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Special issue on control of complex systems

Control Theory and Technology 2016年第4期14卷 261-262页

作者： Hai Lin(1) Cheng Xiang(2) Qiang Ling(3) 1. Dept. Electrical Engineering University of Notre Dame Notre Dame IN 46556 USA 2. Dept. Electrical and Computer Engineering National University of Singapore Singapore 119260 Singapore 3. Dept. Automation University of Science and Technology of China Hefei Anhui 230027 China

Nowadays control systems can find applications in many areas, like aerospace, motion tracking, chemical engineering, physics, biology, economics. To improve control performance is a perpetual goal. With recent progresses of computing technologies, better control performance can be achieved by more judicious control strategies based on more precise and more complicated, such as time-varying, nonlinear, models. Another trend to improve control performance is built upon the divide-and-conquer philosophy, i.e., a complicated control task is cooperatively accomplished by multiple controllers/agents, instead of a single super-powerful controller. This trend is made possible due to great advances in communication, which enable the information exchange among agents and may unite the less powerful agents. The cost for such control performance improvement is higher spatial complexity of control systems.

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Preserving data-privacy with added noises: Optimal estimation and privacy analysis

arXiv

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arXiv 2017年

作者： He, Jianping Cai, Lin Guan, Xinping Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Dept. of Electrical & Computer Engineering University of Victoria BC Canada

Networked systems often relies on distributed algorithms to achieve a global computation goal with iterative local information exchanges between neighbor nodes. To preserve data privacy, a node may add a random noise to its original data for information exchange at each iteration. Nevertheless, a neighbor node can estimate other’s original data based on the information it received. The estimation accuracy and data privacy can be measured in terms of (ϵ, δ)-data-privacy, defined as the probability of ϵ-accurate estimation (the difference of an estimation and the original data is within ϵ) is no larger than δ (the disclosure probability). How to optimize the estimation and analyze data privacy is a critical and open issue. In this paper, a theoretical framework is developed to investigate how to optimize the estimation of neighbor’s original data using the local information received, named optimal distributed estimation. Then, we study the disclosure probability under the optimal estimation for data privacy analysis. We further apply the developed framework to analyze the data privacy of the privacy-preserving average consensus algorithm and identify the optimal noises for the algorithm. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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Opportunities to parallelize path planning algorithms for autonomous underwater vehicles

arXiv

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arXiv 2017年

作者： Eichhorn, Mike Kremer, Ulrich Inst. for Automation and Systems Engineering Ilmenau University of Technology Ilmenau98684 Germany Dept. of Computer Science Rutgers University PiscatawayNJ08854 United States

This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An additional focal point of this paper is the inclusion of inaccuracies in path planning as a result of forecast error variance, accuracy of calculation in the cost functions and a different observed vehicle speed in the real mission than planned. In this context, robust path planning algorithms will be described. These algorithms are equally applicable to land based, aerial, or underwater mobile autonomous systems. The results presented here provide the basis for a future research project in which the parallelized algorithms will be evaluated on multi and many core systems such as the dual core ARM Panda board and the 48 core Single-chip Cloud computer (SCC). Modern multi and many core processors support a wide range of performance vs. energy tradeoffs that can be exploited in energyconstrained environments such as battery operated autonomous underwater vehicles. For this evaluation, the boards will be deployed within the Slocum glider, a commercially available, buoyancy driven autonomous underwater vehicle (AUV). Copyright © 2017, The Authors. All rights reserved.

关键词： Graphic methods

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Bird's Eye View on Systems and Control - General View and Case Studies

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IFAC-PapersOnLine 2016年第6期49卷 274-279页

作者： Vámos, T. Bars, R. Sik, D. Institute of Computer Science and Control Hungarian Academy of Sciences MTA-SZTAKI Budapest Hungary Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Engineering Research Group Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a website on the internet. © 2016

关键词： Control theory Algorithms Case studies Control disciplines Control education Control structure Systems and control

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B-spline based Motion Tracking of Cardiac Surface in Minimally Invasive Surgery

B-spline based Motion Tracking of Cardiac Surface in Minimal...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Chunchao Pang Xiaojun Wu Wei Lin Yaohua Hu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen Guangdong China Dept. of Electrical Eng. and Computer Science Case Western Reserve University Cleveland Ohio USA Dongguan University of Technology Guangdong China

