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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Florin Leon Bogdan I. Aignătoaiei Andrei D. Leca Automatic Control and Computer Engineering Faculty Technical University of Gheorghe Asachi of Iasi Iasi Romania

Evolutionary algorithms have become popular in the recent years as a general, simple, and robust technique that can be used when other optimization methods cannot be applied. Presently, there are a number of evolutionary/genetic algorithm libraries publicly available; however, they are not specifically designed for multiagent systems. The framework described in this paper addresses this problem and presents a general architecture for evolutionary optimization aimed to be used by agents in a multiagent system implemented in the JADE framework inspired from the island model of parallel genetic algorithms. The characteristics of evolutionary algorithms that are more appropriate for use in a distributed, cooperative multiagent environment are also identified.

关键词： Evolutionary computation Optimization Genetic algorithms Multiagent systems computer architecture Biological cells Genetics

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A clustering algorithm for negotiating security in wireless mesh networks

A clustering algorithm for negotiating security in wireless ...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： N. Botezatu V. Manta G. Vieriu Faculty of Automatic Control and Computer Engineering Gh. Asachi Technical University of Iasi Romania

Wireless networks rely greatly on security for authentication and confidentiality, due to the use of an open communication medium. The tendency to incorporate wireless capabilities in battery powered hand-held devices makes it difficult to enforce security because of computational resources and battery capacity limitations. One approach to this problem consists in adaptable security mechanisms: different security algorithms may be enforced at any given time, to assure a proper level of protection, while respecting constraints on power and resource consumption. This paper presents such a mechanism (CLASS), which uses a clustering scheme to setup homogenous security areas in the network. The scheme is based on the available energy at every node and on the individual security requirements. By proper assignment of the nodes and by proper selection of security, we show that our method significantly reduces the average energy consumption compared to a heterogeneous network.

关键词： Peer to peer computing Energy consumption Throughput Clustering algorithms Wireless mesh networks Encryption

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A reliable-Adaptive scheduler for computational grids with failure recovery and rescheduling mechanisms

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International Journal of Grid and Utility Computing 2011年第1期2卷 59-75页

作者： Sarhan, Amany Saleh, Ahmed I. Hamed, Amr M. Computer Engineering and Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt Computer Engineering and Systems Department Faculty of Engineering Mansoura University P.O. Box 72 Mansoura Egypt

Computational grids (CGs) have become an attractive research area as they suggest a suitable environment for developing large scale parallel applications. CGs integrate a large amount of distributed heterogeneous resources into a single powerful platform. However, to make good use of CGs, grid resources should be scheduled efficiently. Various scheduling strategies have been introduced, including static and dynamic behaviours. The former maps tasks to resources at submission time, while the latter operates at schedule time. While static scheduling is unsuitable for the dynamic grid environment, scheduling in CGs is still more complex than the proposed dynamic ones. This paper introduces a decentralised adaptive grid scheduler (AGS) based on a novel rescheduling mechanism. AGS has several salient properties as it is;hybrid, adaptive, decentralised, and efficient. AGS is also robust as it has the ability to: 1 detect resource failures 2 continue its functionality in spite of the failure existence 3 recover back as soon as possible. Moreover, it integrates both static and dynamic scheduling behaviours. An initial static scheduling map is proposed for an input directed acyclic graph (DAG). However, DAG tasks may be rescheduled if the hosting resources' performance changes in a way that affects the tasks' response time. AGS tries to overcome drawbacks of traditional schedulers by utilising the mobile agent unique features to enhance the resource discovery and monitoring processes. Experimental results have shown that AGS outperforms traditional grid schedulers as it introduces a better scheduling efficiency. © 2011 Inderscience Enterprises Ltd.

关键词： Mobile agents

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ORF-MOSAIC for adaptive control of a biomimetic arm

ORF-MOSAIC for adaptive control of a biomimetic arm

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Ardakani, M. Mahdi Ghazaei Jörntell, Henrik Johansson, Rolf Department of Computer Science Faculty of Engineering Lund University 221 00 Lund Sweden Department of Experimental Medical Sciences Lund University Biomedical Center F10 221 84 Lund Sweden Department of Automatic Control Faculty of Engineering Lund University 221 00 Lund Sweden

ISBN: (纸本)9781457721373

This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30 x 30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model. © 2011 IEEE.

关键词： Biomimetics

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The Fast Itemset Miner: A detailed analysis of the candidate generation stages

The Fast Itemset Miner: A detailed analysis of the candidate...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Alexandru Archip Mitică Craus Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of Ia&i Romania

Association Rule Mining (ARM) represents an important tool for Data Mining techniques. A key step in ARM is to determine the frequent itemsets present within the analyzed data. Recent algorithms addressing this problem focus on identifying frequent itemsets without candidate generation steps. This paper details a new algorithm - Fast Itemset Miner (FIM for short) - that still relies on candidate generation stages, but has a different approach from the standard Apriori algorithm. This approach focuses on increasing size of the interval that candidates belong to, rather than increasing the size of the candidates by one with each corresponding iteration. By comparing the Apriori and FIM candidate generation stages, we show that this second approach uses a faster and more efficient method of determining candidate itemsets. Moreover, such an approach also favors a better support counting method, which greatly impacts on the overall time response of the FIM algorithm.

