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检索条件"机构=Dept. Control and Computer Engineering"

共 1084 条记录，以下是451-460 订阅

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Multi-robot search for a moving target: Integrating world modeling, task assignment and context

Multi-robot search for a moving target: Integrating world mo...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Francesco Riccio Emanuele Borzi Guglielmo Gemignani Daniele Nardi Dept. of Computer Control and Management Engineering Sapienza University of Rome via Ariosto 25 00185 Italy

ISBN: (纸本)9781509037636

In this paper, we address coordination within a team of cooperative autonomous robots that need to accomplish a common goal. Our survey of the vast literature on the subject highlights two directions to further improve the performance of a multi-robot team. In particular, in a dynamic environment, coordination needs to be adapted to the different situations at hand (for example, when there is a dramatic loss of performance due to unreliable communication network). To this end, we contribute a novel approach for coordinating robots. Such an approach allows a robotic team to exploit environmental knowledge to adapt to various circumstances encountered, enhancing its overall performance. This result is achieved by dynamically adapting the underlying task assignment and distributed world representation, based on the current state of the environment. We demonstrate the effectiveness of our coordination system by applying it to the problem of locating a moving, non-adversarial target. In particular, we report on experiments carried out with a team of humanoid robots in a soccer scenario and a team of mobile bases in an office environment.

关键词： Robot kinematics Context Context modeling Multi-robot systems Knowledge engineering Focusing

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Extraction of human action elements with transition network of partial time series data modeled by Hidden Markov Model

Extraction of human action elements with transition network ...

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Annual Conference of Industrial Electronics Society

作者： Kae Doki Akihiro Torii Suguru Mototani Yuki Funabora Shinji Doki Kohjiro Hashimoto Dept. of Electrical Engineering Aichi Institute of Technology Aichi Japan Dept. of Electrical Engineering and Computer Science Nagoya University Aichi Japan Dept. of Control and Information Systems Engineering National Institute of Technology Kumamoto Japan

The authors have researched on a method of human action modeling to realize systems such as to support human human operations or watch persons to prevent various kinds of accidents. In order to recognize or support various kinds of human actions, a certain human action model is necessary in these systems. Therefore, we have proposed a modeling method of human actions, which is extracted statistically from enormous data acquired from various kinds of sensors by long-term observation of human actions and situations around persons. However, human action elements composing a model should have been extracted heuristically by a designer. In this paper, an extraction method of human action elements is proposed in order to extract frequent human action elements automatically from acquired data. In the proposed method, a series of acquired time series data is divided into short partial ones, which are modeled by Hidden Markov Models(HMM). Then, the transition network of generated HMMs is constructed based on the likelihood between the original data and each HMM. In the obtained network, a transition sequence with the only one edge is regarded as a frequent human action element. Extraction results with artificial and actual human action data are shown in this paper in order to verify the usefulness of the proposed method.

关键词： Hidden Markov models Time series analysis Data models Data mining Robot sensing systems

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Transparent Optimization of Inter-Virtual Network Function Communication in Open vSwitch

Transparent Optimization of Inter-Virtual Network Function C...

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IEEE International Conference on Cloud Networking (CLOUDNET)

作者： Mauricio Vasquez Bernal Ivano Cerrato Fulvio Risso David Verbeiren Dept. of Computer and Control Engineering Politecnico di Torino Torino Italy Intel CorporationNV/SA Kontich Belgium

ISBN: (纸本)9781509050949

This paper proposes an architecture that can optimize inter-VM communication in an NFV environment through the creation of direct channels between virtual machines. Particularly, our prototype can transparently optimize the data transfer between virtual machines running DPDK applications by dynamically recognizing the existence of point-to-point connections in the traffic steering rules, reverting back to the traditional VM-to-switch-to-VM approach when the optimization is no longer possible. This paper demonstrates the huge advantages of this architecture and the possibility to implement it with localized modifications mainly in Open vSwitch, without touching the applications inside the VMs.

