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Development of Constrained Predictive Functional control using Laguerre Function Based Prediction

IFAC-PapersOnLine 2017年第1期50卷 10705-10710页

作者： Abdullah M. Rossiter J.A. Haber R. Department of Automatic Control and System Engineering University of Sheffield Mappin StreetS1 3JD United Kingdom Dept. of Mech. Engin. International Islamic University Malaysia Institute of Process Engineering and Plant Design Cologne University of Applied Sciences Köln D-50679 Germany

This work presents a novel constraint handling strategy for Predictive Functional control (PFC). First, to improve prediction consistency, the constant input assumption of nominal PFC approaches is replaced with Laguerre based prediction. This substitution improves the effectiveness of using a constrained solution to prevent long-term constraint violations. Secondly, for state constraints, a simpler single regulator approach is proposed instead of switching between regulators, an approach common in the PFC literature. Simulation results verify that the proposed method manages the constraints better than the traditional approach. Moreover, despite all the modifications, the controller formulation and framework remain simple and straightforward which thus are in line with the key ethos of PFC. © 2017

关键词： Constrained PFC Effective Constraint Technique Predictive control

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Optimality analysis of if-conversion transformation

Optimality analysis of if-conversion transformation

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24th High Performance Computing Symposium, HPC 2016, Part of the 2016 Spring Simulation Multi-Conference, SpringSim 2016

作者： Elkhouly, Reem El-Mahdy, Ahmed Elmasry, Amr Alexandria Egypt Dept. of Computer Engineering and Automatic Control Tanta University Tanta Egypt Dept. of Computer Engineering and Systems Alexandria University Alexandria Egypt

ISBN: (纸本)9781510824256

control-flow dependence has always been posited as a substantial dilemma against program acceleration. With the availability of instruction-level parallel architectures, ifconversion optimization has become pivotal for extracting parallelism from serial programs. While many if-conversion optimization heuristics have been proposed in the literature, few of them investigated the proximity to optimality paying more concern to the input program subjectively. In this paper, we study the effectiveness of the LLVM if-conversion transformation using a broad range optimality analysis technique. The whole optimization space of branch instructions within an arbitrarily selected hotspot function of a program is analyzed, tackling the best-performing combination sequence of converted or non-converted branches. In order to precisely observe the influence of selectively converted branches we magnify individual function call and study the behavior with different call circumstances and input data detecting the impact of data size and distribution. We implemented our technique on LLVM 3.6.1 compilation infrastructure and experimented on several representative kernels of the SPEC-CPU2006 vl.l benchmarks suite running on a multicore system of Intel(R) Xeon(R) 3.50GHz processors. Our findings show a performance gain up to 22.7% at the best optimization over the standard optimized code, indicating the need for more aggressive compilation optimization that is able to capture the individual characteristics of every branch. © 2016 Society for Modeling & Simulation International (SCS).

关键词： Optimization

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Zapping Zika with a Mosquito-Managing Drone: Computing Optimal Flight Patterns with Minimum Turn Cost 33

Zapping Zika with a Mosquito-Managing Drone: Computing Optim...

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33rd International Symposium on Computational Geometry, SoCG 2017

作者： Becker, Aaron T. Debboun, Mustapha Fekete, Sándor P. Krupke, Dominik Nguyen, An Department of Electrical and Computer Engineering University of Houston HoustonTX United States Mosquito and Vector Control Division Harris County Public Health HoustonTX United States Dept. of Computer Science TU Braunschweig Braunschweig Germany

ISBN: (纸本)9783959770385

We present results arising from the problem of sweeping a mosquito-infested area with an Unmanned Aerial Vehicle (UAV) equipped with an electrified metal grid. This is related to the Traveling Salesman Problem, the Lawn Mower Problem and, most closely, Milling with Turn Cost. Planning a good trajectory can be reduced to considering penalty and budget variants of covering a grid graph with minimum turn cost. On the theoretical side, we show the solution of a problem from The Open Problems Project that had been open for more than 15 years, and hint at approximation algorithms. On the practical side, we describe an exact method based on Integer Programming that is able to compute provably optimal instances with over 500 pixels. These solutions are actually used for practical trajectories, as demonstrated in the video. © Aaron T. Becker, Mustapha Debboun, Sándor P. Fekete, Dominik Krupke, An Nguyen.

关键词： Traveling salesman problem

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Opening more data a new privacy risk scoring model for open data 7

Opening more data a new privacy risk scoring model for open ...

