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2012 16th International Conference on System Theory, control and Computing, ICSTCC 2012

作者： Pastravanu, Octavian Budaciu, Cristina Voicu, Mihail Department of Automatic Control and Applied Informatics Technical University Gh. Asachi of Iasi Blvd. Mangeron 27 700050 Iasi Romania

ISBN: (纸本)9786068348483

The research explores the robustness of closed-loop CWEAS (componentwise exponential asymptotic stability) with respect to plant and / or controller uncertainties. The main focus is placed on the fragility / nonfragility analysis that quantifies the controller contribution to the closed-loop robustness. We develop a computer-assisted methodology for testing CWEAS robustness, which is illustrated by a relevant case study. The lack of similar studies in the literature field does not allow direct comparisons with other approaches. © 2012 Dunarea de Jos University.

关键词： Asymptotic stability

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P0-property and linear inequalities in positive systems analysis

P0-property and linear inequalities in positive systems anal...

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2012 16th International Conference on System Theory, control and Computing, ICSTCC 2012

作者： Pastravanu, Octavian Matcovschi, Mihaela-Hanako Department of Automatic Control and Applied Informatics Technical University Gh. Asachi of Iasi Blvd. Mangeron 27 700050 Iasi Romania

ISBN: (纸本)9786068348483

A matrix M ∈ nxn is a P0-matrix if every principal minor of M is nonnegative. We use this concept in a generalized form, called row (column)-P0-property, which refers to a finite set of matrices M = {M1,..., MN} ⊂ nxn. In the current work, the set M collects matrices of the form Mθ = Aθ - rI, θ = 1,..., N, with Aθ ∈ nxn essentially nonnegative and Hurwitz stable, and r 0-property of M, we investigate the existence of nonnegative vectors ν ∈n (depending on rT Aθ ≤ rvT, θ = 1,..., N. The exploration of such inequalities is strongly related to the construction of Lyapunov functions for switching positive systems. © 2012 Dunarea de Jos University.

关键词： Systems analysis

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HAPBA - A BDI agent based solution for holonic manufacturing execution systems

HAPBA - A BDI agent based solution for holonic manufacturing...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Pascal, Carlos Panescu, Doru Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Blvd. Prof Dimitrie Mangeron 27 Iasi 700050 Romania

ISBN: (纸本)9783902661982

BDI reasoning mechanism is a well known AI inference approach. Even so, its use in solving the deliberative phase of holonic agents within Holonic Manufacturing Execution Systems still raises open problems. This paper presents the main issues on applying the BDI mechanism in a new holonic structure named HAPBA, which is an instantiation of PROSA reference architecture. The appropriate Petri net models are presented, allowing the analysis of the holonic scheme performance. © 2012 IFAC.

关键词： Petri nets

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Predictive control architecture for real-time image moments based servoing of robot manipulators

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IFAC Proceedings Volumes 2012年第6期45卷 847-852页

作者： A. Burlacu C. Copot C. Lazar Technical University “Gheorghe Asachi” of Iasi Romania Department of Automatic Control and Applied Informatics

This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. A 6 d.o.f robot manipulator with an eye-in-configuration is used to design the visual servoing architecture and a real-time implementation using Matlab is done. The results of different experiments conducted with two types of image moments based controllers (proportional and predictive with reference trajectory) are presented and discussed.

关键词： predictive control robot vision industrial robots nonlinear systems image processing

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On a class of multi-robot task allocation problems

On a class of multi-robot task allocation problems

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Kloetzer, Marius Burlacu, Adrian Panescu, Doru Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Blvd. Prof. Dimitrie Mangeron 27 Iasi 700050 Romania

ISBN: (纸本)9783902661982

A solution for a class of multi-robot task allocation problems is presented in this work. The basic problem requires that the robots from a team gather randomly spread samples from an environment and deposit them to a storage facility. We focus on a finite-state (discrete) formulation, where the environment is abstracted to a weighted graph, and clusters of samples randomly appear in the nodes of this graph. Under the assumption that a central unit that communicate with all robots exists, we derive algorithmic solutions that simultaneously run on (and exchange information between) the central unit and individual robots. Although these algorithms are derived for a problem with specific assumptions, we include ideas for adjusting the solution for related problems belonging to the same class. © 2012 IFAC.

关键词： Multipurpose robots

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Real-time Networked Predictive control of a Vehicle Drivetrain with Backlash

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IFAC Proceedings Volumes 2012年第17期45卷 484-489页

作者： Constantin F. Caruntu Corneliu Lazar Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

The goal of this paper is to provide a control design methodology that can assure the closed-loop performances of a vehicle drivetrain with backlash, while compensating the network-induced time-varying delays. Firstly, a piecewise linear model of a two inertias drivetrain, which takes into consideration the backlash nonlinearity together with the driveshaft flexibility is derived. Then, the error caused by the time-varying delays is modeled as a disturbance and a method of bounding the disturbances is presented. Thirdly, a robust predictive controller based on flexible control Lyapunov functions is designed, which explicitly takes into account the bounds of the disturbances caused by time-varying delays and guarantees also the input-to-state stability of the system in a non-conservative way. The control strategy was experimentally tested on a vehicle drivetrain emulator controlled through controller Area Network, with the aims of minimizing the backlash effects and damping driveline oscillations.

