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Collection of Technical Papers - AIAA Guidance, Navigation, and control Conference

作者： Zhang, Chunlei Ordóñez, Raúl Schumacher, Corey University of Dayton Dayton OH 45469-0226 United States Wright-Potterson AFB Dayton OH 45433-7531 United States Dept. of Electrical and Computer Engineering United States Control Science Division Air Force Research Laboratory United States

ISBN: (纸本)1563476703

We present a possible solution for the multi-vehicle cooperative search problem that is based on the idea of surrogate optimization to adaptively identify a terrain map on-line and use it to produce decentralized controllers yielding trajectories in a coordinated manner. We establish a discrete mathematical model for the multi-vehicle cooperative search stationary target with uncertain prior information. We reformulate the Past, Present and Predicted Future (PPP) algorithm we introduced in previous work based on the new model and propose an implementation to adapt to the new scenario to incorporate uncertain prior information. Monte Carlo simulations indicate that the new implementation achieves better performance. Moreover, the scalability of the PPP algorithm is addressed. Copyright © 2004 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Unmanned vehicles

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Effectiveness of naked-eye vision feedback for training human teleoperators

Effectiveness of naked-eye vision feedback for training huma...

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Asian control Conference

作者： S.R. Munasinghe Ju-Jang Lee T. Usui M. Nakamura N. Egashira Dept of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Dejean Korea Dept. of Advanced Systems Control Engineering Saga University Saga Japan Dept. of Control and Information Systems Engineering Kurume National College of Technology Kurume-City Fukuoka Japan

Effective training is essential for human teleoperators to deliver satisfactory performance in actual tasks. Teleoperation is naturally a very difficult task due to the absence of naked-eye vision that cripples the cognitive behavior of the remote operator. Camera vision somehow is not a satisfactory substitution. However, training with naked-eye vision feedback may help human teleoperators to learn how to deliver satisfactory performance when they actually interact with camera vision. This study was carried out to further investigate this hypothesis, and to quantitatively supplement it with experimental proofs. For this cause, the recently built telerobotic test-bed between KAIST (Korea) and Saga University(Japan) was reshaped to a telerobotic mini-golf system, which is the trial experiment in this study. The performance of the players with and without naked-eye training was compared and quantitatively evaluated. The effectiveness of training with naked-eye vision was verified as an essential part in training human teleoperators.

关键词： Feedback Humans Teleoperators Telerobotics Cameras Testing Internet Graphics computer science control engineering

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Weighted vector directional filters optimized by genetic algorithms

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5th International Conference on Parallel Processing and Applied Mathematics, PPAM 2003

作者： Lukac, Rastislav Smolka, Bogdan Swierniak, Andrzej Plataniotis, Konstantinos N. Venetsanopoulos, Anastasios N. Slovak Image Processing Center Jarkova 343 Dobsina049 25 Slovakia Department of Automatic Control Silesian University of Technology Akademicka 16 Str Gliwice44-101 Poland The Edward S. Rogers Sr. Dept. of Electrical and Computer Engineering University of Toronto 10 King’s College Road Toronto Canada

ISBN: (纸本)3540219463

This paper focuses on genetic optimization and filtering efficiency ofa recently developed class ofWeighted Vector Directional Filters (WVDFs), which minimize the aggregated weighted angular distances between the samples contained in a sliding filtering window. As shown in the paper, the proposed genetically optimized WVDFs hold excellent detail preserving characteristics and are able to remove impulsive noise affecting color images. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Impulse noise

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Adaptive noise reduction in microarray images based on the center-weighted vector medians

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5th International Conference on Parallel Processing and Applied Mathematics, PPAM 2003

ISBN: (纸本)3540219463

In this paper, we provide a new noise reduction method for the enhancement of the images of gene chips. We demonstrate that the new technique is capable of reducing outliers present in microarray images while preserving the spot edges. This paper contains the comparisons of the proposed technique with the standard schemes used in color image filtering, as well as examples of their efficiency when these methods are applied to typical microarray images. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Noise abatement

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Output impedance performance for parallel operation of UPS inverters using wireless and average current-sharing controllers

Output impedance performance for parallel operation of UPS i...

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Annual IEEE Conference on Power Electronics Specialists (PESC)

作者： J.M. Guerrero L.G. de Vicuna J. Miret J. Matas J. Cruz Dept. of Automatic Control Systems and Computer Eng. E. U. d'Eng. Tecnica Industrial de Barcelona Barcelona Spain Dept. of Electronics Eng. Universitat Politecnica de Catalunya Barcelona Spain Dept. of Electronics Eng. Universitat Politecnica de Catalunya

This paper encompasses the study of the output impedance impact of parallel-connected UPS inverters. Two novel nonlinear control strategies are proposed. The first one is based on the single-wire current-sharing scheme, which is well known in parallel dc-to-dc converter systems. The second one is a wireless control technique derived from the droop method. The output impedance of the inverters is investigated in both cases. Results of two parallel-connected 1-kVA UPS inverters show the feasibility of the proposed approach. Finally, the two proposed controllers are compared between them and those with the existing solutions.

