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European control Conference (ECC)

作者： Adrian Burlacu Radu L. Rosca Andrei I. Iancu Enric Cervera Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Romania Dept. of Computer Science and Engineering Jaume I University Spain

In this paper, a novel approach to visual servo control robotic systems is proposed. It is focused on developing a solution using 3D point features without recovering the rigid object’s pose. Pose-free motion is achieved using motion parameterization techniques based on dual numbers and dual vectors. Considering an imposed velocity field over the motion of the 3D point features ensemble, this work proposes a close-form solution to a visual servoing problem. The solution provides stable motion control while preserving the image features in the field of view. However, when some point features leave the field of view, their contribution to the control law is dropped without losing stability. The proposed solution is easy to tune and implement. Various scenarios are used in simulations and real experiments to show how the proposed solution overcomes classic servoing problems.

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A real-time control for path following of an USV

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IFAC Proceedings Volumes 2009年第18期42卷 261-266页

作者： Dictino Chaos David Moreno Joaquín Aranda Jesús M. de la Cruz Dept. Informática y Automática UNED Juan del Rosal 16. 28040 Madrid. Spain Dept of Computers Architecture and Automatic Control UCM 28040 Madrid Spain

control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design. Besides, the use of underactuated vehicles is very important for different reasons like simplicity, cost, efficiency, etc, so these vehicles and their use for collaborative tasks are main topics of investigation. A non linear control for path following for USVs is presented in this work with an infrastructure capable of performing multiple AUV and ROV in collaborative tasks. So this control law and this infrastructure will be used in future projects for formation control of USVs.

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BSPC: A novel bitmap-based scalable parallel classifier

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AEJ - Alexandria Engineering Journal 2005年第4期44卷 585-595页

作者： Drahem, Ghada H. Abougabal, Mohamed S. Sueyllam, Hesham Mahar, Khaled M. Computer Science and Automatic Control Dept. Faculty of Eng. Alexandria University Alexandria Egypt College of Computing and Information Technology ASST Alexandria Egypt

Decision trees have been found very effective for classification especially in data mining. Although classification is a well studied problem, most of the current classification algorithms need an in-memory data structure to achieve efficiency. This limits their suitability for mining over large databases. In this paper, a novel Bitmap-based Scalable Parallel Classifier (BSPC) is presented. It removes all the memory requirements needed by existing algorithms. Also, since scalability is a key requirement for any data mining algorithm, it is considered and achieved in the design of BSPC. Additionally, the suggested algorithm has been designed to be easily parallelized, allowing many processors to work together to build a single consistent model. Performance analysis demonstrates that the BSPC outperforms other state of the art algorithms. The superiority of the novel algorithm is demonstrated through the classification of Wisconsin breast cancer dataset. © Faculty of Engineering Alexandria University.

关键词： Algorithm complexity analysis Bitmap index Classification Data mining Decision tree Parallel algorithms

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A Simulation Study of Consensus Speed over Scale-Free Networks

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IFAC Proceedings Volumes 2009年第22期42卷 74-79页

作者： Wei Sun YangQuan Chen Dept. of Automatic Control Beijing Institute of Technology Beijing 100081 China Center for Self-Organizing and Intelligent Systems (CSOIS) Dept. of Electrical and Computer Engineering Utah State University Logan UT 84322 USA

Scale-free network and consensus among multiple agents have both drawn quite much attention. To investigate the consensus speed over scale-free networks is the main topic in this paper. Given a set of different values for the power-law distribution parameter γ, and a set of different values for the minimum degree ( d min ) for the nodes, the algebraic connectivity (λ 2 ) of the network topology is studied, as well as the time ( t c ) (or iteration ( k c ), for discrete algorithm) taken to reach consensus. The results exhibit that λ 2 decreases while γ increases. The λ 2 increases monotonically as d min grows, and they fit very well in a linear relationship. t c (or k c ) decreases as γ reduces and d min increases. Via observing the behavior of the largest eigenvalue (λ n ) of the Laplacian of the network topology, we draw the conclusion that the robustness over time delays declines while the robustness over node-failures and edge-failures increases.

