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IEEE-RAS International Conference on Humanoid Robots

作者： Giorgio Cannata Mirko D'Andrea Marco Maggiali Dept. of Communications Computer and System Sciences University of Genova Genova Italy Consiglio Nazionale delle Ricerche Area di Ricerca di Napoli 1 Napoli Campania IT Mechatronics and Automatic Control Laboratory University of Genova Genova Italy

ISBN: (纸本)1424401992;142440200X

Eye movements have the goal of optimizing visual perception, therefore the investigation of eye motion strategies play an important role in the design of humanoid robot eye systems. Saccades in humans and primates is a significant class of ocular motions, which obey the so called Listing's Law, which constrains the admissible eye's angular velocities and ensure zero torsion during motion. In this paper we present a model of the eye plant proving that listing's law implementation is strongly related with the geometry of the eye and its actuation system (extraocular muscles). The proposed model has been used to provide the guidelines for the design of a tendon driven humanoid robot eye. Experimental tests, presented in this paper, validate the model by performing a quantitative comparison of the performance of the robot eye with physiological data measured in humans and primates during saccades

关键词： Humanoid robots Humans Design optimization Visual perception Angular velocity Solid modeling Computational geometry Muscles Guidelines Tendons

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One-cycle control for the parallel operation of synchronous buck converters

One-cycle control for the parallel operation of synchronous ...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Berbel, Néstor Guerrero, Josep M. Cruz, Juan Miret, Jaime Castilla, Miguel Dept. Electronics Engineering Universitat Politècnica de Catalunya Spain Dept. Automatic Control and Computer Eng. CEIB Spain

Thispaperpresentsanovelcontrolforamultiphasedc-dcconverter, whichprovidestightoutputvoltageregulation,fasttransientresponse, androbustnessagainstlarge-signaldisturbancesintheinput-voltageandtheload- current. © 20... 详细信息

ISBN: (纸本)0780387384

关键词： Electric converters

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Adaptive H∞-control design for a class of LPV systems

Adaptive H∞-control design for a class of LPV systems

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Karimi, H.R. Moshiri, B. Jabehdar Maralani, P. Lohmann, B. Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Institute of Automatic Control Technical University of Munich Munich Germany

ISBN: (纸本)0780395689

In this paper, we focus on the issue of adaptive H∞- control design for a class of linear parameter-varying (LPV) systems based on the Hamiltonian-Jacobi-Isaac (HJI) method. By combining the idea of polynomially parameter-dependent quadratic functions and vector projection method to derive an adaptive H∞-control, sufficient conditions with high precision are given to guarantee both robust asymptotic stability and disturbance attenuation of the LPV systems with unknown constant parameters. The applicability of the proposed design method is illustrated on a simple example. © 2005 IEEE.

关键词： Linear systems

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H∞ control of linear parameter-dependent state-delayed systems

H∞ control of linear parameter-dependent state-delayed syst...

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2005 IEEE International Conference on control Applications, CCA

ISBN: (纸本)0780393538

In this paper, we deal with the issue of robust delay-independent asymptotic stability and robust disturbance attenuation problem for linear parameter-dependent systems. Using Hamiltonian-Jacoby-Isaac approach, a parameter-dependent LMI optimization is obtained. It is shown that by utilizing polynomial parameter-dependent quadratic Lyapunov functions, a parameter-dependent LMI optimization problem is derived. Therefore, state feedback control is determined by solving a parameter-independent LMI. Finally, the applicability of the proposed design is illustrated on a simple example. © 2005 IEEE.

关键词： Linear systems

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Density-based spatial clustering in the presence of obstacles

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AEJ - Alexandria Engineering Journal 2005年第3期44卷 387-399页

作者： Saad, Amani A. Abougabal, Mohamed S. Moustafa, Amal Computer Science and Automatic Control Dept. Faculty of Eng. Alexandria University Alexandria Egypt

This paper proposes a density based clustering algorithm which takes obstacles into consideration. The proposed Clustering with Obstacle Entities algorithm COE-DBSCAN is based on the DBSCAN algorithm, which performs effective clustering for spatial data based on the notion of density. The paper presents a survey of existing spatial clustering algorithms and identifies the problems of related algorithms that deal with obstacles. The complexity of the proposed algorithm COE-DBSCAN is analyzed and some experimental work is presented. It is shown that COE-DBSCAN overcomes the problems of existing spatial clustering algorithms considering obstacles. The paper is concluded with some suggestions for further research issues. © Faculty of Engineering Alexandria University.

关键词： Clustering in the presence of obstacles Density based clustering Spatial Spatial clustering Spatial data mining

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The system reliability analysis based on the relation of fuzzy infection

The system reliability analysis based on the relation of fuz...

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5th International Conference on control and Automation, ICCA'05

作者： Sun, Chuan Wang, Yongji Zhu, Xiangou Dept. of Mechanic and Dynamic Engineering HuangShi Polytechnic College 435003 HuangShi HuBei China Dept. of Automatic Control Huazhong University of Science and Technology 430074 Wuhan HuBei China College of Computer Science and Engineering WenZhou University 325027 WenZhou ZheJiang China

ISBN: (纸本)0780391381

In this paper, using the fuzzy theory and gray theory, a concept of the degree of fuzzy infection and a new reliability analysis method based on the relation of fuzzy infection were proposed, and the mathematical mode of series connection and parallel connection system was first set up and their rationalities were proven. An illustrational example was given to demonstrate the effectiveness of this theory. © 2005 IEEE.

关键词： System stability

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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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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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On the Reliability Degree of Hue and Saturation Values of a Pixel for Color Image Classification

On the Reliability Degree of Hue and Saturation Values of a ...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： S. Romani P. Sobrevilla E. Montseny Computer Engineering Math. Dept. Rovira I Virgili University Tarragona Spain Applied Mathematics Dept. Technical Univ. of Catalonia Barcelona Spain Comp. Eng. and Automatic Control. Dept. Technical Univ. of Catalonia Barcelona Spain

Variability of hue and saturation components is an important drawback for developing accurate color image segmentation algorithms based on HSI spaces: different colors can return similar color components because of the different illumination levels, and the components of a color change accordingly to the illumination level. To avoid these problems within color segmentation algorithms, we propose a method that, based on predicted hue and saturation deviations, provides the reliability degree of the H-S color components based obtained HIS values. The reliability degree has been used for improving color classification results

关键词： Pixel Color Lighting Colored noise computer vision Image segmentation Application software Humans Shadow mapping Reliability engineering

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Multi-level negative selection algorithm and its application to network intrusion detection

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Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 2005年第4期39卷 582-584页

作者： Pan, Feng Ding, Yun-Fei Wang, Wei-Nong Dept. of Computer Science and Eng. Shanghai Jiaotong Univ. Shanghai 200030 China Dept. of Automatic Control and Systems Eng. Univ. of Sheffield Sheffield S102TN United Kingdom

This paper brought forward a new immune algorithm, multi-level negative selection algorithm. Compared with Forrest's negative selection algorithm, it enhances detector generation efficiency in essence. This algorithm integrates clonal selection process into negative selection process. Based on the analysis, this algorithm was applied to network intrusion detection and has a very good result.

关键词： Security of data

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