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ON–LINE IMPROVEMENT FOR THE DECENTRALIZED PREDICTIVE CONTROL OF THE HEAT DYNAMICS OF A GREENHOUSE

IFAC Proceedings Volumes 2002年第1期35卷 37-42页

作者： E.J. Kyriannakis K.G. Arvanitis N. Sigrimis National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE

A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control predictive control greenhouse heat dynamics

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3-D SHAPE RECOVERY ACROSS TWO VIEWS BASED ON APPROXIMATE GEOMETRIC CONSTRAINTS

3-D SHAPE RECOVERY ACROSS TWO VIEWS BASED ON APPROXIMATE GEO...

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2002年第6届信号处理国际会议

作者： Hau-San Wong Ronald Chung Dept. of Computer Science City University of Hong Kong Kowloon Tong Hong Kong China Dkept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Shatin Hong Kong China.

In this paper, we propose a new approach to object match-ing and shape reconstruction across two views . The approach relies on the topological relationship among the feature points and a crude rigidity constraint (epipolar condition) in carrying the object from the model view to the scene view to a first good approximation. The correspondences are then refined by fitting an active contour model to the. transferred feature points on the scene view, which automatically assumes the shape of the object on correct matching. Under the assumption of weak perspective projection, it could be shown that the establishment of such correct correspondences would result in the full determination of the relative dept.s of all the matched object points in 3-D space and thus recovery of the complete 3-D structure of the. object.

关键词： D SHAPE RECOVERY ACROSS TWO VIEWS BASED ON APPROXIMATE GEOMETRIC CONSTRAINTS

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A heuristic method based on unsupervised learning and fuzzy inference for the vehicle routing problem

A heuristic method based on unsupervised learning and fuzzy ...

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Brazilian Symposium on Neural Networks

作者： L. Gomes F.J. Von Zuben Dept. of Comput. Eng. & Ind. Autom. State Univ. of Campinas Brazil Department of Computer Engineering and Industrial Automation State University of Campinas (Unicamp) Campinas SP Brazil

This paper deals with a fuzzy-based system to solve the capacitated vehicle routing problem. The proposed method makes use of a neural network with unsupervised learning guided by a fuzzy rule base. The algorithm implements a policy of penalties and rewards, a strategy of neuron inhibition, insertion and pruning, and also takes into account certain statistical characteristics of the input space. The fuzzy theory is considered to minimize drawbacks related to uncertainty and availability of partial information, leading to an adaptive process of constraint relaxation. The effectiveness of the proposed method is attested by means of a series of computational simulations. As the proposed approach has no adaptation to any particular instance, it represents a good candidate to provide the initial condition for more dedicated approaches, like tabu search.

关键词： Unsupervised learning Vehicles Routing Neural networks Fuzzy neural networks Inference algorithms Neurons Uncertainty Constraint theory Computational modeling

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Error compensation on precision machine tool servo control system based on digital concave filter

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Journal of Harbin Institute of Technology(New Series) 2001年第4期8卷 389-393页

作者：王立松苏宝库张晶董申 Dept. of Control Theory and Engineering Harbin Institute of Technology Dept. of Computer Science and Engineering Harbin Institute of Technology Dept. of Mechanical Engineering and Automation Harbin Institute of Technology

It is concluded from the results of testing the frequency characteristics of the sub micron precision machine tool servo control system, that the existence of several oscillating modalities is the main factor that affects the performance of the control system. To compensate for this effect,several concave filters are utilized in the system to improve the control accuracy. The feasibility of compensating for several oscillating modalities with a single concave filter is also studied. By applying a modified Butterworth concave filter to the practical system, the maximum stable state output error remains under ±10 nm in the closed loop positioning system.