This paper investigates the problem of tracking heart motion of patients when performing minimally invasive cardiac surgeries. In the existing literature, most algorithms for tracking the heart motion are based on a region or feature of the heart surface. A disadvantage of the former method is consuming time, and hence difficult to meet the demand of clinical surgery. The focus of this paper is on the latter, i.e. a feature of the heart surface. First, we employ the BRIEF feature for describing and matching the binary features on the cardiac surface. Based on the matching result, we then propose a new, fast and stable tracking algorithm via the B-spline interpolation. The sparse motion field of the heart image is obtained by matching the binary features, and the motion of the target point is built by using the B-spline interpolation method. In this way, positions of the target points on the subsequent heart images can be obtained. Finally, we use the triangulation algorithm to compute the 3D coordinates of the target point. The novelty of our method includes the binary features for describing the heart surface and an efficient B-spline algorithm for 3D tracking of the beating heart using stereo images from a calibrated stereo endoscope. The proposed tracking method is evaluated on in vivo images acquired by a DaVinci surgical robotic platform. Many different regions of the heart surface over 600 images have been tracked. The data is analyzed by Fourier transformation to reveal the heart motion. The experimental results demonstrate the effectiveness of the presented method.

关键词： Heart Splines (mathematics) Tracking Feature extraction Three-dimensional displays Minimally invasive surgery

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What has been missed for real life driving? an inspirational thinking from human innate biases

What has been missed for real life driving? an inspirational...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Jiawei Xu Yu-An Chen Kun Guo Jiheng Wang Federica Menchinelli Chao Jiang Chuang Zhang Ling Shao School of Computing Science Newcastle University Newcastle upon Tyne UK Peabody Institute The Johns Hopkins University Baltimore USA School of Psychology University of Lincoln Lincoln UK Dept. of Electrical and Computer Engineering University of Waterloo Waterloo Canada Dept. of Mechatronics Engineering & Automation Shanghai University Shanghai China Dept. of Electronic & Information Engineering Nanjing University of Info. Sci. & Technology Nanjing China School of Computing Sciences University of East Anglia Norwich UK

Nature is gorgeous for her imbalance. The innate bias from non-human to human results in a wonderful yet mysterious biological foundation towards the inspirational thinking for real application. The vision researchers evidenced that the left gaze bias in humans and non-humans. Nevertheless, the acousticians observed the right ear advantages in both non-humans and humans. Unlike the vision and acoustician researchers investigating the underlying mechanisms of human innate bias, we are more interested in mimicking these characteristics. In this paper, we propose two simple yet effective methods to generate the left eye gaze bias and the right ear advantage. We further discuss the potential applications, e.g., real life driving, from these inherent phenomena. We believe that this paper could bring an inspirational impact for future cognitive transportation, by implementing these human innate biases properly.

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Local energy micro-storage systems in smart communities with active, reactive and harmonic control 16

Local energy micro-storage systems in smart communities with...

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16th International Conference on Environment and Electrical engineering, EEEIC 2016

作者： Milanes-Montero, Maria-Isabel Gonzalez-Romera, Eva Barrero-Gonzalez, Fermin Romero-Cadaval, Enrique Moreno-Munoz, Antonio Electrical Electronic and Automation Engineering Dept. University of Extremadura Badajoz Spain Computer Architecture Electronics and Electronic Technology Department Universidad de Córdoba Córdoba Spain

ISBN: (纸本)9781509023196

This paper aims to provide control strategies for distributed micro-storage energy systems at the residential level to contribute to smart grid goals. The operation of local Energy Storage Systems (ESS) at homes in a Smart Community with distributed generation based of renewable energies is analyzed by simulation. Each individual home receive the active and reactive power set-points from the Smart Community Energy Management System (SCEMS), acting as an aggregator of resources in the community according to the expected demand and production. Besides, in case the ESS has got available capacity, once the SCEMS requirements are satisfied, it is used to inject the harmonic current components demanded by the household circuitry. It allows a local improvement in the power quality of the demanded current, and so contributes to the global power quality consumption of the community. Simulation results showing the operation of the local ESS are presented to validate the proposed control strategies. © 2016 IEEE.