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Development of a new type of recurrent co-active neuro-fuzzy system for system identification

Development of a new type of recurrent co-active neuro-fuzzy...

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2012 16th International Conference on System Theory, control and Computing, ICSTCC 2012

作者： Mirea, Letitia Gh. Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Blvd. D. Mangeron 53A RO-700050 Iasi Romania

ISBN: (纸本)9786068348483

In this paper, the development of a new type of recurrent co-active neuro-fuzzy system is presented, together with its application to system identification. Hybrid learning based on fuzzy clustering algorithm and the steepest-descent method is used to train the proposed neuro-fuzzy system. The experimental case studies refer to the identification of a simulated plant and the evaporator system of the evaporation station from a sugar factory. The identification is performed using the proposed recurrent co-active neuro-fuzzy system. The obtained results demonstrate the efficiency of the approach. © 2012 Dunarea de Jos University.

关键词： Fuzzy inference

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A generalized Hertz-type approach to the eigenvalue bounds of complex interval matrices

A generalized Hertz-type approach to the eigenvalue bounds o...

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IEEE Annual Conference on Decision and control

作者： Mihaela-Hanako Matcovschi Octavian Pastravanu Department of Automatic Control and Applied Informatics of the Technical University "Gheorghe Asachi" of Iasi

ISBN: (纸本)9781467320658

The paper proposes a methodology for estimating the eigenvalue bounds of complex interval matrices. The theoretical development is based on the use of matrix measures induced by arbitrary absolute and monotone vector norms, as well as the weighting of the matrix norms (implicitly of the matrix measures) by diagonal matrices with positive entries. Thus, for each norm and each diagonal matrix, one obtains a set of bounds (lower and upper for the real and for the imaginary part) expressed as sums of weighted matrix measures. The practical approach focuses on the 2-norm and, for each sum mentioned above, the optimal values of the weighted measures are looked for. The numerical tractability is ensured by global optimization;in our research we have used the MathWorks "ga" solver. By taking equal weights in our practical approach we get tighter bounds than the ones formulated by Hertz (see References), and we therefore consider that our framework generalizes Hertz's. Finally we illustrate the proposed methodology by several examples that yield relevant comparisons with Hertz's procedure and with another technique recently published.

关键词： matrices practical methods Bound Diagonal matrix eigenvalues Hz Imaginary Part Global optimization

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A nagumo type result for linear dynamical systems

A nagumo type result for linear dynamical systems

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IEEE Conference on control Technology and Applications (CCTA)

作者： Octavian Pastravanu Mihaela-Hanako Matcovschi Department of Automatic Control Applied Informatics of the Technical University Iasi RO Romania

Nagumo's condition, also known as the sub-tangency condition, characterizes the set invariance with respect to the trajectories of dynamical systems. The general formulation of Nagumo's condition considers a comprehensive framework, referring to time-variant nonlinear systems and generic sets with arbitrary shapes. For time-variant linear dynamical systems and sets defined by arbitrary norms, we prove that Nagumo's condition has an equivalent form expressing the nonpositiveness of the system-matrix measure. This equivalent form is more attractive for application than the general formulation, since it points out the role of the time-dependent model coefficients. We also show that, for time-invariant linear systems and some particular cases of sets defined by weighted p-norms, p ∈ {1, 2, ∞} , Nagumo's condition is equivalent with well-known algebraic properties (Lyapunov inequality, location of Gershgorin's disks) satisfied by the constant system-matrix. Finally, we evaluate the key ideas of the paper as a potential resource for developing educational materials dedicated to advanced studies in control Engineering.

关键词： Vectors Shape Linear matrix inequalities Linear systems Materials control engineering Lyapunov methods

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Educational services in cloud with IBM technology: A new model for open, on demand learning in higher education

Educational services in cloud with IBM technology: A new mod...

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： Florin Daniel Anton Silvia Anton Theodor Borangiu Department of Automatic Control and Applied Informatics University Politehnica of Bucharest Bucharest Romania

The paper describes a cloud implementation for a consortium of four universities used for on demand education. The cloud infrastructure allow a better resource allocation for laboratories, customizations of the working environment, on demand class setup and more other features which allow improvements in the learning processes. The infrastructure is composed by two IBM CloudBurst 2.1 infrastructures, located in two different geographical locations, connected by a high speed fiber optic connection, allowing fault tolerance, high availability and virtual machine relocation. The system is used by four universities: University Politehnica of Bucharest, University “Transilvania” of Brasov, Academy of Economic Studies of Bucharest and University of Medicine and Pharmacy “Carol Davila” of Bucharest. The paper is composed by six sections: an introduction presenting the actual context in for education services and the necessity for cloud computing in education, a section which describes the hardware and software architecture of the system, then the virtual machine management and monitoring system is presented, followed by section which discusses about the e-learning system implemented, the SSKE (Service Science Knowledge Environment) system is presented in another section, and the paper finishes by a conclusions section presenting further developments and first results.

关键词： Blades Educational institutions Virtual machining Servers Workstations Laboratories Monitoring

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