关键词： precision machine tool concave filter oscillating modality

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Hybrid geodesics as optimal solutions to the collision-free motion planning problem 4

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4th International Workshop on Hybrid Systems: Computation and Control, HSCC 2001

作者： Hu, Jianghai Prandini, Maria Johansson, Karl Henrik Sastry, Shankar Dept. of Electrical Engineering and Computer Sciences University of California at Berkeley BerkeleyCA94720 United States Dept. of Electrical Engineering for Automation University of Brescia Brescia Italy Dept. of Signals Systems and Sensors Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)3540418660

In this paper we address the problem of designing energy minimizing collision-free maneuvers for multiple agents moving on a plane. We show that the problem is equivalent to that of finding the shortest geodesic in a certain manifold with nonsmooth boundary. This allows us to prove that the optimal maneuvers are C1 by introducing the concept of u-convex manifolds. Moreover, due to the nature of the optimal maneuvers, the problem can be formulated as an optimal control problem for a certain hybrid system whose discrete states consist of diffierent "contact graphs". We determine the analytic expression for the optimal maneuvers in the two agents case. For the three agents case, we derive the dynamics of the optimal maneuvers within each discrete state. This together with the fact that an optimal maneuver is a C1 con- catenation of segments associated with diffierent discrete states gives a characterization of the optimal solutions in the three agents case. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Hybrid systems

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Human-like dynamic walking for a biped robot using genetic algorithm 4th

Human-like dynamic walking for a biped robot using genetic a...

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4th International Conference on Evolvable Systems: From Biology to Hardware, ICES 2001

作者： Kim, Jin G. Noh, Kyung-Gon Park, Kiheon School of Electrical Engineering Inha University Inchon Korea Republic of Dept. of Automation Engineering Inha University Inchon Korea Republic of School of Electrical and Computer Engineering Sungkyunkwan University Suwon Korea Republic of

ISBN: (纸本)354042671X

This paper presents the smooth walking trajectory for a biped robot using genetic algorithm. Suitable velocities and accelerations at the via-points are required for dynamic smooth walking since the incorrect via-points data can cause the discontinuity on the trajectory and the unstable walking motion as a result. Optimal via-points data can be found by minimizing the sum of deviation of velocities and accelerations as well as jerks. Using genetic algorithm, we obtained the continuity on the entire trajectory interval and the energy distribution during the walking. In conclusion, it is shown that the proposed genetic algorithm guarantees a satisfactory smooth and stable walking through the experiment on the real biped robot. © Springer-VerlagBerlin Heidelberg2001.

关键词： Genetic algorithms

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Supermedia in internet-based telerobotic operations 4th

Supermedia in internet-based telerobotic operations

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4th IFIP/IEEE International Conference on Management of Multimedia Networks and Services, MMNS 2001

作者： Elhajj, Imad Xi, Ning Fung, Wai Keung Liu, Yun Hui Li, Wen J. Kaga, Tomoyuki Fukuda, Toshio Dept. of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N.T Hong Kong Center for Cooperative Research in Advanced Science and Technology Nagoya University Nagoya464-8603 Japan

ISBN: (纸本)9783540455080

In the past decade robotics and the Internet, fed by the great advances in computing and networking, matured into giant interdisciplinary scientific fields. Therefore, it is not surprising that many are trying to merge these two technologies and develop Internet-based robotic teleoperation. More interestingly, Internet-based bilateral teleoperation, where supermedia is fed back to the operator in order to increase efficiency and achieve telepresence. Supermedia is the collection of multimedia (video, audio,…), haptic and other sensory information. This paper studies supermedia enhanced teleoperation via the Internet, concentrating on the real-time control of such systems and their performance. The potential of this technology and its advantages will be explored. In addition, key issues, such as stability, synchronization and transparency, will be analyzed and studied. Specifically, event-based planning and control of Internet-based teleoperation systems is presented with experimental results of several implemented system scenarios. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Real time control

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Hierarchical SOM applied to image compression

Hierarchical SOM applied to image compression

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International Joint Conference on Neural Networks (IJCNN'01)