关键词： Itemsets Equations Association rules Mathematical model Algorithm design and analysis

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Monocular visual self-localization for humanoid soccer robots

Monocular visual self-localization for humanoid soccer robot...

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International Conference on Electronics, Communications and computers (CONIELECOMP)

作者： J.M. Ibarra Zannatha R. Cisneros Limón A.D. Gómez Sánchez E. Hernández Castillo L.E. Figueroa Medina F.J.K. Lara Leyva Departament of Automatic Control Cinvestav Engineering Faculty La Salle University Departament of Computer Systems Cinvestav

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented.

关键词： Image color analysis Feature extraction Image segmentation Three dimensional displays Robots Image edge detection Pixel

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The comparative study of two analytical methods for detection and elimination of the static hazard in Combinational Logic Circuits

The comparative study of two analytical methods for detectio...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Alexandru Valachi Bogdan I. Aignătoaiei Mihai G. Timiş Automatic Control and Computer Engineering Faculty of the Technical University Gheorghe Asachi of Ia&i Iasi Romania

In this paper, the authors do a comparative study of two methods to eliminate the static hazards from logical functions. The first method consists in determining the coupled terms and getting the term that masks the static hazards, and the second method consists in determining the masking additional term by solving a system of Boolean equations. From the presented examples, the authors deduced that the 2 nd method (solving a Boolean equations system) is more advantageous because it eliminates the heuristic nature of the first method (the determination of coupled terms) and, by solving the equations system it determines all prime implicants that needs to be added to the function's expression.

关键词： Hazards Equations Logic functions Combinational circuits Noise Steady-state Companies

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An Anti-Slip Predictive controller for a V-PRA Vehicle

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IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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Partitioning methods used in DBS treatments analysis results

Partitioning methods used in DBS treatments analysis results

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International Joint Conference on Neural Networks (IJCNN)

作者： Oana Geman Cornel Turcu Department of Automatic Control and Computers Faculty of Electrical Engineering and Computer Science University Stefan cel Mare of Suceava Suceava Romania

Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-term stimulation at frequencies greater than 100Hz. The mechanism by which chronic, electrical Deep Brain Stimulation with high frequency, suppresses tremor in Parkinson's disease is unknown, but might involve a gradual change in network properties controlling the generation of tremor. First, we performed linear and nonlinear analysis of the tremor signals to determine a set of parameters and rules for recognizing the behavior of the investigated patient and to characterize the typical responses for several forms of DBS. Second, we found patterns for homogeneous group for data reduction. We used Data Mining and Knowledge discovery techniques to reduce the number of data. Then, we found "clusters" the most well-known used and commonly partitioning methods used: K-means and K-medoids. To support such predictions, we develop a model of the tremor, to perform tests determining the DBS reducing the tremor or inducing tolerance and lesion if the stimulation is chronic.

关键词： Satellite broadcasting Clustering algorithms Time series analysis Correlation Algorithm design and analysis Mathematical model Software algorithms

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Needle-stability maps for brain-tumor biopsies

Needle-stability maps for brain-tumor biopsies

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15th International Conference on System Theory, control and Computing, ICSTCC 2011

作者： Herghelegiu, Paul Manta, Vasile Gröpller, Eduard Faculty of Automatic Control and Computer Engineering Technical University Gheorghe Asachi Iasi Str. Prof. dr. doc. Dimitrie Mangeron 27 700050 Iasi Romania Vienna University of Technology Institute of Computer Graphics and Algorithms Favoritenstr. 9/5. Stock A-1040 Vienna Austria

ISBN: (纸本)9781457711732

Minimally invasive surgical procedures like biopsies require the insertion of a needle to reach a specific tissue from where samples are taken. This process is affected by a number of errors that can lead to a different needle pathway than originally planned. In the case of brain-tumor biopsies, these errors can be caused by the brain shifting when the skull is drilled, measurement errors due to the physical framework that supports the biopsy needle or some other human errors. To provide support for preoperative planning, we introduce the concept of a biopsy-needle stability-map. This map provides information on how stable a biopsy-needle pathway is. We also introduce an algorithm for finding the reachable points on the tumor border from one specific entry point. A technique for automatically selecting the needle pathway that offers the biggest minimal distance to any blood vessel is also presented. A 3D representation of the regions of interest (tumor, blood vessels) together with the needle pathway and the reachable points of the tumor has also been implemented. The resulting stability map visually represents, using color-coding, how close to any blood vessel the pathways surrounding the main one are. © 2011 faculty of Auto control.

关键词： Needles

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