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Laboratory of Heterogeneous Fieldbuses

IFAC Proceedings Volumes 2000年第17期33卷 1267-1270页

作者： František Zezulka Petr Fiedler Dept. of Control and Instrumentation Faculty of Electrical Engineering and Computer Science Brno University of Technology Božetĕchova 2 612 66 Brno Czech Republic

One of the most important components of recent automation systems of machines, production lines and technological processes is the communication subsystem. Instead of parallel bus connections, the serial buses on various hierarchical levels of control structures are used. This contribution deals with problems of implementation of serial communication buses in a heterogeneous control instrumentation environment in industrial plants. It presents an aid for dealing with such problems on basis of a laboratory of industrial automation with heterogeneous communication testbed.

关键词： Cornmunication protocols Communication networks Industry automation Hierarchical control Integrated plant control

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Mathematical Model of the Skid-Steered Mobile Robot

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IFAC Proceedings Volumes 2000年第27期33卷 291-295页

作者： František Šole Luděk Žalud Bohumil Honzík Dept. of Control Measurement and Instrumentation Faculty of Electrical Engineering and Computer Science Brno University of Technology Božetěchova 2 612 66 Brno Czech Republic

The article describes mathematical model of the skid-steered mobile robot (SSMR), which was designed at the DCMI. SSMR is an indoor/outdoor autonomous/remotely controlled vehicle intended for research purposes in the area of developing a combination of autonomous and remote control schemes for mobile robots with application of telepresence principles. Mathematical model was derived using the Euler-Newton method of free bodies dynamics. Simulation results verifying the correctness of the model are provided.

关键词： mobile robots mathematical models dynamic modelling

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A design of an associative memory array processor for ultrasonograph image acquisition and processing

A design of an associative memory array processor for ultras...

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作者： Aly, Gamal M. El-Nadi, Nabeel M. Fayed, Zaki T. Faheem, Hossam M. Dept. of Comp. and Control Systems Ain Shams University Faculty of Engineering Cairo Egypt Information Technology Institute Cairo Egypt Department of Computer Science Ain Shams University Fac. of Comp. and Info. Science Cairo Egypt

This paper describes a design of an associative memory array processor that can be used in the acquisition and processing of ultrasonograph images. The major concept is to design a parallel architecture that reduces task's execution time by analyzing multiple parts of the image concurrently. The architecture constitutes a distinctive type of single-instruction stream, multiple-data stream machine that is built around content-addressable associative memory slabs, that allow parallel access of multiple memory words. The basic building block of this architecture is a one-pixel processing element, which can perform the standard load (data acquisition) function and also contains some special comparison logic to enable its content to be compared with an external data. Several image processing operations are implemented in parallel, among them: component labeling, size filtering, pattern centralization, and pattern recognition. The proposed novel architecture can label specific regions into the image and isolate them intelligently. It is also capable of storing templates that may be considered as references for similar cases. The system is able to perform learning process and extract features from several input patterns and store the reference pattern in a slice. Moreover, the system is capable of comparing an input image with a pre-stored template during recognition process. The proposed architecture is of interest because it speeds up the recognition process and helps radiology specialists to write their reports confidently.

关键词： Ultrasonic imaging

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Rotating sonar and a differential encoder data fusion for map-based dynamic positioning

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Journal of Intelligent and Robotic Systems: Theory and Applications 2000年第3期29卷 211-232页

作者： Yang, Haeyong Park, Kyucheol Lee, Jang Gyu Chung, Hakyoung Automatic Control Research Center School of Electrical Engineering Seoul National University Seoul 151-742 Korea Republic of Dept. of Contr. and Instrum. Eng. Seoul Natl. University of Technology Seoul 139-743 Korea Republic of

In this paper, a dynamic positioning system using a rotating sonar and a differential encoder is proposed. The method is implemented by employing an indirect feedback Kalman filter. The state equation is written for encoder propagation and its error characteristic. A measurement equation describes a map-based measurement equation based on rotating sonar sensor data. In other words, sonar data compensates for the system and navigation errors of the differential encoder. The positioning system calculates the position and headings of a mobile robot. The real-time calculation is performed by a map-based measurement update utilizing wide-angle beam characteristics of the sonar sensor and the Kalman filter. In addition, an observability analysis for the positioning system is performed. Experimental results show that the proposed hybrid positioning system successfully provides accurate position and headings in real-time. The position and heading errors arc bounded within few centimeters and within few degrees, respectively.

关键词： Robotics

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RT control scheduling to reduce control performance degrading

RT control scheduling to reduce control performance degradin...

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IEEE Conference on Decision and control

作者： P. Albertos A. Crespo I. Ripoll M. Valles P. Balbastre Dept. of Syst. Eng. & Control Univ. Politecnica de Valencia Spain Department of Computer Engineering Universidad Politkénica de Valencia Spain

ISBN: (纸本)0780366387

In the framework of real-time digital control, two fundamental parameters are defined, the control effort and the control action interval. The first one is related to the strength of the control that, due to the intersampling open-loop control, determines the degrading of performances under unexpected delays. The second one refers to the unavoidable delays in the multitasking environment due to interactions among the tasks. As a consequence, the scheduling policy should consider not only the tasks delays but also their influence in the control loop behavior, being calculated to minimize the overall degrading of performances.

