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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： Haiying Liu W.-S. Lu Max Q.H. Meng School of Control Science and Engineering Shandong University Jinan China Dept. of Electrical and Computer Engineering University of Victoria Victoria Canada

Wireless capsule endoscopy (WCE) has been widely adopted to diagnose diseases in human intestine on account of its convenience and invasiveness to the patients. Due to complicated environment of the intestine and intrinsic restrictions of the equipment in terms of image acquisition and transmission, however, raw WCE images are often blurred and noise contaminated. In this paper, we report several new developments for the restoration of color WCE images in a total variation (TV) minimization framework. Specifically, the monotone fast iterative shrinkage/thresholding algorithm combined with the fast gradient projection algorithm, proposed recently by Beck and Teboulle, is extended to deal with vector-valued (e.g. color) images. The new algorithm also incorporates a bisection technique to tune the weighting parameter of the TV-Frobenius objective function to its optimal value quickly and accurately. Experimental results are presented to demonstrate the performance of the proposed algorithm.

关键词： MATLAB Image restoration

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An under Load Servo Actuator Identification

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IFAC Proceedings Volumes 2011年第1期44卷 5303-5307页

作者： M. Maboodi M.H. Ashtari Larki M. Aliyari Shoorehdeli H. Bolandi Dept. of Computer Engineering Hashtgerd Branch Islamic Azad University Karaj Iran(Tel: 98-021-84062161) Faculty of Electrical Engineering Control Dept. Iran University of Science and Technology Tehran Iran Faculty of Electrical and Computer Engineering Mechatronics Dept. K.N. Toosi University of Technology Tehran Iran

Abstract This paper addresses the experimental identification of a servo actuator which is used in many industrial applications. Because the system consisted of electrical and mechanical components, the behavior of the system was nonlinear. In addition, the under load behavior of this servo was different. The load torque was considered as the input and a two input-one output model was presented for this servo actuator. Special focus was given in order to present a simple model for this servo actuator. The comparison between simulation and experimental results showed the effectiveness of the propose model. The model can be applied as a reference for characterizing different designs and future control strategies.

关键词： Servo Actuator Identification Modeling ARMAX

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Direct Geometrico-Static Problem of Under-Constrained Cable-Driven Parallel Robots with Three Cables

Direct Geometrico-Static Problem of Under-Constrained Cable-...

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Marco Carricato Jean-Pierre Merlet Dept. of Mechanical Engineering (DIEM) University of BolognaBolognaItaly COPRIN Project French National Institute for Research in Computer Science and Control (INRIA)Sophia

This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. In this contribution, a general elimination procedure is provided that solves the direct geometrico-static problem, which consists in determining the platform posture and the cable tensions when the cable lengths are assigned. The problem is proven to have up to 156 complex solutions.

关键词： Polynomials Manipulators Bismuth Robot kinematics Generators

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Increasing Efficiency of Optimization-based Path Planning for Robotic Manipulators

Increasing Efficiency of Optimization-based Path Planning fo...

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IEEE Conference on Decision and control

作者： Hao Ding Gunther Reissig Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany Chair of Control Eng. (LRT-15) Dept. Aerospace Eng. University of the Federal Armed Forces Munich D-85577 Neubiberg (Munich) Germany

ISBN: (纸本)9781612848006

Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. The obstacles can be time-varying in their positions, but the positions should be known or estimated over the prediction horizon for planning the path. This non-convex optimization problem can be approximated by Mixed Integer Programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.

关键词： Path planning Robot Manipulator million instructions per second Manipulators computational time Mixed integer binary decision kinematics

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An interpolation approach for robust constrained output feedback

An interpolation approach for robust constrained output feed...

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IEEE Conference on Decision and control

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd SUPELEC Systems Sciences (E3S) - Automatic Control Dept. France Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Department of Engineering Cybernetics Norwegian University of Science and Technology

ISBN: (纸本)9781612848006

In this paper, we consider the regulation problem for uncertain linear discrete time systems with bounded disturbance, bounded input and bounded output. Based on the input-output representation, an extended state space model is constructed via the delayed inputs and outputs of the systems and hence there is no need for any estimate of the unmeasured states. The control is obtained using an interpolation technique, which assures feasibility and a robustly asymptotically stable closed loop behavior.

关键词： Robustness Interpolation Ellipsoids Lyapunov methods Uncertainty Linear programming Minimization

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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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International Conference on computer Engineering and Systems

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

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.

