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American control Conference

作者： Simone Baldi Giorgio Valmorbida Antonis Papachristodoulou Elias B. Kosmatopoulos Delft Center for Systems and Control Delft University of Technology Delft 2628CD The Netherlands Department of Engineering Science Control Group University of Oxford Parks Road Oxford OX1 3PJ U.K. Dept. of Electrical and Computer Engineering Democritus University of Thrace Xanthi 67100 Greece and Informatics & Telematics Institute Center for Research and Technology Hellas (ITI-CERTH) Thessaloniki 57001 Greece

ISBN: (纸本)9781479917730

This work proposes a policy iteration procedure for the synthesis of optimal and globally stabilizing control policies for Linear Time Invariant (LTI) Asymptotically Null-controllable with Bounded Inputs (ANCBI) systems. This class includes systems with eigenvalues on the imaginary axis (possibly repeated) but no pole with positive real part. The proposed policy iteration relies on a class of piecewise quadratic Lyapunov functions which is non-differentiable, but continuous, and polynomial in both the state and the deadzone functions of the input signals. The second step of the policy iteration is based on a piecewise control policy improvement. An important aspect of the proposed piecewise policy is that at each step of the iteration the computed policy is globally stabilizing and the existence of an improving value function is guaranteed as well. The solution to the inequalities which is required to hold at each step of the policy iteration, is obtained by solving Sum-of-Squares Programs (SOSP) that can be efficiently implemented with semidefinite programming (SDP) solvers.

关键词： iterative methods Policies Piecewise control law synthesis Polynomial control strategy Liapunov function Bounded

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Event-based Patient Motion Detection and Compensation in Image-Guided Robotics

Event-based Patient Motion Detection and Compensation in Ima...

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IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Tamas Haidegger Peter Kazanzides Balazs Benyo Zoltan Benyo Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Johns Hopkins University Center for Computer-Integrated Surgical Systems and Technology

ISBN: (纸本)9781457711992

We report a generalized approach to deal with patient motion in robotic image-guided surgery, along with in silico and dry laboratory tests on a neurosurgical robot setup. External patient motion events (excluding physiological motion) can occur during surgery despite body fixation, and can endanger the outcome of the surgery, as they invalidate the registration between the robot and the patient. The core of the compensation algorithm is to rely on the combination of the robot joint encoders, tracking data and the internal coordinate frame of the intra-operative navigation system to ensure accurate execution of the pre-operative plan. The method allows for the continuous correction of the registration through identifying the actual surgical event in the operating room. From the control point of view, the intra-operative events have been categorized as robot motion, camera motion, patient motion and the combinations of these. The registration update is based on the use of the most reliable reference frame and extending-window averaging to compensate for the occurred patient motion. Simulation results were performed on a generic image-guided robot model, and on a skull base surgery robot. Patient motion events were detected in 80% of the cases, which already leads to a gradual improvement of the procedure. The proposed structure allows for a more generic, probability-based handling of the operating room events that may lead to safer and more accurate surgical treatment in the future.

关键词： Patient Motion Artifact compensated control point Registration Robot Operating rooms Surgery REFERENCE FRAMES

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Erratum to “Ideal benefits of exceeding fixed voltage limits on lithium-ion batteries with increasing cycle age” [J. Power Sources 441 (2019) 227179]

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Journal of Power Sources 2020年 447卷

作者： Lukas Wikander Björn Fridholm Sébastien Gros Torsten Wik Automatic Control Div. of Systems and Control Dept. of Electrical Engineering Chalmers University of Technology Göteborg Sweden Volvo Car Corporation Göteborg Sweden

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Overcoming the Fear of the Dark: Occlusion-Aware Model-Predictive Planning for Automated Vehicles Using Risk Fields

arXiv

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arXiv 2023年

作者： van der Ploeg, Chris Nyberg, Truls Sánchez, José Manuel Gaspar Silvas, Emilia van de Wouw, Nathan Netherlands Organisation for Applied Scientific Research Integrated Vehicle Safety Group Helmond5700 AT Netherlands Eindhoven University of Technology Dynamics and Control Group Mechanical Engineering Dept. P.O. Box 513 Eindhoven5600 MB Netherlands Eindhoven University of Technology Control Systems Technology Group Mechanical Engineering Dept. P.O. Box 513 Eindhoven5600 MB Netherlands KTH Royal Institute of Technology Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science Stockholm100 44 Sweden Scania CV AB Södertälje151 87 Sweden

