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Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004

作者： Fok, L.M. Liu, Y.H. Li, Wen J. Robot Control Laboratory Chinese University of Hong Kong Hong Kong Hong Kong Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong

ISBN: (纸本)0780386418

This paper describes a virtual reality and haptic interface between human and the Atomic Force Microscope (AFM), which allows the operator to sense and touch the surface and nanoparticles during the manipulation with an AFM tip. The tip-sample interaction forces and intermolecular forces between the tip and surface are modeled based on Lennard-Jones potential and JKR theory, respectively. Our objective is to provide a 3D virtual reality interface capable of displaying topography of surface for the users and allow them to predict the results for the manipulation. © 2004 IEEE.

关键词： Nanotechnology

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Multi-vehicle cooperative search with uncertain prior information

Multi-vehicle cooperative search with uncertain prior inform...

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Collection of Technical Papers - AIAA Guidance, Navigation, and control Conference

作者： Zhang, Chunlei Ordóñez, Raúl Schumacher, Corey University of Dayton Dayton OH 45469-0226 United States Wright-Potterson AFB Dayton OH 45433-7531 United States Dept. of Electrical and Computer Engineering United States Control Science Division Air Force Research Laboratory United States

ISBN: (纸本)1563476703

We present a possible solution for the multi-vehicle cooperative search problem that is based on the idea of surrogate optimization to adaptively identify a terrain map on-line and use it to produce decentralized controllers yielding trajectories in a coordinated manner. We establish a discrete mathematical model for the multi-vehicle cooperative search stationary target with uncertain prior information. We reformulate the Past, Present and Predicted Future (PPP) algorithm we introduced in previous work based on the new model and propose an implementation to adapt to the new scenario to incorporate uncertain prior information. Monte Carlo simulations indicate that the new implementation achieves better performance. Moreover, the scalability of the PPP algorithm is addressed. Copyright © 2004 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Unmanned vehicles

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Effectiveness of naked-eye vision feedback for training human teleoperators

Effectiveness of naked-eye vision feedback for training huma...

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Asian control Conference

作者： S.R. Munasinghe Ju-Jang Lee T. Usui M. Nakamura N. Egashira Dept of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Dejean Korea Dept. of Advanced Systems Control Engineering Saga University Saga Japan Dept. of Control and Information Systems Engineering Kurume National College of Technology Kurume-City Fukuoka Japan

Effective training is essential for human teleoperators to deliver satisfactory performance in actual tasks. Teleoperation is naturally a very difficult task due to the absence of naked-eye vision that cripples the cognitive behavior of the remote operator. Camera vision somehow is not a satisfactory substitution. However, training with naked-eye vision feedback may help human teleoperators to learn how to deliver satisfactory performance when they actually interact with camera vision. This study was carried out to further investigate this hypothesis, and to quantitatively supplement it with experimental proofs. For this cause, the recently built telerobotic test-bed between KAIST (Korea) and Saga University(Japan) was reshaped to a telerobotic mini-golf system, which is the trial experiment in this study. The performance of the players with and without naked-eye training was compared and quantitatively evaluated. The effectiveness of training with naked-eye vision was verified as an essential part in training human teleoperators.

关键词： Feedback Humans Teleoperators Telerobotics Cameras Testing Internet Graphics computer science control engineering

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A genetic based approach to the problem of soccer playing using owa operator

A genetic based approach to the problem of soccer playing us...

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Proceedings of the Biannual World Automation Congress

作者： M. Yabandeh H. Mousavi A. Nayyeri C. Lucas University of Tehran Faculty of Engineering Institute of Electrical and Computer Engineering Center of Excellence on Control and Intelligent Processing ECE Dept. University of Tehran and SIS IPM

This paper is an explanation of an approach to the problem of decision making in a multi agent system using genetic algorithm. The soccer game environment is chosen as the distributed system. This algorithm was tested during the Robocop competitions against other teams and could register important accomplishments. We also compare the performance of three averaging methodologies; simple weighted averaging approach, genetic algorithm with simple weighted average function, and genetic algorithm with an OWA function. The paper also elaborates ideas on bounded rationality and memorized estimation employed for making the problem tractable.

关键词： Genetics Open wireless architecture Testing Security

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Weighted vector directional filters optimized by genetic algorithms

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5th International Conference on Parallel Processing and Applied Mathematics, PPAM 2003

作者： Lukac, Rastislav Smolka, Bogdan Swierniak, Andrzej Plataniotis, Konstantinos N. Venetsanopoulos, Anastasios N. Slovak Image Processing Center Jarkova 343 Dobsina049 25 Slovakia Department of Automatic Control Silesian University of Technology Akademicka 16 Str Gliwice44-101 Poland The Edward S. Rogers Sr. Dept. of Electrical and Computer Engineering University of Toronto 10 King’s College Road Toronto Canada

ISBN: (纸本)3540219463

This paper focuses on genetic optimization and filtering efficiency ofa recently developed class ofWeighted Vector Directional Filters (WVDFs), which minimize the aggregated weighted angular distances between the samples contained in a sliding filtering window. As shown in the paper, the proposed genetically optimized WVDFs hold excellent detail preserving characteristics and are able to remove impulsive noise affecting color images. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Impulse noise

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Adaptive noise reduction in microarray images based on the center-weighted vector medians

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5th International Conference on Parallel Processing and Applied Mathematics, PPAM 2003

