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1st International Conference on Transportation Information and Safety: Multimodal Approach to Sustained Transportation system Development - Information, Technology, Implementation, ICTIS 2011

作者： Zhao, Qian-Kun Kong, Qing-Jie Xia, Ying-Jie Liu, Yun-Cai Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing 800 Dong Chuan Road Shanghai 200240 China Hangzhou Institute of Service Engineering Hangzhou Normal University Hangzhou 310012 China

ISBN: (纸本)9780784411773

Global Positioning system (GPS)-equipped probe vehicles have been one of the principal techniques in detection of traffic flow. In order to guide the application of the different methods using data from GPS probe vehicles, this paper compares two of the most popular methods using the GPS data to estimate traffic state- the method of tracking probe vehicles, and the one of fitting the model with the sample points of probe vehicles. In the experiment, data from thousands of GPS-equipped taxies were taken as the probe vehicles, and the estimate accuracy and operation speed of the two different methods were systematically measured. For the accuracy experiment, the ground truth was obtained by replaying the videos which were shot on 24 links in Shanghai downtown. The experiment results illustrate that the tracking-based method usually bears higher estimate accuracy, and slower operation speed, compared to the model-fitting method. © 2011 ASCE.

关键词： Vehicles

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Fault-tolerant Ethernet networks with Audio and Video Bridging

Fault-tolerant Ethernet networks with Audio and Video Bridgi...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Oliver Kleineberg Peter Fröhlich Donal Heffernan Hirschmann Automation & Control GmbH Neckartenzlingen Germany Electronic and Computer Engineering Department University of Limerick Ireland

Industrial Ethernet networks are now a common feature on today's factory floors. Vendor-specific technologies, such as Profinet IRT, have demonstrated Ethernet networks with hard real-time (RT) properties. Specified by the IEEE, the Audio and Video Bridging (AVB) technology promises a standardized approach to RT Ethernet. However, AVB has been conceived for other application fields, e.g. home entertainment systems. Several aspects necessary for AVB's potential use in industrial automation solutions are not covered by the standard. One important aspect is the usage of redundant communication paths to increase fault tolerance. In this paper, a method of achieving redundancy with AVB is proposed. It has been verified through simulation and has been proposed to the AVB Task Group for use in future revisions of the standard.

关键词： Protocols Redundancy Materials requirements planning Real time systems automation Fault tolerant systems

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Hierarchical control scheme for voltage harmonics compensation in an islanded droop-controlled microgrid

Hierarchical control scheme for voltage harmonics compensati...

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2011 IEEE 9th International Conference on Power electronics and Drive systems, PEDS 2011

作者： Savaghebi, Mehdi Guerrero, Josep M. Jalilian, Alireza Vasquez, Juan C. Lee, Tzung-Lin Center of Excellence for Power System Automation and Operation Iran University of Science and Technology Iran Department of Automatic Control and Industrial Informatics Technical University of Catalonia Spain Institute of Energy Technology Aalborg University Denmark Department of Electrical Engineering National Sun Yat-sen University Taiwan

ISBN: (纸本)9781612849997

In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may be connected. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values is directed by the secondary level. These functions are achieved by sending proper control signals to the local controllers. The simulation results show the effectiveness of the proposed control scheme. © 2011 IEEE.

关键词： controllers

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An EKF based resampling algorithm in particle filter

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Journal of Computational Information systems 2011年第8期7卷 2795-2802页

作者： Tang, Xu Huang, Jian Wei, Ping Department of Electronic Engineering University of Electronic Science and Technology of China Chengdu 611731 China National Laboratory of Information Control Technology for Communication System Jiaxing 314033 China

To deal with the sample degradation problem of particle filter, we proposed a novel resampling algorithm. It incorporates the most recent measurements via the extended Kalman filter (EKF) into the resampling procedure to drive particles to the highly likelihood regions. Compared with the EK-PF, which used EKF approximation in the proposal importance distribution, the proposed algorithm showed an improved estimation performance and reduced computational complexity in the simulation of two different nonlinear systems. © 2005 by Binary Information Press.

关键词： Extended Kalman filters

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A Flat Pipeline Inspection Robot with Two Wheel Chains

A Flat Pipeline Inspection Robot with Two Wheel Chains

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2011 IEEE International Conference on Robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Young-Sik Kwon Bae Lee In-Cheol Whang Whee-kuk Kim Byung-Ju Yi School of Electrical Engineering and Computer Science Hanyang UniversityKorea Doobae system Korea Department of Control and Instrumentation Engineering Korea UniversityKorea Department of Electronic System Engineering Hanyang UniversityKorea

This paper presents a new pipeline inspection robot that has multiple sensors for inspection of 80-100mm pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.

关键词： Mobile robots Wheels Pipelines Robot vision systems Cameras

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Direct synthesis decoupling control for TITO processes with time delays

Direct synthesis decoupling control for TITO processes with ...