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected scenarios for human intervention, which can be error-prone. Motion planning approaches for higher levels of automation in the state-of-the-art are primarily oriented toward the use of risk- or anti-collision constraints, using over-approximates of the shapes and sizes of other road users to prevent collisions. These methods however suffer from conservative behavior and the risk of infeasibility in high-risk initial conditions. In contrast, our work introduces a novel multi-objective trajectory generation approach. We propose an innovative method for constructing risk fields that accommodates diverse entity shapes and sizes, which allows us to also account for the presence of potentially occluded objects. This methodology is integrated into an occlusion-aware trajectory generator, enabling dynamic and safe maneuvering through intricate environments while anticipating (potentially hidden) road users and traveling along the infrastructure toward a specific goal. Through theoretical underpinnings and simulations, we validate the effectiveness of our approach. This paper bridges crucial gaps in motion planning for automated vehicles, offering a pathway toward safer and more adaptable autonomous navigation in complex urban contexts. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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Hybrid heuristic and mathematical programming in oil pipelines networks

Hybrid heuristic and mathematical programming in oil pipelin...

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Congress on Evolutionary Computation

作者： J.M. de la Crnz García J.L. Risco Martín A. Herrán González P. Fernández Blanco Dept. of Computer Architecture and Automatic Control Universidad Complutense Madrid Spain C.E.S. Felipe II Ing. Téc. en Informática de Sistemas Aranjuez Spain Universidad Complutense Madrid Spain C.E.S. Felipe II Ing. Téc. en lnformática de Sistemas Aranjuez Spain

We solve the problem of the distribution of petroleum products through oil pipelines networks. This problem is modeled and solved using two techniques: A heuristic method, a multiobjective evolutionary algorithm and mathematical programming. In the multiobjective evolutionary algorithm, several objective functions are defined to express the goals of the solutions as well as the preferences among them. Some constraints are included as hard objective functions and some are evaluated through a repairing function to avoid infeasible solutions. In the mathematical programming approach the multiobjective optimization is solved using the constraint method in mixed integer linear programming. Some constraints of the mathematical model are nonlinear, so they are linearized. The results obtained with both methods for three concrete networks are presented. They are compared with a hybrid solution, where we use the results obtained by mathematical programming as the seed of the evolutionary algorithm.

关键词： Mathematical programming Intelligent networks Petroleum Pipelines Packaging Refining computer architecture automatic control Concrete Evolutionary computation

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Bas-relief ambiguity

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International Journal of computer Vision 1999年第1期35卷 33-44页

作者： Belhumeur, Peter N. Kriegman, David J. Yuille, Alan L. Center for Comp. Vision and Control Dept. of Electrical Engineering Yale University New Haven CT 06520 United States Beckman Institute Department of Computer Science Univ. of Illinois Urbana-Champaign Urbana IL 61801 United States Smith-Kettlewell Eye Res. Institute San Francisco CA 94115 United States

When an unknown object with Lambertian reflectance is viewed orthographically, there is an implicit ambiguity in determining its 3-d structure: we show that the object's visible surface f(x, y) is indistinguishable from a `generalized bas-relief' transformation of the object's geometry, f¯(x, y) = λf(x, y)+μx+vy, and a corresponding transformation on the object's albedo. For each image of the object illuminated by an arbitrary number of distant light sources, there exists an identical image of the transformed object illuminated by similarly transformed light sources. This result holds both for the illuminated regions of the object as well as those in cast and attached shadows. Furthermore, neither small motion of the object, nor of the viewer will resolve the ambiguity in determining the flattening (or scaling) λ of the object's surface. Implications of this ambiguity on structure recovery and shape representation are discussed.

关键词： Object recognition

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Two TS-Fuzzy controllers based Direct Torque control of 5-Phase Induction Motor

Two TS-Fuzzy Controllers based Direct Torque Control of 5-Ph...

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International Conference on Power Electronic Drives

作者： Malik G. Al-Ghanimi Omar Hanif Mahit V. Jain A. Siva Kumar Ramana Rao M. V R. Kavin Siva Ganesh Malla Jagan Mohana Rao Malla Md. Amzad Hossain Technical institute of Al-Mussaib Al-Furat Al-Awsat Technical University Iraq Dept. of Automatic Control and Systems Engineering The University of Sheffield Sheffield The United Kingdom Sigma Institute of Engineering Vadodara India Department of EEE Panimalar Engineering College Chennai Tamilnadu India University College of Engineering Osmania University Hyderabad India Sri Krishna College of Engineering & Technology Coimbatore India CPGC Pvt. Ltd. Visakhapatnam India Geethanjali College of Engineering and Technology Hyderabad Telangana India Institute of Theoretical Electrical Engineering Ruhr University Bochum (RUB) Germany

The interest on five phase induction motor drives is gradually increasing due to its wide variety of applications including electric vehicles, high compressor systems, ship propulsion etc. The designing of a proper controller to make 5-phase induction motor based electric drive is playing a vital role for many usages among many controllers, a direct torque controller (DTC) is a famous technique to achieve motor torque with fewer ripples. Moreover, Takagi Suguno - Fuzzy (TS-Fuzzy) controllers can provide fast response under rapid changes of inputs. Therefore, TS-Fuzzy based DTC of 5-phase induction motor drive is proposed in this paper. Further, the space vector modulation technique is implemented for obtaining proper pulse sequence for 5-phase inverter to drive the motor. In order to achieve smooth control of both torque and flux, two fuzzy logic controllers are deployed on the DTC of the motor. For better illustration, responses of the proposed TS-Fuzzy based DTC of 5-phase induction motor are compared with 3-phase motor. The proposed method is simulated and presented in this paper to analyze the performance of the proposed method under various conditions.

