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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Feng, Wei Yang, Simon X. Fu, Wei Wu, Haixia College of Automation Chongqing University Chongqing 40044 China School of Engineering University of Guelph Guelph ON N1G 2W1 Canada Dept. of Computer and Modern Education Technology Chongqing Education College Chongqing 40067 China

ISBN: (纸本)9781424424955

This paper presents a robust stability analysis approach to stochastic genetic regulatory networks with time-varying delays. By utilizing a Lyapunov functional and conducting stochastic analysis, we show that the addressed genetic regulatory networks are robustly asymptotically stable if a convex optimization problem is feasible. New stability criteria are derived to guarantee the addressed genetic regulatory networks to be robustly asymptotically stable. And these stability criteria are formulated by means of the feasibility of a linear matrix inequality (LMI), which can be effectively solved by some standard numerical packages. Illustrative example is given to show the usefulness of the proposed robust stability criteria. © 2008 IEEE.

关键词： Linear matrix inequalities

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Modelling and identification of a small unmanned aerial vehicle

Modelling and identification of a small unmanned aerial vehi...

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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. Controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The Systems and Control Laboratory of the computer and automation Research Institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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A basic study of auction-based planning and scheduling for cell manufacturing

IFIP Advances in Information and Communication Technology

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IFIP Advances in Information and Communication Technology 2008年 257卷 3-10页

作者： Fujii, Susumu Kaihara, Toshiya Sashio, Kentaro Yokose, Hiroko Kurahashi, Masasi Hayashi, Nobuhiro Sophia Univeristy Department of Mechanical Engineering 7-1 Kioi-cho Chiyoda-ku Tokyo102-8554 Japan Kobe University Dept. of Computer and Systems Engineering 1-1 Rokkodai Nada Kobe657-8501 Japan Omron Corporation Industrial Automation Company Production Management and System Engineering Group 2-2-1 Nishikusatsu Kusatsu525-0035 Japan

ISBN: (纸本)9780387772486

Cell manufacturing is widely introduced to cope with the dynamically changing market demands. This study considers a scheduling method for a cell assembly system for the products that are characterized by the type and specification. A major set up is required at a cell for the change of types and a minor one for the change of specification within the same types. The scheduling will be made in three folds. Firstly, the scheduling for the orders with due dates of the day is made before the processing of the day starts. If cells have slack times for the production of the orders of the day, express orders to be completed within the day will be accepted in a prespecified time period or until no cells become available for the production. If slack times still exist, advanced production of orders with future due dates will be considered. Auction-based algorithms are proposed for the scheduling and their effectiveness is investigated by simulation studies. © 2008, IFIP International Federation for Information Processing. All rights reserved.

关键词： Scheduling

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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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Functional reactive program translator for controlling robot systems

Functional reactive program translator for controlling robot...

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2nd International Conference on Convergent Information Technology, ICCIT 07

作者： Lee, Byeong-Joon Lee, Dong-Ju Woo, Gyun Dept. of Computer Engineering Pusan National University Test Automation Center SureSoft Technologies

ISBN: (纸本)0769530389

FRP (functional reactive programming) is a domain-specific sub-language embedded in Haskell. FRP is developed based on the arrow types and suitable for programming reactive systems such as robot systems. An essential higher-order type, namely signal, provides higher levels of abstractions of reactive systems. However, FRP can not be directly applicable to most robot systems since it is implemented on top of a heavy language Haskell. To overcome this limitation, RT-FRP (real-time functional reactive programming) was proposed, but any practical implementation of RT-FRP has not been proposed currently. In this paper, RT-FRP is implemented as a form of C translator. The proposed translator converts RT-FRP programs into C programs. To measure the effectiveness of the RT-FRP translator, some robot control programs are developed, translated, and loaded on top of LEGO MindStorm. According to the experimental result, the reactive logic can be coded more concisely using RT-FRP than C although the size of the binary code is somewhat increased. © 2007 IEEE.

关键词： Program translators

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Feature matching based on geometric constraints in weakly calibrated stereo views of curved scenes

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Journal of Systems engineering and Electronics 2008年第3期000卷

作者： Bian Houqin Su Jianbo Bian Houqin (Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200240 P. R. China School of Computer & Information Engineering Shanghai Univ. of Electric Power Shanghai 200090 P. R. China) Su Jianbo (Dept. of Automation Shanghai Jiaotong Univ. Shanghai 200240 P. R. China)

The identification of the correspondences of points of views is an important task. A new feature matching algorithm for weakly calibrated stereo images of curved scenes is proposed, based on mere geometric constraints. After initial correspondences are built via the epipolar constraint, many point-to-point image mappings called homographies are set up to predict the matching position for feature points. To refine the predictions and reject false correspondences, four schemes are proposed. Extensive experiments on simulated data as well as on real images of scenes of variant dept.s show that the proposed method is effective and robust.

