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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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Automatic calibration procedure for a robotic manipulator force observer

Automatic calibration procedure for a robotic manipulator fo...

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2005 IEEE International Conference on Robotics and automation

作者： Gámez García, J. Robertsson, A. Gömez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Force and acceleration sensor fusion for compliant robot motion control

Force and acceleration sensor fusion for compliant robot mot...

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2005 IEEE International Conference on Robotics and automation

作者： Gámez García, J. Robertsson, A. Gómez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors - that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer - whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Motion control

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A Probabilistic Topology Inference Method for Networked Dynamical System via Single Excitation 63

A Probabilistic Topology Inference Method for Networked Dyna...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Jiao, Qing Li, Yushan He, Jianping Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Dept. of Automation Shanghai China

ISBN: (纸本)9798350316339

A growing number of works have investigated inferring the topology of networked dynamical systems from observations, such as to better understand the system behaviour. Despite the tremendous advances, most of them require the observations to be abundant. This paper focuses on inferring the topology by injecting single excitation on a node and collecting several steps of noisy observations. The problem is challenging because the noises cannot be depressed in several observations and are mixed with the injected excitation, making it hard to directly reveal the topology. To practice, we develop a probabilistic method based on the hypothesis test framework. First, we infer the neighbors that are within h-hop of the excited node and derive the accuracy guarantees. Then, we extend the method to infer the exact h-hop neighbors. A computable lower bound for the accuracy probability is established to provide confidence support in the inference procedures. Furthermore, we give the conditions of excitation input to ensure a desired inference probability, which provides guidance for the input design. Numerical simulations are conducted to verify the effectiveness of the proposed method. © 2024 IEEE.

关键词： Network topology

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RETRACTED ARTICLE: Material inner defect detection by a vibration spectrum analysis

RETRACTED ARTICLE: Material inner defect detection by a vibr...

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作者： Krejcar, Ondrej Frischer, Robert Dept. of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava Czech Republic Dept. of Automation and Computing in Metallurgy VSB Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424474806

In this paper is described possibility of nondestructive diagnostics of solid objects by software analysis of vibration spectrum. With using platform MATLAB, we can process and evaluate information from accelerometer, which is placed on the measured object The analog signal is digitized by special I/O device dSAPCE CP-1104 and then processed offline with FFT (Fast Fourier Transform). The power spectrum is then examined by developed evaluating procedures and individual results are displayed in bar graph. When we take a look on results, there is an evidently correlation between spectrum and examining object (inner defects). © 2010 IEEE.

关键词： Spectrum analysis

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A reconstruction algorithm with iterative reconstruction-reprojection and an FIR filter

A reconstruction algorithm with iterative reconstruction-rep...

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Information Optics and Photonics Technology

作者： Wan, Xiong He, Xingdao Zou, Wendong Chen, Xuegang Cai, Minggang Dept. of Test and Control Engineering Nanchang Institute of Aeronautical Technology Nanchang 330034 China Institute of Automation of Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

Some approaches, which include iterative reconstruction-reprojection (IRR), projection space iteration reconstruction-reprojection (PSIRR) and other interpolation methods, have already been proposed for the reconstruction of fields including opaque objects. In the IRR, the interpolation operation is performed in the object space during backprojection-reprojection. The errors associated with the interpolation degrade the reconstructed image and may cause divergence unless a large number of rays and views are adopted. In the research of optical test, the testing views are often limited;therefore, the results are usually poor when using the IRR to reconstruct the fields including opaque objects. To improve the reconstruction precision in this case, a new approach is proposed, which is based on the discrete IRR algorithm and the finite impulse response (FIR) lowpass filer (DIRRLF). This filer is used to process the reprojection data between the iterative reconstruction and the reprojection stages. Different window functions and bandwidths are adopted for the lowpass filter. The compared reconstruction results of discrete IRR algorithm and DIRRLF algorithm for an asymmetrical single-peak simulation field including a circle round opaque object are studied with the numerical simulation of computer. The results show that this algorithm has higher reconstruction precision than the discrete IRR algorithm and has a potential application of reconstructing real three-dimensional fields including opaque objects.

