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ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD BASED ON GENERALIZED LORENZ SYSTEM

IFAC Proceedings Volumes 2006年第8期39卷 323-328页

作者： Sergej Ĉelikovský Volodymyr Lynnyk Michael Šebek Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 182 08 Prague 8 Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

In this paper, a modified version of the Chaos Shift Keying (CSK) scheme for secure encryption and decryption of data is proposed. The proposed scheme uses the effect of anti-synchronization, rather than synchronization. More specifically, the classical CSK method determines the correct value of binary signal through checking which unsynchronized system is getting synchronized. On the contrary, our novel method determines wrong value of binary signal through checking which already synchronized system is loosing synchronization. The advantage of the proposed method is two-fold. First, it requires very reasonable amount of data to encrypt and time to decrypt a single bit. Secondly, its security can be investigated and estimated as practically unbreakable. The main reason for both advantages is that anti-synchronization is thousand times faster than synchronization, even when using two close each to other chaotic systems. Our method is implemented and thoroughly tested on the recently introduced generalized Lorenz system (GLS) family making advantage of its special parametrization.

关键词： Nonlinear system observer chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication

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A Linguistic control Method for Posture Stabilization of Wheeled Mobile Robot

A Linguistic Control Method for Posture Stabilization of Whe...

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World Congress on Intelligent control and automation (WCICA)

作者： Jianning Hua Yuechao Wang Feng Zhang Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Faculty of Information and Control Engineering University of Shenyang Jianzhu Shenyang Liaoning China

A linguistic control method based on motion description languages for posture stabilization of wheeled mobile robot is presented in this paper. In robotic systems control actions should be selected and executed by the triggering events. As a result, robotic systems typically possess a hierarchical structure, characterized by continuous variable dynamics at the lowest level and logical decision-making at the highest. Motion description languages, inspired by formal languages and automaton theory, serve as an abstraction between continuous and discrete control. Unlike traditional methods, the linguistic control method can be used to describe completely the interactions between robot and the environments in which it operates, and the complexity for steering a robot can also be measured quantitatively. The posture stabilization problem for wheeled mobile robots is studied and simulation results verify the validity of this method

关键词： Mobile robots Robot kinematics Automatic control Robotics and automation Motion control Automata Trajectory Robot control control systems Formal languages

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ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

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IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics.

关键词： Mechatronics Robotics Simulation Dynamics control Fractional calculus

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Si(111)−α−3×3−Au phase modified by In adsorption: Stabilization of a homogeneous surface by stress relief

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Physical Review B 2006年第11期73卷 115335-115335页

作者： D. V. Gruznev I. N. Filippov D. A. Olyanich D. N. Chubenko I. A. Kuyanov A. A. Saranin A. V. Zotov V. G. Lifshits Institute of Automation and Control Processes 690041 Vladivostok Russia Faculty of Physics and Engineering Far Eastern State University 690000 Vladivostok Russia Department of Electronics Vladivostok State University of Economics and Service 690600 Vladivostok Russia

Structural transformations on the Si(111)−α−3×3−Au surface induced by In adsorption have been studied using scanning tunneling microscopy and first-principles total-energy calculations. It has been found that In adsorption results in the transformation of the 3×3−Au phase to the 3×3−(Au,In) phase. At room temperature, the transformation is limited by the interior of the original 3×3−Au domains and does not affect the domain-wall structure. Upon annealing at 600°C, the domain walls are eliminated and highly ordered almost defect-free homogeneous 3×3−(Au,In) surface develops. The 3×3−(Au,In) surface phase contains 1 monolayer (ML) of Au, 1 ML of Si and about 0.15 ML of In. Plausible mechanism of stabilization of the domain-wall-free Si(111)3×3−(Au,In) surface is the stress relief caused by In adsorption.

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EDUSCA (Educational SCAda): Features and applications

EDUSCA (Educational SCAda): Features and applications

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作者： Santos, Raúl Alves Normey-Rico, Julio E. Gómez, Alejandro Merino De Prada Moraga, Cesar Center of Sugar Tecnology University of Valladolid Edificio Alfonso VIII 47011 Valladolid Spain Department of Automation and Systems Federal University of Santa Catarina CTC-UFSC 88040-900 Florianópolis-SC Brazil Department of Systems Engineering and Automatic Control University of Valladolid Faculty of Sciences c/ Real de Burgos s/n 47011 Valladolid Spain

ISBN: (纸本)9783902661074

This paper presents EDUSCA, an EDUcational SCAda with OPC data access. EDUSCA was specially designed for automatic control education, research and operator training purposes. The developed system takes advantage of the facilities offered by the OPC communication architecture. The system allows the students to face real practical problems, could be used to train operators in plant supervision and also allows the implementation of research functionalities. Their main advantages of EDUSCA are: (i) it can be connected to any plant whenever it includes OPC communications;(ii) it is free of licenses, thus it can be installed in many computers as necessary;(iii) it can be adapted to each application requirements and (iv) it allows the implementation of a diverse set of functionalities, as for example, control algorithms. Copyright © 2006 IFAC.