关键词： Energy management systems

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Accelerating numerical simulations of spin-wave dynamics on FPGA 15

Accelerating numerical simulations of spin-wave dynamics on ...

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15th International Workshop on Cellular Nanoscale Networks and Their Applications, CNNA 2016

作者： Kiss, András Nagy, Zoltán Szolgay, Péter Csaba, György Porod, Wolfgang Computer and Automation Research Institute Hungarian Academy of Sciences Dept. Information Technology Pázmány Péter Catholic University Budapest Hungary Dept. of Electrical Engineering University of Notre Dame Notre DameIN United States

ISBN: (纸本)9783800742523

There is a great attention on researches where possible alternatives to the CMOS chip based computer systems are examined, such as the computer systems based on the principle of magnetic spin waves. Theoretically these systems have low-loss, high speed and possibly non-volatile memories. By using simulations the positioning of the spin based structures and their consequences, the outputs can be tested, namely the operations on the input is determined by the topology. The result is affected by the shape and the distance of the cells which transmits waves. The question of how to get from a series of input to the desired output can be determined by using genetic algorithm. In micro magnetic simulations one of the hardest part of the simulation is the computation of the magnetic field, which is a long-range interaction. The goal is the acceleration of a magnetic-field simulator based on FPGA. © VDE VERLAG GMBH.

关键词： Magnetic fields

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Online tuning method for notch filter dept. in industrial servo systems 35

Online tuning method for notch filter depth in industrial se...

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35th Chinese Control Conference, CCC 2016

作者： Kim, Tae-Il Bahn, Wook Yoon, Jong-Min Han, Ji-Seok Park, Ji-Ho Lee, Sang-Sub Lee, Sang-Hoon Cho, Dong-Il ASRI/ISRC Dept. of Electrical and Computer Engineering Seoul National University Seoul151-742 Korea Republic of RS Automation Co. Ltd. Gyeonggi-do451-862 Korea Republic of

ISBN: (纸本)9789881563910

This paper presents an online tuning method for notch filter dept.s in industrial servo systems. Notch filters are commonly utilized to suppress resonances in servo systems. Using a damping ratio of notch-filter zeros is especially important when the resonance has a damped behavior. This paper develops an online tuning method to adjust the damping ratio of notch-filter zeros, by adjusting the dept. parameter of a bi-quad notch filter. The developed tuning method uses the electrical current command of a servo system as an input to detect a resonance. When a resonance occurs, the tuning method increases the dept. parameter to decrease the damping ratio of notch-filter zeros, and then the tuning method checks whether the resonance is suppressed. If the resonance is not suppressed and the dept. parameter has not reached the upper limit, the tuning method repeats the process of increasing the dept. parameter. After several iterations, an appropriate dept. parameter is selected and the resonance can be suppressed. Experiments are performed using two servo systems which are coupled with a ball-screw-drive load and a belt-drive load, respectively. The resonance of the belt-drive load has a behavior that is more highly damped behavior than that of the ball-screw-drive load. Experimental results show that the resonances of both systems are successfully suppressed using the developed tuning method. © 2016 TCCT.

关键词： Notch dept. tuning Notch filter Resonance suppression Servo system

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Exploiting parallelism to speed up circuit legalization

Exploiting parallelism to speed up circuit legalization

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： Renan Netto Chrystian Guth Vinicius Livramento Marcio Castro Laércio Lima Pilla José Luís Güntzel Dept. of Computer Science Federal University of Santa Catarina Brazil Dept. of Automation and Systems Engineering Federal University of Santa Catarina Brazil

ISBN: (纸本)9781509061143

During physical synthesis, global placement produces a solution where cells are overlapped or misaligned with respect to circuit sites and rows. Therefore, a legalization step relocates a subset of cells in order to satisfy a set of legality constraints. Although several techniques have been proposed to solve the legalization problem, they were designed without considering parallelization. This work investigates the speedup that can be achieved by parallelizing full circuit legalization. For such evaluation we implemented a parallel version of the Abacus algorithm. Experimental results show that the proposed implementation achieves up to 2.43 times speedup with the same solution quality.

关键词： Runtime Multicore processing Law Parallel processing Algorithm design and analysis Dynamic programming

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