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An efficient distributed navigation algorithm for mobile robot

An efficient distributed navigation algorithm for mobile rob...

7th International Symposium on Instrumentation and control Technology: Measurement Theory and systems and Aeronautical Equipment

作者： Yang, Xiuping Liu, Songyan Liu, Zhen School of Electronic Engineering Heilongjiang University 150080 Harbin China Dept. of Automatic Test and Control Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9780819473622

An efficient distributed algorithm for mobile nodes of wireless sensor network (WSN) is proposed. A smart mobile robot is designed as the special node of WSN, and the nodes of WSN are deployed in the environment as signposts for the robot to follow. We use the RSSI value between the robot and other static nodes as the input of the navigation control system. The mobile robot state and navigation space are denoted by the RSSI potential field. Navigation directions are computed by using fuzzy logic method. To reduce the communication expense, each node within one hop communication range of robot is a distributed navigation unites. Then the fuzzy logic control centre will collect the control outputs from every beacon nodes and calculate the final outputs for mobile robot based on data fusion. The experimental results confirm that the navigation system based on WSN successfully achieved their assigned tasks.

关键词： Mobile robots

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Grey systems for intelligent sensors and information processing

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Journal of systems engineering and Electronics 2008年第4期19卷 659-665页

作者： Chen Chunlin Dong Daoyi Chen Zonghai Wang Haibo Dept. of Control and System Engineering School of Management and Engineering Nanjing Univ. Nanjing 210093 P. R. China State Key Laboratory for Novel Software Technology Nanjing Univ. Nanjing 210093 P. R. China Dept. of Automation Univ. of Science and Technology of China Hefei 230027 P. R. China

In a measurement system, new representation methods are necessary to maintain the uncertainty and to supply more powerful ability for reasoning and transformation between numerical system and symbolic system. A grey measurement system is discussed from the point of view of intelligent sensors and incomplete information processing compared with a numerical and symbolized measurement system. The methods of grey representation and information processing are proposed for data collection and reasoning. As a case study, multi-ultrasonic sensor systems are demonstrated to verify the effectiveness of the proposed methods.

关键词： grey system grey sensors information processing

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A Neural Networks based variable structure control scheme for induction motors

A Neural Networks based variable structure control scheme fo...

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11th IASTED International Conference on Intelligent systems and control, ISC 2008

作者： Barambones, Oscar Alkorta, Patxi Garrido, Aitor J. Garrido, Izaskun De La Sen, Manuel Maseda, Francisco J. Martija, Itziar Dept. of Automatic Control and System Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain IIDP Facultad de Ciencias University of the Basque Country EUI Nieves cano 12 Vitoria Spain Dept. Mechanical Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain

ISBN: (纸本)9780889867741

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

关键词： Robust control

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An optimal control method for biped robot with stable walking gait

An optimal control method for biped robot with stable walkin...

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2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

作者： Phuong, Nguyen Thanh Kim, Dae Won Kim, Hak Kyeong Kim, Sang Bong Automatic Control Dept. Ky Thaut Cong Nghe University Vietnam Viet Nam School of Mechanical Engineering Pukyong National University Korea Republic of

ISBN: (纸本)9781424428229

This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the D'Alembert's principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method. © 2008 IEEE.

关键词： Inverted pendulum

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Contourlet Based Interest Points Detector

Contourlet Based Interest Points Detector

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20th IEEE International Conference on Tools with Artificial Intelligence

作者： Saydam, Samer R. El rube', Ibrahim A. Shoukry, Amin A. CS Department Computing and Information Technology College AASTMT Egypt EC Eng. Dept. College of Engineering and Technology AASTMT Egypt Computer Science and Automatic Control Department Faculty of Engineering Alexandria University Egypt

ISBN: (纸本)9780769534404

This paper proposes a robust algorithm for detecting interest points based on the NonsubSampled Contourlet Transform (NSCT). The NSCT provides multiscale decomposition with directional filters at each scale. Furthermore, NSCT is very efficient in extracting the geometric information of images and therefore it has very good feature localization. The NSCT-based point detector is compared to the widely used Harris and Difference of Gaussian (DoG) interest point detectors. The experimental results reveal the robustness of the proposed algorithm to rotation, scale and viewpoint changes.

关键词： Interest point detection corner detector local features nonsubsampled contourlet transform (NSCT)

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Shared Hybrid Virtual-Experimental Laboratory for training in power electronics techniques

Shared Hybrid Virtual-Experimental Laboratory for training i...

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11th IASTED International Conference on Intelligent systems and control, ISC 2008

作者： Maseda, F. Javier Martija, Itziar Garrido, Aitor Garrido, Izaskun Barambones, Oscar Martija, Irene Dept. Automatic Control and Systems Engineering Basque Country University Plaza de la Casilla3 48012 Bilbao Spain Dept. Mechanical Engineering Basque Country University Plaza de la Casilla3 48012 Bilbao Spain

ISBN: (纸本)9780889867741

This paper analyzes the possibility of using a new philosophy of experimental engineering laboratory for power electronic converters applied to electric machine control. The aim is to develop an environment which, on the one hand, permits the students to design hardware and software blocks that can be incorporated into an electronic power system and, on the other hand, allows the communication and control of this system via the web. The students work in groups, on asynchronous and synchronous software platforms, on the same task and they should look for the best solution for the required design. The drawbacks related to high voltages and currents, waiting for attention from the professor, the high cost of maintenance and updating of an experimental laboratory can be overcome with the use of the Shared Hybrid Virtual-Experimental Laboratory (SHVEL). The validation of the proposed method has been carried out on an experimental system based on the digital signal processor DSP56F807 and on the free software platform FreeMaster from the commercial firm Freescale™.

