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Estimating the State of Distributed Dynamical systems Based on Limited Measurements by means of Cooperative Filtering with Application to ad-hoc Vehicle Network

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IFAC Proceedings Volumes 2009年第8期42卷 929-934页

作者： A. Edelmayer M. Miranda Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Faculty of Engineering University of Los Andes Mérida Venezuela

In this paper a decentralized approach to state estimation of distributed dynamical systems over unreliable communication network subject to uncertain and limited measurements is addressed. Specifically, a distributed filtering concept for enhancing the estimation accuracy of vehicles state from uncertain position data in ad-hoc vehicle networks is presented. The filter relies on a variety of position measurements obtained from the on-board vehicle positioning system, from other nearby cooperating vehicles, as well as from the immediate roadside environment via communication. Direct distance measurements between vehicles as well as between vehicles and the static elements of the roadside infrastructure can be used, if available, as highly accurate reference measurements. The paper demonstrates how successfully the idea of cooperative filtering in addressing the demands of both sensor fault tolerance and enhanced estimation accuracy in distributed systems over ad-hoc communication networks can be used.

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Proposal and Evaluation of Adaptive Multimedia Utilization Method for Reliable Web Based Collaboration

Proposal and Evaluation of Adaptive Multimedia Utilization M...

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

作者： Yoshitaka Sakurai Kinshuk Sabine Graf Ardah Zarypolla Kouhei Takada Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Japan School of Computing and Information Systems Athabasca University Canada Faculty of Computer Science and Automation University of Ilmenau Ilmenau Germany

Due to the geographical distribution, different cognitive capacity, and different domain competency of workers or learners, many misunderstandings can occur during Web based remote collaboration, leading to inefficient discussions and undesired results. To overcome these problems, a “Multimedia adaptive utilization” framework for dependable web based collaboration is proposed and evaluated. This assesses situations of remote users through fusing information of multiple biological sensors and the related contexts such as user profiles. Transmitting and using such information, the system adaptively supports Web based remote collaboration by stressing, warning, and presenting keywords/ summaries in multimedia. Then, effects of adaptive keyword/summary presentation are evaluated as to cognitive profiles of users such as short term memory capacity and associative learning skills when misunderstanding possibilities are estimated on the Web. These evaluations totally demonstrate the feasibility and usefulness of the proposed method.

关键词： Collaboration Biosensors Microphones Skin Avatars Multimedia communication Cyberspace

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Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator

Throwing motion generation using nonlinear optimization on a...

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International Conference on Mechatronics (ICM)

作者： Ferenc Lombai Gabor Szederkenyi Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A 6-degree-of-freedom rigid robot arm and its throwing motion generation is described in this paper. The trajectories for the joint variables are generated off-line as a cubic spline obtained using general constrained nonlinear optimization, taking into consideration limitations (position, speed, acceleration and jerk) of the joint actuators, and the current limit of the whole structure. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The trajectory tracking of the individual joint is done using a discrete-time constrained optimal control technique.

关键词： Robots Manipulators Constraint optimization Trajectory Motion planning Robotics and automation Humans Motion measurement Mechatronics Automatic control

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Discrete time minimax tracking control with state and disturbance estimation II: Time-varying reference and disturbance signals

Discrete time minimax tracking control with state and distur...

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Mediterranean Conference on Control and automation (MED)

作者： P. Bauer B. Kulcsar J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty 3ME Delft University of Technnology Delft Netherlands

The paper characterizes the properties of discrete time minimax tracking control problem in the case of time varying references and disturbances. Hereunder, a multi step tracking control synthesis is suggested for linear time invariant (LTI) plants when the reference signal could be time dependent. Moreover, instead of directly rejecting the effect of the (time varying) disturbance signal, an intermediate estimation and centering step is proposed. This step eliminates the main part of the disturbance by its unbiased estimate. The solution combines the state and disturbance estimation with linear quadratic and optimal minimax tracking design. The resulted unified control solution is LQ optimal on infinite horizon with constant references and disturbances and sub-optimal on large horizons with time-varying references and disturbances. The paper clarify the effect of the time varying signals on the stability and performance criteria. The multi step procedure is illustrated via an ascending spiral trajectory tracking simulation of a quadrotor helicopter.