关键词： Scale-free network consensus algebraic connectivity network robustness

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A Prototype Development Framework for Hybrid control System Design

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IFAC Proceedings Volumes 1996年第1期29卷 7296-7301页

作者： M.S. Hajji A.R. Browne J.M. Bass P. Schroder P.R. Croll P.J. Fleming Dept. of Automatic Control and Systems Engineering University of Sheffield UK. Dept. of Computer Science University of Sheffield UK. Tel: +44-114-282-5236 Fax: +44-114-273-1729

Hybrid control systems are a combination of real-time control law and discrete-state logic. This paper describes how a Development Framework for control systems software has been adapted so that it may also handle discrete events such as mode switching. The Framework provides a highly automated path from a control engineering specification to a distributed system implementation. Simulink, an extension to Matlab, is used to specify control laws, and a statecharts tool, Statemate, is used to specify and model discrete-state components. The design phase of the Development Framework supports the integration of the two sets of specification. An inverted pendulum control system is introduced as a simple example of a hybrid system implemented using the Framework. The translation of statecharts to dataflow notations is described for the example system. General translation rules are also presented.

关键词： Real-time systems parallel processing computer-aided control system design discrete-event systems

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A Reliable control System for an Underwater Hidrojet Explorer Camera

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IFAC Proceedings Volumes 1999年第2期32卷 8261-8266页

作者： J. Amat R. Villà J. Aranda Institut de Robòotica Industrial IRI (UPC-CSIC) Dept. Automatic Control and Computer Engineering (UPC). Pau Gargallo 5. 08028 Barcelona Spain

Access to restricted spaces underwater requires a small unencumbered camera. A low cost solution has been envisaged. It consists of an hermetic capsule enclosing the camera and lights, joined to the host by an umbilical. Along the umbilical go six water carrying ducts. Three of them end at backwards pointing nozzles located at the capsule body. The jets of water flowing from the nozzles are controlled and their forces allow some restricted positioning of the camera. Another three ducts end at nozzles located some distance up the umbilical, and allow greater maneuverability.

关键词： Marine systems stereovisions tracking systems

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Discrete Event Systems: Modeling and control 1

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丛书名： Progress in Systems and control Theory

1000年

作者： Silvano Balemi Petr Kozák Rein Smedinga

ISBN: (数字)9783034891202

ISBN: (纸本)9783034899161

Research of discrete event systems is strongly motivated by applications in flex ible manufacturing, in traffic control and in concurrent and real-time software verification and design, just to mention a few important areas. Discrete event system theory is a promising and dynamically developing area of both control theory and computer science. Discrete event systems are systems with non-numerically-valued states, inputs, and outputs. The approaches to the modelling and control of these systems can be roughly divided into two groups. The first group is concerned with the automatic design of controllers from formal specifications of logical requirements. This re search owes much to the pioneering work of P.J. Ramadge and W.M. Wonham at the beginning of the eighties. The second group deals with the analysis and op timization of system throughput, waiting time, and other performance measures for discrete event systems. The present book contains selected papers presented at the Joint Workshop on Discrete Event Systems (WODES'92) held in Prague, Czechoslovakia, on Au gust 26-28, 1992 and organized by the Institute of Information Theory and Au tomation of the Czechoslovak Academy of Sciences, Prague, Czechoslovakia, by the automatic control Laboratory of the Swiss Federal Institute of Technology (ETH) , Zurich, Switzerland, and by the Department of Computing Science of the University of Groningen, Groningen, the Netherlands.

