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URSI Atlantic Radio Science Conference (URSI AT-RASC)

作者： J. Lorenzo A. Lazaro R. Villarino D. Girbau Dept. of Electronics Electrics and Automatic control Engineering Rovira i Virgili University Av. Paisos Catalans 26 43007 Tarragona Spain

FMCW radar has been proposed in the literature as a reader for long distance transponders for wireless local positioning systems and sensing. One of the major challenges for positioning and for RFID systems are the disturbances due to multipath propagation. In addition, low-cost FMCW radars are often based on homodyne receivers, where the minimum measurement distance is limited by the transmitter coupling and the phase noise interference in the low-frequency band of the spectrum. To mitigate these problems, backscatter transponders have been proposed. This works presents an actively-controlled frequency selective surface (FSS) to implement a backscatter transponder at X band. The FSS is composed by dipoles loaded with PIN diodes which act as switching elements. The transponder exploits the change in the radar cross section (RCS) of the FSS to modulate the field illuminated by the FMCW radar. This change is performed varying the bias of the diodes. The basic operation theory of the system will be described. An experimental setup based on a commercial 9.25–10.75 GHz FMCW radar working as a reader is proposed to measure the transponders. The transponder response can be distinguished from the interference of non-modulated clutter, modulating the transponder's RCS. Some FSS with different number of dipoles are studied, as a proof of concept. Measurements at several distances are provided with a 10 dipoles prototype. The tag distance can be obtained from the frequency offset between the peaks around the modulating frequency. The standard deviation error is 12 cm.

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Reconfiguration architecture for updates of automation systems during operation

Reconfiguration architecture for updates of automation syste...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Rafael Priego Daniel Schütz Birgit Vogel-Heuser Marga Marcos Dept. of Automatic Control and System Engineering ETSI Bilbao Basque Country University (UPV/EHU) Spain Technische Universitat Munchen Munchen Bayern DE

In recent years automation systems have been required to provide characteristics of flexibility and efficiency in order to cope with the fast changes of the market and consumer demands. To deal with these requirements, the industry has started to implement reconfiguration techniques in order to allow the automation system to reschedule the production, recover from faulty situations and to update the controller at run time, among others. Previous works of authors have been aimed at a model-based definition of the plant components and operations, related to a product. Additionally, automatic code generation has been proposed to obtain an optimal control sequence. This paper extends these previous works with an architecture that generates and updates the software architecture of a Programmable Logic controller during runtime, in response to changes on the plant layout, the product to be manufactured or the control hardware.

关键词： Load modeling computer architecture Automation Planning Unified modeling language Production Software

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Accomplish multi-robot tasks via Petri net models

Accomplish multi-robot tasks via Petri net models

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragon Institute of Engineering Research (I3A) University of Zaragoza Spain

This paper proposes a method for planning a team of mobile robots such that they accomplish a set of tasks. The environment and the movement capabilities of mobile robots are represented by a Petri net model. Each task is located in a given location and its accomplishment requires a certain number of robots to be present in that place. The order for serving the tasks and firing count vectors for the model result from solving an Integer Linear Programming optimization. Structural properties of the Petri net model allow us to develop an algorithm that produces robot strategies composed from movements, waiting and task serving.

关键词： Mathematical model Petri nets Collision avoidance Mobile robots Optimization Resource management

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A Matlab-based interactive simulator for mobile robotics

A Matlab-based interactive simulator for mobile robotics

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Ramon Gonzalez Cristian Mahulea Marius Kloetzer Aragón Institute of Engineering Research (I3A) University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania

This paper presents an open-source Matlab-based interactive software tool for teaching mobile robotics in introductory courses. In particular, it deals with the subjects: modeling, path planning, and motion control. This simulator offers the advantage of testing different aspects related to these fundamental topics and instantly seeing the result in a Graphical User Interface (GUI). This fact leads to a high realism in interactivity, while no previous knowledge in Matlab or programming is required. Additionally, it constitutes an easily scalable tool, the GUI has been properly designed with just one single window with straightforward and intuitive buttons, icons, and figures. Some illustrative examples demonstrate the benefits of the proposed simulator.

