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Modified Smith Predictor and controller for time-delay process with uncertainty

Modified Smith Predictor and controller for time-delay proce...

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6th World Congress on Intelligent Control and automation, WCICA 2006

作者： Wang, Shihua Xu, Bugong Wang, Qingyang Liu, Yun-Hui Lab. of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China Univ. of Technology Guangzhou 510640 China Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong

ISBN: (纸本)1424403324

Smith Predictor is very sensitive to uncertain system with variable time-delay. Using dual-locus diagram method, we first analyse the essence of Smith Predictor's sensitivity and present a proposition to illustrate the system stability criteria with relation to system gain and time-delay variation. Then a new modified Smith Predictor is proposed to compensate the variable time-delay system with uncertain model for set-point tracking. After that, we discuss the system internal stability and give two-degree freedom controller self-adaptive to eliminate the impact of system uncertainty with varying time-delay. Examples show the improved performance compared to previous Modified Smith Predictor structures. © 2006 IEEE.

关键词： Uncertain systems

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Spectrum analysis based on windows with variable widths for online signature verification

Spectrum analysis based on windows with variable widths for ...

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18th International Conference on Pattern Recognition, ICPR 2006

作者： Quan, Zhong-Hua Xia, O-Lei Huang, De-Shuang Lyu, Michael R. Lok, Tat-Ming Intelligent Computing Lab. Hefei Institute of Intelligent Machines CAS Department of Automation University of Science and Technology of China Hefei Anhui 230031 China Intelligent Computing Lab. Hefei Institute of Intelligent Machines CAS Hefei Anhui 230031 China Computer Science and Engineering Dept. Chinese University of Hong Kong Information Engineering Dept. Chinese University of Hong Kong

ISBN: (纸本)0769525210

In this paper, an online signature verification scheme based on spectrum analysis and Mahalanobis decision is proposed. We firstly divided signatures to a number of frames with variable widths according to the characteristics of the time sequences, and then employed the Fast Fourier transformation(FFT) to extract the spectrum of signatures. The distance between the Fourier coefficient within the corresponding frames is computed, and the Mahalanobis decision making is employed. Experimentation demonstrates that spectrum analysis based on windows with variable widths is effective for online signature signals. © 2006 IEEE.

关键词： Electronic document identification systems

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Nonlinear blind source separation using hybrid neural networks

Nonlinear blind source separation using hybrid neural networ...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Zheng, Chun-Hou Huang, Zhi-Kai Lyu, Michael R. Lok, Tat-Ming Intelligent Computing Lab Institute of Intelligent Machines Chinese Academy of Sciences P.O.Box 1130 Hefei Anhui China Department of Automation University of Science and Technology of China Hong Kong China Computer Science and Engineering Dept. Chinese University of Hong Kong Hong Kong Hong Kong Information Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong

ISBN: (纸本)354034439X

This paper proposes a novel algorithm based on minimizing mutual information for a special case of nonlinear blind source separation: post-nonlinear blind source separation. A network composed of a set of radial basis function (RBF) networks, a set of multilayer perceptron and a linear network is used as a demixing system to separate sources in post-nonlinear mixtures. The experimental results show that our proposed method is effective, and they also show that the local character of the RBF network's units allows a significant speedup in the training of the system. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Blind source separation

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Gene selection based on mutual information for the classification of multi-class cancer

引用

International Conference on Intelligent Computing, ICIC 2006

作者： Guo, Sheng-Bo Lyu, Michael R. Lok, Tat-Ming Department of Automation University of Science and Technology of China Hefei Anhui 230026 China Intelligent Computation Lab Hefei Institute of Intelligent Machines Chinese Academy of Sciences P.O. Box 1130 Hefei Anhui 230031 China Computer Science and Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong Information Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong

ISBN: (纸本)3540372776

With the development of mirocarray technology, microarray data are widely used in the diagnoses of cancer subtypes. However, people are still facing the complicated problem of accurate diagnosis of cancer subtypes. Building classifiers based on the selected key genes from microarray data is a promising approach for the development of microarray technology;yet the selection of non-redundant but relevant genes is complicated. The selected genes should be small enough to allow diagnosis even in regular laboratories and ideally identify genes involved in cancer-specific regulatory pathways. Instead of the traditional gene selection methods used for the classification of two categories of cancers, in the present paper, a novel gene selection algorithm based on mutual information is proposed for the classification of multi-class cancer using microarray data, and the selected key genes are fed into the classifier to classify the cancer subtypes. In our algorithm, mutual information is employed to select key genes related with class distinction. The application on the breast cancer data suggests that the present algorithm can identify the key genes to the BRCA1 mutations/BRCA2 mutations/the sporadic mutations class distinction since the result of our proposed algorithm is promising, because our method can perform the classification of the three types of breast cancer effectively and efficiently. And two more microarray datasets, leukemia and ovarian cancer data, are also employed to validate the performance of our method. The performances of these applications demonstrate the high quality of our method. Based on the present work, our method can be widely used to discriminate different cancer subtypes, which will contribute to the development of technology for the recovery of the cancer. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Genetic engineering

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A new learning algorithm for function approximation incorporating a priori information into extreme learning machine

A new learning algorithm for function approximation incorpor...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Han, Fei Lok, Tat-Ming Lyu, Michael R. Intelligent Computing Lab. Hefei Institute of Intelligent Machines Chinese Academy of Sciences P.O. Box 1130 Hefei Anhui 230031 China Department of Automation University of Science and Technology of China Hefei 230027 China Information Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong Computer Science and Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong

