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2011 IEEE International Conference on Robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

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A novel type of trigonometric neural network trained by Extended Kalman Filter

A novel type of trigonometric neural network trained by Exte...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： M. Norouzi M. Mansouri M. Teshnehlab M. Aliyari Shoorehdeli Faculty of Engineering Department of Computer Engineering Science and Research Branch Islamic Azad University Iran Intelligent System Laboratory (ISLAB) Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering Advanced Process Automation &Control Laboratory (APAC) K.N. Toosi University of Technology Tehran Iran

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others.

关键词： Biological neural networks Kalman filters Equations Neurons Vectors Covariance matrix Mathematical model

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A simple optimization method based on Backtrack and GA for delivery schedule

A simple optimization method based on Backtrack and GA for d...

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Congress on Evolutionary Computation

作者： Yoshitaka Sakurai Kouhei Takada Natsuki Tsukamoto Takashi Onoyama Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Chiba Japan Research & Development Department Hitachi Software Engineering Company Limited Tokyo Japan Faculty of Computer Science and Automation Ilmenau University of Technology Ilmenau Germany

A delivery route optimization system greatly improves the real time delivery efficiency. To realize such an optimization, its distribution network requires solving several tens to hundreds (max. 1500-2000) cities Traveling Salesman Problems (TSP) within interactive response time (around 3 seconds) with expert-level accuracy (below 3% level of error rate). Moreover, as for the algorithms, understandability and flexibility are necessary because field experts and field engineers can understand and adjust it to satisfy the field conditions. To meet these requirements, a Backtrack and Restart Genetic Algorithm (Br-GA) is proposed. This method combines Backtracking and GA having simple heuristics such as 2-opt and NI (Nearest Insertion) so that, in case of stagflation, GA can restarts with the state of populations going back to the state in the generation before stagflation. Including these heuristics, field experts and field engineers can easily understand the way and use it. Using the tool applying their method, they can easily create/modify the solutions or conditions interactively depending on their field needs. Experimental results proved that the method meets the above-mentioned delivery scheduling requirements more than other methods from the viewpoint of optimality as well as simplicity.

关键词： Genetic algorithms Nickel Cities and towns Optimization Humans Error analysis Real time systems

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Ensuring Diversity in a Backtrack and GA Optimization Method for Delivery Schedule

Ensuring Diversity in a Backtrack and GA Optimization Method...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

Delivery route optimization greatly improves the delivery efficiency in terms of all resources including human resources and energy consumption. In our application scenario the distribution network requires solving several tens to hundreds (max. 1500-2000) cities Traveling Salesman Problems (TSP) within interactive response time (around 3 seconds) with expert-level accuracy (below 3% level of error rate). Moreover, since domain experts have to adjust the solutions due to boundary conditions that can not be formally expressed (such as human convenience, road conditions, and social aspects), understandability and flexibility of the applied heuristics are necessary. To meet all these requirements, a Backtrack and Restart Genetic Algorithm (Br-GA) was proposed. This method combines Backtracking and GA having simple heuristics such as 2-opt and NI (Nearest Insertion) so that, in case of stagflation, GA can restarts with the state of populations going back to the state in the generation before stagflation. Here, a refinement of this algorithm is introduced, which aims at ensuring diversity of initial solutions, which are subject to mutation. We introduce a formal definition of a diversity degree as well as a technique to compose new random individuals, which follow a required degree of diversity.

关键词： Genetic algorithms Nickel Cities and towns Humans Optimization Error analysis Traveling salesman problems

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Swarm-based neighbourhood search for fuzzy job shop scheduling

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International Journal of Innovative Computing and Applications 2011年第3期3卷 144-151页

作者： Zheng, You-Lian Li, Yuan-Xiang Lei, De-Ming State Key Laboratory of Software Engineering Wuhan University Wuhan 430072 China Faculty of Mathematics and Computer Science Hubei University Wuhan 430062 China School of Automation Wuhan University of Technology Wuhan 430070 China Shanghai Jiaotong University Shanghai China

In this paper, fuzzy job shop scheduling problems are considered and an efficient swarm-based neighbourhood search (SNS) is proposed, in which an ordered operation-based representation and the decoding procedure are given. It is proved that most of possible actual completion times lie in the cut of fuzzy completion time for each job. In SNS, adaptive swap operation and binary tournament selection are applied to update swarm. SNS is compared with some methods from literature and computational results demonstrate that SNS has promising advantage on fuzzy scheduling. © 2011 Inderscience Enterprises Ltd.

关键词： Job shop scheduling

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2D Phononic Crystal Sensor with Normal Incidence of Sound

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Procedia engineering 2011年 25卷 787-790页

作者： R. Lucklum M. Zubtsov M. Ke B. Henning U. Hempel Institute of Micro and Sensor Systems (IMOS) Otto-von-Guericke-University Magdeburg Germany Department of Physics Wuhan University Wuhan PR China Faculty of Electrical Engineering Computer Science and Mathematics University of Paderborn Germany Institute for Automation and Communication (ifak) Magdeburg Germany

This contribution shows the sensor application of a resonance-induced extraordinary transmission through a regular phononic crystal consisting of a metal plate with a periodic arrangement of holes in a square lattice at normal incidence of sound. The characteristic transmission peak has been found to strongly depend on liquid sound velocity. The respective peak maximum frequency can therefore serve as measure for liquid analysis. Experimental verification has been performed with mixtures of water and propanol as model system. Numerical calculations based on COMSOL and EFIT reveal more insides to the wave propagation characteristics. Experimental investigations with Schlieren method and laser interferometry support the theoretical findings.

