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IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

作者： Akanyeti, O. Fiorini, P. Billings, S.A. Dept. of Computer Science University of Verona Italy Dept. of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781457711589

In this paper we address the question of "Why is it that a mobile robot, programmed in a certain way and placed in some environment to execute a program, behaves in the way it does?". We present three real world experiments in which we first obtain transparent controllers to express sensor-motor couplings of a mobile robot. We then use these models to analyze the robot behaviour formally;in particular to understand how the sensor readings are related to motor commands, to evaluate the derived controllers from a mathematical point of view and even to predict the behaviour of the robot in untested environments. © 2011 IEEE.

关键词： Mobile robots

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Securing JPEG architecture based on enhanced chaotic hill cipher algorithm

Securing JPEG architecture based on enhanced chaotic hill ci...

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2011 International Conference on Computer engineering and systems, ICCES'2011

作者： Hamissa, Ghada Sarhan, Amany Abdelkader, Hatem Fahmy, Mahmoud Electrical Engineering Dept. Faculty of Engineering KFS University Kafr-Elsheikh Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Information System Dept. Faculty of Comp. and Info. Menoufia University Menoufia Egypt

ISBN: (纸本)9781457701283

In the last two decades, Chaos theory has received a great deal of attention from the cryptographic community. This paper presents two ideas. First idea is using chaotic functions to overcome the weaknesses of the classical Hill cipher. The second idea is proposing a new encoder-decoder architecture, called ChaoEncoDeco, for securing JPEG images. An extra stage of encryption is embedded within the traditional JPEG codec to improve security level of such system. This security stage uses one of the chaotic functions called Logistic Map. This map is used to enhance the Hill cipher and achieve more secure encryption key. The properties of both chaotic system and of the Hill cipher encryption key are all utilized to obtain ultimate secure systems. The proposed encryption algorithm is crypto-analyzed and compared to the standard Hill cipher algorithm. Complete evaluation for the proposed architecture is also performed which indicates the effectiveness of the proposed system. © 2011 IEEE.

关键词： Cryptography

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Multidimensional performance optimization of switched reluctance machines

Multidimensional performance optimization of switched reluct...

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2011 23rd International Symposium on Information, Communication and Automation Technologies, ICAT 2011

作者： Smaka, S. Mašić, Š. Ćosović, M. Konjicija, S. Dept. of Power Electrical Engineering Faculty of Electrical Engineering Sarajevo Bosnia and Herzegovina Dept. of Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9781457707469

This paper presents a procedure for optimization of the switched reluctance drive, in order to achieve required torque-speed characteristics. SRM configuration and characteristics are given, and experimental verification of the modeled characteristic is presented. Genetic algorithm (GA) was used for optimization of turn-on angle, turn-off angle and voltage, which represent basic control inputs. The achieved results suggest that the machine's geometry should be optimized as well. © 2011 IEEE.

关键词： Genetic algorithms

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Editorial

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The International Journal of Robotics Research 2012年第13期31卷 1529 - 1530页

作者： Sami Haddadin Paolo Robuffo Giordano Angelika Peer Robotics and Mechatronics Center German Aerospace Center (DLR) Münchner Straße 20 81377 Wessling Germany Max Planck Institute for Biological Cybernetics Dept. Bülthoff Spemannstraße 38 72076 Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Theresienstraße 90 80333 München Germany

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on Electrical, control and Computer engineering

作者： Ibrahim, B.S.K.K. Tokhi, M.O. Huq, M.S. Gharooni, S.C. Dept. of Mechatronics and Robotics Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612842288

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion. © 2011 IEEE.

关键词： Genetic algorithms

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Modeling and optimization of a grade change for multistage polyethylene reactors

Modeling and optimization of a grade change for multistage p...

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作者： Larsson, Per-Ola Åkesson, Johan Haugwitz, Staffan Andersson, Niklas Dept. of Automatic Control Lund University Lund Sweden Borealis AB Stenungsund Sweden Dept. of Chemical Engineering Lund Unversity Lund Sweden

ISBN: (纸本)9783902661937

Grade changes in polyethylene reactors, i.e., changes of operating conditions, are performed on a regular basis to adapt to market demands. In this paper, a dynamic optimization procedure is presented built upon the Modelica language extended with Optimica constructs for formulation of optimization problems. A Modelica library for the Borstar ® multistage polyethylene reactors at Borealis AB, consisting of two slurry and one gas phase reactor, has been constructed. Using ***, a framework to translate dynamic optimization problems to NLP problems, optimal grade transitions between grades currently used at Borealis AB, can be calculated. Optimal inows and grade key variables are shown. © 2011 IFAC.

