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UKACC International Conference on control (control)

作者： Yuanqing Qin Chunjie Zhou Shuang-Hua Yang Fang Wang Dept. of Control Science & Engineering Huazhong University of Science & Technology Wuhan China Computer Science Department Loughboroug University Loughborough UK

One of the main concerns in underground working tunnels is ensuring the safety of the workers and their equipment. Being aware of the real-time position of personnel in such harsh environment is challenging and requires a sophisticated localization system. With traditional Received Signal Strength (RSS) failing to accurately estimate the distance between nodes due to multipath effect in such long and narrow space, Radio Frequency Time-of-Flight (RF-TOF) is proved to be an alternative method for more accurate distance estimation. To reduce the communication cost, a distributed localization scheme is proposed, where a simple Newton Iteration location estimation algorithm is embedded in the blind node. Linear least square estimation is used as the initial value to accelerate the convergence of the iteration. Experimental results show the effectiveness of the proposed scheme.

关键词： Wireless sensor networks Atmospheric measurements Particle measurements Reliability

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Towards the time varying estimation of complex brain connectivity networks by means of a General Linear Kalman Filter approach

Towards the time varying estimation of complex brain connect...

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34th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBS 2012

作者： Toppi, J. Babiloni, F. Vecchiato, G. De Vico Fallani, F. Mattia, D. Salinari, S. Milde, T. Leistritz, L. Witte, H. Astolfi, L. Department of Computer Control and Management Engineering Univ. of Rome Sapienza Italy IRCCS Fondazione Santa Lucia Rome Italy Fondazione Santa Lucia Rome Italy Dept. of Physiology and Pharmacology University of Rome Sapienza Italy Bernstein Group Computational Neuroscience Institute of Medical Statistics Germany

ISBN: (纸本)9781424441198

One of the main limitations of the brain functional connectivity estimation methods based on Autoregressive Modeling, like the Granger Causality family of estimators, is the hypothesis that only stationary signals can be included in the estimation process. This hypothesis precludes the analysis of transients which often contain important information about the neural processes of interest. On the other hand, previous techniques developed for overcoming this limitation are affected by problems linked to the dimension of the multivariate autoregressive model (MVAR), which prevents from analysing complex networks like those at the basis of most cognitive functions in the brain. The General Linear Kalman Filter (GLKF) approach to the estimation of adaptive MVARs was recently introduced to deal with a high number of time series (up to 60) in a full multivariate analysis. In this work we evaluated the performances of this new method in terms of estimation quality and adaptation speed, by means of a simulation study in which specific factors of interest were systematically varied in the signal generation to investigate their effect on the method performances. The method was then applied to high density EEG data related to an imaginative task. The results confirmed the possibility to use this approach to study complex connectivity networks in a full multivariate and adaptive fashion, thus opening the way to an effective estimation of complex brain connectivity networks. © 2012 IEEE.

关键词： Complex networks

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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Modeling and control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Frequency dependent network equivalent based electromagnetic and electromechanical decoupled hybrid simulation

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2012年第16期32卷 107-114页

作者： Zhang, Yi Wu, Wenchuan Zhang, Boming Gole, Aniruddha M. State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China Department of Electrical and Computer Engineering University of Manitoba Winnipeg R3T 5V6 Canada

Neither electromechanical transient stability analysis (TSA) program nor electromagnetic transient (EMT) programs can be used individually for the transient stability studies of the large scale AC/DC systems. This paper presented an electromagnetic and electromechanical hybrid simulation system, based on a frequency dependent network equivalent. Firstly, the framework and the main modules of the proposed hybrid simulation system were introduced. Secondly, the methods to calculate the equivalents of the electromagnetic side and the electromechanical side were introduced. The discussion on the difference between the traditional method and frequency dependent network equivalent (FDNE) and the flowchart of the hybrid simulation were also given. In the last part of the paper, AC system and AC-DC hybrid system are both used as examples to demonstrate the accuracy of the proposed hybrid simulation system's simulation results. © 2012 Chinese Society for Electrical engineering.

关键词： Hybrid systems

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Planning, designing and evaluating multiple eGovernment interventions

Planning, designing and evaluating multiple eGovernment inte...

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3rd International Conference on Data Communication Networking, DCNET 2012, 7th International Conference on e-Business, ICE-B 2012 and 3rd International Conference on Optical Communication Systems, OPTICS 2012

作者： D'Amore, Fabrizio Laura, Luigi Luciani, Luca Pagliarini, Fabio Dept. of Computer Control and Mangement Engineering Sapienza Univ. of Rome Via Ariosto 25 00185 Rome Italy INVITALIA Agenzia Nazionale per L'Attrazione Degli Investimenti e Lo Sviluppo D'Impresa S.p.A Via Boccanelli 30 Rome Italy

ISBN: (纸本)9789898565235

We consider the scenario where an organ of a public administration, which we refer as the decisionmaker, is requested to plan one or more interventions in some framework related to the Information Society or the eGovernment set of actions. We propose a methodology to support the decisionmaker in orienting, planning, and evaluating multiple (partially overlapping) interventions. In particular, we address two main problems: first, how to decide the structure of the interventions and how to determine the relevant parameters involved;second, how to set up a scoring system for comparing single interventions and its extension to the case of multiple interventions. The methodology unexpectedly shows that it is not always the case that the best outcome is the one obtained by the best projects. We formally model the problem and discuss its computational complexity. Our approach is also effective in process of selecting, from a set of submitted proposals, the ones to be funded.

