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Identification of Gaussian Process State-Space Models with Particle Stochastic Approximation EM

IFAC Proceedings Volumes 2014年第3期47卷 4097-4102页

作者： Roger Frigola Fredrik Lindsten Thomas B. Schön Carl E. Rasmussen Dept. of Engineering University of Cambridge United Kingdom Div. of Automatic Control Linköping University Sweden Dept. of Information Technology Uppsala University Sweden

Gaussian process state-space models (GP-SSMs) are a very flexible family of models of nonlinear dynamical systems. They comprise a Bayesian nonparametric representation of the dynamics of the system and additional (hyper-)parameters governing the properties of this nonparametric representation. The Bayesian formalism enables systematic reasoning about the uncertainty in the system dynamics. We present an approach to maximum likelihood identification of the parameters in GP-SSMs, while retaining the full nonparametric description of the dynamics. The method is based on a stochastic approximation version of the EM algorithm that employs recent developments in particle Markov chain Monte Carlo for efficient identification.

关键词： System identification Bayesian Non-parametric identification Gaussian processes

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MATLAB tools for the analysis of Petri net models

MATLAB tools for the analysis of Petri net models

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jorge Júlvez Mihaela H. Matcovschi Octavian Pastravanu Dept. of Computer Science and Systems Engineering Univ. of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University “Gh. Asachi” of Iasi Romania

The paradigm of Petri nets offers a rich modeling power that has been successfully exploited in many different application domains as manufacturing, logistic, traffic, computer and biological domains. In order to develop and analyze Petri models in an efficient and systematic way, appropriate software tools are required. Among the existing software platforms for scientific software development, MATLAB places at the user's disposal a large set of toolboxes with an inutitive graphical interface. This paper describes some of the existing Petri net toolboxes that have been developed on MATLAB, and that cover the needs for the modeling and analysis of discrete, continuous and hybrid systems.

关键词： Computational modeling Semantics Servers Petri nets MATLAB Analytical models

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Cyclic scheduling of multimodal concurrently flowing processes

Cyclic scheduling of multimodal concurrently flowing process...

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International Conference on Systems Science, ICSS 2013

作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew Koszalin University of Technology Dept. of Computer Science and Management ul. Sniadeckich 2 Koszalin75-453 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Warsaw University of Technology Dept. of Business Informatics Warsaw Poland

ISBN: (纸本)9783319018560

The problem of cyclic scheduling of multimodal concurrent processes (MCPs) is considered. Processes composed of sub-sequences of local cyclic processes (LCPs) are treated as multimodal processes, e.g. in case local processes encompass the subway lines network the relevant multimodal processes can be seen as passengers traveling itineraries this network. Since LCPs network implies a MCPs behavior, the following fundamental questions arise: Does the given LCPs network guarantee an assumed cyclic schedule of the MCPs at hand? Does there exist the LCPs network such that an assumed cyclic schedule of MCPs can be achieved? In that context our contribution is to propose a declarative framework allowing one to take into account both direct and reverse problems formulation. © Springer International Publishing Switzerland 2014.

关键词： Scheduling

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Visual analysis based on dominator trees with application to personalized eLearning

Visual analysis based on dominator trees with application to...

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13th International Conference on Advances in Web-Based Learning, ICWL 2014

作者： Laura, Luigi Nanni, Umberto Temperini, Marco Dept. of Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome Via Ariosto 25 00185 Roma Italy Sapienza Università di Roma Italy

ISBN: (纸本)9783319096346

The visualization of large graphs in interactive applications, specifically on small devices, can make harder to understand and analyze the displayed information. We show as simple topological properties of the graph can provide an efficient automatic computation of properties which improves the "readability" of a large graph by a proper selection of the displayed information. We show an approach to the visualization of a learning activity based on connectivity and related concepts as effective tools for visual analysis by learners, and by administrator of a repository. © 2014 Springer International Publishing.

关键词： Visualization

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A ΓZ-source based hybrid power converter for battery-fuel cell hybrid electric vehicle

A ΓZ-source based hybrid power converter for battery-fuel c...

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UKACC International Conference on control (control)

作者： Jun Cai Qing-Chang Zhong David Stone Dept. Automatic Control and Systems Engineering University of Sheffield Sheffield UK Dept. Electronics and Electrical Engineering University of Sheffield Sheffield UK

Low cost and high reliability are the main issues considered in power converter design for hybrid electric vehicle. In this paper, a hybrid power converter is proposed for the power flow control of the battery-fuel cell hybrid electric vehicle. The converter consists of a unidirectional Γ Z-source converter and a bidirectional DC-DC converter. By controlling the voltage of the Z source capacitor and the modulation index of the inverter, the power flow between the fuel cell, battery and the load can be controlled flexibly. The different operation modes of the system and the power flow control strategies are analysed. To verify the validity of the proposed power converter topology and the control methods, system simulation model is developed in Matlab/Simulink environment. In addition, the simulation model is also implemented in the RT-LAB real-time simulator. The simulation results demonstrated the feasibility of the proposed methods.

关键词： Inverters Batteries Fuel cells Hybrid power systems Load modeling control systems Real-time systems

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ESC-MRAC of MIMO systems for constrained robotic motion tasks in deformable environments

ESC-MRAC of MIMO systems for constrained robotic motion task...

