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Algebraic Synthesis for Online Adaptation of Dependable Discrete control systems

IFAC Proceedings Volumes 2013年第22期46卷 61-66页

作者： Christian Hillmann Olaf Stursberg Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel (Germany)

Common practice in industrial design of discrete controllers as well as in most synthesis procedures advocated for discrete control in academia is to create the control logic and to transfer it into a PLC language before process start-up. Changes in the operational constraints of the controlled process (e.g. of available resources, nominal set-points, occurrences of failures) have to be accounted for by dedicated alternative routines, i.e. dependability is restricted to variations which are envisaged during design. In contrast, the approach proposed in this paper operates online on a model of the uncontrolled process to compute a control strategy that is adapted to the current set of constraints. By using algebraic computations largely resembling techniques for discrete-time continuous-valued controllers, perceived process variations (including newly defined control-goals) are first assessed with respect to the existence of a feasible successful control strategy, before such a dependable and optimal strategy is computed.

关键词： Adaptation Algebraic approaches Automata control system synthesis.

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An algorithm for sizing photovoltaic pumping systems for tomatoes irrigation

An algorithm for sizing photovoltaic pumping systems for tom...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Imene Yahyaoui Maher Chaabene Fernando Tadeo Dept. Electrical Engineering University of Sfax Tunisia Dept. Systems Engineering and Automatic Control University of Valladolid Spain

ISBN: (纸本)9781479914630

This paper presents an algorithm to optimize the size of the components of a photovoltaic pumping installation, composed of photovoltaic panels and a battery bank. The decision is made on the basis of the measured Photovoltaic Panel Generation, the required power for the load, the needed water quantity for the crops and the correct operation of the battery. The algorithm aims to ensure the system autonomy, minimize the unused energy and fulfill the water demand. Some tests of the algorithm are shown in order to demonstrate that the approach fulfills these objectives.

关键词： Batteries Photovoltaic systems Solar radiation Sun Irrigation

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Greedy sparse spectral factorization using reduced-size Gram matrix parameterization

Greedy sparse spectral factorization using reduced-size Gram...

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European Signal Processing Conference (EUSIPCO)

作者： Bogdan C. Şicleru Bogdan Dumitrescu Dept. of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania

In this paper we deal with retrieving the spectral factor for an autocorrelation polynomial with only a few nonzero elements. The algorithm is based on the representation of polynomials using sparse bases. We search in a greedy way for a basis by removing elements from the basis of the autocorrelation polynomial and extracting the spectral factor, using a semidefinite program. The algorithm stops when no other solution can be obtained with a smaller basis. Our algorithm appears to be faster and can be more accurate than previous methods.

关键词： Polynomials Correlation Signal processing algorithms Sparse matrices Indexes Algorithm design and analysis Convex functions

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Actual portable devices as base for telemedicine and e-health: Research and case study application

Actual portable devices as base for telemedicine and e-healt...

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E-Health and Bioengineering Conference (EHB)

作者： Ciprian Lupu Mihai Cosmin-Constantin Dept. of Automatic Control and Systems' Engineering University Politehnica of Bucharest Bucharest Romania

Present paper presents an application designed to help paramedics or other intervention personal to diagnose and monitor the state of victims in remote or difficult to access areas using Windows 8 tablet computers. The application is written in Visual C# and uses the latest programming technologies and security features. It will help measure the Glasgow Coma Scale, respiration, pulse, blood pressure of victims and pass on data to a remote centralized management system using wireless signals, such as wireless internet and Bluetooth.

关键词： Hardware Servers Kernel Accuracy

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Enhanced visualization of cerebral blood vessels for X-ray angiograms

Enhanced visualization of cerebral blood vessels for X-ray a...

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E-Health and Bioengineering Conference (EHB)

作者： Irina Tache Dan Stefanoiu Andreea Udrea Ciprian Lupu Dept. of Automatic Control and Systems' Engineering University Politehnica of Bucharest Bucharest Romania

Neurologists frequently use X-ray angiographic techniques in order to establish the optimal treatment or intervention procedure. Neurosurgeries performed at blood vessels level are difficult procedures because of the low accessibility in the human brain. Therefore, the establishment of a correct diagnosis based on angiographies is of paramount importance. Enhanced visualization of blood vessels by separating veins and arteries from background can help, in many cases, in giving a more accurate diagnosis. In this article, three methods for arteries and veins classification and enhanced visualization are presented. From our study, it results that, using coefficients of wavelet transform as parameters for the classification, a better visual representation of small vessels is achieved.

