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IMTC'05 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference

作者： DrǍgulescu, Doina StoicǍnescu, CǍlin Cretu, Ana-Maria Toth-TaşcǍu, Mirela Dreucean, Mircea Automation and Computer Sciences Faculty Politehnica University of Timişoara Romania Bul. V.Parvan Nr. 2 300223 Timişoara Romania University of Ottawa 161 Louis Pasteur Ottawa Ont. K1N 6N5 Canada Mechanical Engineering Faculty Politehnica University of Timişoara Romania Bul. M. Viteazu Nr. 1 300222 Timişoara Romania

ISBN: (纸本)0780388798

The paper presents a path-planning problem for two mobile robots acting in a virtual environment. The virtual environment represents the 3D model of the medical center running in the frame of Multiple Users Research Center CMPICSU belonging to POLITECHNICA University of Timisoara - Romania. In the first stage the virtual space has been modeled taking into account the local topography of the rooms and also the robots tasks in the given environment. In the second stage the robots have also been modeled. The path planning method used is based on the cell decomposition method. The virtual reperesentation of all the objects in the workspace is achieved using the OpenGL library. © 2005 IEEE.

关键词： Mobile robots

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Artificial immune systems based sound event detection with CNN-UM

Artificial immune systems based sound event detection with C...

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European Conference on Circuit Theory and Design, ECCTD

作者： J. Stolte G. Cserey Department of Electrical Engineering and Information Technology Eindhovan University of Technology Eindhoven Netherlands Institute of the Hungarian Academy of Sciences Faculty of Information Technology Pázmány Péter Catholic University and Computer and Automation Research Budapest Hungary

In this paper, we are presenting an artificial immune system based spatial-temporal CNN algorithm framework for sound event detection problems. We also introduce a pattern detection algorithm in grayscale images. Our ... 详细信息

关键词： Artificial immune systems Event detection Immune system Biology computing Humans Adaptive systems Cellular neural networks computer networks Information technology Organisms

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ICDAR 2003 robust reading competitions: Entries, results, and future directions

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International Journal on Document Analysis and Recognition 2005年第2-3期7卷 105-122页

作者： Lucas, Simon M. Panaretos, Alex Sosa, Luis Tang, Anthony Wong, Shirley Young, Robert Ashida, Kazuki Nagai, Hiroki Okamoto, Masayuki Yamamoto, Hiroaki Miyao, Hidetoshi Zhu, JunMin Ou, WuWen Wolf, Christian Jolion, Jean-Michel Todoran, Leon Worring, Marcel Lin, Xiaofan Department of Computer Science University of Essex Colchester CO4 3SQ United Kingdom Department of Information Engineering Faculty of Engineering Shinshu University Nagano 380-8553 4-17-1 Wakasato Japan Institute of Automation Chinese Academy of Science Beijing 100080 PO Box 2738 China Lyon Research Center for Images and Intelligent Information Systems INSA de Lyon 69621 Villeurbanne Cedex Bt. J. Verne 20 rue Albert Einstein France Informatics Institute University of Amsterdam 1098 SJ Amsterdam Kruislaan 403 Netherlands Hewlett-Packard Laboratories Palo Alto CA 94304 1501 Page Mill Road United States

This paper describes the robust reading competitions for ICDAR 2003. With the rapid growth in research over the last few years on recognizing text in natural scenes, there is an urgent need to establish some common benchmark datasets and gain a clear understanding of the current state of the art. We use the term 'robust reading' to refer to text images that are beyond the capabilities of current commercial OCR packages. We chose to break down the robust reading problem into three subproblems and run competitions for each stage, and also a competition for the best overall system. The subproblems we chose were text locating, character recognition and word recognition. By breaking down the problem in this way, we hoped to gain a better understanding of the state of the art in each of the subproblems. Furthermore, our methodology involved storing detailed results of applying each algorithm to each image in the datasets, allowing researchers to study in depth the strengths and weaknesses of each algorithm. The text-locating contest was the only one to have any entries. We give a brief description of each entry and present the results of this contest, showing cases where the leading entries succeed and fail. We also describe an algorithm for combining the outputs of the individual text locators and show how the combination scheme improves on any of the individual systems. © Springer-Verlag 2005.

关键词： Camera captured Reading competition Text locating

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Nonlinear system identification and control design using adaptive wavelet network 6

Nonlinear system identification and control design using ada...

