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2011 IEEE 7th International Conference on Intelligent Computer Communication and Processing, ICCP 2011

作者： BrǍescu, Florin CǍtǍlin Ferariu, Lavinia Nacu, Andrei Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781457714788

The paper presents a new gateway algorithm designed for multi-domain controller Area Network (CAN) systems which require to exchange large amount of data between numerous CAN units. The approach is compliant with any hierarchical CAN based distributed architecture, being tailored to efficiently manage CAN domains interconnected by gateways. The communication topologies are encrypted as graphs, aiming a flexible further utilization, increased scalability and a reduce memory consumption. For every handled CAN message, the gateways are enabled to provide a dynamic determination of the fastest available path and to correct buses overloading by appropriate message routing. The gateway algorithm exploits the OSEK event driven scheduling algorithm with static priorities to handle the necessary communication tasks. As consequence, the proposed approach provides increased responsiveness, as well as a good traffic balance between the CAN domains, without the need of transmitting additional messages, as demonstrated on two study cases involving distributed architectures of different complexity orders. © 2011 IEEE.

关键词： Network architecture

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A regressive schema theory based tool for GP evolved nonlinear models

A regressive schema theory based tool for GP evolved nonline...

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2011 17th International Conference on Automation and Computing, ICAC 2011

作者： Patelli, Alina Ferariu, Lavinia Dept. of Automatic Control and Applied Informatics Gh. Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781467300001

Nonlinear systems identification is approached by employing a genetic programming computational tool featuring explicit building block exploitation. The level of adaptation of recurrent model sub-structures is assessed by a fuzzy module. The first contribution of the paper resides in using the fuzzy classification results to reconfigure the cut point selection probabilities of regressor inner nodes, a process called encapsulation. This allows for the second innovation, namely the design of context aware genetic operators capable of protecting the existing instances of fit building blocks and of creating new ones. The computational costs of encapsulation are reduced by employing a novel regressive schema theory - the third and main paper contribution - which assesses the inherent chances of regressor survival. A thorough theoretical support for demonstrating the efficiency of context aware operators in transmitting schema instances over the generations is introduced. The suggested algorithm is experimentally validated in the framework of a complex, industrial, nonlinear subsystem of a sugar factory. © 2011 CACSUK.

关键词： Fuzzy logic

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Modern scada philosophy in power system operation - A survey

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UPB Scientific Bulletin, Series C: Electrical Engineering 2011年第2期73卷 153-166页

作者： Arghira, Nicoleta Hossu, Daniela FǍgǍrǍ¸an, Ioana Iliescu, Sergiu Stelian Costianu, Daniel RǍzvan Dept.of Automatic Control and Industrial Informatics University POLITECHNICA of Bucharest Romania Faculty of Automatic Control and Computers University POLITECHNICA of Bucharest Romania

This paper presents SCADA concepts used mainly in power systems, as a critical infrastructure in all life sectors. New power system demands regarding energy quality and efficiency, power system load or stability has risen for system operators all around the world. The new control and monitoring strategies include better SCADA systems and new measurement systems (wide area measurement systems with synchrophasors). The SCADA concepts discussed in the paper were implemented at the national power system dispatcher and also, at the power plant level.

关键词： SCADA systems

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Qualitative analysis results for arbitrarily switching positive systems

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IFAC Proceedings Volumes 2011年第1期44卷 1326-1331页

作者： Octavian Pastravanu Mihaela-Hanako Matcovschi Mihail Voicu Technical University “Gh. Asachi” of Iasi Romania Dept. Automatic Control and Applied Informatics

Abstract The paper improves the existing qualitative results on switched positive systems x ( t ) = A j x ( t ) , j = 1 , … , N , by using non-strict quasilinear inequalities of the form v T A j < = r v T , r < 0 , v > 0 (in place of strict linear inequalities v T A j < 0 , v > 0 ) and invoking the Perron-Frobenius eigenstructure for essentially nonnegative matrices. We prove that any solution to the quasilinear inequalities characterizes (by equivalence) a linear Lyapunov function, a contractive invariant set, and the initial growth/decrease rate with respect to a weighted 1-norm. We also identify the solution which, for a given switching system, ensures the linear Lyapunov function with the fastest decrease rate and the invariant set with the fastest contraction rate.

关键词： positive systems switched systems common copositive linear Lyapunov function invariant sets initial growth/decrease rate quasilinear inequalities Perron-Frobenius eigenstructure

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Real-time visual predictive control of manipulation systems

Real-time visual predictive control of manipulation systems

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IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

作者： Burlacu, Adrian Copot, Cosmin Cervera, Enric Lazar, Corneliu Dept. of Automatic Control and Applied Informatics Technical University of Iasi D. Mangeron Street no.27 700050 Iasi Romania Dept. of Computer Science and Engineering Jaume I University Campus Riu Sec 12071 Castello Spain

ISBN: (纸本)9781457711589

This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and thus both points and image moments were considered and their performance revealed. A 6 d.o.f manipulator robot with an eye-in-configuration is used to design a visual servoing architecture and realtime implementation using Matlab is described. The results of different experiments for planar static objects are presented and discussed. For establishing the performance of visual predictive control laws a comparison with classical image based control laws is conducted. © 2011 IEEE.

