos Center for Security Studies-KEMEA Ministry of Citizen Protection-KEMEA Athens Greece National Delegate to the European Space Agency-JCB/ESA ESA France Department of Mathematical Sciences University of Liverpool Liverpool United Kingdom Hellenic Air Force Academy Division of Automatic Control Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National Technical University of Athens Athens Greece

Technical characteristics of an innovative prototype e-learning platform using satellite communications for control theory courses are exposed. A detailed account of all necessary tools and mechanisms is presented enabling real time text, and audio/video based communication between tutors and learners. The provided end-user driven services include: a virtual classroom, offline operation, sharing of applications, private/public chatting, audio/video streaming. In addition a concise description of the pilot network architecture depending on the DVB-RCS standard is presented justifying further the choice of the communications platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broadband technologies (DVB-RCS/ WiMAX, DVB-RCS/Wi-Fi) are further analyzed and justified. Finally some conclusive anticipated directions related to the future of modern control courses education in connection with state of art technological advances are explored.

关键词： control theory

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Gossip-based supervision for wireless autonomic networks and services

Gossip-based supervision for wireless autonomic networks and...

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International Conference on Emerging Technologies

作者： Khan, Fiaz Gul Corrado, Moiso Montrucchio, Bartolomeo Saeed, Aamir Department of Control and Computer Engineering Politecnico di Torino Turin Italy Turin Italy Department of Electrical Engineering CIIT Abbottabad Pakistan

ISBN: (纸本)9781424480586

Free riding is among the fundamental issue that P2P systems are facing. Large populations, high turnover, asymmetry of interest, collusion, zero-cost identities, and traitors;makes this issue further challenging. To tackle these challenges we proposed a cluster based gossiping protocol for P2P system in order to overcome the "tragedy of common" or lack of cooperation (free riding) among nodes. Our System detects the selfish nodes in a system by maintaining a reputation index of the nodes. Cluster based gossiping is distributed supervision approach based on self organization of autonomic components. Through simulation, we show that our technique can drive a system to nearly optimal levels of cooperation. © 2010 IEEE.

关键词： Overlay networks

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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IEEE International Conference on Robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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Toward Reliable Actor Services in Wireless Sensor and Actor Networks

Toward Reliable Actor Services in Wireless Sensor and Actor ...

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IEEE Internatonal Conference on Mobile Adhoc and Sensor Systems (MASS)

作者： Xu Li Xiaohui Liang Rongxing Lu Shibo He Jiming Chen Xuemin Shen INRIA Lille-Nord Europe UMR 8022 LIFL University Lille Nord de France USTL CNRS France Department of Electrical and Computer Engineering University of Waterloo Canada INRIA Lille – Nord Europe Univ Lille Nord de France USTL France State Key Laboratory of Industrial Control Technology Zhejiang University China

Wireless sensor and actor networks (WSANs) are service-oriented environments, where sensors request actors to service their detected events and actors move to deliver the desired services. Because of their openness and unattended nature, these networks are vulnerable to various security attacks. In this paper we address service fraud attacks for the first time, whose objective is to stop the normal use of actor services by fake service requests and/or delivery. To mitigate this type of security attacks, we propose a novel cooperative authentication scheme. With the scheme, a sensor's service request is cooperatively authenticated by the sensors that witness the same event, and an actor's service delivery effort is cooperatively authenticated by the sensors that witness the actor's behavior. Considering the presence of compromised sensor/actor nodes, the trustworthiness of each authenticated service delivery process is subject to location consistency check and witness diversity check. It may then be taken into account to adjust the corresponding actor's trust rating so as to influence future actor service selection. We analyze the communication overhead and the security strength of the scheme. We show that our scheme ensures fraud-resistant actor services in our considered WSAN environment.

关键词： Authentication Wireless sensor networks Robot sensing systems Ad hoc networks Peer to peer computing Communication system security

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN 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 considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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Mobile robot exploration based on three dimension cameras acquisition

Mobile robot exploration based on three dimension cameras ac...

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2nd IFAC Symposium on Telematics Applications, TA 2010

作者： Joochim, Chanin Roth, Hubert Department of Electrical Engineering and Computer Science Institute of Automatic Control Engineering University of Siegen Hoelderlinstr. 3 57068 Germany

ISBN: (纸本)9783902661845

The exploration and three dimension map building of mobile robot tasks in an unknown environment are normally do not have any future reference information. The mobile robot has to estimate positions and poses itself. Finding the distinguishable objects in environment are also required in order to create the pose reference points. Therefore, the selected sensors and register mapping algorithm are significant. The sensors which can provide both of depth and image data are still deficient. Recently, the Photonic Mixture Device camera (PMD) is a three dimension sensor which generates real-time high rate volume output of surrounding scenario as well as gray scale data. However, one PMD camera drawback is low resolution output. From this problem, the idea to fusion another high resolution CCD camera to PMD depth data is purposed. In this study hence presents the mobile robot exploration using integration of CCD and PMD camera in order to create the three dimension mapping. The Iterative Closest Point (ICP) algorithm is used for matching clouding points and minimizing the interval pose of the two scans. Eventually, the difference three dimension mapping output between fusion CCD camera and use only pure depth data are presented and evaluated. © 2010 IFAC.

关键词： Mobile robots

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Traffic state variables estimating and predicting with neural network via extended Kalman filter algorithm with estimated parameters as offline

Traffic state variables estimating and predicting with neura...

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8th IEEE International Symposium on Intelligent Systems and Informatics, SIISY 2010

作者： Abdi, J. Moshiri, B. Jafari, E. Khaki Sedigh, A. Department of Electrical and Computer Engineering Islamic Azad University Science and Research Branch Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781424473946

Developing mathematical models and estimating their parameters are fundamental issues for studying dynamic behaviors of traffic systems. METANET model is one of the most applicable models in traffic modeling in which the parameters have plenty of effects on the model behavior. In this paper, the effects of the model parameters on the model behavior and the estimation quality of the system states in the undetermined parameters are described. The extended Kalman filtering (EKF) algorithm instead of the error back-propagation (BP) algorithm is used to train artificial neural networks (ANNs) for dynamical traffic networks modeling. The basic idea is to prevent over fitting discrepancy occurrence caused by outliers in the training samples by the EKF. Numerical simulations show that the EKF algorithm is greater to the BP algorithm. ©2010 IEEE.

关键词： Neural networks

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Corrections to “A High-Order Internal Model Based Iterative Learning control Scheme for Nonlinear Systems With Time-Iteration-Varying Parameters” [Nov 10 2665-2670]

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IEEE Transactions on Automatic control 2011年第1期56卷 235-235页

作者： Chenkun Yin Jian-Xin Xu Zhongsheng Hou Advanced Control System Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

In the above titled paper (ibid., vol. 55, no. 11, pp. 2665-2670, Nov. 10), six errors were found. The corrections are presented here.

关键词： Adaptive control Autoregressive processes Iterative methods Learning systems Nonlinear control systems Time varying systems

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Hybrid control of planar rotations

Hybrid control of planar rotations

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作者： Mayhew, Christopher G. Teel, Andrew R. Electrical and Computer Engineering Department Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9781424474264

We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due to topological obstructions. The hybrid control structure relies on hysteretically switching between (almost globally) stabilizing control laws which are generated by a family of diffeomorphisms that stretch the space of planar rotations onto itself. A salient feature of the proposed control technique is that it can produce a robustly globally asymptotically stabilizing controller from an existing control law and a corresponding Lyapunov function. © 2010 AACC.

关键词： State feedback

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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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