关键词： Veins Arteries Wavelet transforms Time series analysis Visualization Angiography

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Teaching robotics and virtual reality in a synergistic approach

Teaching robotics and virtual reality in a synergistic appro...

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IEEE International Conference on E-Learning in Industrial Electronics, ICELIE

作者： Catalin Buiu Andreea Buga Andreea Monica Coman Dept. of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania

This paper presents a successful implementation of an undergraduate robotics and virtual reality course that builds upon the synergies existing between these two areas in order to introduce computers and information technology students to some fundamental concepts, through the use of simulation, experiments on real robots and design of robotic creatures in virtual environments. Course objectives, methodological aspects and the main technical solutions are presented in detail. A survey has been proposed in order to evaluate the impact of this course, and parts of it are presented and commented.

关键词： Solid modeling Education Laboratories Augmented reality Educational robots

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Regularization strategies for nonparametric system identification

Regularization strategies for nonparametric system identific...

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IEEE Annual Conference on Decision and control

作者： A. Chiuso T. Chen L. Ljung G. Pillonetto Dept. of Information Engineering Universty of Padova Division of Automatic Control Linkoping University

ISBN: (纸本)9781467357159

In the recent years several regularization strategies have been proposed to tackle linear system identification problems. One line of work has concentrated on designing and studying the properties of several Kernels for l_2-type regularization in impulse response estimation;a second stream of work has proposed using Nuclear Norm type of penalties on certain Hankel data matrices, aiming at favoring (almost) low rank solutions in subspace type procedures. The goal of this paper is twofold: (i) bring all these ideas under a common umbrella also proposing an algorithm which combines different penalties and (ii) provide a first comparison between different approaches.

关键词： system identification penalty Hankel IMPULSE RESPONSE UMBRELLA Linear system

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Bayesian Inference and Learning in Gaussian Process State-Space Models with Particle MCMC 13

Bayesian Inference and Learning in Gaussian Process State-Sp...

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Annual Conference on Neural Information Processing systems

作者： Roger Frigola Fredrik Lindsten Thomas B. Schoen Carl E. Rasmussen Dept. of Engineering University of Cambridge UK Div. of Automatic Control Linkoeping University Sweden Div. of Automatic Control Linkoeping University SwedenDept. of Information Technology Uppsala University Sweden

ISBN: (纸本)9781632660244

State-space models are successfully used in many areas of science, engineering and economics to model time series and dynamical systems. We present a fully Bayesian approach to inference and learning (i.e. state estimation and system identification) in nonlinear nonparametric state-space models. We place a Gaussian process prior over the state transition dynamics, resulting in a flexible model able to capture complex dynamical phenomena. To enable efficient inference, we marginalize over the transition dynamics function and, instead, infer directly the joint smoothing distribution using specially tailored Particle Markov Chain Monte Carlo samplers. Once a sample from the smoothing distribution is computed, the state transition predictive distribution can be formulated analytically. Our approach preserves the full nonparametric expressivity of the model and can make use of sparse Gaussian processes to greatly reduce computational complexity.

关键词： Bayes methods Bayesian inference Learning Gaussian processes State Change Gauss State estimation system identification DYNAMICAL systemS Markov chain monte carlo methods complexity classes smoothing economics State space models

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On the Linear Active Rejection control of Thomson's Jumping Ring

On the Linear Active Rejection Control of Thomson's Jumping ...

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American control Conference

作者： M. Ramirez-Neria J. L. Garcia-Antonio H. Sira-Ramirez M. Velasco-Villa R. Castro-Linares Automatic Control Dept. Cinvestav-IPN Mechatronics Section of the Electrical Engineering Department of Cinvestav-IPN

ISBN: (纸本)9781479901777

The problem of tracking a smooth time-varying reference trajectory for Thomson's ring is addressed from the perspective of Active Disturbance Rejection control (ADRC). The tracking controller is designed on the basis of the tangent linearization model of the nonlinear system around a constant equilibrium point. The large height deviations, outside the region of validity of the approximate linearization, trigger the effect of unknown nonlinearities and exogenous perturbations. These disturbances are properly on-line estimated and canceled with the help of a linear extended observer-linear controller based output feedback control scheme. Experimental results are presented which validate the effectiveness of the proposed control scheme.

关键词： Output Feedback control Nonlinear systems Linearization Ring device rings Jumping Annulus Perspective tracking controller Rejection (Psychology)

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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