ISBN: (纸本)354034439X

In this paper, a new algorithm for function approximation is proposed to obtain better generalization performance and faster convergent rate. The new algorithm incorporates the architectural constraints from a priori information of the function approximation problem into Extreme Learning Machine. On one hand, according to Taylor theorem, the activation functions of the hidden neurons in this algorithm are polynomial functions. On the other hand, Extreme Learning Machine is adopted which analytically determines the output weights of single-hidden layer FNN. In theory, the new algorithm tends to provide the best generalization at extremely fast learning speed. Finally, several experimental results are given to verify the efficiency and effectiveness of our proposed learning algorithm. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Algorithms

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Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems Control systems Robot control Sensor systems Sampling methods

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Definition of the HOSVD based canonical form of polytopic dynamic models

Definition of the HOSVD based canonical form of polytopic dy...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Baranyi, Péter Szeidl, László Várlaki, Péter Yam, Yeung Computer and Automation Research Institute Hungarian Academy of Sciences Kende utca 13-17 H-1111 Budapest Hungary Dept. Telecommunication and Media Informatics Budapest University of Technology and Economics Magyar tudósok u. 2 H-1117 Budapest John von Neumann Faculty of Informatics Budapest Tech. Bécsi út 96/B H-1034 Budapest Hungary Faculty of Informatics Loránd Eötvös University Pazmany P. setany 1/D H-1117 Budapest Dept. of Chassis and Lightweight Structures Budapest University of Technology and Economics Bertalan Lajos u. 2 H-1111 Budapest Hungary Dept. Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin New Teritories Hong Kong

ISBN: (纸本)0780397134

The main objective of the paper is to introduce how the concept of tensor HOSVD can be carried over to the TP (Tensor Product) dynamic models, namely, how we can define and generate the "HOSVD like" decomposition of Linear Parameter Varying (LPV) dynamic models. We term this decomposition as HOSVD based canonical form of TP model or polytopic model form. The key idea and the basic concept of this decomposition was proposed recently with the TP model transformation based control design methodology. The novelty of this paper is to present the mathematical background of this concept. The paper shows convergency theorems how the TP model transformation is capable of reconstructing this HOSVD based canonical form numerically. The proofs of the theorems are lengthly, therefore they are omitted. The paper also presents numerical examples to show the applicability, efficiency and uniformity of the numerical reconstruction. © 2006 IEEE.

关键词： Tensors

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H-infinity static output-feedback control for rotorcraft

H-infinity static output-feedback control for rotorcraft

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AIAA Guidance, Navigation, and Control Conference 2006

作者： Gadewadikar, J. Lewis, F.L. Subbarao, Kamesh Peng, Kemao Chen, Ben Automation and Robotics Research Institute University of Texas at Arlington Fort-Worth TX 76118 United States Dept. of Mechanical and Aerospace Engineering University of Texas at Arlington Arlington TX 76018 United States Department of Electrical and Computer Engineering National University of Singapore Singapore Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Fort Worth TX 76118-7115 United States Automation and Robotics Research Institute Department of Electrical Engineering 7300 Jack Newell Blvd. S. Fort Worth TX 76118-7115 United States Department of Mechanical and Aerospace Engineering Box 19018 500 W. First St 211 Woolf Hall United States AIAA United States Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)1563478196

The problem of stabilization of an autonomous rotorcraft platform in a hover configuration subject to external disturbances is addressed. Necessary and sufficient conditions are presented for static output-feedback control of linear time-invariant systems using the H∞ approach. Simplified conditions are derived which only require the solution of two coupled matrix design equations. It is shown that the static output-feedback H ∞ solution does not generally yield a well-defined saddle point for the zero sum differential game;conditions are given under which it does. This paper also proposes a numerically efficient solution algorithm for the coupled design equations to determine the output-feedback gain. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example. The rotorcraft model is first loop shaped to achieve desired characteristics about the hover operating condition.

关键词： Helicopter rotors

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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Usability and interoperability of IEC 61499 based distributed automation systems

Usability and interoperability of IEC 61499 based distribute...

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2006 IEEE International Conference on Industrial Informatics, INDIN'06

作者： Sünder, Christoph Zoitl, Alois Christensen, James H. Vyatkin, Valeriy Brennan, Robert W. Valentini, Antonio Ferrarini, Luca Strasser, Thomas Martinezlastra, Jose L. Auinger, Franz Vienna University of Technology Gusshausstraße 27-29/376 1040 Vienna Austria Holobloc Inc. Cleveland Heigths OH United States Dept. of Electrical and Computer Engineering University of Auckland Auckland New Zealand Schulich School of Engineering Universit of Calgary Calgary AB T2N 1N4 Canada Italy Dipartimento di Elettronica e Informazione Politecnico di Milano 20133 Milano Italy Robotics and Adaptive Systems PROFACIOR Produktionsforschungs GmbH 4407 Steyr-Gleink Austria Institute of Poduction Engineering Tampere University of Technology 33101 Tampere Finland Automation Engineering Upper Austrian University of Applied Science 4600 Wels Austria

ISBN: (纸本)0780397010

Since IEC 61499 has reached the state of an International Standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks. © 2006 IEEE.

关键词： Distributed computer systems

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