关键词： Ports (computers) computer architecture Proposals Prototypes Servers Metadata Standards

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Measuring the agreement between brain connectivity networks

Measuring the agreement between brain connectivity networks

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： J. Toppi N. Sciaraffa Y. Antonacci A. Anzolin S. Caschera M. Petti D. Mattia L. Astolfi Dept. of Computer Control and Management Engineering Sapienza University Rome Italy IRCCS Fondazione Santa Lucia Rome Italy

Investigating the level of similarity between two brain networks, resulting from measures of effective connectivity in the brain, can be of interest from many respects. In this study, we propose and test the idea to borrow measures of association used in machine learning to provide a measure of similarity between the structure of (un-weighted) brain connectivity networks. The measures here explored are the accuracy, Cohen's Kappa (K) and Area Under Curve (AUC). We implemented two simulation studies, reproducing two contexts of application that can be particularly interesting for practical applications, namely: i) in methodological studies, performed on surrogate data, aiming at comparing the estimated network with the corresponding ground-truth network; ii) in applications to real data, when it is necessary to compare the structure of a network obtained in a specific subject with a reference (e.g. a baseline condition or normative data). In the simulations, the level of similarity between two networks was manipulated through different factors. We then investigated the effect of such manipulations on the measures of association. Results showed how the three parameters modulated their values according to the level of similarity between the two networks. In particular, the AUC provided the better performances in terms of its capability to synthetize the similarity between two networks, showing high dynamic and sensitivity.

关键词： Analysis of variance Market research Brain modeling Area measurement Estimation Data models Sensitivity

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Maximum efficiency control method in 7-phase BLDC motor by changing the number of the excited phase windings

Maximum efficiency control method in 7-phase BLDC motor by c...

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IEEE Energy Conversion Congress and Exposition

作者： Sang-Woo Park Hyung-Seok Park Jong-Joo Moon Jang-Mok Kim Won-Sang Im HA Advanced Control Research 1 Team LG Electronics Changwon Korea Dept. of Electrical and Computer Engineering Pusan National University Busan Korea Dept. of Electrical and Computer Engineering Lehigh University Bethlehem PA United States

ISBN: (纸本)9781509007387

This paper proposes a maximum efficiency control method in 7-phase brushless DC motors (7-phase BLDCMs) used for the ship propulsion system. In the same load condition, the system loss of the 7-phase BLDCM is dependent on the number of the excited windings and the instantaneous phase currents. Thus, it is necessary to determine the excitation number of the phase windings according to the load condition. The 2- and 4-phase excitation methods are proposed for the maximum efficiency operation. The phase excitation method of the minimum system loss according to the load condition can be obtained from the loss analysis. In addition, by using the loss analysis, the optimal speed which is the changing point of the phase excitation to select the optimal excitation methods (2-, 4- and 6-phase excitation) can be calculated and derived. The proposed method can be easily implemented by controlling the conductive angle of the phase current at the suitable phase windings. The maximum efficiency operation can be achieved by using the proposed excitation method and 6-phase excitation method. The usefulness of the proposed control algorithm is verified through simulation results.

关键词： system electrical losses 7-phase BLDC motor maximum efficiency control phase excitation method

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Inexpensive robot for experimental validation of planning and control algorithms

Inexpensive robot for experimental validation of planning an...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： José Lamarca Marius Kloetzer Cristian Mahulea Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragón Institute for Engineering Research University of Zaragoza Spain

ISBN: (纸本)9781509027217

This paper describes the structure of a mobile robot suitable for laboratory experiments. The robot is developed with the ideas of minimizing the production costs and of executing motion commands received from an external computer that runs the (possible computational intensive) planning algorithms. The proposed system is a differential wheeled robot built based on an Arduino platform, it has a small physical size and it is capable of wireless communication. These characteristics make it useful for validating planning algorithms for mobile robots in computer-guided laboratory experiments, while lowering the expenses required by such a setup. Moreover, in order to compensate the communication delay between the central computer and the robot, an estimation algorithm is implemented on the robot for obtaining a smoother motion.

关键词： Mobile robots Wheels computers Planning Trajectory Pins

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A weight-aggregation multi-objective PSO algorithm for load scheduling of PHEVs

A weight-aggregation multi-objective PSO algorithm for load ...

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Congress on Evolutionary Computation

作者： ShuWei Feng Qi Kang XiaoShuang Chen MengChu Zhou SiSi Li Jing An Dept. Control Science & Engineering Tongji University Shanghai China Dept. Electrical & Computer Engineering New Jersey Institute of Technology Newark NJ USA School of Electrical & Electronic Engineering Shanghai Institute of Technology Shanghai China

ISBN: (纸本)9781509006243

As the supply potential has declined gradually and the pressure for better environment intensifies, the demand for clean energy arises continuously. The consumptive demand for Plug-in Hybrid Electric Vehicle (PHEV) thus increases. However, load peak caused by their disordered charging can be detrimental to an entire power grid. Several methods have been proposed to establish ordered PHEV charging. While focusing on single-objective optimal load scheduling, they fail to meet the real requirements for efficient multiple objective optimization. This work proposes a novel weight-aggregation based multi-objective particle swarm optimization method to solve the load scheduling problem. Its effectiveness and efficiency to generate a Pareto front of this problem are verified and compared with those of the state-of-the-art approaches.

