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A distributed control approach to robust output regulation of networked linear systems

A distributed control approach to robust output regulation o...

引用

2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Wang, Xiaoli Hong, Yiguang Jie, Huang Jiang, Zhong-Ping Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China Dept. of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Dept. of Electrical and Computer Engineering Polytechnic Institute of New York University Brooklyn NY 11201 United States

ISBN: (纸本)9781424451951

In this paper, the robust output regulation problem of a networked linear system with uncertainties is considered. Based on internal model, distributed control scheme is adopted to achieve the objectives of asymptotic tracking and disturbance rejection in a networked uncertain system where both the reference inputs and disturbances are generated by an exosystem. Both state and output feedback designs are given. © 2010 IEEE.

关键词： Linear systems

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Research and implementation of the security method based on WIA-PA standard

Research and implementation of the security method based on ...

引用

International Conference on Electrical and control engineering, ICECE 2010

作者： Min, Wei Zhang, Xuan Ping, Wang Kim, Keecheon Kim, Younghan Key Laboratory of Network Control and Intelligent Instrument Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China Dept. of Computer Science and Engineering Konkuk University Seoul Korea Republic of School of Electronic Engineering Soongsil University Seoul Korea Republic of

ISBN: (纸本)9780769540313

Wireless Industrial communications is emerging technology after the Fieldbus in industrial field. Since the industrial control application is needed in wireless industrial technologies, WIA-PA standard is defining the protocol suite, system management, gateway, and security for low-data-rate wireless connectivity with fixed, portable, and moving devices supporting limited power consumption requirements. This paper presents the security architecture and security protocol based on WIA-PA. Furthermore, we design and implement the security communication services. Finally, the test results illustrate that these security measures may enhance the security reliability of the WIA-PA network communication. © 2010 IEEE.

关键词： Gateways (computer networks)

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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2010 IEEE International Conference on Automation Science and engineering, CASE 2010

作者： Ding, Hao Schnattinger, Georg Passenberg, Benjamin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany Institute for High-Frequency Engineering Technische Universität München 80290 München Germany Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

ISBN: (纸本)9781424454471

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs] in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario. ©2010 IEEE.

关键词： Motion planning

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Net-in-Net: Interaction modeling for smart community cyber-physical system

Net-in-Net: Interaction modeling for smart community cyber-p...

引用

International Conference on Autonomic and Trusted Computing

作者： Ma, Longhua Yao, Jun Xu, Ming Yuan, Tengkai Shao, Meng Dept. of Control Science and Engineering Zhejiang University Hangzhou 310027 China School of Aeronautics and Astronautics Zhejiang University Hangzhou 310027 China Computer Centre Hangzhou First People's Hospital Hangzhou 310006 China

ISBN: (纸本)9780769542720

Cyber-physical system (CPS) integrates physics with Internet to provide a timely, confidential and efficient interaction of physical appliances with people. However, as a CPS Application, Smart Home still has difficulties in building a centralized interaction for remote monitoring. The paper presents the interaction model of Smart Community Cyber-Physical System (SCCPS) with the name Net-in-Net. The proposed model interaction is organized as a Wireless Sensor Network with Zigbee and GPRS technologies. Furthermore, B/S and C/S mixed mode is used as the architecture of remote interaction. After that a Cyber Protocol of application layer is proposed. Such model is supposed to provide a smart home interaction of high Security, reliability, stability and timeliness. © 2010 IEEE.

关键词： Wireless sensor networks

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Online Background Learning for Illumination-robust Foreground Detection

Online Background Learning for Illumination-robust Foregroun...

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International Conference on control, Automation, Robotics and Vision

作者： Dawei Li Lihong Xu Erik Goodman Dept. of Control Science and Engineering Tongji University Shanghai China Dept. of Electrical and Computer Engineering Michigan State University East Lansing USA

ISBN: (纸本)9781424478149

This paper presents a background modeling algorithm and a foreground detecting method which is robust against illumination change, providing a novel and practical choice for intelligent video surveillance systems using static cameras. This paper first introduces an online Expectation Maximization algorithm which is developed from the basic batch edition to update the mixture models in real time. Then a spherical K-means clustering method is used to provide more accurate direction for the update of Gaussian Mixture Models after a deep study of RGB space features under illumination changes. Foreground detection is carried out using a statistical framework and RGB pixel intensity judgments. The results show the proposed algorithm outcompete several classic methods in efficiency, accuracy, and robustness to perturbations from illumination changes, on a sampling of problems.

关键词： Gaussian mixture model (GMM) background modeling foreground detection expectation maximization maximum likelihood estimation (MLE) online spherical k-means clustering (OSKMC)

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A new construction method of common embedded cross compiler tool based on newlib

A new construction method of common embedded cross compiler ...

