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Fuzzy adaptive-predictive decentralized control of discrete time interconnected systems

Systems Science 2002年第1期28卷 5-24页

作者： Tzafestas, Spyros Kyriannakis, Efthimios Apostolikas, Giorgos National Technical Univ. of Athens Dept. of Elec. and Comp. Engineering Div. of Signals Control and Robotics Zographou 15773 Athens Greece

This paper proposes an approach for the design of discrete-time decentralized control systems with m-step delay sharing information pattern, employing model-based predictive control (MBPC) combined with fuzzy prediction for the interconnections among the subsystems. A state space model is used at each control station to predict the corresponding subsystem output over a long-range time period. The interaction trajectories are considered to be non-linear functions of the states of the subsystems. For all cases the interconnections and the necessary predictions for them are estimated by an appropriate adaptive fuzzy identifier based on the generation of linguistic IF-THEN rules and the on-line construction of a common fuzzy rule base. Representative computer simulation results are provided and compared for nontrivial example systems.

关键词： Decentralized control

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A decision-making based approach for fault-handling in multi-agent systems

A decision-making based approach for fault-handling in multi...

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International Conference on Neural Information Processing

作者： M.S. Mirian M.N. Ahmadabadi Z. Navabi Robotics and AI Laboratory Department of Elect. and Comp. Eng Faculty of Engineering University of Tehran Iran Robotics and AI Lab Control & Intelligent Processing Center of Excellence Dept. of Elect. and Comp. Eng. University of Tehran Iran

This paper focuses on distributed fault recovery in agent-based systems by providing help for faulty members. In the presented method, if one faulty agent requests for help or agents are informed of fault in one of their teammates, they first decide if they are able to help or not. In the case that they are able to help and several help requests exist, helper agents specify a sequence of help actions through another distributed decision-making phase. The introduced fault clearing method is totally distributed in the sense that each helper agent makes its decisions by itself and no central or special agent exists in the system. In fact, the decision making process and the required information are designed such that the agents cooperate implicitly to prevent the system performance loss. The developed ideas are implemented in a simulated distributed control system. As it is shown, the proposed distributed fault-clearing method through reconfiguring the agents' roles is very effective.

关键词： Decision making Multiagent systems Robustness Condition monitoring Process control Robots Artificial intelligence Hardware Distributed decision making System performance

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Extraction of the Lean Tissue Boundary of a Beef Carcass

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IFAC Proceedings Volumes 2000年第29期33卷 271-274页

作者： Choong Ho Lee Heon Hwang Graduate School of Agriculture Division of Environment Science & Technology Dept. of Production Control Engineering Kyoto University Sakyo-Gu 606-8502 Kyoto Japan Robotics & Vision Lab. Dept. of Bio-Mechatronic Engineering Sungkyunkwan University Kyungki-do Suwon-si Changan-gu 440-746 KOREA

In this research, rule and neuro net based boundary extraction algorithm was developed. Extracting boundary of the interest, lean tissue, is essential for the qualm evaluation of the beef based on color machine vision. Major quality features of the beef are size, marveling state of the lean tissue, color of the fat, and thickness of back fat. To evaluate the beef quality, extracting of loin parts from the sectional image of beef rib is crucial and the first step. Since its boundary is not clear and very difficult to trace, neural network model was developed to isolate loin parts from the entire image input. At the stage of training network, normalized color image data was used. Model reference of boundary was determined by binary feature extraction algorithm using R(red) channel. And 100 sub-images(selected from maximum extended boundary rectangle 11×11 masks) were used as training data set. Each mask has information on the curvature of boundary. The basic rule in boundary extraction is the adaptation of the known curvature of the boundary. The structured model reference and neural net based boundary extraction algorithm was developed and implemented to the beef image and results were analyzed.

关键词： Lean Tissue Beef Cut Image Neural Network Contour Generation Quality Evaluation

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Path Following for Autonomous Marine Craft ⋆

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IFAC Proceedings Volumes 2000年第21期33卷 117-122页

作者： P. Encarnação A. Pascoal M. Arcak Institute for Systems and Robotics and Dept. Electrical Eng. Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 USA

A new methodology is proposed for the design of path following systems for autonomous marine craft in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

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Path Following for Marine Vehicles in the Presence of Unknown Currents 1

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IFAC Proceedings Volumes 2000年第27期33卷 507-512页

A new methodology is proposed for the design of path following systems for autonomous marine vehicles in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Automatic tuning of controllers using a neural-genetic system

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IFAC Proceedings Volumes 1999年第2期32卷 5176-5181页

作者： António E. Ruano João M. Lima Ana B. Azevedo Nuno M. Duarte Peter J. Fleming Unit of Exact Sciences & Humanities University of Algarve 8000 Faro Portugal and Institute of Systems & Robotics Portugal Unit of Exact Sciences & Humanities University of Algarve Portugal High School of Technology University of Algarve Portugal Dept. of Automatic Control & Systems Engineering University of Sheffield U.K.

Neural networks and genetic algorithms have been in the past successfully applied, separately, to controller tuning problems. In this paper we purpose to combine its joint use, by exploiting the nonlinear mapping capabilities of neural networks to model objective functions, and to use them to supply their values to a genetic algorithm which performs on-line minimization. Simulation results show that this is a valid approach, offering desired properties for on-line use such as a dramatic reduction in computation time and avoiding the need of perturbing the closed-loop operation

关键词： Neural Networks Genetic Algorithms PID Autotuning

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Intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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Optimal Positioning for Mobile Platform/Manipulator Systems using Genetic Algorithms

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IFAC Proceedings Volumes 1997年第3期30卷 197-202页

作者： M.W. Chen A.M.S. Zalzala Robotics Research Group Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield SI 3JD UK

This paper presents a genetic-based approach to multi-criteria position and configuration optimisation of mobile manipulator systems. Optimisation criteria include obstacle avoidance, least joint torque norm, manipulability and joint torque distribution. Due to the competition among various criteria, the multi-criteria optimisation problem typically exhibits many local minima. The emphasis of the paper is put on using genetic algorithms to search for global optimum and solve the minilnax problem for torque distribution. Various simulations for a system including a three-link lnanipulator mounted on a mobile platform show that the proposed genetic algorithm approach performs better than conventional methods.

关键词： robotics genetic algorithems mobile manipulators motion planning parallel algorithms

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Fault Detection and Diagnosis Based on Fuzzy Qualitative Reasoning

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IFAC Proceedings Volumes 1997年第18期30卷 513-518页

作者： J.M.F. Calado P.D. Roberts Control Automation and Robotics Group IDMEC - Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1096 Lisboa Codex Portugal Control Engineering Research Centre Dept. of Elect. Electronic & Inf. Engineering City University Northampton Square London EC1 0HB United Kingdom

An on-line fault detection and diagnosis system, based on a fuzzy qualitative simulation algorithm, is presented. In order to test the performance and reliability of the system a computational TURBO C++ program with a hierarchical structure, has been developed. The fuzzy representation of qualitative values is more general than ordinary interval representation, since it can represent not only the information stated by a well defined real interval but also the knowledge embedded in the soft boundaries of the interval. Single and double simultaneous abrupt faults have been considered, and successful results have been obtained in simulation studies conducted with a mixing process.

关键词： Fault detection fault diagnosis qualitative simulation fuzzy sets membership functions

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