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IDENTIFICATION AND control EXPERIMENTATION WITH A REMOTE PLATFORM OF AN AUTONOMOUS IN-SCALE FAST-FERRY MODEL

IFAC Proceedings Volumes 2007年第17期40卷 277-282页

作者： F.J. Velasco E. Revestido E. López E. Moyano Dept. Electronics Technology & Systems Engineering and Automatic Control Univ. Cantabria Dept. Sciences and Navigation Technics Engines and Naval Architecture Univ. País Vasco (UPV/EHU) Dept. Applied Mathematics & Computing Sciences Univ. Cantabria

In this paper a parametric lineal model of heading is obtained, using a remote experimentation platform for marine vehicles. This platform has an in-scale fast-ferry physical model, TF-120 which is autonomous and has all the elements required to emulate a real vessel. The physical model is controlled remotely from a PC using Wi-Fi communications. The tests for the data acquisition with the platform for marine vehicles were carried out in the surroundings of the Bay of Santander. The parametric model identified is used to design a PID controller for heading autopilot and a simulation of this system is performed in Simulink.

关键词： Remote marine laboratory (RML) parametric identification PID control heading control genetic algorithms

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DISCRETE EVENT BASED APPROACH TO THE SIMULATION OF A CONTINUOUS NAVAL SYSTEM

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IFAC Proceedings Volumes 2007年第17期40卷 223-228页

作者： Dictino Chaos Joaquín Aranda Rocío Munoz José Manuel Díaz Jesús M. de la Cruz Dept. Informática y Automática. UNED. C/ Juan del Rosal 16. 28040 Madrid. Spain Dept of Computers Architecture and Automatic Control UCM. 28040 Madrid Spain

In this work a simulation platform for uninhabited marine and aerial vehicles is proposed. This platform is based in the MDA (Model Driven architecture) approach and the DEVS (Discrete Event System Specification) formalism. Platform independent models (PIM) are used to describe the vehicles and its interaction; then, theses models are traduced to platform-specific models (PSMs) in Matlab-Simulink, Java and other languages. DEVS formalism is designed to describe discrete events model, so in order to use continuous time models the second order quantified states simulation (QSS2) is proposed. This method is applied to an autonomous radio controlled hovercraft and its low level tracking controller.

关键词： Marine autonomous vehicles DEVS formalism quantified states simulation

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Multi-agent based virtual learning environment. A socio-cultural approach

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WSEAS Transactions on Information Science and Applications 2007年第1期4卷 30-35页

作者： Moisil, Ioana Pah, Iulian Barbat, Boldur Popa, Emil Marin Faculty of Engineering Computer Science and Automatic Control Dept. Lucian Blaga University of Sibiu Blvd. Victoriei No. 10 Sibiu Romania Faculty of Sciences - Economic Informatics Lucian Blaga University of Sibiu Blvd. Victoriei No. 10 Sibiu Romania Faculty of Sociology and Social Work Babes-Bolyai University of Cluj Napoca Cluj Napoca Romania

In our paper we are proposing a complex model of the student (learner) in a virtual educational environment, supported by a multi-agent system. The whole system is centered on the student and it mainly takes into account Vygotsky's socio-cultural theory that states that social interaction plays a fundamental role in the development of cognition. The model is part of a larger project - DANTE - Socio-Cultural Models implemented through multi-agent architecture for e-learning - that has as main objective the development of a student centred framework for the virtual educational universe that facilitates collaborative learning. The virtual educational world is inhabited by agents: human agents and artificial agents that interact. Agents can be mediating agents, semiotic agents or social agents;they can be intelligent software entities or simple ones, like interface agents.

关键词： Multi agent systems

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ATQL: Adaptive target queue length adjustment for AQM controllers to meet dynamic traffic environment

ATQL: Adaptive target queue length adjustment for AQM contro...

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1st IEEE International Conference on Wireless Broadband and Ultra Wideband Communications, AusWireless 2006

作者： Fang, Shudong Sun, Jinsheng Berber, Stevan M. Dept. of Electrical and Computer Engineering Univ. of Auckland New Zealand Dept. of Automatic control Nanjing Univ. of Sci. and Tech. China

ISBN: (纸本)0977520005

An adaptive target queue length (ATQL) adjustment algorithm proposed in this paper cooperates with certain Active Queue Management (AQM) controllers to achieve more efficient buffer management for Internet congestion control. ATQL algorithm which estimates the average traffic load and dynamically adjusts the target queue length in dynamic traffic environment can be easily embedded into a series of AQM controllers. By engaging ATQL, AQM controllers are more suited to random and unpredictable traffic scenarios. Simulations are applied to validate ATQL's ability in assisting AQM controllers in sustaining stable drop probability, minimizing unnecessary packet loss, guaranteeing the link utility and maximizing the exploitation of buffer spaces.

关键词： Queueing theory

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Optimal deployment of distributed passive measurement monitors

Optimal deployment of distributed passive measurement monito...