关键词： Mobile robots Trajectory Wheels MATLAB

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Spectral design of output feedback controllers for systems pre-compensated by input shapers 12

Spectral design of output feedback controllers for systems p...

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12th IFAC Workshop on Time Delay Systems, TDS 2015

作者： Pilbauer, Dan Vyhlídal, Tomáš Michiels, Wim Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 166 07 Praha 6 Czech Republic Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium

The primary objective is to investigate the applicability of spectral methods for designing feedback controllers for a closed loop system with an input shaper with time delays. The shaper is included in the feedback loop in order to pre-compensate low-damped oscillatory modes of a flexible subsystem. However, after inserting a shaper into the feedback loop, the closed loop dynamics becomes infinite dimensional. A robust controller design then requires guaranteeing that all the infinitely many poles of the closed loop system will safely be located in the left half of the complex plane. Besides, the closed loop dynamics need to be sufficiently fast in order to take over and keep filtering properties of the input shaper. For the spectral design of the controller, the recently developed spectral abscissa minimization approach for interconnected time delay systems is applied. The presented methods are tested on a case study simulation example, which is a multi-degree of freedom mechanical system. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Closed loop systems

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Unsupervised HEp-2 mitosis recognition in Indirect Immunofluorescence Imaging

Unsupervised HEp-2 mitosis recognition in Indirect Immunoflu...

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

作者： Simone Tonti Santa Di Cataldo Enrico Macii Elisa Ficarra the Dept. of Computer and Control Engineering at Politecnico di Torino Cso Duca degli Abruzzi 24 10129 Torino Italy

ISBN: (纸本)9781424492695

Automated HEp-2 mitotic cell recognition in IIF images is an important and yet scarcely explored step in the computer-aided diagnosis of autoimmune disorders. Such step is necessary to assess the goodness of the HEp-2 samples and helps the early diagnosis of the most difficult or ambiguous cases. In this work, we propose a completely unsupervised approach for HEp-2 mitotic cell recognition that overcomes the problem of mitotic/non-mitotic class imbalance due to the limited number of mitotic cells. Our technique automatically selects a limited set of candidate cells from the HEp-2 slide and then applies a clustering algorithm to identify the mitotic ones based on their texture. Finally, a second stage of clustering discriminates between positive and negative mitoses. Experiments on public IIF images demonstrate the performance of our technique compared to previous approaches.

关键词： goodness HEp-2 samples helps

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An Inertial Sensor based Balance and Gait Analysis System

An Inertial Sensor based Balance and Gait Analysis System

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IEEE International Symposium on Circuits and Systems

作者： Wei-Hsin Wang Pau-Choo Chung Guo-Liang Yang Chien-Wen Lin Yu-Liang Hsu Ming-Chyi Pai Dept. of Electrical Engineering National Cheng Kung University Tainan Taiwan (China) Dept. of Automatic Control Engineering Feng Chia University Taichung Taiwan (China) Dept. of Neurology and Alzheimer's Disease Research Center National Cheng Kung University Tainan Taiwan (China)

ISBN: (纸本)9781479983926

Time-up and Go Test (TUGT) is a common clinical motility test for the elderly. Currently it is measured manually, which is human resource consuming, less accurate, and limited in capability of measuring sophisticated parameters. In this paper, we propose a system consisting of three inertial-sensor-based measuring components, a remote controller, and an analysis software for automatic balance and gait analysis in TUGT. This system is designed to be of easy use with the software automatically measuring the time intervals of stand-up time, sit-down time, and the total time of test. In addition, the system can also obtain the gait information of stride time, swing time, and stance time. To validate the system, we compared the performance with that obtained from stopwatch using videos as the gold standard. The results indicate that the system not only provides a convenient way of measurement but also achieves higher accurate and reliable measurement results than using stopwatch. We use this system to compare the Alzheimer's disease patients (ADs) with health controllers (HCs). The results show that the ADs need longer stand-up time, sit-down time, and total time while taking the TUGT compared to the HCs. The stride time, swing time, and stance time are also longer than the HCs'. Such a friendly system provides high potential in tracking long-time patterns for diagnosis.