关键词： Protocols Optimization Power grids Particle swarm optimization Real-time systems Linear programming Fluctuations

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Current-stress reduction of the neutral inductor in a rectifier with two outputs

Current-stress reduction of the neutral inductor in a rectif...

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IEEE Energy Conversion Congress and Exposition

作者： Wenlong Ming Qing-Chang Zhong Dept. of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK Dept. of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL 60616 USA

ISBN: (纸本)9781509007387

In this paper, a recently-reported single-phase rectifier with two outputs (RECTO) is further improved to reduce the current stress of the neutral inductor in the rectifier. The reduction is achieved by moving the neutral inductor away from the path of the grid current. As a result, the inductor only carries the differential current of the dual loads. Since the maximum value of the differential current is much smaller than that of the grid current, the current stress of the neutral inductor can be significantly reduced, and the size of the inductor becomes much smaller, which helps improve the power density of the RECTO. In theory, the current stress can be reduced by at least three times and the inductor size by at least nine times. It is worth noting that the current stress of the switches and the other features of the RECTO, e.g., operation principles, independent DC outputs and unity power factor, are not affected. Comparative experimental results are presented to demonstrate the reduction.

关键词： Inductors Legged locomotion Stress Capacitors Voltage control Reactive power Integrated circuit modeling inductors Biped locomotion integrated circuit modelling Voltage regulation Reactive power Capacitors Rectifiers differential current Stress (mechanics) Stressing

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A distributed computation scheme for real-time control and estimation of PDEs

A distributed computation scheme for real-time control and e...

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American control Conference

作者： Satadru Dey Yongqiang Wang Beshah Ayalew Department of Civil and Environmental Engineering University of California Berkeley 94720 USA Dept. of Electrical and Computer Engineering Clemson University SC 29634 USA Applied Dynamics and Control Group Dept. of Automotive Engineering Clemson University Greenville 29607 USA

ISBN: (纸本)9781467386838

Real-time estimation/control of Partial Differential Equation (PDE) systems, especially for large-scale applications, generally involves high computational burdens. In this paper, we propose a distributed computation scheme, which can leverage available and otherwise idle computing resources to cooperatively solve the high-dimensional controller/estimator implementations for fine-grained management of such PDE systems. Such a real-time distributed computation scheme requires communication among the computing resources which is subject to uncertainties due to imperfections of the communication network. Given this scenario, the proposed approach: 1) includes a modeling framework in the controller/estimator implementation that explicitly addresses network uncertainties, 2) uses a diagonalization-based scheme where the approximated ODE form is transformed into the diagonal form before implementation in order to minimize the communication requirement, and 3) includes a filtering solution to suppress the effect of communication uncertainties. The proposed scheme is illustrated via a real-time state estimation of individual battery cells in vehicle battery packs using a network of vehicular computing units. Simulation results are included to illustrate the effectiveness of the scheme.

关键词： Program processors Observers Handheld computers Uncertainty Real-time systems Computational modeling Batteries hand-held equipment Program processors Batteries real-time systems Computational modeling Observers Real time control Uncertainty networks(communications) Scheme arithmetic Communication Research

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Light-adaptive face registration based on drivers' video

Light-adaptive face registration based on drivers' video

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IEEE International Conference on Cognitive Informatics

作者： Li Zuojin Jun Peng Liukui Chen Sreenivas Sremath Tirumala Dept. of measurement and control engineering Chongqing University of Science and Technology Chongqing China Computer and Mathematical Science Auckland University of Technology Auckland New Zealand

ISBN: (纸本)9781509038473

Under real driving conditions, the fatigue monitoring system based on drivers' video is highly affected by light environment, which deteriorates the registration of facial information and thus the accuracy of surveillance. This paper, on the basis of AAM (Active Appearance Model)-based face registration method, analyzes the reasons of its failure when lighting conditions change and proposes an improved AAM algorithm. The experiments show that the improved AAM method can well register driver's face under changing lighting environment, and thus improve the accuracy in fatigue state recognition based on drivers' videos.

关键词： Face Lighting Active appearance model Fatigue Brain modeling Monitoring Predictive models

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