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Australian control Conference (AUCC)

作者： Xin Du Ahmad Jazlan Victor Sreeram Roberto Togneri Abdul Ghafoor Shafishuhaza Sahlan School of Mechatronics Engineering and Automation Shanghai University Shanghai P. R. China Electronic and Computer Engineering University of Western Australia Western Australia WA Australia Department of Electrical Engineering National University of Sciences and Technology Rawalpindi Pakistan Control & Mechatronics Eng. Dept. (CMED) Universiti Teknologi Malaysia Skudai Johor Malaysia

This paper describes the model reduction framework for single-input single-output (SISO) discrete-time systems based on the preservation parameters such as Markov properties of the original system by applying a Frequency-Limited Impulse Response Gramian based Balanced Truncation method. This proposed method extends the Frequency-Limited Impulse Response Gramians model reduction method for continuous systems described in the recent paper in [20] to be applicable for discrete time systems. A numerical example is provided to compare the performances between various frequency limited model reduction methods at an arbitrarily selected frequency range within the passband of a digital filter. The stability of the reduced order models are also checked for each scenario.

关键词： Reduced order systems Observability controllability Matrix decomposition Time-frequency analysis Equations Mathematical model

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Aided navigation techniques for indoor and outdoor unmanned vehicles

Aided navigation techniques for indoor and outdoor unmanned ...

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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents design considerations of indoor and outdoor navigation techniques proposed for unmanned vehicles (UV). In this paper, we mainly investigate the use and the advantages of wireless sensor networks (WSNs) for indoor navigation, and Global Positioning System (GPS) for outdoor navigation. The system primarily uses laser range finder (LRF) measurements for indoor navigation, and is based on Extended Kalman Filter (EKF). For outdoor navigation the system uses Inertial Navigation System (INS) measurements. At periodical intervals the system integrates the measurements of an absolute sensor to improve estimations. The absolute sensor is a WSN interface for indoor navigation, and a GPS receiver for outdoor navigation. Simulation studies were conducted using Unified System for automation and Robot Simulation (USARSim) and Player/Stage. The results of USARSim based simulations prove the advantages of integrating GPS measurements. Player/Stage based simulations show the advantages of integrating Received Signal Strength Indicator (RSSI) measurements obtained from WSN interfaces. In addition to the simulation studies, field tests with a custom-built Corobot autonomous robot platform will be realized to prove the effectiveness of the methods. © 2012 IEEE.

关键词： Wireless sensor networks

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Mobile robot aided self-deploying wireless sensor networks for radiation leak detection

Mobile robot aided self-deploying wireless sensor networks f...

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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Mumcu, T. Veli Gungor, V. Cagri Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Eng. Yildiz Technical University Istanbul Turkey Dept. of Computer Engineering Bahcesehir University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents a mobile robot aided self deploying wireless sensor network aiming to detect radiation leaks and to measure radiation levels, and explains design considerations to prolong network life. Special attention is given to the factors which are important for the specific requirements of radiation leak detection. Wireless sensor networks (WSNs) provide numerous benefits to applications with low duty cycle, such as environmental monitoring, event detection, etc. However, the realization of these potential benefits directly depends on energy efficient and reliable communication and coordination capabilities of the deployed system. In this study, challenges of WSNs, deployment strategies using mobile robots, and energy harvesting techniques to maximize lifetime of WSNs are discussed. Also, a comparison of two different exploration strategies is shown with the results of our own application developed in C#. Main contributions of this study are discussions on mobile robot aided WSN deployment strategies and energy harvesting techniques to maximize WSN lifetime. © 2012 IEEE.

关键词： Wireless sensor networks

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Computing dynamically equivalent realizations of biochemical reaction networks with mass conservation

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AIP Conference Proceedings 2013年第1期1558卷 2356-2359页

作者： János Rudan Gábor Szederkényi Katalin M. Hangos Faculty of Information Technology Pázmány Péter Catholic University Práter u. 50/a H-1083 Budapest Hungary Faculty of Information Technology Pázmány Péter Catholic University Práter u. 50/a H-1083 Budapest Hungary and Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences. Hungary Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences. Kende u. 13-17 H-1111 Budapest Hungary and Dept. of Electrical Engineering and Information Systems Faculty of Information Technology Univer Hungary

An algorithm for the computation of mass conservative dynamically equivalent chemical reaction network structures is proposed in this paper. The algorithm is formulated in an optimization-based framework as a mixed-in...

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Evolving fuzzy classifier based on the modified ECM algorithm for pattern classification

Evolving fuzzy classifier based on the modified ECM algorith...