关键词： Systems Theory, control Vibration, Dynamical Systems, control

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Considerations regarding security issues impact on systems availability

arXiv

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arXiv 2018年

作者： Pricop, Emil Mihalache, Sanda Florentina Paraschiv, Nicolae Fattahi, Jaouhar Zamfir, Florin Automatic Control Computers and Electronics Department Petroleum-Gas University of Ploiesti Ploiesti Romania Dept. of Computer Science and Software Engineering Université Laval QC Canada Automatic Control Computers and Electronics Dept. Petroleum-Gas University of Ploiesti Ploiesti Romania

control systems behavior can be analyzed taking into account a large number of parameters: Performances, reliability, availability, security. Each control system presents various security vulnerabilities that affect in lower or higher measure its functioning. In this paper the authors present a method to assess the impact of security issues on the systems availability. A fuzzy model for estimating the availability of the system based on the security level and achieved availability coefficient (depending on MTBF and MTR) is developed and described. The results of the fuzzy inference system (FIS) are presented in the last section of the paper. Copyright © 2018, The Authors. All rights reserved.

关键词： Availability

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Switched bond graphs as front-end to formal verification of hybrid systems 5th

Switched bond graphs as front-end to formal verification of ...

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5th DIMACS/SYCON Workshop on Verification and control of Hybrid Systems, 1995

作者： Strömberg, Jan-Erik Nadjm-Tehrani, Simin Top, Jan L. Div. of Automatic Control Dept. of Electrical Engineering Linköping University LinköpingS-581 83 Sweden Dept. of Computer and Information Science Linköping University LinköpingS-581 83 Sweden Agrotechnological Research Institute ATO-DLO P.O. Box 17 WageningenNL-6700 Netherlands

ISBN: (纸本)354061155X

Formal verification of safety and timing properties of engineering systems is only meaningful if based on models which are systematically derived. In this paper we report on our experience using switched bond graphs for the modelling of hardware components in hybrid systems. We present the basic ideas underlying bond graphs in general and switched bond graphs in particular. Switched bond graphs are tailored for the modelling of physical systems undergoing abrupt structural changes. Such abrupt changes appear frequently in plants closed by discrete controllers. We illustrate our approach by means of an aircraft landing gear system and prove safety and timeliness properties using the proof system of extended duration calculus. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Hybrid systems

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Comparison of the Effectiveness of Various Structures of Regulators for controlling an Object of the Sixth Order

Comparison of the Effectiveness of Various Structures of Reg...

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2019 International Multi-Conference on Engineering, computer and Information Sciences, SIBIRCON 2019

作者： Zhmud, Vadim Dimitrov, Lubomir Nosek, Jaroslav Roth, Hubert Novosibirsk State Technical University Dept. of Automation Novosibirsk Russia Technical University of Sofia Sofia Bulgaria Technical University of Liberec Faculty of Mechatronics Computer Science and Interdisciplinary Research Liberec Czech Republic University of Siegen Department of Automatic Control Engineering Siegen Germany Germany

ISBN: (纸本)9781728144016

Object control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of the problem of controlling a linear object of the sixth order, the parameters of which are such that this high order significantly and negatively affects the possibilities of successfully managing this object. Using the traditional approach to the design problem of the controller (regulator) allows us to formally solve the problem;however, the result of this solution is not satisfactory. The use of additional derivation does not give any noticeable improvement. A solution to this problem is proposed by using pseudo-local feedback, moreover, this connection is supposedly most effective if it covers one of two identical links in the object model. This allows for a smoother attenuation of the frequency response of the object in the region where the action of these two links begins to affect. For pseudo-local communication, an additional PID controller is used, the coefficients of which are also determined by the method of numerical optimization. The optimization result allows us to conclude that the presence of an integral element in this controller is optional. The calculation result of such a composite controller meets the most stringent requirements for the quality of control, since in such a system the speed is increased at least twice, the oscillations, which were about 10% in amplitude, are completely eliminated, the robustness of the system is ensured, which is verified by changing all the controller coefficients by 5% up and down, and also by changing the time constant of the element of the pseudolocal loop by 10% up and down, changes in the transition process of the system in this case remain are acceptable. © 2019 IEEE.

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