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2008 IEEE International Symposium on Electromagnetic Compatibility, EMC 2008

作者： Angrisani, Leopoldo Napolitano, Aniello Sona, Alessandro Dept. of Computer Science and Control Systems Univ. of Naples Federico II via Claudio 21 80125 Naples Italy Dept. of Electrical Engineering Univ. of Naples Federico II via Claudio 21 80125 Naples Italy Dept. of Information Engineering Univ. of Padova via G. Gradenigo 6 - 35131 Padova Italy

The interference effects on Voice over Internet Protocol (VoIP) applications over Wireless Local Area Networks (WLANs) are here dealt with. In particular, attention is paid to the IEEE 802.11g standard, with Bluetooth signals, Additive White Gaussian Noise (AWGN) and competitive data traffic acting as interferer. The analysis is conducted experimentally following a cross-layer approach and through the deployment of a proper testbed within a semi-anechoic chamber. The purpose is to investigate on the effects of some common types of interference on a WLAN supporting VoIP applications, and to deduce from the experiments valuable hints for improving the setup of a WLAN in the presence of interference. Cross-layer measurements are performed at network/transport, physical and application layer. © 2008 IEEE.

关键词： Wi-Fi

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Tracking and Disturbance Rejection of Extended Constant Signals with Unknown Disturbance Structure Using MPC

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SICE Journal of control, Measurement, and System Integration 2008年第2期1卷 82-91页

作者： Edward J. Davison Ruth Milman Systems Control Group Dept. of Electrical and Computer Engineering University of Toronto Faculty of Engineering and Applied Science University of Ontario Institute of Technology

This paper considers the Model Predictive control (MPC) set point tracking/regulation problem for a discrete LTI system, which is subject to a class of unbounded disturbances/tracking signals called extended constant signals of unknown structure. Examples of disturbances which belong to this class include constant disturbances as well as unbounded signals such as w[k]=√k and log (k), k=1,2,3,…. A discussion re the choice of window size for MPC is also made; in particular, it is shown that the window size must be larger than a certain lower bound, which can be easily determined, in order to guarantee closed loop stability in MPC control. The main contribution is a formulation of the system's plant equations under which, for output regulation, no knowledge of the structure or magnitude of disturbances is needed in order to achieve set point regulation for this class of extended constant signals. The result is of interest since it also implies that no disturbance observer is necessary in order to solve the set point tracking/regulation problem when full-state feedback is available. The results are experimentally verified.

关键词： model predictive control disturbance rejection extended constant signals output feedback/regulation observers tracking

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Comparing drilling and circular milling for hole making in bi-layer composite materials consisting of Carbon Fiber Reinforced Plastic (CFRP) laminates and titanium alloys

Comparing drilling and circular milling for hole making in b...

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Transactions of the North American Manufacturing Research Institution of SME

作者： Yagishita, H. Dept. of Control and Computer Engineering 3600 Ooka Numazu-city Shizuoka-pref. 410-8501 Japan Numazu National College of Technology 3600 Ooka Numazu-city Shizuoka-pref. 410-8501 Japan

ISBN: (纸本)0872638618

Construction parts consisting of two-layer composite materials made of carbon fiber reinforced plastic (CFRP) laminates and TiAl6V4 still need to be machined, whereby drill holes are frequently manufactured. Special attention has to be paid to the machining quality, which implies dimensional accuracy as well as a defect-free peripheral zone. Machining defects often occur as a consequence of excessive mechanical and thermal loads, which are often caused by wrong process conditions or by the wrong choice of machining process itself. With respect to widely used state-of-the-art machine tools providing high performance and equipped with potent control unit, for the comparatively large drill hole, circular milling gains interest as an alternative to the drilling operation (Weinert et al. 2005). Here, the circular milling process is compared to the drilling process focusing on the hole making of 6 mm diameter to two-layer composite material consisting of CFRP (carbon fiber reinforced plastic) laminates and TiAl6V4. The investigations were focused mainly on the influence of hole making process on the bore hole quality. The hole diameter, the surface roughness and the roundness are compared and evaluated between circular milling process and drilling one, and also the two processes followed by reaming. Moreover, the thrust forces during the two processes were measured and the transition between the thrust force and tool wear are considered.

关键词： Milling (machining)

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An optimal control method for biped robot with stable walking gait

An optimal control method for biped robot with stable walkin...

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IEEE-RAS International Conference on Humanoid Robots

作者： Nguyen Thanh Phuong Dae Won Kim Hak Kyeong Kim Sang Bong Kim Automatic Control Dept. Ky Thaut Cong Nghe University Vietnam School of Mechanical Engineering Pukyong National University South Korea

ISBN: (纸本)9781424428212

This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the DdasiaAlembertpsilas principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method.

关键词： Legged locomotion Optimal control Robot kinematics control systems Equations Pelvis Trajectory Leg Solids Computational geometry

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Image segmentation using decision trees method

Image segmentation using decision trees method

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作者： Kubik, T. Sugisaka, M. Institute of Computer Engineering Control and Robotics Wroclaw Univ. of Technology Janiszewskiego 11/17 Wroclaw 50-372 Poland Dept. of Electrical and Electronic Engineering Oita Univ. 700 Dannoharu Oita 870-1124 Japan

ISBN: (纸本)9784990288020

The image segmentation method aimed at segmentation of orthophoto maps is discussed. The method makes use of ID-3 algorithm by its adjustment for different types of land cover classification. The segmentation method proposed consists of some processing steps. It starts with the initial filtering, followed by the color quantization, and the decision tree building. The decision tree is used then as a classifier in the final segmentation step. To build the classifier some patterns made up of orthophoto maps and corresponding raster images segmented by an expert were prepared. The method was tested on the images not used for classifier building. ©ISAROB 2008.