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2006 IEEE International Conference on Communications, ICC 2006

作者： Chengchen, Hu Bin, Liu Zhen, Liu Shifang, Gao Dapeng, Wu Dept. of Computer Science and Technology Tsinghua University Beijing China Dept. of Automatic Control Northwest Polytechnical University Xi'an Shaanxi China Dept. of Electrical and Computer Engineering University of Florida Gainesville FL United States

ISBN: (纸本)1424403553

Flow-level traffic measurement is important for network management. The widely used centralized per-flow measurement faces a great challenge due to the demanding requirement on both memory bandwidth and memory size within a single traffic monitor. This paper addresses the issue of deploying a Distributed Passive Measurement System (DPMS) in a large scale network;specifically, we study how to optimally place traffic monitors and sample stochastic traffic flows, so that the probability of a packet being sampled (a.k.a. measurement coverage) is maximized. We formulate this problem as a Stochastic Chance Constrained Optimization (SCCO) problem;and we propose a Hybrid Intelligent (HI) algorithm to solve this problem. The HI algorithm consists of two major components, namely, uncertain function approximation and genetic algorithm. Equipped with the HI algorithm, we are able to address the optimal tradeoff between measurement coverage and deployment cost for networks with random traffic, which has not been studied before. Our simulations and experiments demonstrate the effectiveness of our algorithm, i.e., a small deployment cost or a small number of monitors are sufficient to maintain a high level of measurement coverage. © 2006 IEEE.

关键词： Telecommunication traffic

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A framework for feature selection for background subtraction

A framework for feature selection for background subtraction

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2006 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 2006

作者： Parag, Toufiq Elgammal, Ahmed Mittal, Anurag Dept. of Computer Science Rutgers University Piscataway NJ 08854 Real-time Vision and Modeling Dept. Siemens Corporate Research Princeton NJ 08540 Dept. of Computer Science and Automatic Control University of Alexandria Egypt Dept. of Computer Science and Engg IIT Madras Chennai India

ISBN: (纸本)0769525970

Background subtraction is a widely used paradigm to detect moving objects in video taken from a static camera and is used for various important applications such as video surveillance, human motion analysis, etc. Various statistical approaches have been proposed for modeling a given scene background. However, there is no theoretical framework for choosing which features to use to model different regions of the scene background. In this paper we introduce a novel framework for feature selection for background modeling and subtraction. A boosting algorithm, namely RealBoost, is used to choose the best combination of features at each pixel. Given the probability estimates from a pool of features calculated by Kernel Density Estimate (KDE) over a certain time period, the algorithm selects the most useful ones to discriminate foreground objects from the scene background. The results show that the proposed framework successfully selects appropriate features for different parts of the image. © 2006 IEEE.

关键词： Object recognition

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NEW DIRECT DISCRETIZATION OF THE FRACTIONAL-ORDER DIFFERENTIATOR/INTEGRATOR BY THE CHEBYSHEV-PADÉ APPROXIMATION

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IFAC Proceedings Volumes 2006年第11期39卷 269-273页

作者： A.P. de Madrid C. Mañoso R. Hernández Dept. of Computer Science and Automatic Control Computer Science School. Juan del Rosal 16. 28040 – Madrid (Spain)

This paper deals with the use of the Chebyshev-Padé approximation (CP) in order to achieve accurate direct discrete-time approximations to the fractional-order differentiator/integrator. It is shown how, for a given order of the transfer functions, CP is much more accurate at low frequencies than the continued fraction expansion (CFE). Furthermore, CP can be more accurate than a CFE approximation of a higher order.

关键词： Fractional-order differentiator/integrator Fractional calculus Fractional-order systems Chebyshev-Padé approximation Continued fraction expansion Integer-order approximation Backward differentiation rule Tustin operator Al-Alaoui operator Discretization

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Texture discrimination by local morphological multifractal signatures

Texture discrimination by local morphological multifractal s...

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2006 IEEE Region 10 Conference, TENCON 2006

作者： Xia, Yong Zhao, Rongchun Zhang, Yanning Feng, Dagan Sun, Jian School of Computer Northwestern Polytechnical University China Dept. of Electronic and Information Engineerings Hong Kong Polytechnic University Hong Kong School of Information Technologies University of Sydney Australia School of Automatic Control Northwestern Polytechnical University China

ISBN: (纸本)1424405491

Both the fractal dimension (FD). and the multifractal dimensions (MFD) have been widely used to describe natural textures in image processing community. However, due to the essential difference between the fractal reality of digital images and the mathematical fractal model, most FD/MFD estimation algorithms intrinsically produce less accurate results. In this paper, the idea of fractal signature is adopted and extended to the morphological multifractal estimation. As a result, a novel texture descriptor, namely the local morphological multifractal signatures (LMMS), is proposed to characterize the local scaling property of textured images. The LMMS depict the behavior of the morphological MFD over a wide range of spatial scales. The proposed LMMS feature, together with the fractal signature and the morphological MFD, has been applied to the discrimination of Brodatz textures. The comparison results demonstrate that our LMMS feature can differentiate natural textures more effectively. © 2006 IEEE.

关键词： Image processing

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Stochastic circulatory lymphocyte models

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2006年 106卷 130-145页

作者： Farooqi, Z.H. Mohler, R.R. Dept. of Electrical and Computer Engineering Oregon State University Corvallis OR 97331 United States Institute of Automatic Control Technical University of Warsaw Poland

No abstract available

ISBN: (纸本)9783540188612

No abstract available

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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