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7th International Symposium on Business Modeling and Software Design, BMSD 2017

作者： Ali-Eldin, Amr M. T. Zuiderwijk, Anneke Janssen, Marijn Leiden Institute of Advanced Computer Science Leiden University Leiden Netherlands TBM Delft University of Technology Jaffalaan 5 Delft2628 BX Netherlands Computer and Control Systems Dept. Faculty of Engineering Mansoura University Mansoura Egypt

ISBN: (纸本)9789897582387

While the opening of data has become a common practice for both governments and companies, many datasets are still not published since they might violate privacy regulations. The risk on privacy violations is a factor that often blocks the publication of data and results in a reserved attitude of governments and companies. Additionally, even published data, which might seem privacy compliant, can violate user privacy due to the leakage of real user identities. This paper proposes a privacy risk scoring model for open data architectures to analyse and reduce the risks associated with the opening of data. The key elements consist of a new set of open data attributes reflecting privacy risks versus benefits trades-offs. Further, these attributes are evaluated using a decision engine and a scoring matrix intro a privacy risk indicator (PRI) and a privacy risk mitigation measure (PRMM). Privacy Risk Indicator (PRI) represents the predicted value of privacy risks associated with opening such data and privacy risk mitigation measures represent the measurements need to be applied on the data to avoid the expected privacy risks. The model is exemplified through five real use cases concerning open datasets.

关键词： Data mining

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Inverse kinematics and sensitivity minimization of an n-stack stewart platform

arXiv

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arXiv 2018年

作者： Balaban, David Cooper, John Komendera, Erik University of Massachusetts Amherst College of Computer Sciences AmherstMA United States NASA Langley Research Center Dynamic Systems and Control Branch HamptonVA United States Virginia Tech Dept. of Mechanical Engineering BlacksburgVA United States

An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and dexterous movement in a changing environment. A prototype of an autonomous manipulator called "Assemblers"was fabricated from an aggregation of Stewart Platform robots for the purpose of researching autonomous in space assembly capabilities. The forward kinematics for an Assembler is described by the set of translations and rotation angles for each component Stewart Platform, from which the position and orientation of the end effector are simple to calculate. However, selecting inverse kinematic poses, defined by the translations and rotation angles, for the Assembler requires coordination between each Stewart Platform and is an underconstrained non-linear optimization problem. For assembly tasks, it is ideal that the pose selected has the least sensitivity to disturbances possible. A method of sensitivity reduction is proposed by minimizing the Frobenius Norm (FN) of the Jacobian for the forward kinematics. The effectiveness of the FN method will be demonstrated through a Monte Carlo simulation method to model random motion internal to the structure. Copyright © 2018, The Authors. All rights reserved.

关键词： Inverse kinematics

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A joint network/control design for cooperative automatic driving

A joint network/control design for cooperative automatic dri...

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2017 IEEE Vehicular Networking Conference, VNC 2017

作者： Giordano, Giulia Segata, Michele Blanchini, Franco Cigno, Renato Lo Delft Center for Systems and Control Delft University of Technology Netherlands Dipartimento di Matematica e Informatica University of Udine Italy Dept. of Information Engineering and Computer Science University of Trento Italy

ISBN: (纸本)9781538609866

Cooperative automatic driving, or platooning, is a promising solution to improve traffic safety, while reducing congestion and pollution. The design of a control system for this application is a challenging, multi-disciplinary problem, as cooperation between vehicles is obtained through wireless communication. So far, control and network issues of platooning have been investigated separately. In this work we design a cooperative driving system from a joint network and control perspective, determining worst-case upper bounds on the safety distance subject to network losses, so the actual inter-vehicle gap can be tuned depending on vehicle or network performance. By means of simulation, we show that the system is very robust to packet losses and that the derived bounds are never violated. © 2017 IEEE.

关键词： Traffic congestion

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Robotic applications in the automation of agricultural production under greenhouse: A review 3

Robotic applications in the automation of agricultural produ...

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3rd IEEE Colombian Conference on automatic control, CCAC 2017

作者： Tangarife, Hector Ivan Diaz, Andres Escobar CMM Investigation Group GICEMET SENA Dept. Electronic. Spe. Computer Science and Automation District University FJC Bogotá Colombia Investigation Group ORCA Dept. Control Engineering and Telecommunications District University Francisco José de Caldas Bogotá Colombia

ISBN: (纸本)9781538603987

This article shows a review of the state of the art in the agricultural automation under greenhouse through the use of robotics platforms as a source of solution to different problems that arise in the agricultural sector specially under controlled conditions;the writing is part of a wide review of the agricultural automation under greenhouse and a set of proposals that consider applications in various fields of research, autonomous localized irrigation, neural networks, automatic learning, monitoring and control systems among others. It is intended to determine the most recent advances in techniques for sowing, applications of chemical for sanitary control, fertilization, harvest, where robotics is used as a source to solve agricultural problems. The review includes consultation in well-known national and international journals, research carried out in centers and research groups or companies dedicated to implementation addressed to the agricultural sector, finally it is determined the solutions that can be implemented to propose new topics, research lines, development and technology transfer to the agricultural sector. © 2017 IEEE.

