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作者： Mnif, F. Yahmadi, A.S. Intelligent Control Design and Optimization of Complex Systems Tunisia Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman Department of Mechanical and Industrial Engineering Sultan Qaboos University Muscat Oman Department of Electrical Engineering College of Engineering Sultan Qaboos University PO Box 33 Muscat 123 Oman

This research is aimed at the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with non-holonomic constraints were employed. A backstepping approach for the design of a discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed-loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot. © IMechE 2005.

关键词： Mobile robots

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High speed systems engineering: A new trent in electrical and computer engineering

High speed systems engineering: A new trent in electrical an...

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2005 ASEE Annual Conference and Exposition: The Changing Landscape of engineering and Technology Education in a Global World

作者： Mina, Mani Weber, Robert Somani, Arun K. VanderHorn, Nathan Bahuguna, Rashmi High Speed Systems Engineering Laboratory Department of Electrical and Computer Engineering Iowa State University United States Iowa State University United States Analog and Mixed-Signal VLSI Design Center United States

The main ideas and objectives of High Speed systems engineering (HSSE) are presented. HSSE is being used as integrating pedogogical and research platforms to train modern engineers and future researchers. The newly developed classes and the changes made in the curriculum is enhancing interaction between faculty, graduate and undergraduate students. A study shows that HSSE has been successful in encouraging students from all undergraduate levels to participate in learning and experimenting, also are encouraged to be involved in research and graduate studies.

关键词： systems engineering

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Learning robust object segmentation from user-prepared samples

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WSEAS Transactions on computers 2005年第9期4卷 1163-1170页

作者： Rahnamayan, Shahryar Tizhoosh, H.R. Salama, M.M.A. Department of Systems Design Engineering University of Waterloo 200 University Avenue West Waterloo Ont. N2L 3G1 Canada Department of Electrical and Computer Engineering University of Waterloo 200 University Avenue West Waterloo Ont. N2L 3G1 Canada

Object segmentation is a crucial task in image processing. A robust semi-automated object segmentation approach is introduced in this paper. The proposed approach learns segmentation from a small number of user-prepared (ground-truth) samples. The segmentation is performed in two main sequential stages, namely, target object localization by applying optimal mathematical morphology procedure, and segmentation, by conducting some basic image processing operations. The outstanding feature of this approach is, unlike other existent approaches, that it does not need apriori knowledge or a large number of samples to learn from. The training is performed for a group of images to segment a specific object. The performance of the approach has been examined by a comprehensive well-designed validation set. For all test images, the target object was segmented accurately and the conducted experiments clearly show that the proposed segmentation approach is highly invariant to noise, rotation, translation, overlapping, scaling, and combination of them. The architecture of the approach and employed methodologies are explained in detail. Results are provided.

关键词： Image segmentation

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Towards incomplete object recognition

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WSEAS Transactions on systems 2005年第10期4卷 1725-1732页

Human visual system can recognize incomplete contours and objects easily. However, these kind of recognition tasks are extremely challenging in computer and robot vision. This paper demonstrates how combination of genetic algorithms and morphology operations can be used to generate an image processing procedure for recognition of subjective objects (e.g. incomplete objects). In order to acquire the optimal object recognition procedure, the approach receives the subjective object and the corresponding user-prepared gold sample (physical object which reflects the user's visual expectations). After carrying out the training or optimization phase, the optimal procedure is generated and ready to be applied on new subjective objects (the same object but with different incomplete parts, sizes, etc.). No dependency on domain knowledge or huge number of sample images, one time training for a group of images, and robust object recognition are the novel features of the proposed approach. The training takes place based on one gold sample. This desirable characteristic reduces the level of dependency on expert participation which is usually an obstacle for full automation in most applications. The approach architecture and the employed methodologies are explained in detail. The performance of the approach has been evaluated by several well-prepared experiments to recognize various incomplete objects.

关键词： Object recognition

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Partitioning Multi-Threaded Processors with a Large Number of Threads

Partitioning Multi-Threaded Processors with a Large Number o...

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IEEE International Symposium on Performance Analysis of systems and Software

作者： A. El-Moursy R. Garg D.H. Albonesi S. Dwarkadas Departments of Electrical and Computer Engineering and of Computer Science University of Rochester USA Computer Systems Laboratory Cornell University USA

Today's general-purpose processors are increasingly using multithreading in order to better leverage the additional on-chip real estate available with each technology generation. Simultaneous multi-threading (SMT) was originally proposed as a large dynamic superscalar processor with monolithic hardware structures shared among all threads. Inters hyper-threaded Pentium 4 processor partitions the queue structures among two threads, demonstrating more balanced performance by reducing the hoarding of structures by a single thread. IBM's Power5 processor is a 2-way chip multiprocessor (CMP) of SMT processors, each supporting 2 threads, which significantly reduces design complexity and can improve power efficiency. This paper examines processor partitioning options for larger numbers of threads on a chip. While growing transistor budgets permit four and eight-thread processors to be designed, design complexity, power dissipation, and wire scaling limitations create significant barriers to their actual realization. We explore the design choices of sharing, or of partitioning and distributing, the front end (instruction cache, instruction fetch, and dispatch), the execution units and associated state, as well as the L1 Dcache banks, in a clustered multi-threaded (CMT) processor. We show that the best performance is obtained by restricting the sharing of the L1 Dcache banks and the execution engines among threads. On the other hand, significant sharing of the front-end resources is the best approach. When compared against large monolithic SMT processors, a CMT processor provides very competitive IPC performance on average, 90-96% of that of partitioned SMT while being more scalable and much more power efficient. In a CMP organization, the gap between SMT and CMT processors shrinks further, making a CMP of CMT processors a highly viable alternative for the future

关键词： Yarn Surface-mount technology Hardware Process design Power dissipation Throughput computer science Laboratories Multithreading System-on-a-chip

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A case study of a real-time controller design for a car-like robot system

A case study of a real-time controller design for a car-like...