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13th International Conference on Intelligent Data engineering and Automated Learning, IDEAL 2012

作者： Inácio, Maurílio J. Maia, Renato D. Caminhas, Walmir M. Computer Engineering Dept. FACIT Montes Claros MG Brazil Computer Sciences Dept. UNIMONTES Montes Claros MG Brazil Automation and Control Engineering Dept. FACIT Montes Claros MG Brazil Institute of Agricultural Sciences UFMG Montes Claros MG Brazil Electronic Engineering Dept. UFMG Belo Horizonte MG Brazil

ISBN: (纸本)9783642326387

Nowadays, online and real-time pattern classification applications are required in many areas. Most classification algorithms are suitable only for off-line applications. Using the concept of evolving intelligent systems, this paper proposes an evolving fuzzy classifier capable of creating the rule base in online mode and real-time. The proposed evolving fuzzy classifier is based on a new clustering algorithm that consists of an improved version of the Evolving Clustering Method (ECM). Experiments with well-known benchmark classification problems indicated that the proposal is promising. © 2012 Springer-Verlag.

关键词： Clustering algorithms

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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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Some study on the identification of multi-model LPV models with two scheduling variables

Some study on the identification of multi-model LPV models w...

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Universite Libre de Bruxelles

作者： Huang, Jiangyin Ji, Guoli Zhu, Yucai Van Den Bosch, Paul Department of Automation Xiamen University Xiamen 361005 China Dept. of Control Science and Engineering Zhejiang University Hangzhou 310027 China Department of Electrical Engineering Eindhoven University of Technology PO Box 513 5600 MB Eindhoven Netherlands

ISBN: (纸本)9783902823069

This work studies the identification of LPV (linear parameter varying) models with two scheduling variables in order to model complex industrial processes. The LPV model is parameterized as blended linear models, which is also called multi-model approach. Several weighting functions, linear, polynomial and Gaussian functions, are used and compared. The usefulness of the method is tested using a high purity distillation column model in a case study. The case study also shows that a good fit of identification data is not enough to verify model quality and can even be misleading in nonlinear process identification;other measures related to process knowledge should be used in model validation. © 2012 IFAC.

关键词： Scheduling

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A two-pass clustering algorithm based on linear assignment initialization and k-means method

A two-pass clustering algorithm based on linear assignment i...

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5th International Symposium on Communications control and Signal Processing, ISCCSP 2012

作者： Cheng, Kin Luen Fan, Jianchao Wang, Jun ASM Pacific Technology Limited Kwai Chung Hong Kong School of Control Science and Engineering Dalian University of Technology Dalian China Dept. of Mechanical and Automation Engg. Chinese University of Hong Kong Shatin Hong Kong

ISBN: (纸本)9781467302760

This paper presents a two-pass clustering algorithm with a combination of the linear assignment and k-means methods. To avoid the inconsistency of clustering results from the k-means method with random initialization, the linear assignment method with the least similar cluster representatives is applied first to generate initial clusters, and then followed with the k-means method. This approach is applied to four well-known practical UCI datasets. The results are compared with those from the k-means method with other random initialization approaches and it is shown that the two pass approach consistently results in the best clustering results. The application results on color image segmentation are also demonstrated. © 2012 IEEE.

关键词： Image segmentation

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A Dual-antenna Based Handover Scheme for GSM-R Network

A Dual-antenna Based Handover Scheme for GSM-R Network

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International Conference on Wireless Communications and Signal Processing

作者： Pengyuan Du Lujin Luo Yongsen Ma Chengnian Long Dept. of Electronic Engineering Shanghai Jiao Tong University Dept. of Automation Shanghai Jiao Tong University Key Lab. of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781467358309

In the GSM-R (GSM for Railways) mobility management technology, handover is the crucial factor to maintain high reliability and validity of mobile communication. However in high-speed movement scenario where shorter handover latency is required, the traditional handover scheme which has been adopted in the GSM network could no longer guarantee high quality performance and results in higher probability of handover failure as a consequence. In order to solve such problem, we propose an innovative handover scheme based on dual-antenna technology for GSM-R network. The proposed scheme modulates the frame structure of Traffic Channel (TCH) in order to send measurement report more quickly and adopts more complicated signaling procedure to achieve seamless handover. Simulation results show that interruption time in the proposed scheme is effectively reduced compared with the conventional handover scheme and call dropping rate is also acceptable when the train speed achieves 500km/h. Therefore the proposed dual-antenna handover scheme guarantees better service quality in high-speed scenario.

关键词： Dual-antenna Based Handover

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. This paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. The method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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