关键词： Time-Up and Go Test inertial sensor Alzheimer's disease

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Fuzzy control of an anaerobic digestion process

Fuzzy control of an anaerobic digestion process

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

作者： Radu-Emil Precup Claudia-Adina Bojan-Dragos Marian Barbu Sergiu Caraman Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Dept. of Automatic Control and Electrical Engineering “Dunarea de Jos” University of Galati Galati Romania

The paper proposes a simple Takagi-Sugeno PI-fuzzy controller for an anaerobic digestion process. A fifth order nonlinear model of the anaerobic digestion process is first presented. A second order linear model of the process is next proposed, and the parameters of the linear model are obtained from an optimization problem solved by a Gravitational Search Algorithm. A PI controller is designed for the linear process model using a frequency domain approach in terms of imposing the phase margin. The Takagi-Sugeno PI-fuzzy controller is designed on the basis of the linear PI controller. The Takagi-Sugeno PI-fuzzy controller is validated by simulation using the nonlinear process model in the fuzzy control system.

关键词： Mathematical model Process control control systems Fuzzy control Takagi-Sugeno model Modeling Biological system modeling

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Active fault diagnosis in sampled-data systems 9

Active fault diagnosis in sampled-data systems

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Niemann, Henrik Poulsen, Niels Kjølstad Department of Electrical Engineering Automation and Control Technical University of Denmark Building 326 Kgs. LyngbyDK-2800 Denmark Dept. of Applied Mathematics and Computer Science Section for Dynamical Systems Technical University of Denmark Kgs. LyngbyDK-2800 Denmark

The focus in this paper is on active fault diagnosis (AFD) in closed-loop sampleddata systems. Applying the same AFD architecture as for continuous-time systems does not directly result in the same set of closed-loop matrix transfer functions. For continuous-time systems, the LFT (linear fractional transformation) structure in the connection between the parametric faults and the matrix transfer function (also known as the fault signature matrix) applied for AFD is not directly preserved for sampled-data system. As a consequence of this, the AFD methods cannot directly be applied for sampled-data systems. Two methods are considered in this paper to handle the fault signature matrix for sampled-data systems such that standard AFD methods can be applied. The first method is based on a discretization of the system such that the LFT structure is preserved resulting in the same LFT structure in the fault signature matrix as obtained for continuous-time systems. The other method is an approximation method, where the same structure is obtained for small parametric faults. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Continuous time systems

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Improved Drive Cycle Following with an ILC Supported Driver Model ∗

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IFAC-PapersOnLine 2015年第15期48卷 347-353页

作者： Lars Eriksson Mikael Norrlöf Lars Eriksson is with Vehicular Systems Dept. of Electrical Engineering Linköping University SE-581 83 Linköping Sweden Mikael Norrlöf is with Automatic Control Dept. of Electrical Engineering Linköping University SE-581 83 Linköping Sweden and ABB AB - Robotics SE-721 68 Västerås Sweden

Drive cycle following is important for concept comparisons when evaluating vehicle concepts, but it can be time consuming to develop good driver models that can achieve accurate following of a specific velocity profile. Here, a new approach is proposed where a simple driver model based on a PID controller is extended with an Iterative Learning control (ILC) algorithm. Simulation results using a nonlinear vehicle and control system model show that it is possible to achieve very good cycle following in a few iterations with little tuning effort. It is also possible to utilize the repetitive behavior in the drive cycle to accelerate the convergence of the ILC algorithm even further.

关键词： Vehicle control learning powertrain

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