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20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05

作者： Song, Insop Karray, Fakhreddine Masmoudi, Med S. Li, Howard Guedea, Federico Department of Systems Design Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Department of Electrical Computer Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Department of Electrical Engineering ENIS Sfax Tunisia Center for Innovation in Design and Technology ITESM Monterrey N.L. Mexico

ISBN: (纸本)0780389360

In embedded system development, multi-tasks design is often used on real-time OS or interrupt driven environment. The multi-task programming development gives many advantages for developers. However, tasks should be carefully designed and analyzed to grantee that all concurrently running tasks run without missing timing requirements, also known as deadline. In this research, we investigate different types of real-time scheduling schemes and list their advantages and disadvantages. To be more realistic with real-time scheduling, we performed with a real-time kernel simulator and car-like robot and it's fuzzy logic control simulator. Based on these simulation we suggest the proper usage of real-time scheduling. Real-time systems, Embedded systems, and Fuzzy Logic Control (FLC). © 2005 IEEE.

关键词： Real time systems

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Interleaved invariant checking with dynamic abstraction

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13th IFIP WG 10.5 Advanced Research Working Conference on Correct Hardware design and Verification Methods, CHARME 2005

作者： Zhang, Liang Prasad, Mukul R. Hsiao, Michael S. Cadence Design Systems San Jose CA United States Fujitsu Laboratories of America Sunnyvale CA United States Dept. of Electrical and Computer Engineering Virginia Tech. Blacksburg VA United States

ISBN: (纸本)3540291059

The notion of dynamic abstraction was recently introduced as a means of abstracting a model during the process of model checking. In this paper we show, theoretically and practically, how dynamic abstraction can be used with different algorithms for invariant checking, namely forward, backward and interleaved state-space traversal. Further, we formalize the correctness guarantees that can be made under different invariant checking algorithms operating on a dynamically abstracted model. We report experimental results on industrial strength benchmarks to further demonstrate the power and versatility of this abstraction mechanism in conjuction with interleaved state-space traversal. © IFIP International Federation for Information Processing 2005.

关键词： Abstracting

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An optimization algorithm for the coordinated hybrid agent framework

An optimization algorithm for the coordinated hybrid agent f...

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IEEE systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on systems, Man and Cybernetics

作者： Li, Howard Karray, Fakhri Basir, Otman Song, Insop Electrical and Computer Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Systems Design Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada

The Coordinated Hybrid Agent (CHA) framework for the control of Multi-Agent systems (MASs) has been used to model both the homogeneous and the heterogeneous multi-agent systems. In this framework, the control of the MASs is regarded as a decentralized control and coordination of agents. The CHA framework is able to implement coordination tasks for multi-agent systems. In this study, the optimization of MASs modelled by the CHA framework is studied. The time-driven dynamics and the event-driven dynamics for the optimization of a CHA system are given. The optimization problem of the MASs is analyzed. An example is also given to illustrate how to define the optimization problem for a CHA. The forward algorithm is also introduced for solving the optimization problem for a CHA system. © 2005 IEEE.

关键词： Optimization

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Saliency tracking-based, sensorless control of AC machines using structured neural networks

Saliency tracking-based, sensorless control of AC machines u...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： P. Garcia F. Briz D. Raca R.D. Lorenz Department of Elec. Computer & Systems Engineering University of Oviedo Gijon Spain Departments of Mechanical Engineering and Electrical & Computer Engineering University of Wisconsin Madison Madison WI USA

The focus of this paper is the use of structured neural networks for sensorless control of AC machines using the zero sequence carrier signal voltage. Structured neural networks allow effective compensation of saturation-induced saliencies as well as other secondary saliencies. In comparison with classical compensation methods, such as lookup tables, this technique has advantages such as physics-based structure (and thus is potentially insightful), general scalability, reduced size and complexity, and correspondingly reduced commissioning time. When compared with traditional neural network solutions, the structured neural networks are simpler, physically insightful, less computationally intensive and easier to train. All make the proposed method an improved implementation for sensorless drives.

关键词： Sensorless control AC machines Neural networks Table lookup computer networks Frequency Position measurement Power engineering and energy Electric machines Power electronics

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A system identification technique for haptic devices

A system identification technique for haptic devices

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IEEE Conference on Control Technology and Applications (CCTA)

作者： S. Tam E. Kubica D. Wang Department of Systems Design Engineering University of Waterloo Waterloo Canada Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada

The number of unknown parameters in a high degree-of-freedom (DOF) robot makes traditional identification techniques difficult to implement. A non-conventional system identification method is proposed to model the Freedom 6S, a force feedback hand controller with 6 DOF. Compared to industrial robots, haptic devices are back-drivable, and they are characterized by relatively large forces and low friction. Our method is used to identify parameters such as the mass, centroid, inertia and friction of the manipulator. The number of unknown parameters in the dynamic equations describing the system can be reduced by physically locking down selected joints. This reduced parameter set can then be identified by a method of nonlinear optimization, using measured data as a basis for cost-function evaluation. By an appropriate sequence of joint analysis, all the parameters can then be identified. This paper discusses the systematic locking order of joints with the objective of reducing the number of parameters requiring identification at each stage. The method is verified by comparison between simulated and measured dynamic data

关键词： System identification Haptic interfaces Service robots Friction Force feedback Force control electrical equipment industry Manipulator dynamics Nonlinear dynamical systems Nonlinear equations

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