关键词： feature correspondence epipolar geometry fundamental matrix homography

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A novel soft-switching two-stage step-up DC/DC converter

A novel soft-switching two-stage step-up DC/DC converter

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7th Internatonal Conference on Power Electronics, ICPE'07

作者： Du, Shaowu Chen, Zhong Chang, Liuchen School of Electrical Engineering and Automation Hefei University of Technology Hefei 230009 Anhui Province China Dept. of Electrical and Computer Engineering University of New Brunswick Canada

ISBN: (纸本)9781424418725

In an electric vehicle power system, a step-up converter is required to increase the voltage from 24 V to 270 V. To achieve such a high voltage boost ratio, there are several challenges that must be overcome: tackling the leakage inductance of the isolation transformer;reducing the voltage stress on the power switches;and guaranteeing fast dynamic response and high efficiency. Thus, innovative approaches are needed. A novel two-stage step-up DC/DC converter has been developed. This device has the advantages of high power density, easy control, high efficiency, high transformer utilization, and fast dynamic response. The two-stage step-up DC/DC converter is composed of a boost converter cascaded with a push-pull converter. The boost diode and filter capacitor, as found in conventional boost converters, are eliminated. All switches achieve soft-switching by using a simple auxiliary circuit. Therefore, this novel converter is well-suited for applications where the input voltage level is significantly lower than the output voltage, for example, in the areas of electric vehicle power supplies, communication systems, aeronautic power, and power systems. Analysis, prototype development, and experimental tests have been conducted, and the results are presented in this paper. The results confirm the performance and features of the novel converter. © 2008 IEEE.

关键词： Boost converter

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Explicit construction of H∞ control law for a class of nonminimum phase nonlinear systems

Explicit construction of H∞ control law for a class of nonm...

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2007 American Control Conference, ACC

作者： Lan, Weiyao Chen, Ben M. Department of Automation Xiamen University Xiamen Fujian 361005 China Dept. of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)1424409888

We tackle in this paper an H∞ control problem for a class of nonminimum phase nonlinear systems. The system nonlinearities, which depend on the system output, can be unknown, but satisfy some linear growth conditions. The given system is first transformed into a special coordinate basis, in which the system zero dynamics is divided into a stable part and an unstable part. A sufficient solvability condition is then established for solving the nonlinear H∞ control problem. Moreover, based on the sufficient solvability condition, an upper bound of the best achievable L2 gain from the system disturbance to the system controlled output is estimated for the nonlinear H∞ control problem. The proof of our result yield explicit algorithms for constructing required control law for solving the nonlinear H∞ control problem. In particular, the solution to the nonlinear H∞ control problem does not require solving any Hamilton-Jacobi equations. Finally, the obtained results are utilized to solve a benchmark problem on a rotational/translational actuator (RTAC) system. © 2007 IEEE.

关键词： Nonlinear equations

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Motion analysis of 3-D dual-tree discrete wavelet transform

Motion analysis of 3-D dual-tree discrete wavelet transform

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26th Picture Coding Symposium, PCS 2007

作者： Yang, Jingyu Wang, Yao Xu, Wenli Dai, Qionghai Department of Automation Tsinghua University Beijing 100084 China Electrical and Computer Engineering Dept. Polytechnic University Brooklyn NY 11201 United States

ISBN: (纸本)9789898109057

3-D dual-tree discrete wavelet transform (DDWT) is attractive for video representation since it isolates motion along different directions in its directional subbands, and has been employed for video coding. In this paper, we analyze its efficiency in capturing motion activities. Similar analysis is then extended to 3-D anisotropic DDWT (ADDWT). Experiments verify the effectiveness of our analysis. Based on the motion analysis, we realize that 3-D DDWT/ADDWT can not adapt to intense motion activities, and propose a new transform structure for high motion sequences. It is shown that the new scheme brings about 1dB coding gain.

关键词： Motion analysis

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面向服务的传感器网络分布式数据挖掘系统

面向服务的传感器网络分布式数据挖掘系统

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第19届全国计算机新科技与计算机教育学术大会

作者： LI Huabo 李华波 LIU Peipei 刘沛沛 Institute of Computer Science and Command Automation ICA PLAUST Nanjing 210007 解放军理工大学指挥自动化学院南京210007 Dept. of Logistical Information Engineering LEU Chongqing 400016 后勤工程学院后勤信息工程系重庆400016

论文首先指出了数据挖掘研究的发展方向，进而简要介绍了传感器网络数据挖掘研究的成果，分析了面向服务架构的优势并以面向服务的结构设计了一个传感器网络分布式数据挖掘系统，实现了三种分布式传感器网络数据挖掘算法：分布式k - me... 详细信息

论文首先指出了数据挖掘研究的发展方向，进而简要介绍了传感器网络数据挖掘研究的成果，分析了面向服务架构的优势并以面向服务的结构设计了一个传感器网络分布式数据挖掘系统，实现了三种分布式传感器网络数据挖掘算法：分布式k - means、多目标跟踪与融合、改进的FDM算法。

关键词：分布式数据挖掘系统传感器网络算法设计面向服务架构

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