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control Incentives for Leader-Follower Model in Communication Networks and Softcomputing Potential

IFAC Proceedings Volumes 2001年第3期34卷 15-26页

作者： G.M. Dimirovski Yuanwei Jing Siying Zhang K. Sohraby Inst. of Automation & Systems Engg. SS Cyril & Methodius University Skopje. R. of Macedonia. and DOGUS University. 81010 Istanbul-Kadikoy R. of Turekey Fax# +90-2 1 6-32 7-9631 Institute of Control Science. School of Information Science & Engineering Northeastern University. Shenyang. Liaoning. 110006. P.R. of China Fax# +86-24-2389-3138 Dept. Of Computer Science & Telecommunications. University of Missouri - Kansas Kansas City. M064J JO. USA

The problem of networking supervision and traffic rate control in multi-service network systems is studied by using concepts of Nash equilibrium and Stackelberg strategy under assumption of two-level system architecture. Models of users, network provider and overall system in game-theoretic setting are presented. Linear Stackelberg incentive strategies are derived for both elastic and non-elastic traffic, and verified using Kelly's example. Outlines of the two-level integrated control and supervision architecture, and of the proposed fuzzy-Perti-net supervisor are given.

关键词： Communication networks fuzzy Petri-nets game theory incentives optimisation Stackelberg strategies

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Singularity computation for iterative control of nonlinear affine systems

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Asian Journal of control 2000年第2期2卷 57-75页

作者： Popa, Dan O. Wen, John T. Center for Automation Technologies Dept. of Electrical Computer and Systems Eng. Rensselaer Polytechnic Institute Troy NY 12180 United States

This paper considers a gradient type of iterative algorithm applied to the open loop control for nonlinear affine systems. The convergence of the algorithm relies on the control signal in each iteration be nonsingular. We present an algorithm for computing the singular control for a general class of nonlinear affine systems. Various nonlinear mechanical systems, including nonholonomic systems, are included as examples.

关键词： Affine system Gradient algorithm Nonholonomic system Nonlinear control Path planning Singular control

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On-line Reconfiguration of Real-Time Robot Motion and Force control

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IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot control Force control Embedded systems Rapid prototyping Non-linear control

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Specialized neural network and fuzzy logic algorithm in comparison for word frequency prediction in document filtering

Specialized neural network and fuzzy logic algorithm in comp...

引用

1998 IEEE International Conference on Fuzzy systems, FUZZY 1998

作者： Baranyi, Péter Aradi, Petra Kóczy, László T. Gedeon, Tamás D. Dept. of Automation T. U. of Budapest Hungary Department of Systems and Control Engineering T.U. of Budapest Hungary Dept. of Telecommunication and Telematics T. U. of Budapest Hungary School of Computer Science and Eng. U. of New South Wales Australia

ISBN: (纸本)078034863X

For very large document collections or high volume streams of documents, finding relevant documents is a major information filtering problem. A major aid to information retrieval systems produces a word frequency measure estimated from some important parts of the document using neural network approaches. In this paper a fuzzy logic technique and as its simplified case a neural network algorithm will be proposed for this task. The comparison of these two and an alternative neural network algorithm will also be discussed. © 1998 IEEE.

关键词： Information retrieval systems

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Simultaneous Fault Detection Of Heat Exchangers

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IFAC Proceedings Volumes 1998年第10期31卷 365-370页

作者： Gcibor Szederkényi Erik Weyer Katalin M. Hangos Dept. of Computer Science University of Veszprem H-8201 Veszprem Egyetem u. 3. Hungary Dept. of Electrical and Electronic Engineering The University of Melbourne Parkville VIC 3052 Australia Systems and Control Research Laboratory Computer and Automation Institute HAS H-1518 Budapest PO Box 63 Hungary

A grey box model-based method for fault diagnosis is proposed in this paper. The method is based on a first principle model of the process unit: a heat exchanger, and on a grey box model of the faults: the deterioration of the heat transfer surface by aging and the leaking of the outer container. The deterioration of the heat transfer surface is due to material settling, and in old heat exchangers pieces of this material can break off and cause damage in the equipment. A recursive least squares estimator with forgetting factor is used to track both the heat transfer coefficients and the cold side volume. The heat transfer coefficients are estimated both from the hot and cold side equations. The settled material breakage fault is detected via detection of abrupt positive jumps in the estimated heat transfer coefficients using a detector based on a cumulative sum (CUSUM) test. The proposed method enables simultaneous detection of the two fault types considered. Fault localization along the equipment length is also possible when temperature measurements are available along the length.

关键词： Fault detection Fault isolation Fault location Process model Grey box modelling Identification

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Grey Box Fault Detection in Heat Exchanger Networks

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IFAC Proceedings Volumes 1997年第18期30卷 191-196页

作者： E. Weyer K.M. Hangos Dept. of Chemical Engineering University of Queensland Brisbane QLD 4072 Australia Systems and Control Research Laboratory Computer and Automation Institute HAS H-1518 Budapest PO Box 63 Hungary

A grey box model-based method for fault diagnosis is proposed in this paper which is based on a first principle model of the process unit: a heat exchanger, and on a grey box model of the fault: the deterioration of the heat transfer surface by aging. Under normal operating conditions the heat transfer coefficient is constant or slowly decreasing due to a layer of settled material building up on the heat transfer surface, and we propose to use a recursive least squares estimator with forgetting factor to track the heat transfer coefficients during these stages. In old heat exchangers, big chunks of the settled material can break away from the surface causing the heat transfer coefficients to rise sharply. This fault is detected via detection of abrupt positive jump in the estimated heat transfer coefficients using a Hinkley detector

关键词： Fault diagnosis grey box modelling fault modelling identification

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H/sub /spl infin// vibration control of active suspension for automotive application

H/sub /spl infin// vibration control of active suspension fo...

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SICE Annual Conference

作者： A. Kanbolat Y. Okuyama F. Takemori L. Gianone S. Horvat J. Bokor Department of Information and Knowledge Engineering Facult of Engineering Tottori University Japan Tottori Daigaku Tottori JP Dept. of Inf. & Knowledge Eng. Tottori Univ. Japan Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department of Transpoi-talion Engineering Technical University of Budapest Hungary

This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control theory with the consideration of the modeling errors lumped into an unstructured uncertainty acting on the unperturbed plant. The design method is new and powerful for electronic car suspension's control systems, as it presents a new approach to the designers for the computation of a controller maintaining robust stability while guaranteeing the performance in a wide frequency range, even in the case of the controller is applied to the actual plant. Additionally, the paper emphasizes that the assumptions in the modeling step may lead to unrealistic control designs and, as an example, the effect of the rigidity assumption on the behavior of the open loop system is discussed.

关键词： control systems control theory Open loop systems Displacement control Weight control Acceleration Wheels Fluctuations Robust control Power system modeling

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Industrial machine vision: lessons and challenges

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Optics News 1987年第2期13卷 12-17页

作者： Steven W. Holland Robert B. Tilove STEVEN W. HOLLAND is an assistant department head in the Computer Science Dept. of General Motors Research Laboratories (GMR). He is responsible for research projects involving computer vision robotics mobile robotics process planning knowledge systems natural language advanced programming environments parallel processing and statistics. ROBERT B. TILOVE is senior staff research scientist and project leader of the machine perception project at GMR. His research interests include geometric modeling model-based programming and control of intelligent automation systems.

No abstract available.

关键词： Integral imaging Machine vision Measurement and metrology Optical systems Sensors Statistics

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