关键词： Power electronics

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The short-time multifractal formalism: Definition and implement* 4th

The short-time multifractal formalism: Definition and implem...

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4th International Conference on Intelligent Computing, ICIC 2008

作者： Gang, Xiong Xiaoniu, Yang Huichang, Zhao NO.36 Research Institute of CETC National Laboratory of Information Control Technology For Communication System JiaxingZhe-Jiang314001 China Electronic engineering dept. NJUST Nanjing210094 China

ISBN: (纸本)9783540859291

Although multifractal descirbles the singularity distribution of SE, there is no time information in the multifractal formalism, and the time-varying singularity distribu-tion indicates the spatial dynamics character of system. Therefore, the definition and implement of the short-time multifractal formalism is proposed, which is the prelude of time time-singularity spectra *** this paper, the singularity analysis of windowed signal was given, further the short-time hausdorff spectum was deduced. The Partition Function and Short-time Legendre Spectrum was fractal statistical distribution of SE. WTMM method is popular in implement of MFA, and in section Ⅳ,Short-time multifractal spectra based on WTMM is brough forward.. © Springer-Verlag Berlin Heidelberg 2008.

关键词： Fractals

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Coverage control with Information Decay in Dynamic Environments

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IFAC Proceedings Volumes 2008年第2期41卷 4180-4185页

作者： Nico Hübel S. Hirche A. Gusrialdi T. Hatanaka M. Fujita O. Sawodny Institute for System Dynamics Universität Stuttgart Fujita Laboratory Dept. of Mechanical and Control Engineering Tokyo Institute of Technology

In this paper a method for coverage control for a convex region D ⊂ ℝ 2 in a dynamic environment is studied. An information map is introduced in which the information about each point is decaying with respect to time s.t. the robots must revisit them periodically. Also a time-varying density function is used for modeling moving points of interest. The considered gradient based control approach causes the cost function to stay within the desired bounds. But due to the non-stationary problem setup caused by the information decay it does not converge to a single point but to a bounded set, such that the robots keep gathering information continuously. With this method it is possible to gather information about several points of interest within the region D with only a few robots. In the end simulation results are presented to outline the effectiveness of the proposed control law.

关键词：

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Extraction of fet al ECG signal via adaptive noise cancellation approach

Extraction of fet al ECG signal via adaptive noise cancellat...

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2nd International Conference on Bioinformatics and Biomedical engineering, iCBBE 2008

作者： Zeng, Yanjun Liu, Shijin Zhang, Jianhua Beijing University of Technology Beijing 100022 China Dept. of Mechanics and Electronics Engineering Hubei Professional College of Land Resource Hubei 434002 China Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781424417483

The non-invasive fet al Electrocardiogram (FECG) can provide reliable information about the fetus'state. The original FECG signal is nevertheless very complex and severely contaminated by external disturbances or noises. It is very hard, even not impossible, to reliably extract the FECG from the abdominal signal using traditional techniques. In this work the recursive least squares (RLS) based adaptive noise canceling (ANC) approach is applied to eliminate the maternal ECG (MECG) and hence to extract the FECG. The experimental results have demonstrated that the developed ANC approach can speed up convergence of the normalized least mean squares (NLMS) algorithm and is able to track non-stationary FECG signal in an adaptive manner.

关键词： Electrocardiograms

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Comparison of GPS tracking loop performance in high dynamic condition with nonlinear filtering techniques

Comparison of GPS tracking loop performance in high dynamic ...

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21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008

作者： Im, Sung-Hyuck Song, Jong-Hwa Jee, Gyu-In Park, Chan-Gook Navigation and Control System Lab. Konkuk University Seoul 143-701 Korea Republic of Dept. of Electronics Engineering Konkuk University Seoul 143-701 Korea Republic of School of Mechanical and Aerospace Engineering Seoul National University Seoul 143-701 Korea Republic of

ISBN: (纸本)9781605606897

The conventional GPS tracking loop is optimal in Maximum likelihood Estimation (MLE), respectively. It well works in normal signal to noise ratio (SNR) and signal dynamics within the tracking loop bandwidth. But, when the receiver operates in high dynamic environment, discriminator linearity doesn't maintain and tracking loop error increase. In the previous rearch, several algorithms were proposed to overcome these problems such as EKF based tracking loop, grid method. In the previous paper [Gee, ENC 2005], LQG based GPS receiver tracking loop is developed using EKF and Linear Quadratic Regulator (LQR). The EKF estimate the range rate, code phase, carrier phase error and navigation bit from inphase and quadrature measurement. And LQR calculate the optimal DCO input using pre-calculated steady state feedback gain. It had good tracking performance than conventional tracking loop in normal condition because it is designed to consider correlation of code and carrier tracking loop. But there is problem about nonlinearity of measurement model as ever. In this paper, LQG based GPS tracking loop is implemented using nonlinear filtering techniques, i.e. Unscented Kalman Filter (UKF) and Particle Filter (PF). Also, the implemented algorithm performance is evaluated and compared. In the EKF, the measurement equations are linearized to the first order Taylor series in order to apply the Kalman filter, which is supposed to linear Gaussian systems. Instead of truncating the nonlinear measurement equation the UKF and PF approximate the distribution of the state deterministically and randomly, with a finite set of samples, and then propagate these points or particles through the original nonlinear functions, respectively. Because the nonlinear functions are used without approximation, it provides the better performance.

关键词： Maximum likelihood estimation

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