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2013 AAAI Spring Symposium

作者： Holz, Dirk Iocchi, Luca Van Der Zant, Tijn Autonomous Intelligent Systems Group Department of Computer Science VI University of Bonn Germany Dept. of Computer Control and Management Engineering Sapienza University of Rome Italy Dept. of Artificial Intelligence Faculty of Natural Sciences University of Groningen Netherlands

ISBN: (纸本)9781577356011

The dynamical and uncertain environments of domestic service robots, which includehumans, require rethinking of the benchmarking principles for testing these robots. Since 2006 RoboCup@Home has used statistical procedures to track and steer the progress ofdomestic service robots. This paper explains the procedures and shows outcomes of these international benchmarking efforts. Although aspects such as shopping in a supermarket receive a fair amount of attention in the robotics community, the authors believe that a recently implemented test is the most important outcome of RoboCup@Home, namely the benchmarking of robot cognition. © 2013, Association for the Advancement of artificial intelligence.

关键词： Benchmarking

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Structured coprime factorizations description of linear and time-invariant networks

Structured coprime factorizations description of linear and ...

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52nd IEEE Conference on Decision and control, CDC 2013

作者： SabǍu, Şerban OarǍ, Cristian Warnick, Sean Jadbabaie, Ali Electrical and Computer Engineering Dept. Stevens Institute of Technology United States Faculty of Automatic Control Dept. University Politehnica Bucharest Romania Faculty of Computer Science Department Information and Decision Algorithms Laboratories Brigham Young University United States Faculty of Electrical and Systems Engineering Dept. University of Pennsylvannia United States

ISBN: (纸本)9781467357173

In this paper we study state-space realizations of Linear and Time-Invariant (LTI) systems. Motivated by biochemical reaction networks, Gonçalves and Warnick have recently introduced the notion of a Dynamical Structure Functions (DSF), a particular factorization of the system's transfer function matrix that elucidates the interconnection structure in dependencies between manifest variables. We build onto this work by showing an intrinsic connection between a DSF and certain sparse left coprime factorizations. By establishing this link, we provide an interesting systems theoretic interpretation of sparsity patterns of coprime factors. In particular we show how the sparsity of these coprime factors allows for a given LTI system to be implemented as a network of LTI sub-systems. We examine possible applications in distributed control such as the design of a LTI controller that can be implemented over a network with a pre-specified topology. ©2013 IEEE.

关键词： Factorization

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Integrating various cloud computing services in a collaborative geo-referenced learning scenario

Integrating various cloud computing services in a collaborat...

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5th International Conference on computer Supported Education, CSEDU 2013

作者： Baloian, Nelson Zurita, Gustavo Hoppe, Ulrich Department of Computer Sciences Universidad de Chile Santiago Chile Management Control and Information Systems Department Universidad de Chile Santiago Chile Department of Computer Science and Applied Cognitive Science Faculty of Engineering University Duisburg-Essen Duisburg Germany

ISBN: (纸本)9789898565532

Some of the main characteristics of Cloud Computing are reliability, scalability and ubiquity. This makes it especially suitable to support large groups on learning activities that require computer support in various settings, in and outside the classroom. In this work, we first analyze the use of Google Maps for supporting a learning activity in an urban environment, concluding that some important features are missing. We then propose an approach for taking advantage of cloud computing services for learning activities by integrating different services in a new application. A general architecture explaining this approach and a design for such an application as example are finally presented.

关键词： Cloud computing

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Integrated control in high-speed networks using constrained model predictive control

Integrated control in high-speed networks using constrained ...

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13th IFAC Symposium on Large Scale Complex systems: Theory and Applications, LSS 2013

作者： Mwandosya, S.M. Brdys, M. Department of Electronic Electrical and Computer Engineering College of Engineering and Physical Sciences University of Birmingham Edgbaston BirminghamB15 2TT United Kingdom Department of Control Systems Engineering Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

This paper studies congestion control in high-speed communication networks using Model Predictive control (MPC). Network traffic is assumed to consist of best-effort and priority traffic sources. An integrated controller consisting of two control parts is designed. The controller calculates the capacity for priority sources and the input rate of best-effort sources. MPC is desirable as it can take into account the constraints on the finite buffer and input rate, as well as deal very well with systems with time delays. © IFAC.

关键词： Predictive control systems

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Retrospective Vision of a Long Term Innovative Experience

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Procedia - Social and Behavioral Sciences 2014年 141卷 15-19页

作者： Jose Manuel Lopez-Guede Manuel Graña Fernando Oterino Jesus Maria Larrañaga Department of Systems Engineering and Automatic Control University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Computer Science and Artificial Intelligence Faculty of Informatics Basque Country University (UPV/EHU) San Sebastian 20018 Spain Department of Electronics University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Business Management University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain

The purpose of this paper is to look back on a long term informal innovative experience carried out during the last nine years until the present one, and try to discern, with a retrospective and a long time vision, whether it has been as beneficial as expected once it has concluded. This experience has taken place in the University College of Engineering of Vitoria (Basque Country University, Spain) since the year 2.004, and it has been accomplished in the subject Company Networks of Technical Engineering in Management Computing. After the analysis of a number of data collected along these years, we found that we have reached the initial objective of increasing the enrolment in the subject that has driven the project, and other unexpected ones that are more important from a long time point of view. Once that nine years have lapsed and the project is going to be finished, we conclude that it is a very positive experience and we recommend doing the same with the new degrees of the European Higher Education Area (EHEA), as we plan.