关键词： Greenhouses

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ProSLAM: Graph slam from a programmer's perspective

arXiv

引用

arXiv 2017年

作者： Schlegel, Dominik Colosi, Mirco Grisetti, Giorgio Dept. of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In this paper we present ProSLAM, a lightweight stereo visual SLAM system designed with simplicity in mind. Our work stems from the experience gathered by the authors while teaching SLAM to students and aims at providing a highly modular system that can be easily implemented and understood. Rather than focusing on the well known mathematical aspects of Stereo Visual SLAM, in this work we highlight the data structures and the algorithmic aspects that one needs to tackle during the design of such a system. We implemented ProSLAM using the C++ programming language in combination with a minimal set of well known used external libraries. In addition to an open source implementation1, we provide several code snippets that address the core aspects of our approach directly in this paper. The results of a thorough validation performed on standard benchmark datasets show that our approach achieves accuracy comparable to state of the art methods, while requiring substantially less computational resources. Copyright © 2017, The Authors. All rights reserved.

关键词： C++ (programming language)

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A new object recognition framework based on PCA, LDA, and K-NN 11

A new object recognition framework based on PCA, LDA, and K-...

引用

11th International Conference on computer engineering and Systems, ICCES 2016

作者： Hagar, Asmaa A.M. Alshewimy, Mahmoud A.M. Saidahmed, Mohamed T. Faheem Computers and Automatic Control Dept. Faculty of Engineering Tanta University Egypt

ISBN: (纸本)9781509032679

In this paper, a new object recognition framework is presented. The framework includes a variety of object recognition approaches based on Principal Component Analysis (PCA), Linear Discriminant Analysis (LDA), and the K-nearest neighbor (K-NN). A color image vector representation model is also introduced. Based on the representation model, color Eigenspace is constructed using PCA and LDA for feature extraction. The K-NN is adopted as a mechanism for classification. The object recognition framework approaches were tested on Columbia Object Image Library (COIL-100) and Amsterdam Library of Object Images (ALOI) color object databases. Experimental results on these databases evinced the effectiveness of the proposed work with high recognition rates in comparison with the results of previous works in the literature. The recognition rate has reached in some cases 100%. © 2016 IEEE.

关键词： Feature extraction

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Agreement between a computer-assisted tool and radiologists to classify lesions in breast elastography images

Agreement between a computer-assisted tool and radiologists ...

引用

SPIE Medical Imaging 2017

作者： Marcomini, K.D. Fleury, E.F.C. Oliveira, V.M. Carneiro, A.A.O. Schiabel, H. Nishikawa, R.M. Dept. of Electrical and Computer Engineering University of Sao Paulo Sao Carlos Brazil Brazilan Institute for Cancer Control Sao Paulo Brazil Faculty of Medical Sciences of Santa Casa de Sao Paulo Sao Paulo Brazil Dept. of Physics University of Sao Paulo Ribeirao Preto Brazil Dept. of Radiology University of Pittsburgh Pittsburgh United States

In order to provide quantitative and less subjective data regarding the stiffness of a lesion, we developed a tool to measure the amount of hard area in a lesion from the 2D image. The database consisted of 78 patients with 83 breast lesions (31 malignant and 52 benign)-Two radiologists and one resident manually drew the contour of the lesions in B-mode ultrasound images and the contour was mapped in the elastography image. By using the system proposed, the radiologists obtained a very good diagnostic agreement among themselves (kappa = 086), achieving the same sensitivity and specificity (80.7 and 885, respectively), and an AUC of 0.883 for Radiologist 1 and 0.892 for Radiologist 2. The Resident had less interobserver agreement, as well as lower specificity and AUC, which may be related to less experience. Furthermore, the radiologists had an agreement with the tool used in the automatic method higher than 90%. Thus, the method developed was useful in aiding the diagnosis of breast lesions in strain elastography, minimizing its subjectivity. © 2017 SPIE.

关键词： Medical imaging

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