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International Journal of control and Automation 2016年第5期9卷 387-394页

作者： Kim, Min Byun, Gi-Sig Kim, Gwan-Hyung Choi, Myoung-Hoon Dept. of Control and Instrumentation Engineering Pukyong Univ Nam-gu Busan Korea Republic of Dept. of Computer Engineering Tongmyong Univ Yongdang-dong Busan Korea Republic of

Drones in flight make a variety of vibration frequencies. Therefore, gimbal system is needed to get clean images from drone-mounted cameras. The system consists of two things: one is a structure to support a camera module, and another is a stabilizer to block outside vibrations and keep the right angle. The purpose of this paper focuses on the system's dynamics model and the application of a traditional PID controller. Furthermore, the paper compares the traditional PID and intelligent-PID without any dynamics model through the simulation made of MATLAB/Simulink. © 2016 SERSC.

关键词： controllers

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Mixed reality in traffic scenes: A view synthesis approach

Mixed reality in traffic scenes: A view synthesis approach

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IFIP 1st International Workshop on Entertainment Computing, IWEC 2002

作者： Martínez, A.B. Arboleda, J.P. Martín, E.X. Torrens, C. Dept. of Automatic Control and Computer Engineering UPC Spain

ISBN: (纸本)9781475751536

Our research group, interested in outdoor scenes, has developed a methodology to register a CAD model of a city, with images taken with video cameras installed in a car, while driving city streets. So, we can merge video captured data and the render of elements of the model into one image, forcing real and virtual camera points of view, orientations and parameters to coincide. Consequently, we generate real-video sequences and can insert, in real time, virtual objects congruently placed in relation to real objects of the scene. With the aim of increasing realistic likeness of inserted objects, we propose an alternate method that uses view synthesis techniques instead of render techniques. From a finite set of pictures of a real object, taken from different points of view, we are able to generate any point of view object projection, to be inserted in the physical coherent location. © 2003 by Springer Science+Business Media New York.

关键词： Video cameras

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Path planning of free-floating robot in cartesian space using direct kinematics

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International Journal of Advanced Robotic Systems 2007年第1期4卷 17-26页

作者： Xu, Wenfu Liang, Bin Li, Cheng Xu, Yangsheng Qiang, Wenyi Dept. of Control Science and Engineering Harbin Institute of Technology Harbin China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited (In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

关键词： Mobile robots

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A hierarchical and modular agent-oriented framework for power systems co-simulations

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Energy Informatics 2022年第4期5卷 48页

作者： De Vizia, Claudia Macii, Alberto Patti, Edoardo Bottaccioli, Lorenzo Dept. of Control and Computer Engineering Politecnico di Torino Turin Italy Interuniversity Dept. of Regional and Urban Studies Politecnico di Torino Turin Italy

During the last decades, numerous simulation tools have been proposed to faithfully reproduce the different entities of the grid together with the inclusion of new elements that make the grid "smart". Often, these domain-specific simulators have been then coupled with co-simulation platforms to test new scenarios. In parallel, agent-oriented approaches have been introduced to test distributed control strategies and include social and behavioural aspects typical of the consumer side. Rarely, simulators of the physical systems have been coupled with these innovative techniques, especially when social and psychological aspects have been considered. In order to ease the re-usability of these simulators, avoiding re-coding everything from scratch, we propose a hierarchical and modular agent-oriented framework to test new residential strategies in the energy context. If needed, the presented work enables the user to select the desired level of details of the agent-based framework to match the corresponding physical system without effort to test very different scenarios. Moreover, it allows adding on top of the physical data, behavioural aspects. To this end, the characteristics of the framework are first introduced and then different scenarios are described to demonstrate the flexibility of the proposed work: (i) a first stand-alone scenario with two hierarchy levels, (ii) a second co-simulation scenario with a photovoltaic panel simulator and (iii) a third stand-alone scenario with three hierarchy levels. Results demonstrate the flexibility and ease of use of the framework, allowing us to compare several scenarios and couple new simulators to build a more and more complex environment. The framework is in the early stages of its development. However, thanks to its properties in the future it could be extended to include new actors, such as industries, to get the full picture. © 2022, The Author(s).

关键词： Smart power grids

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Learning algorithm and application of quantum BP neural networks based on universal quantum gates

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Journal of Systems engineering and Electronics 2008年第1期19卷 167-174页

作者： Li Panchi Li Shiyong Dept. of Control Science and Engineering Harbin Inst. of Technology Harbin 150001 P. R. China Dept. of Computer Science and Engineering Daqing Petroleum Inst. Daqing 163318 P. R. China

A quantum BP neural networks model with learning algorithm is proposed. First, based on the universality of single qubit rotation gate and two-qubit controlled-NOT gate, a quantum neuron model is constructed, which is composed of input, phase rotation, aggregation, reversal rotation and output. In this model, the input is described by qubits, and the output is given by the probability of the state in which （1） is observed. The phase rotation and the reversal rotation are performed by the universal quantum gates. Secondly, the quantum BP neural networks model is constructed, in which the output layer and the hide layer are quantum neurons. With the application of the gradient descent algorithm, a learning algorithm of the model is proposed, and the continuity of the model is proved. It is shown that this model and algorithm are superior to the conventional BP networks in three aspects： convergence speed, convergence rate and robustness, by two application examples of pattern recognition and function approximation.