关键词： Public administration

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CP-driven Modelling for Multi-modal Cyclic Transport Systems

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IFAC Proceedings Volumes 2012年第6期45卷 339-344页

作者： G. Bocewicz R. Wójcik Z. Banaszak Dept. of Computer Science and Management Koszalin University of Technology Sniadeckich 2 75-453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland Dept. of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network Infrastructure (TNI) can be modeled as a network of lines providing cyclic routes for particular kinds of stream-like moving transportation means. Lines are connected by common shared change stations. Depending on TNI timetabling the time of the trip of passengers following different itineraries may dramatically differ, e.g. the same distances along the north-south, and east-west directions may require different travel time. So, the mine question regards of TNI schedulability, e.g. the guarantee the same distances in arbitrarily assumed directions will require approximate traveled time. Considered timetabling problem belongs to NP-hard ones. The declarative model of TNI enabling to formulate cyclic scheduling problem in terms of the constraint satisfaction one is our main contribution. At last, the simulated results manifest the promising properties of the proposed model.

关键词： cyclic scheduling multimodal transport system multimodal processes declarative modeling constraints programming

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Partially Decentralized controller Design via Model Predictive control

Partially Decentralized Controller Design via Model Predicti...

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第23届过程控制会议

作者： HaoYuchun Li Qiang Tan Wen Li Donghai School of Control & Computer Engineering North China Electric Power University Beijing 102206 Chi State Key Lab of Power Systems Dept. of Thermal Engineering Tsinghua University Beijing 100084 C

An expansion procedure to design partially decentralized controllers via model predictive control is proposed in this paper. Partially decentralized control is a control structure that lies between a fully decentralized structure and a fully centralized one, and has the advantage of achieving comparable performance as a fully centralized controller but with simpler structure. The proposed method follows the expansion method proposed in a previous paper where internal model control (IMC) was used to design controllers for non-square subsystems. The method requires computing the pseudo-inverse of a non-square matrix via pseudo-inverse factors. Instead, the proposed method will use dynamic model control (DMC) to design PID controllers for non-square sub-systems without using additional factors. Simulation results show that the proposed method is simple and can achieve better performance than fully decentralized control.

关键词： Partially decentralized control Non-square system Model predictive control Internal model control

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Design of Partially Decentralized controllers via GPC

Design of Partially Decentralized Controllers via GPC

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中国自动化学会第二十七届青年学术年会

作者： HAO Yuchun TAN Wen LI Donghai School of Control & Computer Engineering North China Electric Power University Beijing 102206 Chi State Key Lab of Power Systems Dept. of Thermal Engineering Tsinghua University Beijing 100084 C

Partially decentralized control is a control structure that lies between a fully decentralized structure and a fullycentralized one, and has the advantage of achieving comparable performance as a fully centralized controller but with simplerstructure. This paper proposes an expansion procedure to design partially decentralized controllers via generalized predictivecontrol (GPC). The proposed method does not need to compute the pseudo-inverse of a non-square system thus overcomes thedrawbacks of the existing expansion method proposed in a previous paper. Simulation results show that the proposed method issimple and can achieve better performance than the previous method.

关键词： Partially decentralized control Non-square system Generalized predictive control Internal model control

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Power management of the third generation intel core micro architecture formerly codenamed ivy bridge

Power management of the third generation intel core micro ar...

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IEEE Hot Chips Symposium (HCS)

作者： Sanjeev Jahagirdar Varghese George Inder Sodhi Ryan Wells School of Electrical Science IIT Bhubaneswar Dept. of Computer Engineering Guangxi University of Technology Liuzhou China King's College London Dept. of Electronic Information and Control Engineering Guangxi University of Technology Liuzhou China INSA Rouen Cisco Systems and CTU Prague

ISBN: (纸本)9781467388801

This article consists of a collection of slides from the author's conference presentation on Ivy Bridge, power management applications of the third generation core Intel micro architecture. Some of the specific topics discussed include: an overview of the Ivy Bridge architecture and supported applications; power scaling and management facilities; core product features; power efficiency; voltage control and optimization technqiues; power sharing capabilities; and system architecture.

关键词： Power system management Network architecture Microarchitecture Program processors Manufacturing processes Next generation networking Fabrication

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