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IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS)

作者： Yang Yu Qixian Cai Sen Guo Dept. of Electronic Information and Control Engineering Guangxi University of Technology Liuzhou China Dept. of Computer Engineering Guangxi University of Technology Liuzhou China

Most of embedded cross compiler tools are cross-compilers based on glibc and Linux kernel in the form of ARCH-linux-*. They are mainly for Linux operating system, depending on specified C language library glibc, and also need the support of MMU. Object files made by the compiler have more memory space. This paper presents a general method of constructing embedded cross compiler tool with newlib library. It constructs a cross compile toolchain with ARCH-elf-*, which is independent of specific operating system, C language library and the support of MMU. This method allows it to build arm, ppc and mips 64 cross compiler tool with the characteristics of configuration more flexibility, higher speed, transplantation more convenience and less memory space.

关键词： Programming Linux Libraries

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The new interconversion algorithm between ladder diagram and instruction list

The new interconversion algorithm between ladder diagram and...

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IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS)

作者： Dandan Li Qixian Cai Feng Pei Dept. of Electronic Information and Control Engineering Guangxi University of Technology Liuzhou China Dept. of Computer Engineering Guangxi University of Technology Liuzhou China

In the application of PLC (Programmable Logic controller), ladder diagram is visual and easy to control by engineering staff, besides, instruction list is easily convert into assembly language program, so they are favored by technicians, so that the research of interconversion between ladder diagram and instruction list become a key technique in development of PLC. The conversion algorithm in present is maps ladder diagram to AOV graph, then it realizes the interconversion between ladder diagram and instruction list by sorting AOV graph, but efficient of the algorithm is lower. A new algorithm about interconversion between ladder diagram and instruction list based on forest and binary tree is presented in this paper by the research and analysis of ladder diagram's language and instruction list on PLC. At first it maps ladder diagram to forest, and then it establishes a binary tree to represent ladder diagram logical relationship with forest At last it realizes the exchange of PLC ladder diagram and instruction list by traversing binary tree. The algorithm is simple and rapid, its correctness and feasibility are verified in programming software platform of PLC.

关键词： Programming Visualization

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Heuristic algorithm based on flooding structure in wireless ad hoc networks

Heuristic algorithm based on flooding structure in wireless ...

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WASE International Conference on Information engineering, ICIE

作者： Wang, Lin-Zhu Fan, Ya-Qin Yang, Yang Shan, Min College of Communication Engineering Jilin University Changchun 130012 China Civil Aviation Wenzhou AirTraffic Control Station of China Wenzhou 325024 China Computer Science and Technology Dept. Changchun Normal College Changchun 130032 China

ISBN: (纸本)9780769540801

In order to avoid routing overhead and reduce management fee for transmisson of routing information,we purposed two heuristic algorithms which are self-pruning algorithm and dominant pruning *** algorithm is more efficient than the aimless flooding in wireless networks,and redused unnecessary transmission of information and nodes switching by the movement between *** shows that the two kinds of flooding algorithms are obviously superior to the aimless flooding algorithm,particularly the performance of the dominant pruning could almost reach the limit. © 2010 IEEE.

关键词： Floods

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Multi-agent coordination with general linear models: A distributed output regulation approach

Multi-agent coordination with general linear models: A distr...

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2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Hong, Yiguang Wang, Xiaoli Jiang, Zhong-Ping Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China Dept. of Electrical and Computer Engineering Polytechnic Institute New York University Brooklyn NY 11201 United States

ISBN: (纸本)9781424451951

In this paper, the distributed output regulation problem of linear multi-agent systems is considered. Its background includes active leader following for the agents to track a leader with different dynamics and unmeasurable variables, and multi-agent consensus with environmental inputs. The driving force from active leaders or the environmental disturbance here is formulated as an exogenous system of the considered multi-agent networks. Then a systematic distributed design approach is proposed to handle output regulation via dynamic state feedback with the help of internal model. Necessary and sufficient conditions for the solvability are given. © 2010 IEEE.

关键词： Multi agent systems

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Analysis of theoretical error of phase-discrimination capacitive sensor

Analysis of theoretical error of phase-discrimination capaci...

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International Conference on Information Science and engineering (ICISE)

作者： Guotian Yang Tuo Shao Xin Wang Control & computer engineering dept. North China electric power university Beijing China Electric & electronic engineering dept. North China electric power university Beijing China

Since being introduced into domestic measurement field during the 1980's, grating-shape capacitive sensors have played an important role in due to their high accuracy and low cost compared to ordinary capacitive sensors and grating respectively. To better arrest the error of this sensor, we primarily employ Matlab to analyze theoretical error in order to calculate optimum ratio of reflecting electrode and emitting electrodes. Based on our analysis, we are able to find out that the optimum ratio is 1.5∶1 and thus several structural designs of capacitive sensor are given in this paper. Simulations indicate that theoretical error concerned in this document is better reduced by our designs than that by classic structure.

关键词： Electrodes Capacitive sensors Harmonic analysis Power harmonic filters Gratings Capacitance Mathematical model

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