关键词： Phononic crystal sensor Liquid sensor

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Stability analysis of fuzzy logic control systems for a class of nonlinear SISO discrete-time systems

Stability analysis of fuzzy logic control systems for a clas...

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作者： Precup, Radu-Emil Tomescu, Marius-Lucian Preitl, Stefan Petriu, Emil M. Dragoş, Claudia-Adina Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. V. Parvan 2 RO-300223 Timisoara Romania Computer Science Faculty Aurel Vlaicu University of Arad Complex Universitar M Str. Elena Dragoi 2 RO-310330 Arad Romania School of Information Technology and Engineering University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9783902661937

This paper suggests a new stability analysis theorem dedicated to a class of fuzzy logic control systems. The fuzzy logic control systems consist of nonlinear Single Input-Single Output (SISO) discrete-time processes controlled by Takagi-Sugeno fuzzy logic controllers. The stability analysis is conducted on the basis of Lyapunov's direct method with quadratic Lyapunov function candidates. The theorem proves that if the derivative of the Lyapunov function candidate is negative definite in the active region of each fuzzy rule then the fuzzy logic control system will be asymptotically stable in the sense of Lyapunov. Sufficient stability conditions are offered. An example related to the design of a stable fuzzy logic control system for the discrete-time Lorenz chaotic system and simulation results are included. © 2011 IFAC.

关键词： Lyapunov functions

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Stereo Matching for Face Images Based on Feature Points

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电子学报(英文版) 2010年第2期19卷 241-244页

作者： WANG Yinghui XIAO Bing WANG Qiongfang Faculty of Computer Science and Engineering Xi'an University of Technology Xi'an China Department of Computer Science Shaanxi Normal University Xi'an China Faculty of of Automation and Information Engineering Xi'an University of Technology Xi'an China

Stereo matching is the key of reconstructing 3D face model from 2D face images and Barnard's algorithm is one of the classical stereo matching algorithms based on feature points. In order to enhance the stability of extracting feature points, reduce computational complexity and minimize the effect of subjective factors, in this paper, Barnard's algorithm of edge point matching was improved from two aspects: edge point sets of left and right face images were extracted with dyadic wavelet transform, rather than comparing gray values of adjacent pixels;on the other hand, edge points in binocular stereo face images were matched under epipolar constraint in parallel binocular stereo matching. Experimental results demonstrate that stability and efficiency of stereo matching algorithm are both improved.

关键词：立体匹配算法人脸图像特征点点匹配算法配基二进小波变换计算复杂度人脸模型

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Risk-driven web services selection based on stochastic QoS

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ICIC Express Letters 2011年第7期5卷 2269-2274页

作者： Fu, Xiaodong Yue, Kun Zou, Ping Wang, Feng Yunnan Key Lab of Computer Technology Application Kunming University of Science and Technology No. 68 Wenchan Road 121 Ave. Kunming 650500 China Faculty of Information Engineering and Automation Kunming University of Science and Technology No. 68 Wenchan Road 121 Ave. Kunming 650500 China School of Information Science and Engineering Yunnan University No. 2 Cuihu North Road Kunming 650091 China

Open and dynamic environments lead to the stochastic nature of QoS (Quality of Service). This makes customers be required to select the Web services with minimal risk so that the possibility of the difference between actual QoS performance and the ex- pected is minimized. In this paper, we propose a stochastic QoS-aware services selection approach that is formulated as a stochastic Multiple Attribute Decision Making (MADM) model. In this model, QoS of the candidate services is random variables with known probability distributions. By combining user constraints and probability distributions of QoS, semi-variance is used to evaluate QoS risk of alternatives. Thus, the stochastic MADM problem can be transformed into a deterministic one, which is solved with Technique for Order Preference by Similarity to Ideal Solution (TOPSIS). Example and simulation results show the effectiveness of our approach for services selection. © 2011.

关键词： Quality of service

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Determining liquid properties by extraordinary acoustic transmission through phononic crystals

Determining liquid properties by extraordinary acoustic tran...

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IEEE SENSORS

作者： R. Lucklum M. Zubtsov M. Ke A. Oseev U. Hempel B. Henning Institute of Micro and Sensor Systems (IMOS) Tto-von-Guericke-University Magdeburg Germany Department of Physics Wuhan University of China Wuhan China Institute of Automation and Communication (ifak) Magdeburg Germany Faculty of Electrical Engineering Computer Science and Mathematics University of Paderborn Paderborn Germany

ISBN: (纸本)9781424492909

This contribution shows how a resonance-induced extraordinary acoustic transmission through a phononic crystal structure can be used as sensor for liquid properties. The phononic crystal consists of a metal plate with a periodic array of holes. Ultrasound propagates in a way that the incidence direction of sound is perpendicular to the plate. A characteristic transmission peak has been found to strongly depend on liquid sound velocity. The respective peak maximum frequency serves as measure for liquid composition. Numerical calculations based on FDTD and FEA reveal more insides to the propagation characteristics, in particular the presence of specific plate modes. Experimental investigations using a laser vibrometer and the Schlieren method support the theoretical findings.

关键词： Acoustics Photonic crystals Frequency measurement Laser beams Crystals Time domain analysis Lattices

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