作者： Barbalho, J.M. Neto, A.D.D. Costa, J.A.E. Netto, M.L.A. Univ. Federal do Rio Grande do Norte Dept. of Electrical Engineering Lab. of Computer Eng. and Automation Lagoa Nova 59 072-970 Natal/RN Brazil

The increase of the need for image storage and transmission in computer systems has increased the importance of signal and image compression algorithms. The approach involving vector quantization (VQ) relies on designing of a finite set of codes which will substitute the original signal during transmission with a minimal of distortion, taking advantage of the spatial redundancy of image to compress them. Algorithms such as LGB and SOM work in an unsupervised way toward finding a good codebook for a given training data. However, the number of code vectors (N) needed for VQ increases with the vector dimension, and full-search algorithms such as LGB and SOM can lead to large training and coding times. An alternative for reducing the computational complexity is the use of a tree-structured vector quantization algorithm. This paper presents an application of a hierarchical SOM for image compression in which reduces the search complexity from O(N) to O(log N), enabling a faster training and image coding. Results are given for conventional SOM, LBG and HSOM showing the advantage of the proposed method.

关键词： Vector quantization

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Minimum register instruction sequence problem: Revisiting optimal code generation for DAGs 15

Minimum register instruction sequence problem: Revisiting op...

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15th International Parallel and Distributed Processing Symposium, IPDPS 2001

作者： Govindarajan, R. Yang, H. Amaral, J.N. Zhang, C. Gao, G.R. Supercomputer Education and Research Centre Dept. of Computer Science and Automation Indian Institute of Science Bangalore560 012 India Electrical and Computer Engineering University of Delaware NewarkDE19716 United States Dept. of Computing Science University of Alberta EdmontonABT6G 2E8 Canada

ISBN: (纸本)0769509908

We revisit the optimal code generation or evaluation order determination problem-the problem of generating an instruction sequence from a data dependence graph (DDG). In particular, we are interested in generating an instruction sequence S that is optimal in terms of the number of registers used by the sequence S. We call this MRIS (Minimum Register Instruction Sequence) problem. We developed an efficient heuristic solution for the MRIS problem based on the notion of instruction lineage. This solution facilitates the sharing of registers among instructions within a lineage and across lineages by exploiting the structure of a DDG. We implemented our solution on a production compiler and measured the reduction in the number of (spill) loads and (Spill) stores and the wall-clock execution time for the SPEC95 floating point benchmark suite. On average our method reduced the number of loads and stores by 11.5% and 15.9%, respectively, and decreased the total execution time by 2.5%. © 2001 IEEE.

关键词： Hazardous materials spills

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Hybrid leader-follower and fuzzy-Petri-net traffic rate control and supervision in network systems

Hybrid leader-follower and fuzzy-Petri-net traffic rate cont...

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5th International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service, TELSIKS 2001

作者： Dimirovski, G.M. Jing, Yuanwei Zhang, Siying Dept. of Computer Engineering Faculty of Engineeing DOGUS University Zeamet Sk. 21 TR-81010 Kadikoy-Istanbul Turkey Institute of Automation and Systems Engg. Faculty of Electical Engineering Methodius University MK-1000 Skopje Macedonia Institute of Control Theory School of Information Science and Engineering Northeastern University Shenyang Liaoning 110006 China

ISBN: (纸本)078037228X

This paper addresses networking and traffic control problems in network systems along with the potential for introducing soft-computing applications at supervisory control level. The incentive Stackelberg strategy control concept was introduced to the networking model that comprises subsidiary systems of users and of network. A linear strategy is proposed for the elastic traffic problem, and results are demonstrated and illustrated via Kelly's (1997) example. The presented method is extended to the non-elastic traffic problem and results are also illustrated via a slightly modified Kelly example. Ways of employing combined analytical and soft-computing approaches and techniques in a hybrid framework have been investigated. A fuzzy-Petri-net supervisor is proposed to implement the strategic decision and control layer. Insofar obtained results are rather encouraging, and this research continues further towards possible implementation as well as some open theoretical issues. © 2001 IEEE.

关键词： Game theory

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