关键词： Impedance measurement Uninterruptible power systems Inverters Voltage control automatic control Frequency control systems Wire Distributed control Communication system control

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Modeling Demand for Inventory Management of Slow-Moving Items in Case of Reporting Errors

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IFAC Proceedings Volumes 2004年第4期37卷 27-32页

作者： Alexandre Dolgui Anatoly Pashkevich Maxim Pashkevich Scientific Methods for Industrial Management Dept. (MSGI) Industrial Engineering and Computer Sciences Center (G2I) Ecole de Mines de Saint Etienne 158 Cours Fauriel 42023 Saint Etienne France Robotic Laboratory Department of Automatic Control Belarusian State University of Informatics and Radioelectronics 6 P.Brovka St. Minsk 220027 Belarus Department of Mathematical Modeling and Data Analysis Faculty of Applied Mathematics and Computer Science Belarusian State University Skarina Av. 4 Minsk 220050 Belarus

The paper is devoted to the problem of modeling demand for inventory management of slow-moving items in the case of reporting errors. It is proposed a generalization of the beta-binomial demand model that takes into account possible reporting errors in the learning sample. For the new model, there are developed identification and forecasting algorithms that provide consistent estimators of the model parameters and mean square optimal forecasts. The efficiency of the proposed approach is illustrated by an application example for slow-moving car parts.

关键词： inventory control error correction statistical inference parameter estimation prediction methods

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Hybrid heuristic and mathematical programming in oil pipelines networks

Hybrid heuristic and mathematical programming in oil pipelin...

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Congress on Evolutionary Computation

作者： J.M. de la Crnz García J.L. Risco Martín A. Herrán González P. Fernández Blanco Dept. of Computer Architecture and Automatic Control Universidad Complutense Madrid Spain C.E.S. Felipe II Ing. Téc. en Informática de Sistemas Aranjuez Spain Universidad Complutense Madrid Spain C.E.S. Felipe II Ing. Téc. en lnformática de Sistemas Aranjuez Spain

We solve the problem of the distribution of petroleum products through oil pipelines networks. This problem is modeled and solved using two techniques: A heuristic method, a multiobjective evolutionary algorithm and mathematical programming. In the multiobjective evolutionary algorithm, several objective functions are defined to express the goals of the solutions as well as the preferences among them. Some constraints are included as hard objective functions and some are evaluated through a repairing function to avoid infeasible solutions. In the mathematical programming approach the multiobjective optimization is solved using the constraint method in mixed integer linear programming. Some constraints of the mathematical model are nonlinear, so they are linearized. The results obtained with both methods for three concrete networks are presented. They are compared with a hybrid solution, where we use the results obtained by mathematical programming as the seed of the evolutionary algorithm.

关键词： Mathematical programming Intelligent networks Petroleum Pipelines Packaging Refining computer architecture automatic control Concrete Evolutionary computation

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Mixed reality in traffic scenes: A view synthesis approach

Mixed reality in traffic scenes: A view synthesis approach

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IFIP 1st International Workshop on Entertainment Computing, IWEC 2002

作者： Martínez, A.B. Arboleda, J.P. Martín, E.X. Torrens, C. Dept. of Automatic Control and Computer Engineering UPC Spain

ISBN: (纸本)9781475751536

Our research group, interested in outdoor scenes, has developed a methodology to register a CAD model of a city, with images taken with video cameras installed in a car, while driving city streets. So, we can merge video captured data and the render of elements of the model into one image, forcing real and virtual camera points of view, orientations and parameters to coincide. Consequently, we generate real-video sequences and can insert, in real time, virtual objects congruently placed in relation to real objects of the scene. With the aim of increasing realistic likeness of inserted objects, we propose an alternate method that uses view synthesis techniques instead of render techniques. From a finite set of pictures of a real object, taken from different points of view, we are able to generate any point of view object projection, to be inserted in the physical coherent location. © 2003 by Springer science+Business Media New York.

关键词： Video cameras

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Fault diagnosis in neutral point indirectly grounded system basedon information fusion

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Journal of Harbin Institute of Technology(New Series) 2003年第4期10卷 434-437页

作者：于飞鞠丽叶刘喜梅崔平远钟秋海 Dept. of Automatic Control Beijing Institute of Technology Information and Control Engineering Institute Qingdao University of Science and Technology Deep Space Exploration Research Center Harbin Institute of Technology

In neutral point indirectly grounded systems, phase-to-ground fault is putting new demands on fault diagnosis technology. Information fusion is applied to detect the phase-to-ground fault, which integrates several sources of information, including line current, line voltage, zero sequence current and voltage, and quintic harmonic wave component. This method is testified through the simulation of Matlab. Simulation results show that the precision and reliability of the detection has been greatly increased.

关键词： information fusion fault diagnosis neutral point indirectly grounded system phase-to-ground fault

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Behavior selection architecture for tangible agent

Behavior selection architecture for tangible agent

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2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003

作者： Kim, Kyung-Joong Cho, Sung-Bae Oh, Sang-Rok Dept. of Computer Science Yonsei University Korea Republic of Intelligent System Control Research Center KIST Korea Republic of

ISBN: (纸本)0780378660

Tangible agent (TA) is a new medium that communicates the senses of sight, hearing, touch, smell, and taste of human to computer. Intelligent behavior is a key property to realize the agent because it must interact with human to grasp all the information. We have adopted a behavior-based approach for high-level behaviors such as navigation of office, conversation with human, and cleaning of room. Behavior-based method can control unexpected situation without prior knowledge and generate high-level behavior with behavior selection. However, TA requires improvements of behavior selection architecture for better communication with human. In this paper, we propose an intelligent behavior selection architecture that contains interferencing, learning and planning capability to TA. In this paper, overview of technical details and experimental results on physical device (Khepera robot) are presented. Preliminary results show the possibility of the proposed behavior selection for TA. © 2003 IEEE.

关键词： Audition

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