关键词： Induction motor drives Support vector machines Fuzzy logic Torque Torque control Modulation Switches

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On Applying MDE for Generating Reconfigurable Automation Systems

On Applying MDE for Generating Reconfigurable Automation Sys...

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International Conference on Industrial Informatics

作者： Rafael Priego Aintzane Armentia Elisabet Estévéz Marga Marcos Dept. of Automatic Control and System Engineering ETSI Bilbao Basque Country University (UPV/EHU) Bilbao Spain Dept. Ingenieria Electrónica y Automática EPS de Jaén University of Jaén Jaén Spain

ISBN: (纸本)9781479966509

The continuous changes on the market and customer demands have forced modern automation systems to provide more strict Quality of Service (QoS) requirements such as load balance or full availability of the control system, among other characteristics. In order to cope with these demanding requirements, modern automation systems have started to incorporate novel design approaches which include reconfiguration mechanisms. Following this trend, this paper presents the use of MDE techniques and technologies, to help in the definition of the control system of reconfigurable automation plants. Directly from the model-based design, a model-based tool is derived that provides support for the generation of the elements that compose the reconfigurable control system.

关键词： MDE Availability Automation System Mechatronic components

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A parallel VLSI implementation of Viterbi algorithm for accelerated word recognition

A parallel VLSI implementation of Viterbi algorithm for acce...

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Great Lakes Symposium on VLSI

作者： V. Upadhyaya S.J. Upadhyaya A. Kundu Dept. of Electr. & Comput. Eng. State Univ. of New York Buffalo NY USA Department of Electrical and Computer Engineering State University of New York University at Buffalo Buffalo NY USA Naval Command Control and Ocean Surveillance Center San Diego CA USA

A hardware VLSI implementation of the Viterbi algorithm is presented. The Viterbi algorithm is used to solve a word recognition problem using a hidden Markov model. In order to accelerate the speed of computation for real-time word recognition, the inherent parallelism in the recursion step of the algorithm is exploited. Details of the hardware implementation and experimental results are discussed.< >

关键词： Very large scale integration Viterbi algorithm Acceleration Hidden Markov models Handwriting recognition Hardware Parallel processing Tail Pipelines Text recognition

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Data modeling for content-based support environment (C-BASE): Application on epilepsy data mining

Data modeling for content-based support environment (C-BASE)...

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17th IEEE International Conference on Data Mining Workshops, ICDM Workshops 2007

作者： Siadat, Mohammad-Reza Soltanian-Zadeh, Hamid Fotouhi, Farshad Eetemadi, Ameen Elisevich, Kost Department ofComputer Science and Engineering Oakland University Rochester MI 48309 United States Radiology Image Analysis Lab. Henry Ford Health System Detroit MI 48202 United States Control and Intelligent Proc. Center of Excellence Dept. of Elec. and Comp. Eng. Univ. of Tehran Tehran 14395-515 Iran Department of Computer Science Wayne State University Detroit MI 48202 United States Department of Neurosurgery Henry Ford Health System Detroit MI 48202 United States

ISBN: (纸本)0769530192

Data Modeling is an essential first step for data preparation in any data mining procedure. Conventional entity-relational (E-R) data modeling is lossy, irreproducible, and time-consuming especially when dealing with unstructured image data associated with complex systems like the human brain. We propose a methodological framework for more objective E-R data modeling by eliminating the structured content-dependent metadata associated with the unstructured data. The proposed method is applied to epilepsy-related image data and a system called the human brain image database system (HBIDS) is developed accordingly. Supported with navigation, segmentation, data fusion, and feature extraction modules, HBIDS provides a content-based support environment (C-BASE). Such an environment potentially provides an unlimited (ad hoc) query support with a reproducible and efficient database schema. Switching between different modalities of data, while confining the feature extractors within the object(s) of interest, HBIDS yields anatomically specific query results. The price of such scheme is large storage requirements and relatively high computational cost. Examples of navigation through unstructured image data and content-based retrieval are presented in this paper. The results show the potential of HBIDS in content-based data management for decision support systems in real life medical applications. © 2007 IEEE.

关键词： Data mining

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