关键词： quantum computing universal quantum gate quantum neuron quantum neural networks

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Grover quantum searching algorithm based on weighted targets

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Journal of Systems engineering and Electronics 2008年第2期19卷 363-369页

The current Grover quantum searching algorithm cannot identify the difference in importance of the search targets when it is applied to an unsorted quantum database, and the probability for each search target is equal. To solve this problem, a Grover searching algorithm based on weighted targets is proposed. First, each target is endowed a weight coefficient according to its importance. Applying these different weight coefficients, the targets are represented as quantum superposition states. Second, the novel Grover searching algorithm based on the quantum superposition of the weighted targets is constructed. Using this algorithm, the probability of getting each target can be approximated to the corresponding weight coefficient, which shows the flexibility of this algorithm. Finally, the validity of the algorithm is proved by a simple searching example.

关键词： Grover algorithm targets weighting quantum searching quantum computing.

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Finite impulse response neural networks with applications in speed control of DC motor drive

Finite impulse response neural networks with applications in...

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作者： Sallam, A.S. Mohamed, H.A. Computer and Control Engineering Dept. Faculty of Engineering Tanta University Egypt

ISBN: (纸本)9780791802977

An increasing number of applications of dynamic neural networks has been developed for digital signal processing (DSP) , dynamic neural networks are feedforward neural networks with commonly used scalar synapses replaced by linear filters. This provides feedforward neural networks with the capability of performing dynamic mappings, which depend on past input values, dynamic neural networks are suitable for time series prediction, nonlinear system identification, and signal processing applications. Their most popular types are Finite Impulse Response (FIR) neural networks, which are obtained by replacing synapses with finite impulse response filters. Due to their guaranteed stability characteristic and easy to minimize error surface they have been used with great success in many applications such as signal enhancement, noise cancellation, classification of input patterns, system identification, prediction, and control.. Most of the works on system identification using neural networks are based on multilayer feedforward neural networks with backpropagation learning or more efficient variations of this algorithm, an elegant method for training layered networks. This paper is based on work in a Dynamic System Modeling (DYSMO) and as an application for speed control of DC motor drive.

关键词： Multilayer neural networks

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Sensor fusion using dynamic Bayesian networks in livestock production buildings

Sensor fusion using dynamic Bayesian networks in livestock p...

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CIMCA 2006: International Conference on Computational Intelligence for Modelling, control and Automation, Jointly with IAWTIC 2006: International Conference on Intelligent Agents Web Technologies and International Commerce

作者： Hansen, Jens A. Nielsen, Thomas D. Schiøler, Henrik Dept. of Computer Science Aalborg University Dept. of Control Engineering Aalborg University

ISBN: (纸本)0769527310

The climate in modern livestock production buildings is controlled using a simple state controller. State controllers are typically not equipped to handle abnormal situations, e.g. sensors providing false or no readings, and they may therefore produce malformed climate control signals which may have severe consequences for the livestock. To make the system more robust, a sensor fusion system can be used to combine the different sensor readings and thereby produce a more reliable estimate of the climate state. A dynamic Bayesian network (DBN) model is constructed for this purpose. The model is tested in an online setup in a climate laboratory, where realtime behavior is archived by using the Boyen & Koller approximate inference algorithm. Preliminary experimental results show that the proposed model provides a promising framework for sensor fusion in livestock buildings. © 2006 IEEE.

关键词： Sensor data fusion

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On-line fault detection of transmission line using artificial neural network

On-line fault detection of transmission line using artificia...

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International Conference on Power System Technology (POWERCON 2004)

作者： El Safty, SM Ashour, HA El Dessouki, H El Sawaf, M Electrical Engineering and Computer Control Dept. Faculty of Engineering Arab Academy for Science and Technology Egypt

ISBN: (纸本)0780386108

As the voltage and current waveforms are deformed due to transient during faults, their pattern changes according to the type of fault. The Artificial Neural Network (ANN) can then be used for fault detection due to its distinguished behavior in pattern recognition. In order to minimize the structure and timing of the ANN, preprocessing of the voltage and current waveforms was done. The data delivered from a simulated power system using PSCAD (EMTP with cad system) was used for training and testing the ANN. An experimental setup, consists of a 3 phase power supply module and transmission line module, is utilized. A set of signal conditioning circuits is designed and implemented in order to transfer data to a PC which is used as an on-line relay for fault detection. This is done via a data acquisition card (CIO-DAS1602/12). The Matlab program captures and processes real data for training the ANN. Applying different types of faults for testing the system, right tripping action was taken and the type of fault was correctly identified. The suggested artificial neural network algorithm has been found simple and effective hence could be implemented in practical application.

关键词： Electric current measurement

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The analysis and implementation of UDP-based cross-platform data transmission

The analysis and implementation of UDP-based cross-platform ...

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2012 2nd International Conference on Consumer Electronics, Communications and Networks, CECNet 2012

作者： Li, Tingshun Zhu, Weiying Xu, Jiaohui Cheng, Yongqiang Dept. School of Control and Computer Engineering NCEPU Beijing China

ISBN: (纸本)9781457714153

The analysis and implementation of UDP-based cross-platform data shows that the advantages of UDP protocol are better understood and it's the best places of application. Further, master the knowledge of data transmission and the operation to XML file. By parsing an XML document, which will extract the data stored, and then packaged in these data through the UDP protocol, send data to the receiving program, After the receiving program receives the data, the data in the package open, extract original data, and then use these data to generate relevant content of the XML file, in the end output. In addition, the article also reflects the advantage of Java language: cross-platform. © 2012 IEEE.

关键词： XML

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