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International Symposium on Advanced control of Industrial Processes (ADCONIP)

作者： Yuling Shen Shaoyuan Li Wen-Jian Cai Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In this paper, a direct synthesis approach is proposed to design ETF based multivariable decoupling controllers. This new scheme is different from two existing ETF based decoupling schemes which involves the following steps: (1) by uniquely determine the ETFs for every transfer function element, the inverse matrix of transfer function matrix is approximated; (2) selecting the desired closed-loop system transfer function such that the resulted controllers are stable, causal and proper; (3) deriving the achievable full-matrix decoupling controller by specifying the tuning parameters. The effectiveness of the proposed design approach is verified by two multivariable industrial processes, which shows that it results in better overall system performance than other two ETF based schemes.

关键词： Transfer functions Process control Steady-state control systems Argon Delay effects Matrices

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Software defined radio - design and implementation of complete platform

Software defined radio - design and implementation of comple...

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IEEE Design and Diagnostics of electronic Circuits and systems (DDECS)

作者： P. Pawłowski A. Dąbrowski P. Skrzypek P. Roszak A. Pałejko T. Walenciak M. Mor Division of Signal Processing and Electronic Systems Control and System Engineering Department of Computing Poznań University of Technology Poznan Poland

In this paper, a complete architecture of the software defined radio receiver is proposed. First, a precise definition and the discussion of the problem is given. Next, an outline of the system topology is proposed, together with the requirements for each component of the system. Finally, a custom implementation is presented, including specifications, design considerations, and simulations.

关键词： Band pass filters Receivers Field programmable gate arrays Adaptive filters Digital signal processing Computer architecture

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Visual tracking of robots in uncalibrated environments

Visual tracking of robots in uncalibrated environments

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hesheng Wang Weidong Chen Zhongli Wang Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

This paper presents a new adaptive controller for visual tracking control of a robot manipulator in 3D general motion with a fixed camera whose intrinsic and extrinsic parameters are uncalibrated. In addition to camera parameters, the feature positions in 3D space are also assumed unknown. Based on the fact that the unknown parameters appears linearly in the closed-loop dynamics of the system if the depth-independent interaction matrix is adopted to map the image errors onto the joint space of the manipulator, we developed a new adaptive algorithm to estimated the unknown parameters on-line. With a full consideration of dynamic responses of the robot manipulator, we employ the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are used to demonstrate the performance of the proposed approach.

关键词： Cameras Robot vision systems Trajectory Manipulator dynamics Joints

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Hand Movement Compensation for Patients with Parkinson's Disease Based on Polar Coordination system with Varied Origin

Hand Movement Compensation for Patients with Parkinson's Dis...

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2011 4th International Conference on Biomedical engineering and Informatics(第四届生物医学工程与信息学国际会议 BMEI 2011)

作者： Junzhong Zou Min Wang Bei Wang Jian Zhang Masatoshi Nakamura Department of Automation School of Information Science and Engineering East China University of Sci Department of Advanced System Control Engineering Saga University Saga 840-8502 Japan

Parkinson's disease (PD) is a common movement disorder caused from the neurological dysfunction in basal ganglia. Patients with Parkinson's disease have serious movement problems, such as movement disorders, tremor and rigidity. In this study, a new technique of hand movement compensation for patients with Parkinson's disease based on spiral drawing tasks was proposed. In order to extract the hand movement feature of patients with Parkinson's disease, the polar coordination system with varied origin was used to gain characteristic parameters more accurately. The compensation model was constructed by using the parameters obtained in spiral drawing tasks, and we also do simulation under this model to verify the effectiveness. The simulation results proved that the proposed compensation technique will be effective for assisting the movement of patients with Parkinson's disease.

关键词： Parkinson's disease Polar coordinate system with varied origin Spiral drawing task Hand motion control model Hand movement compensation

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The Emergence of Cooperative Leadership from Homogenous Random Networks

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IFAC Proceedings Volumes 2011年第1期44卷 1977-1981页

作者： Liming Pan Zhihai Rong Zhijie Wang Xiang Li Department of Automation Donghua University 201620 Shanghai PR China Adaptive Networks and Control Lab Department of Electronic Engineering Fudan University Shanghai 200433 PR China

Abstract We investigate the game learning skeleton on homogeneous random networks, where an individual plays the Prisoner's Dilemma game with neighbors and the learning frequency during the steady state is counted as edge weight. The learning skeleton is defined as a communication kernel where each individual directs to the most frequently followed neighbor. We show that with the increase of the temptation to defect, the in-degree distribution of the learning skeleton varies from an exponential distribution to a power-law distribution, i.e., the scale-free property can emerge from underlying homogeneous random interaction networks. Moreover, we find that the longer the individual holds on the cooperative strategy, the more followers the individual has, and the easier the leader diffuses its behavior. Therefore, our work will shed some insight into designing reinforcement learning mechanisms in the social system to promote the emergence and persistence of cooperation.

关键词： Social and behavioural sciences Complex systems Network topologies Game theory

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