关键词： Visual servoing

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Quadrotor black-box system identification

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World Academy of Science, Engineering and Technology 2011年 78卷 350-353页

作者： Stanculeanu, Ionel Borangiu, Theodor University 'Politehnica' Department of Automatic Control and Computers Bucharest 060042 Romania University 'Politehnica' Dept. of Automatics and Applied Informatics Head of the Robotics and AI Laboratory Bucharest 060042 Romania

This paper presents a new approach in the identification of the quadrotor dynamic model using a black-box system for identification. Also the paper considers the problems which appear during the identification in the closed-loop and offers a technical solution for overcoming the correlation between the input noise present in the output.

关键词： Unmanned aerial vehicles (UAV)

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Increasing crossover operator efficiency in multiobjective nonlinear systems identification

Increasing crossover operator efficiency in multiobjective n...

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IEEE International Conference on Intelligent Systems

作者： Patelli, Alina Ferariu, Lavinia Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University Iasi Romania

ISBN: (纸本)9781424451647

An elitist multiobjective optimization methodology, based on genetic programming, is suggested in the following, as means of identifying complex nonlinear systems. The structure and parameters of the nonlinear models are selected simultaneously as result of the conjoint usage of customized genetic operators and of a deterministic parameter computation procedure. This symbiosis is configured to efficiently exploit the nonlinear, linear in parameters formalism, a proven universal approximator, according to which the models are generated. In order to protect useful model terms from fragmentation via crossover, the authors have introduced a novel encapsulation mechanism supervised by a fuzzy controller. To meet the specific requirements of systems identification in engineering applications, the optimization procedure considers two evaluation criteria, namely accuracy and parsimony, exploited from an elitist standpoint. The approach also features an original similarity analysis technique, meant to encourage population diversity. The practical efficiency of the proposed identification algorithm was tested in the framework of a real life industrial system. © 2010 IEEE.

关键词： Multiobjective optimization

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An Hausdorff distance based approach for evaluation of image moments in servoing applications

An Hausdorff distance based approach for evaluation of image...

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2010 IEEE 6th International Conference on Intelligent Computer Communication and Processing, ICCP10

作者： Burlacu, Adrian Copot, Cosmin Lazar, Corneliu Dept. Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781424482306

This paper presents a new criterion for the evaluation of visual features used in image based control laws. Due to their established performances in servoing applications, image moments derived from point features are evaluated. The proposed criterion analyses both the quantity and the quality of the information stored in an ensemble of point features used in controlling servoing systems. Using Hausdorff distance, new properties for point features ensemble are analyzed, for example the attached convex hull. In order to validate the proposed evaluation criterion, an environment composed from a six dof manipulator robot with an eye-in-hand configuration is used. © 2010 IEEE.

关键词： Quality control

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Open manufacturing control with agile reconfiguring of robot services

Open manufacturing control with agile reconfiguring of robot...

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19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Borangiu, Th. RǍileanu, S. Trentesaux, D. Berger, T. University Politehnica of Bucharest Dept. of Automatic Control and Applied Informatics Bucharest Romania University Lille Nord of France TEMPO Laboratory F-59000 Lille Valenciennes France

ISBN: (纸本)9781424468867

The paper describes a new, open control paradigm for discrete, repetitive shop floor production, designed as a solution for agile manufacturing reengineering through (a) multi-agent robot service reconfiguring and (b) implementing the robot service access model (RSAM) in a distributed, semi-heterarchical production planning, scheduling and execution control architecture. This distributed architecture integrates two layers with generic functionalities: (1) Dynamic reconfiguring of the resource (robot-vision) service access model RSAM through a multiagent system organization;(2) Holonic manufacturing scheduling (robot allocation), control and tracking based on the PROSA holarchy and the Intelligent Product technology-implemented through intelligent embedded devices (acting as Active Holon Entities) which use OpenEmbedded Linux as real-time operating system. Experimental results are reported from production scenarios tested in the two shopfloor platforms of the Laboratories AIP-PRIMECA (University of Valenciennes) and CIMR (University Politehnica of Bucharest) composed by robot-vision workstations. © 2010 IEEE.

关键词： Multi agent systems

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An Hausdorff distance based approach for evaluation of image moments in servoing applications

An Hausdorff distance based approach for evaluation of image...

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IEEE International Conference on Intelligent Computer Communication and Processing (ICCP)

作者： Adrian Burlacu Cosmin Copot Corneliu Lazar Dept. Automatic Control and Applied Informatics The “Gheorghe Asachi” Technical University of Iasi Iasi Romania

关键词： Feature extraction Stability criteria Visual servoing Image sequences Visualization Detectors

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