关键词： Decision trees

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Modelling and identification of a small unmanned aerial vehicle

Modelling and identification of a small unmanned aerial vehi...

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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The Systems and control Laboratory of the computer and Automation Research Institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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A hybrid of cooperative particle swarm optimization and cultural algorithm for neural fuzzy networks

A hybrid of cooperative particle swarm optimization and cult...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Cheng-Hung Chen Yong-Cheng Liu Cheng-Jian Lin Chin-Teng Lin Dept. of Electrical and Control Engineering National Chiao-Tung University Hsinchu Taiwan R.O.C. Dept. of Computer Science and Information Engineering Chaoyang University of Technology Taiwan R.O.C. Department of electrical and control engineering National Chiao Tung University HsinChu Taiwan Dept. of Electrical Engineering National University of Kaohsiung Kaohsiung Taiwan R.O.C.

This study presents an evolutionary neural fuzzy network, designed using the functional-link-based neural fuzzy network (FLNFN) and a new evolutionary learning algorithm. This new evolutionary learning algorithm is based on a hybrid of cooperative particle swarm optimization and cultural algorithm. It is thus called cultural cooperative particle swarm optimization (CCPSO). The proposed CCPSO method, which uses cooperative behavior among multiple swarms, can increase the global search capacity using the belief space. Cooperative behavior involves a collection of multiple swarms that interact by exchanging information to solve a problem. The belief space is the information repository in which the individuals can store their experiences such that other individuals can learn from them indirectly. The proposed FLNFN model uses functional link neural networks as the consequent part of the fuzzy rules. Finally, the proposed functional-link-based neural fuzzy network with cultural cooperative particle swarm optimization (FLNFN-CCPSO) is adopted in several predictive applications. Experimental results have demonstrated that the proposed CCPSO method performs well in predicting the time series problems.

关键词： Fuzzy systems Conferences

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Algorithms to Managing Unicast, Multicast and Broadcast Transmission for Optical Switches

Algorithms to Managing Unicast, Multicast and Broadcast Tran...

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The 11th Asia-Pacific Network Operations and Management Symposium

作者： Dawid Zydek Leszek Koszalka Iwona Pozniak-Koszalka Keith J. Burnham Dept. of Electrical and Computer Engineering University of NevadaLas VegasUSA Chair of Systems and Computer Networks Wroclaw University of Technology50-370 WroclawPoland Control Theory and Applications Centre Coventry UniversityCV1 5FB CoventryUnited Kingdom

This paper deals with an optical switching problem concerning an architecture represented by input-output request matrix. New algorithms such as LS, Q-family and J-family are presented and thoroughly studied. J-family algorithms are some modifications of the well known Double algorithm. The study focuses on comparison between the considered algorithms and known algorithms such as Double and Exact. The local comparison criteria consist of the number of decomposed matrices, the number of empty slots, the total time of decomposition and excess. As the global index of performance the weighted penalty is introduced, which comprises local criteria. The properties of the proposed algorithms are shown on examples, where matrices with various elements are decomposed into permutation matrices (switch configurations). An idea of experimentation system and some results of investigations are presented. The properties of the considered algorithms are discussed, especially significant results for LS algorithm are described.

关键词： network transmission, algorithm, experimentation system

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QFT control based on zero phase error compensation for flight simulator

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Journal of Systems engineering and Electronics 2007年第1期18卷 125-131页

作者： Liu Jinkun He Yuzhu Dept. of Automatic Automatic Control Beijing Univ. of Aeronautics and Astronautics Beijing 100083 E R. China Dept. of Engineering System of Engineering Beijing Univ. of Aeronautics and Astronautics Beijing 100083 E R. China

To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.

关键词： Quantitative feedback theory Zero phase error Feed forward compensation Servo system Flight simulator

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Novel method of extracting the feature of Partial Discharge signal from strong carrier disturbance

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Journal of Information and Computational Science 2007年第1期4卷 15-20页

作者： Cui, Xuemei Zhang, Bide Dept. of Automatic Control Engineering Chengdu University of Information Technology Chengdu 610225 China Xihua University Chengdu 610039 China

Our research purpose is to analyze the phase information of Partial Discharge PD signal and its disturbance, and to extract the feature of PD signal by using complex wavelet. The thesis, based on existing research, tries to explain our research to design complex compactly supported biorthogonal wavelets by real compactly supported biorthogonal wavelets, and then explore the features of the extraction of PD signal based on complex wavelets obtaining the general particular feature information from original signal, and finally propose ten novel complex information by combining the results of complex wavelet transform to analyze PD signal. The research demonstrates that complex wavelets are more superior to original real wavelets in identifying Partial Discharge signal, and that simulated applications and the data from laboratory can guarantee the effectiveness of the extraction of the feature of Partial Discharge and the restraint of the strong carrier disturbance.

关键词： Partial discharges

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