关键词： Personnel training

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PSO-E: Particle Swarm with Exponential Distribution

PSO-E: Particle Swarm with Exponential Distribution

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Congress on Evolutionary Computation

作者： R.A. Krohling L. dos Santos Coelho Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany Automation and Systems Laboratory LAS/PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Curitiba Parana Brazil

Studies with the Gaussian and Cauchy probability distributions have shown that the performance of the standard PSO algorithm can be improved. But these versions may also get stuck in local minima when optimizing functions with many local minima in high dimensional search space. In this paper, we will provide new results with PSO using the Exponential probability distribution aiming at improvement in performance. This version of the algorithm, termed PSO-E, was tested on a suite of well-known benchmark functions with many local optima and the results were compared with those obtained by the standard PSO (constriction factor). Simulation results show the suitability of PSO-E.

关键词： Particle swarm optimization Exponential distribution Probability distribution Stochastic processes Benchmark testing Random number generation Probability density function Automatic control control systems Systems engineering and theory

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Nonlinear System Identification Based on B-Spline Neural Network and Modified Particle Swarm Optimization

Nonlinear System Identification Based on B-Spline Neural Net...

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International Joint Conference on Neural Networks (IJCNN)

作者： L. dos Santos Coelho R.A. Krohling Production and Systems Engineering Graduate Program Automation and Systems Laboratory PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Parana Brazil Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany

Artificial neural networks, in particular, feedforward multilayer networks and basis function networks, have gradually established themselves as a usual tool in approximating complex nonlinear systems. B-spline networks, a type of basis function neural network, are normally trained by gradient-based methods, which may fall into local minima during the learning phase. In order to overcome the drawbacks encountered by conventional learning methods, particle swarm optimization - a swarm intelligence methodology - can provide a stochastic global search of B-spline networks for nonlinear system identification. In this paper, a modified particle swarm optimization algorithm using Gaussian and Cauchy probability distributions are applied to adjust the control points of B-spline neural networks. Simulation results for the identification of Rossler systems are provided and demonstrate the effectiveness and robustness of the proposed identification scheme.

关键词： Nonlinear systems Spline Neural networks Particle swarm optimization Artificial neural networks Multi-layer neural network Learning systems Stochastic systems Probability distribution Robustness

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OPTIMIZATION-BASED DECOMPOSITION OF A LARGE-SCALE SYSTEM

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IFAC Proceedings Volumes 2006年第14期39卷 47-52页

作者： Branislav Rehák Czech Technical University Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Praha 6 Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic. P.O. Box 18 182 08 Prague Czech Republic

The problem of design of a controller for a large-scale system is studied. The design objective is to achieve behavior comparable with the standard controller that is LQ optimal. On the other hand the amount of interconnections between subsystems should be kept as small as possible. This is guaranteed by solving of an optimization problem where the number of interconnections is minimized while the difference in the values of the cost functional for the standard and decentralized controller is a constraint. To find the value of the cost of the decentralized control in presence of interconnections one can use linear matrix inequalities.

关键词： Decomposition decentralized control linear matrix inequalities

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LPV fault detection of glucose-insulin system

LPV fault detection of glucose-insulin system

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Mediterranean Conference on control and automation (MED)

作者： L. Kovacs B. Kulcsar J. Bokor Z. Benyo Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Control and Transport AutomLation Faculty of Transportation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Colmputer and Automation Rearch Institute Hungarian Science Academy Budapest Hungary

A new approach is proposed in the paper for unknown glucose inlet estimation in case of diabetic patients under insensitive care in form of a linear parameter varying (LPV) model class. The nonlinear two compartment glucose-insulin system is rewritten in affine parameter varying form in order to handle the dynamics with LPV fault detection and isolation (FDI) method. The aim of the closed-loop fault detection, on the one hand, is to estimate the unknown disturbance input of the system, on the other hand to recognize the actuator fault. A parameter varying controller assures the performance requirements and stability of the system

关键词： Fault detection Sugar Diabetes Insulin Filters Automatic control Medical control systems Humans control systems Automatic generation control

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An exact tracking error dynamics passive output feedback controller for a Buck-Boost-converter driven DC motor

An exact tracking error dynamics passive output feedback con...

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International Congress Power Electronics (CIEP)

作者： Jesus Linares-Flores Hebertt Sira-Ramirez Johann Reger Ramon Silva-Ortigoza Sección de Mecatrónica CINVESTAV México D.F. México Institute of Automation and Control (EIT 8.1) Universität der Bundeswehr München Neubiberg Germany Institute of Automation and Control (EIT 8.1) Faculty of Electrical Engineering and Information Technology Universitat der Bundeswehr Munchen Neubiberg Germany

This article deals with the trajectory tracking problem for the angular velocity of a DC-motor shaft using a buck-boost-converter as the switch regulated electronic drive. The main result of our proposed control scheme is that a linear time-varying controller results from the consideration of the exact tracking error dynamics and static passive output feedback controller design. The measuring of the angular velocity is not really necessary and the control law is synthesized using only a linear time-varying combination of the converter current and voltage variables. The voltage reference trajectory for the converter is generated exploiting a partial differential flatness property of the combined system. The reference trajectories of the average control and the input current are calculated via stored energy considerations and planning for the initial and final stationary regimes. The discrete switching control realization of the designed continuous feedback control law is accomplished by means of a traditional PWM-modulation scheme. Experimental results are provided

关键词： Error correction Output feedback DC motors Linear feedback control systems Electric variables control Trajectory Angular velocity Switches Pulse width modulation Shafts

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