关键词： Minimax techniques State estimation Automatic control Control systems Optimal control Trajectory Helicopters Stochastic systems Fuzzy logic Noise measurement

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Equivalence Knowledge Cumularspharolith and Multiple Approximate Reasoning in R - Logic CR

Equivalence Knowledge Cumularspharolith and Multiple Approxi...

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computer Science and Information Engineering, CSIE, WRI World Congress on FLAGGED

作者： Yalin Zheng Guang Yang State Key Laboratory of Intelligent Technology and Systems Department of Automation Faculty of Information Science and Technology Tsinghua University Beijing China Research Center of Intelligent Information Technology Department of Computer Science and Technology Faculty of Software Dongguan University of Science and Technology Dongguan China

By casting off the direct restriction of topological structure, this paper presents another matching scheme between the input A * and the knowledge A rarr B based on the equivalence relation R on formulae set F(S) and the corresponding equivalence classification F(S)/R = { [A] R | A isin F(S)} therefore, obtains another algorithm of approximate reasoning - the IV-type R-algorithm. The paper presents the IV-type R-algorithm for the simple approximate reasoning model and the multiple approximate reasoning model in the frame of R-logic C R .

关键词： Logic Chromium computer science Intelligent structures Knowledge engineering Information technology Laboratories Intelligent systems automation Information science

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Stability of Fuzzy Matrix Games for Conflicts: A Model with Uncertainty Preference Scheme

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IFAC Proceedings Volumes 2009年第25期42卷 54-56页

作者： G. Stojanovski M.J. Stankovski G.M. Dimirovski Cyril & Methodius University Faculty of EE & IT Institute of Automation & Systems Engineering Karpos 2 BB MK-1000 Skopje R. Macedonia (Phone: +389-2-3363566/150 ) Dogus University Faculty of Engineering Department of Computer Engineering Acibadem Zeamet Sk 21 TR-34722 Istanbul R. Turkey (Phone: +90-216-5445555/1202

In societal system disputes and in direct conflict of interests, in particular, the decision making faces a basic situation resembles a combat-like situation (Figure 1). For each of the opponents (‘players’) has in mind and carries out own missions in the societal environment (Figure 2) Furthermore, two or more parties need to make decisions with fully or partially conflicting objectives when involved in a dispute or open conflict. And yet, by and large, decisions must be made under risk, uncertainty, and incomplete or fuzzy information based on adaptive perception knowledge (Figure 3), which may imply large amounts of linguistic and probabilistic information with missing data. In the case of two opponents, the synergy of fuzzy approach and matrix games seems rather effective for modelling such multi-criteria conflicting situations. This synergy is feasible provide the game equilibrium stability concept is conceived in compliance with an adequate uncertainty preference scheme of decision making. In the case of two scenarios or states of a conflict, the preference scheme for a given participating decision-maker has to include components for handling cases of one state strict preference over another state, equal preference between the states, and also uncertainty preference. The fuzzy modelling based procedure is employed to take into account some of the subjective attitudes of the decision makers that are difficult to model using classical game theory.