ISBN: (纸本)3540219463

In this paper, we provide a new noise reduction method for the enhancement of the images of gene chips. We demonstrate that the new technique is capable of reducing outliers present in microarray images while preserving the spot edges. This paper contains the comparisons of the proposed technique with the standard schemes used in color image filtering, as well as examples of their efficiency when these methods are applied to typical microarray images. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Noise abatement

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Multi-tasking supervisory control of discrete-event systems

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IFAC Proceedings Volumes 2004年第18期37卷 171-176页

作者： Max H. de Queiroz José E.R. Cury W.M. Wonham LCMI-DAS - Federal University o/Santa Catarina Florianópolis SC 88040-900 Brazil-Phone: 048 331-7602 Systems Control Group Dept. of Electrical and Computer Engineering University of Toronto ON Canada M5S 3G4

This paper presents an approach for functionally dealing with multiple tasks in the supervisory control of discrete-event systems (DES). The colored marking generator (CMG), a special type of Moore automaton, is introduced as a model that distinguishes classes of tasks in DES. Then, the main results of supervisory control theory are extended to this model, allowing the synthesis of more refined supervisors in control problems where the distinction of classes of task is necessary. Reversibility is also investigated as an alternative way of ensuring liveness of multiple tasks. Finally, an example illustrates the convenience of this approach.

关键词： Supervisory control discrete-event systems tasks control system synthesis automata

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Cerebellar model arithmetic computer with pseudo-bacterial genetic algorithm and its hardware acceleration

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Systems and computers in Japan 2004年第11期35卷 14-23页

作者： Miwa, Masahiro Furuhashi, Takeshi Matsuzaki, Motoaki Okuma, Shigeru Electronics Control Division Research and Development Rinnai Corporation Aichi 480-0132 Japan Dept. of Information Engineering Mie University Tsu 514-8507 Japan Emergent Soft Computer Nagoya Indust. Sci. Res. Institute Nagoya 463-0003 Japan Department of Electrical Engineering Graduate School of Engineering Nagoya University Nagoya 464-8603 Japan

The cerebellar model arithmetic computer (CMAC) is a kind of neural network that is capable of high-speed learning. In the use of the CMAC, various parameters must be defined, but it is difficult to set the parameters adequately. The pseudo-bacterial genetic algorithm (PBGA) is a kind of evolutionary computation which offers local search. This paper considers adequate determination of the location of the boundary line, which is one of the parameters of the CMAC. For that purpose the PBGA is applied, and PBGA/CMAC, which realizes the efficient search of the boundary line of the CMAC, is proposed. Furthermore, since PBGA/CMAC requires a large amount of computation, a hardware implementation is considered in order to improve the computation speed. The computation involved in the learning rules of the CMAC is divided into four stages, and the structure is implemented as a pipeline. The pipeline implementation produces read-after-write hazards for the granular cell values. However, it is shown that the difference in performance from conventional CMAC learning rule is small, indicating the possibility of achieving high-speed learning. The speed of PBGA/CMAC hardware is improved to 140 times the speed of operation by software. In order to present a guide for PBGA/CMAC hardware, the hardware volume is evaluated, and it is shown that it can be implemented with precision sufficient for practice. © 2004 Wiley Periodicals, Inc.

关键词： computer science

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UTMAC: A C ++ library for multi-agent controller design

UTMAC: A C ++ library for multi-agent controller design

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Proceedings of the Biannual World Automation Congress

作者： N. ShahidI M. Gheiratmand C. Lucas H. Esmadizade Department of Electrical and Computer Engineering Univ. of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing ECE Department School of Intelligent Systems I.P.M. University of Tehran Tehran Iran ECE Dept. Univ. of Tehran and Sehool of Intelligent Systems I.P.M Tehran Iran Department of Electrical and Computer Engineering Univ of Tehran Tehran Iran

UTMAC is an object-oriented C++ class library, developed for design, implementation and simulation of multi-agent controllers. Using UTMAC, the control problem under analysis should be decomposed into several partial sub-problems to be solved by controller-agents, which can be implemented as reusable entities. UTMAC uses a non-centralized simulation scheme in which cash agent simulates itself. In this paper the structure of UTMAC is explored and design of a simple reusable multi-agent controller is provided to illustrate the work and show the convenience of design and implementation.

关键词： Libraries Java Process control Intelligent control Intelligent systems Computational modeling computer simulation control systems Packaging

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Modeling Demand for Inventory Management of Slow-Moving Items in Case of Reporting Errors

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IFAC Proceedings Volumes 2004年第4期37卷 27-32页

作者： Alexandre Dolgui Anatoly Pashkevich Maxim Pashkevich Scientific Methods for Industrial Management Dept. (MSGI) Industrial Engineering and Computer Sciences Center (G2I) Ecole de Mines de Saint Etienne 158 Cours Fauriel 42023 Saint Etienne France Robotic Laboratory Department of Automatic Control Belarusian State University of Informatics and Radioelectronics 6 P.Brovka St. Minsk 220027 Belarus Department of Mathematical Modeling and Data Analysis Faculty of Applied Mathematics and Computer Science Belarusian State University Skarina Av. 4 Minsk 220050 Belarus

The paper is devoted to the problem of modeling demand for inventory management of slow-moving items in the case of reporting errors. It is proposed a generalization of the beta-binomial demand model that takes into account possible reporting errors in the learning sample. For the new model, there are developed identification and forecasting algorithms that provide consistent estimators of the model parameters and mean square optimal forecasts. The efficiency of the proposed approach is illustrated by an application example for slow-moving car parts.

关键词： inventory control error correction statistical inference parameter estimation prediction methods

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