关键词： Algorithms

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Structural analysis for diagnosis - The matching problem revisited 15th

Structural analysis for diagnosis - The matching problem rev...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Izadi-Zamanabadi, Roozbeh Blanke, Mogens Dept. of Control Engineering Aalborg University AalborgDK-9220 Denmark Section of Automation Oersted-DTU Technical University of Denmark LyngbyDK-2800 Denmark

ISBN: (纸本)9783902661746

Aiming at design of algorithms for fault diagnosis, structural analysis of systems offers concise yet easy overall analysis. Graph-based matching, which is the essential technique to obtain redundant information for diagnosis, is re-considered in this paper. Matching is re-formulated as a problem of relating faults to known parameters and measurements of a system. Using explicit fault modelling, minimal over-determined subsystems are shown to provide necessary redundancy relations from the matching. Details of the method are presented and a realistic example used to clearly describe individual steps. Copyright © 2002 IFAC.

关键词： Structural analysis

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Trajectory planning of space robot system for target berthing and reorientation after capturing

Trajectory planning of space robot system for target berthin...

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

作者： Wenfu, Xu Bin, Liang Wenyi, Qiang Panfeng, Huang Yangsheng, Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Astronautics Northwestern Polytechnical University Xi'An China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)1424403324

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, Genetic Algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation. © 2006 IEEE.

关键词： Mobile robots

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Power Loss Analysis of Energy Management System with Model Predictive control in Mae Hong Son Microgrid 3

Power Loss Analysis of Energy Management System with Model P...

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3rd IEEE International Conference on Power Electronics, Intelligent control and Energy Systems, ICPEICES 2024

作者： Prapanwattana, Nattakit Dechawatanapaisal, Donlapat Banjerdpongchai, David Rajan, Abhishek Center of Excellence in Intelligent Control Automation for Process Systems Chulalongkorn University Faculty of Engineering Dept. of Electrical Engineering 254 Phayathai Rd Bangkok Pathumwan10310 Thailand National Institute of Technology Sikkim Dept. of Electrical Engineering South Sikkim Ravangla737139 India

ISBN: (纸本)9798350387193

Energy management system (EMS) is an important tool for energy efficiency and reliability of the power system. The optimal power dispatch of energy resources can be obtained using the nonlinear model predictive control (NMPC). It is formulated as an optimization problem subject to linear and nonlinear constraints. Although the existing system works well under the current conditions, power loss has not been considered. Power loss in transmission lines occurs due to their resistance and a high amount of power flow to loads connecting to the system. The power loss leads to decreased efficiency in the electrical system and reduces the lifespan of equipment because of the high temperature from loss. This paper aims to analyze the power loss in the Mae Hong Son (MHS) microgrid. To achieve the research objectives, we employ the EMS of MHS with NMPC and calculate power loss in transmission lines for a period of 7 days. EMS considers three objective functions, namely, total operating cost, total carbon dioxide emission, and combined economic and emission dispatch and take into account of three seasons consisting of rainy, winter, and summer. © 2024 IEEE.

关键词： Predictive control systems

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Neural-network-based approach applied to harmonic component estimation in microgrids 16

Neural-network-based approach applied to harmonic component ...

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16th Brazilian Power Electronics Conference, COBEP 2021

作者： Reis Bernardino, Luiz Gustavo Do Nascimento, Claudionor Francisco Tavares Neto, Roberto Fernandes De Souza, Wesley Angelino Marafao, Fernando Pinhabel Federal University of São Carlos Dept. of Electrical Engineering São Carlos Brazil Federal University of Technology - Paraná Dept. of Electrical Engineering Cornélio Procópio Brazil São Paulo State University Dept. of Control and Automation Engineering Sorocaba Brazil Dept. of Production Engineering Federal University of S ao Carlos Sao Carlos Brazil

ISBN: (纸本)9781665421294

Power quality in smart microgrids must be carefully analyzed, whereas adverse consequences may harm the electrical systems without power management and appropriate measures. The main goal of this paper is to develop a 5th, 7th, 11th, and 13th voltage harmonic components identification method based on artificial neural network (ANN). This tool could provide information to the smart microgrid management and control system or be an alternative solution to the harmonic identification process of a harmonic compensator embededs into power converters. The trained algorithm can identify harmonic components amplitude and phase angle in the interfacing point between microgrid and power converters. it was possible to generate a voltage waveform with a maximum difference of 0.04 p.u. between the expected waveform and the one built with the parameters identified by ANN. The ANN method validation was performed through computer simulations. © 2021 IEEE.

关键词： Neural networks

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