关键词： Optimization

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Evaluation of breast cancer risk by using fuzzy logic

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UPB Scientific Bulletin, Series C: Electrical engineering 2011年第1期73卷 53-64页

作者： BalanicǍ, Victor Dumitrache, Ioan Caramihai, Mihai Rae, William Herbst, Charles Dept. of Automatic Control and System Engineering University POLITEHNICA of Bucharest Romania Bloemfontein South Africa

The decision process for selecting the best-suited follow-up treatment for a suspected breast cancer case is strongly dependent upon the correct diagnosis and assessment of the breast cancer risk. Despite the latest technological developments, the methods and criteria used to quantify the characteristics of detected lesion, so as to define the developmental stage of the breast cancer, and thus to finally arrive at a reliable (most probable) risk estimate, are still subjective and poorly defined for many clinicians. The present paper introduces a set of fuzzy rules that can be used to process the relevant data from breast cancer cases in order to give a breast cancer risk prognosis which can be qualitatively compared to that of an expert.

关键词： Diseases

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On the integration of skilled robot motions for productivity in manufacturing

On the integration of skilled robot motions for productivity...

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IEEE International Symposium on Assembly and Manufacturing

作者： Bjorkelund, Anders Edstrom, Lisett Haage, Mathias Malec, Jacek Nilsson, Klas Nugues, Pierre Robertz, Sven Gestegard Storkle, Denis Blomdell, Anders Johansson, Rolf Linderoth, Magnus Nilsson, Anders Robertsson, Anders Stolt, Andreas Bruyninckx, Herman Dept. of Computer Science Lund University Sweden Dept of Automatic Control Lund University Sweden Dept. of Mechanical Engineering K.U. Leuven Belgium

ISBN: (纸本)9781612843438

Robots used in manufacturing today are tailored to their tasks by system integration based on expert knowledge concerning both production and machine control. For upcoming new generations of even more flexible robot solutions, in applications such as dexterous assembly, the robot setup and programming gets even more challenging. Reuse of solutions in terms of parameters, controls, process tuning, and of software modules in general then gets increasingly important. There has been valuable progress within reuse of automation solutions when machines comply with standards and behave according to nominal models. However, more flexible robots with sensor-based manipulation skills and cognitive functions for human interaction are far too complex to manage, and solutions are rarely reusable since knowledge is either implicit in imperative software or not captured in machine readable form. We propose techniques that build on existing knowledge by converting structured data into an RDF-based knowledge base. By enhancements of industrial control systems and available engineering tools, such knowledge can be gradually extended as part of the interaction during the definition of the robot task. © 2011 IEEE.

关键词： Manufacture

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QoS enabled application management platform over DDS

QoS enabled application management platform over DDS

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Workshop on Posters and Demos Track, PDT'11 - 12th International Middleware Conference, Middleware'11

作者： Agirre, Aitor Estévez, Elisabet Marcos, Marga Ikerlan-IK4 Arizmendiarrieta 2 20500 Arrasate Spain Dept. Of Electronics and Automatic Control EPS Jaén Universidad de Jaén Jaén Spain Dept. of Automatic Control and Systems Engineering ETSI Bilbao UPV/EHU Bilbao Spain

ISBN: (纸本)9781450310734

Distributed Real Time systems (DRTS) are getting more and more complex, dynamic, open, while interacting with a progressively more demanding and heterogeneous environment. In such an scenario middleware technologies that provide realtime or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes a component based applications management platform built on top of DDS that provides an easy way to deploy, configure and manage component based distributed applications, while ensuring the fulfillment of certain QoS aspects. © 2011 ACM.

关键词： Fault tolerance

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Simulation of radar topology networks to evolve the electronic warfare survivability metrics

Simulation of radar topology networks to evolve the electron...

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International Conference on Electronic Computer Technology

作者： Waghray, Namrita Menghal, P.M. Radar and Control System Dept. Faculty of Electronics Military College of Electronics and Mechanical Engineering Secunderabad 500 015 India

ISBN: (纸本)9781424486779

Electronic warfare is a military action whose objective is to control the electromagnetic spectrum. To accomplish this objective, both offensive electronic attack (EA) and electronic protection (EP) actions are required. In addition electronic warfare support (ES) actions are essential to supply the intelligence and threat recognition that allow implementation of both EA and EP. Commanders must prepare to operate weapons systems in an intensive and non-permissive electromagnetic environment. Mission accomplishment requires awareness, dynamic planning, and flexibility at all levels of war. The Information system is a rescue in this critical task. It has been proposed to develop the EW Intelligent Information system that deals with processing of electronic warfare, communications, radar, war missions etc. In this work, design and implementation of such an intelligent system is offered. Using artificial intelligence, this system aims at achieving the best performance with a friendly system in spite of the existence of hostile actions. This system deals with different sources of data. It helps visualize mission scenarios, decides the mission suitability and the best EA and ES methods accordingly. This work handles a nonlinear optimization problem with multiple variables and constraints. Closed form and exact solutions of such problems are computationally difficult. Therefore, the paper proposes the use of artificial intelligence mainly the fuzzy logic and neural networks approach to tackle this problem. Traditionally, large databases of information require complex problem solving techniques. However, the use of AI provides a simple yet computationally manageable solution for this issue. © 2011 IEEE.

关键词： Membership functions

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