关键词： Cryptography Image coding Chaos PSNR Transform coding Time measurement Size measurement

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Sliding mode simulation and robustaness controller

Sliding mode simulation and robustaness controller

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International Conference on Engineering and Industries (ICEI)

作者： Ali Amer Ahmed R. B Ahmad Saadi A. Alobaidi Abid Yahya L. A. Hassnawi Z. G. Ali Hazim H. Tahir School of Computer and Communication Engineering University Malaysia Perlis Malaysia Head of Computer Techniques Eng. Dept. Dijlah University College Baghdad Iraq Mechatronics Department Control and Mechatronics Research Ministry of Science and Technology Baghdad Iraq

Thailand has exported longan to international market more than four decades, and China is the main international market. After Thailand and China agreed the ASEAN framework under Free Trade Agreement (FTA) since 2003, the average volume and value of longan export per year during 2004-2010, grow up to 200,000 tons and 2,737 million Baht respectively. And the average of growth rate per year of volume and value is 18%, 15%. Therefore, the objectives of the research aim to investigate the supply chain performance, collaborative supply chain of exported longan and impact factors under Thailand-China FTA. The results are based upon empirical studies, a grower and an exporter. The questionnaires developed by Q-sort technique, have been intensively employed in order to collect data. As a significant result; this paper finds exporters have high level out of eight factors, it illustrates that good competence in business for this part of supply chain as well as are well-packed and much stronger than the grower. Nevertheless, the results from regression analysis also confirm the relationship of factors in all four models. From these experimental results, both international business and agriculture business have to be emphasized in order to manage longan export.

关键词： Equations Mathematical model Switches DC motors Trajectory Dynamics

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An application of fractional intelligent robust controller for electromechanical valve

An application of fractional intelligent robust controller f...

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2011 World Congress on Information and Communication Technologies, WICT 2011

作者： Banerjee, Tribeni Prasad Saha, Suman Das, Swagatam Abraham, Ajith Dept. of Electronics and Telecommunication Engineering Jadavpur University Kolkata 700 032 India CSIR-Central Mechanical Engineering Research Institute Drives and Control System Laboratory Durgapur-713209 West-Bengal India Scientific Network for Innovation and Research Excellence WA United States EU Center of Excellence Faculty of Electrical Engineering and Computer Science VSB - Technical University of Ostrava Czech Republic

ISBN: (纸本)9781467301251

The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter. © 2011 IEEE.

关键词： controllers

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A new adaptive fuzzy sliding mode control using fuzzy self-tuning for 3 DOF planar robot manipulators

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Applied Intelligence 2011年第4期37卷 613-613页

作者： Amer, A. F. Sallam, E. A. Elawady, W. M. Automatic Control Engineering Dept. Faculty of Engineering Arab Academy for Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dept. Faculty of Engineering Tanta University Tanta Egypt

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Investigation of Water Parameters in a River System with a Two‐Dimensional Regression Analysis Model

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AIP Conference Proceedings 2011年第1期1387卷 259-264页

作者： Gabriel Murariu Aurelia Caldararu Lucian Georgescu Mirela Voiculescu Gheorghe Puscasu Alberto Basset aPhysics Chemistry and Environment Department Faculty of Sciences “Dunarea de Jos” University Galati Domneasca Street no. 111 Galati Romania bDepartment of Automatic and Industrial Informatics Faculty of Computer Science “Dunarea de Jos” University Galati Domneasca Street no. 111 Galati Romania cUniversity of Lecce ‐ Dept. of Biological and Environmental Sciences and Technologies Italy

A key step of European Water Framework Directive (WFD) implementation is the ecological status classification and the achievement of good water statuses for all waters, by 2015. In transitional waters, the changing environmental niche induces responses in the macroinvertebrate guilds and macroinvertebrate responses induce uncertainty in the metrics. In this case, the sources of uncertainty in the ecological classification with benthic macroinvertebrates, is addressed by focusing on two major potential sources: spatial heterogeneity and temporal heterogeneity. A coherent study of the series of correlation between the physics and chemistry parameters is needed in order to succeed in reaching a complete picture. In this paper we present a bi‐dimensional regression analysis model dependence of chemistry component by two independent environment variables—temperature and pH. The consistent experimental data set and the regression computation approach lead to a series of interesting outcomes.

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