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European control Conference (ECC)

作者： Vasiliki Koropouli Azwirman Gusrialdi Dongheui Lee Institute of Automatic Control Engineering Technische Universität München München Germany Dept. of Electrical Engineering and Computer Science University of Central Florida USA

ISBN: (纸本)9781479947287

Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or the environment and result in poor performance. Instead, a sophisticated control policy is required, which can adjust to the varying conditions of a task while taking into account the coupling of motion dynamics between different directions of movement. To this aim, in this paper, we propose a MIMO Extremum Seeking control (ESC)-Model Reference Adaptive control (MRAC) approach with the view of executing fine motion tasks in presence of uncertain task dynamics. ESC enhances robustness of the system to non-parametric uncertainties compared to single MRAC. The proposed approach ensures state tracking as well as optimization of a global state-dependent cost criterion in all directions of movement. We evaluate our approach in simulations and in a real-world robotic engraving task.

关键词： MIMO Tracking Dynamics Vectors Uncertainty Adaptation models Robots

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Design of robust observers for positive delayed interval systems

Design of robust observers for positive delayed interval sys...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Ines Zaidi Mohamed Chaabane Fernando Tadeo Dept. of Systems Engineering and Automatic University of Valladolid Valladolid Spain Dept. of Control of Industrial Processes University of Sfax Sfax Tunisia

This paper is concerned with the design of positive observers for positive interval systems with time delay. For that, a solution based on LMI programming is provided to the problem of designing observers that ensure guaranteed bounds on the estimated states that are nonnegative whenever the initial conditions are nonnegative. Furthermore, it is revealed that an unstable positive system cannot be positively stabilized without taking into account the positivity of the dynamic errors. Then, the problem of positive stabilization by dynamic feedback controllers based observer is investigated, taking into account that the positivity of the error signals is necessary to stabilize a positive system and keep it positive at the same time. We derive then necessary and sufficient conditions for the existence of positive observers and show that the solvability can be decided via LMI (Linear Matrix Inequalities) programming techniques.

关键词： Indexes control systems Delays Artificial intelligence

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QoS aware platform for dependable sensory environments

QoS aware platform for dependable sensory environments

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IEEE International Conference on Multimedia and Expo Workshops (ICMEW)

作者： Aitor Agirre Jorge Parra Elisabet Estévez Marga Marcos IK4-Ikerlan Arrasate Spain Dept. of Electronics and Automatic Engineering Universidad de Jaén Jaén Spain Dept. of Automatic Control and Systems Engineering UPV/EHU Bilbao Spain

ISBN: (纸本)9781479947164

Sensory environments for healthcare are commonplace nowadays. A patient monitoring system in such an environment deals with sensor data capture, transmission and processing in order to provide on-the-spot support for monitoring the vulnerable and critical patient. A fault in such a system can be hazardous on the health of the patient. Therefore, such a system must be dependable and ensure reliability, fault-tolerance, safety and other critical aspects, in order to deploy it in real scenario. This paper encounters some of these issues and proposes a component platform to develop a flexible framework with specific support for fault tolerance and safe inter-component communication related QoS aspects. The platform adopts the Service Component Architecture (SCA) model and defines a Data Distribution Service (DDS) binding, which provides the fault tolerance and the required safety-ensuring techniques and measures, as defined in the IEC 61784-3-3 standard.

关键词： Safety Quality of service Fault tolerance Fault tolerant systems Middleware Standards Medical services

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Recursive estimation of selective catalyst reduction system parameters using modified Gauss-Newton method

Recursive estimation of selective catalyst reduction system ...

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2014 American control Conference, ACC 2014

作者： He, Fei Guan, Xiaohong Grimble, Mike Sun, Min Clegg, Andy Industrial Control Centre Dept. of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XQ United Kingdom Industrial Systems and Control Ltd Culzean House 36 Renfield Street Glasgow G2 1LU United Kingdom Powertrain Advanced Controls General Motors United States Dept. of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781479932726

Selective catalytic reduction (SCR) system is a complex chemical process which is used to treat exhaust gas in many applications, e.g. diesel engines in automobiles. An SCR model was constructed by General Motors (GM) and the problem considered was to estimate the unknown kinetic parameters on-line taking into account aging effects. There are a number of application constraints that must be taken into consideration, including inaccessible model structure, parametric identifiability difficulties and limited measurement data. In this work, the complexity and identifiability of this estimation problem is investigated through global sensitivity analysis and cost-function based analysis methods. One of the problems is to determine the parameters where the model is most sensitive and should thus be estimated onboard. A modified Gauss-Newton method was proposed and evaluated for this estimation problem. Simulation studies have confirmed that sensitive kinetic parameters of the SCR model can be estimated and tracked recursively using the proposed method. © 2014 American automatic control Council.

关键词： Selective catalytic reduction

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Representation and execution of social plans through Human-Robot collaboration

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8755卷 266-275页

作者： Nardi, Lorenzo Iocchi, Luca Dept. of Computer Control and Management Engineering Sapienza University of Rome Italy

ISBN: (纸本)9783319119724

The use of robots in people daily life and, accordingly, the requirement for a robot to behave in a socially acceptable way are getting more and more attention. However, although many progresses have been done in the last years, robots still have many limitations when they are required to share the environment with *** this paper, we define the concept of social plans combining two main ideas: the definition of social behaviors for enabling a robot to live with humans and the establishment of a symbiotic relationship among robots and humans to overcome robots’ limitations. Social plans are plans containing both robot and human actions and we provide an execution model for them where human actions are replaced by a human-robot collaboration scheme in which the robot actively drives the interaction with a human in order to obtain the desired effect. A fully implemented system has been realized following this idea and different examples are provided in order to demonstrate the effectiveness of the approach. © 2014 Springer International Publishing Switzerland.

关键词： Human robot interaction

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