关键词： Decision preference scheme decision making games fuzzy games fuzzy logic matrix games

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Segmentation of abdominal aortic aneurysms in CT images using a radial model approach

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10th International Conference on Intelligent Data Engineering and Automated Learning, IDEAL 2009

作者： MacÍa, Iván Legarreta, Jon Haitz Paloc, Céline Graña, Manuel Maiora, Josu García, Guillermo De Blas, Mariano Biomedical Applications Department Vicomtech Donostia-San Sebastián Spain Computational Intelligence Group Computer Science Faculty University of the Basque Country Donostia-SanSebastián Spain Electronics and Telecommunications Department Technical University School University of the Basque Country Donostia-San Sebastián Spain Engineering Systems and Automation Engineering Department Technical University School University of the Basque Country Donostia-San Sebastián Spain Interventional Radiology Service Donostia Hospital Donostia-SanSebastián Spain

ISBN: (纸本)3642043933

Abdominal Aortic Aneurysm (AAA) is a dangerous condition where the weakening of the aortic wall leads to its deformation and the generation of a thrombus. To prevent a possible rupture of the aortic wall, AAAs can be treated non-invasively by means of the Endovascular Aneurysm Repair technique (EVAR), which consists of placing a stent-graft inside the aorta in order to exclude the bulge from the blood circulation and usually leads to its contraction. Nevertheless, the bulge may continue to grow without any apparent leak. In order to effectively assess the changes experienced after surgery, it is necessary to segment the aneurysm, which is a very time-consuming task. Here we describe the initial results of a novel model-based approach for the semi-automatic segmentation of both the lumen and the thrombus of AAAs, using radial functions constrained by a priori knowledge and spatial coherency. © 2009 Springer Berlin Heidelberg.

关键词： Repair

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Fixed point transformations in the adaptive control of fractional-order MIMO systems

Lecture Notes in Control and Information Sciences

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Lecture Notes in Control and Information Sciences 2009年 396卷 103-112页

作者： Tar, József K. Rudas, Imre J. Nádai, László Kozlowski, Krzysztof R. MacHado, José A. Tenreiro Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Budapest Tech Bécsi út 96/B Budapest H-1034 Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland Department of Electrotechnical Engineering Institute of Engineering of Porto Rua Dr. Antonio Bernardino de Almeida Porto 4200-072 Portugal

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The method of ensembles of decision trees for the analysis of the electrical activity produced by the human brain

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Moscow University Computational Mathematics and Cybernetics 2008年第3期32卷 167-176页

作者： Popova, E.A. Department of the Automation of the Systems of Computer Complexes Faculty of Computational Mathematics and Cybernetics Moscow State University Moscow 119991 Russian Federation

In this paper, we develop a method for localization of the active domains of the brain by electroencephalography signals on the basis of ensembles of random decision trees. We suggest a method for reducing the problem of localization to the problem of classification of the quality of the dipole sources. We present a localization algorithm, which consists in constructing an ensemble of decision trees for the parameters of the dipole sources (which are responsible for the approximation of the potential detected at various time instants) and finding the most probable source regions on the basis of a special voting procedure. It is demonstrated that the approach that employs the decision trees technique allows a stable determination of the parameters of the transient function between the source and the signal detected, which is essential for the construction of the brain-computer interface. The method suggested is demonstrated to converge both on the exact solutions and on signals of real experiments by the analysis of evoked potentials. © 2008 Allerton Press, Inc.

关键词： Decision Tree Time Instant Localization Error Direct Problem Dipole Source

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On one approach to realization of the branch-and-bound method on a distributed system

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Moscow University Computational Mathematics and Cybernetics 2008年第3期32卷 182-185页

作者： Gulyaev, A.V. Makhnychev, V.S. Department of the Automation of the Systems of Computer Complexes Faculty of Computational Mathematics and Cybernetics Moscow State University Moscow 119992 Russian Federation

The branch-and-bound method is one of most efficient search algorithms. However, parallel decomposition of this method is difficult even on architectures with common memory, not to mention distributed systems. The paper describes an algorithm for solution of the problems that can be solved with the branch-and-bound method on a distributed computer system. The results of testing of the proposed algorithm via solution of the chess-game problem are presented. © 2008 Allerton Press, Inc.

关键词： Search Tree System Unit Distribute computer System Selective Scheme Common Memory

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