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6th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2004

作者： Karimi, H.R. Lohmann, B. Moshiri, B. Jabchdar Maralani, P. Control and Intelligent Processing Center of Excellence Dept. of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 BremenD-28359 Germany

This paper presents an application of wavelet networks in identification and control design tor a class of non-linear dynamical systems. The technique of feedback linearization, supervisory control and H∞ control are used to design an adaptive control law and also the parameters of the wavelet networks arc adapted using a Lyapunov-based design. By some theorems, it will be proved that even in the presence of modelling errors, named network error, the stability of the overall identification scheme and the convergence of the network parameters and the boundedness of the state errors are guaranteed. Copyright © 2004 IFAC.

关键词： Feedback linearization

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning Control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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Optimizing supervision and control for industrial furnaces: Predictive control based design 4

Optimizing supervision and control for industrial furnaces: ...

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4th IFAC Workshop Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Dimirovski, Georgi M. Dinibütün, A. Talha Vukobratovic, Miomir K. Zhao, J. Faculty of Electrical Engineering MK-1000 Skopje SS Cyril and Methodius University Macedonia Computer Engineering Department Faculty of Engineering Acibadem Dogus University Zeamet Sk. 21 Kadikoy IstanbulTR-34722 Turkey Centre of Robotics and Flexible Automation Institute Mihailo Pupin Belgrade11000 Serbia School of Information Science and Engineering Institute of Control Theory Northeastern University Shenyang Liaoning110004 China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons. Copyright © 2004 IFAC.

关键词： Integrated control

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Module and integration verifications for function block-based safety-related system development

Module and integration verifications for function block-base...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Wei Zhang C. Diedrich W.A. Halang Faculty of Electrical and Computer Engineering Fern Universität Hagen Germany Institut of Automation and communication Magdeburg Germany

Safety-related system development is now standardised in some international standards such as IEC 61508, DIN V19250, ANSI/ISA s84.01. For safety-related industrial applications, we propose using function block concept to facilitate system specification and verification testing. In this paper, an idea of verifying function block modules and module integration is to transform modules (basic function block) and their integration into FSMs, thus some FSM-based testing and model checking methods can be applicable

关键词： IEC standards Application software automation Standards publication System testing Software safety Control systems Hardware computer architecture Programmable control

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Interaction balance method for large-scale industrial processes with fuzzy constraints 10

Interaction balance method for large-scale industrial proces...

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10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, LSS 2004

作者： Gu, Jia-Chen Wan, Bai-Wu Ruan, Xiao-E Automation Research and Design Institute of Metallurgical Industry Beijing China Systems Engineering Institute State Key Laboratory for Manufacturing Systems Engineering Xi 'an Jiaotong University Xi 'an China Dept.of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Faculty of Science Xi'an Jiaotong University Xi'an China

The interaction balance method (IBM) with fuzzy constraints is proposed for large-scale industrial processes under hierarchical steady-state optimization with the consideration of the model-reality difference and the constraints of subprocesses being flexible. In this approach, the models that are treated as equality constraints and the inequality constraints of the subprocesses are all fuzzified. Two cases of interaction balance method are studied: the open-loop IBM and the IBM with global feedback. Simulation results show that the solutions of the proposed method with global feedback are very close to the optimal solutions of the real process. © 2004 IFAC.

关键词： Large scale systems

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New trend in control of steady-state large-scale systems 10

New trend in control of steady-state large-scale systems

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10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, LSS 2004

作者： Wan, Bai-Wu Liu, Ding Ruan, Xiaoe Institute of Systems Engineering State Key Laboratory for Manufacturing Systems Engineering Xi'anJiaotong University China School of Automation Xi 'an University of Technology China Dept. of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology 373-7 Guseong-dong Yuseong-gu Daejeon305-701 Korea Republic of Faculty of Science Xi 'anJiaotong University China

This paper reviews what the first Author and his Group have been investigating for the past decade in the on-line steady-state hierarchical intelligent control and optimization of large-scale industrial processes (LSIP), as well as large-scale systems (LSS). The techniques include the use of neural networks for identification and optimization, the use of expert systems to solve some kinds of hierarchical multi-objective optimization problems, the use of the fuzzy logic control and the use of the iterative learning control. In addition, several implementation examples and the product quality control for LSS are introduced. Finally the paper prospects the new stages of development. © 2004 IFAC.

关键词： Quality control

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