关键词： Degradation control systems Open loop systems Processor scheduling control design Delay effects Scheduling algorithm Digital control Multitasking Timing

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Deterministic maximum likelihood DOA estimation in heterogeneous propagation media

Deterministic maximum likelihood DOA estimation in heterogen...

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IEEE Workshop on Statistical Signal and Array Processing

作者： P. Stoica O. Besson A.B. Gershman Dept. of Syst. & Control Uppsala Univ. Sweden Department of Avionics and Systems ENSICA Toulouse France Department of Electrical and Computer Engineering McMaster University Hamilton Canada

In a number of array signal processing applications, such as underwater source localization, the propagation medium is not homogeneous, which causes a distortion of the wavefront received by the array. In this paper, we consider the direction-of-arrival (DOA) estimation problem for such distorted wavefronts. In previous approaches, the so-called multiplicative noise scenario is considered based on the assumption that the distortion is random and can be parameterized by a small number of parameters. To gain robustness against mismodelling we assume a scenario in which the wavefront amplitude is distorted in a completely arbitrary way. We derive the maximum likelihood (ML) estimator of the DOA and show it can be obtained by means of a simple 1D search. The Cramer-Rao bound (CRB) for the problem at hand is derived. Numerical simulations illustrate a good performance of the estimator and show that its accuracy is comparable with that of estimators which require knowledge of the form of amplitude distortions.

关键词： Maximum likelihood estimation Direction of arrival estimation Nonhomogeneous media Sensor arrays Amplitude estimation Integrated circuit noise Gaussian noise Covariance matrix control systems Aerospace electronics

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Algorithm for Three-Step Estimation of Transfer Function with Unknown Delay Steps and Order

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IFAC Proceedings Volumes 2000年第15期33卷 373-378页

作者： Mitsuki Mashino Fujio Ohkawa Kazushi Nakano Masayoshi Tomizuka Mechanics & Electronics Research Institute Fvkuoka Industrial Technology Center 3-6-1 Norimatsu Yahatanishi-ku Kitakyushu 807-0831 JAPAN Dept. of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology Kawazu Iizuka 820-8502 JAPAN Dept. of Electronic Engineering The University of Electro- Communicatons 1-5-1 Chofu-ga-oka Chofu Tokyo 182-8585 JAPAN Dept. of Mechanical Engineering University of California at Berkeley 5100 B Etcheverry Hall Berkeley CA 94720-1740 USA

This paper deals with the estimation of an unknown process transfer function in the presence of colored measurement noise. A three-step estimation procedure has been previously developed for transfer functions, the delay steps and the orders of which are known in advance. The procedure is extended to deal with transfer functions with unknown delay steps and orders. The auto-correlation function of the error between the process output and model output is utilized for evaluating the model fitness. The effectiveness of the proposed method is demonstrated by a simulation study using a sample set of data in MATLAB.

关键词： colored noise I/O correlation information BCLS estimates parameter transformation MSE

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Potential of Fraser-Hipel-Kilgur Technique and Game Theory for Balkan conflicts: Pt. 1 Modelling Theory

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IFAC Proceedings Volumes 2000年第8期33卷 49-57页

作者： Yuanwei Jing Georgi M. Dimirovski Dept. of Automatic Contr. & Contr. Eng. at School of Information Science & Engineering Noretheastern University Shenyang Liaoning P.R. of China Department of ASE at Faculty of Electr. Eng. SS. Cyril and Methodius University P.o. Box 574 MK-91000 Skopje Republic of Macednia Fax. # +389-91-36-42-62 Dept. of Automatic Control and Electrical Drives Johannes Kepler University Altengergerstr. 69 A-4040 Linz Austria Fax.# +43-732-2468-9734

In this paper, the potential applications of Fraser-Hipel-Kilgur methodology for conflict modelling and resolution, based on the theory of non-cooperative games theory, to the modelling analysis of Balkan conflicts is exploerd through the case study on the conflicting interests over R. Macedonia by the end of the twentieth century. Particular attention was devoted to the use of its advanced variant based on theory of digraphs and adjacent reachability matrices. The graph form takes game outcomes rather than individual decisions as the basic units for modelling conflicts, described in sufficient detail. A number of solution concepts can be formulated and employed for both two-player and multi-player games, the latter being of primary interst in here. The taxonomy of graph based solution concepts of the original methodology has been employed to account for certain anticipation horizon by each of the players. This methodology makes essential use of the fundamental axioms of game theory defined by posulates of the individual rationality, the players inertia, the limited-move stability, and the minimum effect for the opponents.

关键词： system analysis game theory graph theory graph models conflict analysis conflict of interests

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Modelling and Identification with Rational Orthogonal Basis Functions

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IFAC Proceedings Volumes 2000年第15期33卷 445-455页

作者： Paul Van den Hof Bo Wahlberg Peter Heuberger Brett Ninness Jozsef Bokor Tomás Oliveira e Silva Department of Applied Physics Delft University of Technology Lorentzweg 1 2628 CJ Delft The Netherlands S3 - Automatic Control Royal Institute of Technology S-100 44 Stockholm Sweden. Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1502 Budapest Hungary Dept. Electrónica e Telecommunicações University of Aveiro 3810-183 Aveiro Portugal

Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable. A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.

关键词： System identification orthogonal basis functions series expansions model reduction parametrization

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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