关键词： Company Networks Active Learning Educational Innovation Project Cooperative Learning

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Educational Innovation Project in the Field of Industrial Informatics

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Procedia - Social and Behavioral Sciences 2014年 141卷 20-24页

作者： Jose Manuel Lopez-Guede Manuel Graña Jesus Maria Larrañaga Fernando Oterino Department of Systems Engineering and Automatic Control University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Computer Science and Artificial Intelligence Faculty of Informatics Basque Country University (UPV/EHU) San Sebastian 20018 Spain Department of Business Management University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain Department of Electronics University College of Engineering of Vitoria Basque Country University (UPV/EHU) Vitoria 01006 Spain

The objective of this paper is to describe an ongoing work that we are carrying out in the frame of an educational innovation project supported by the Education Advisory Service of the Vicerectorship for Teaching Quality and Innovation (University of the Basque Country, Spain). The project is driven by means of the subject of Industrial Informatics of the degree of Industrial Electronic Engineering and Automatics (University College of Engineering of Vitoria, Basque Country University, Spain). The design of the project is based on the development of a collaborative work distributed among all the students of the subject, grouped in several teams or working groups. The work developed by each of those groups is complementary, and when all these parts of work are finished, all of them will fit together. The conclusion reached until this moment through the continuous tracking of the students is that there is an increased and more active attendance. Besides, the results reached by the students in different evaluations have improved those reached by means of the traditional paradigm of learning.

关键词： Industrial Informatics Active Learning Educational Innovation Project Cooperative Learning

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Towards a holistic approach for developing sensing enterprise modelling framework

Towards a holistic approach for developing sensing enterpris...

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Danila, Cristian Stanescu, Aurelian Goncalves, Ricardo Agostinho, Carlos Florea, Adina Serbanescu, Cristina Department of Automatic Control and Industrial Informatics Faculty of Automatic Control and Computer Science University Politehnica of Bucharest CO 060042 Romania Departamento de Engenharia Electrotécnica Faculdade de Ciências e Tecnologia FCT Universidade Nova de Lisboa 2829-516 Caparica Portugal Centre of Technology and Systems CTS Uninova 2829-516 Caparica Portugal Department of Computer Science Faculty of Automatic Control and Computer Science University Politehnica of Bucharest CO 060042 Romania Department of Mathematics University Politehnica of Bucharest CO 060042 Romania

The integration of Web-Services, smart agents and "smart objects" enables enterprise innovation and competitiveness in a globalized economy. The paper proposes a multi view modelling framework that enables e... 详细信息

ISBN: (纸本)9783902823359

关键词： Web services

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Simultaneous control of Energy and Actuated Variable of3-Link Planar Robot with Underactuation Degree Two and Its Application

Simultaneous Control of Energy and Actuated Variable of3-Lin...

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第三十三届中国控制会议

作者： Yannian LIU Xin XIN Masaki Yamakita Biomedical Engineering Laboratory Graduate School of Natural Science and Technology Okayama University 1-1-1 Tsushima-naka Kita-ku Okayama-shi Okayama 700-8530 Japan Faculty of Computer Science and Systems Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1 Oookayama Meguro-ku Tokyo 152 Japan

ISBN: (纸本)9781479947249

This paper concerns a control problem for a 3-link planar robot moving in the vertical plane with only the rst joint being actuated by using the energy-based control approach. This robot is of underactuation degree two since the difference of the number of degrees of freedom and that of control input is two which is usually very dif cult to control. The control objective is to control simultaneously the total mechanical energy, the angular velocity and the angle of link 1 of the robot to their values corresponding to those at the upright equilibrium point, where all three links are in the upright position. The main contribution of this paper is to provide a global analysis of the convergence of the energy and the motion of the robot under the derived control law in a systematic way. By presenting a new property with its strict proof about the motion of the robot, without any condition on the mechanical parameters of the robot, we prove that the control objective is achieved for all initial states with the exception of a set of Lebesgue measure zero provided that two conditions on control gains are satis ed. Although there is no theoretical guarantee that there exists time such that the robot can be swung up close to the upright equilibrium point, the numerical simulation shows that this simultaneous control can be applied successfully to the swing-up and stabilizing control for a 3-link robot. This paper reveals the dif culty of the motion analysis of mechanical systems with underactuation degree greater than one.

关键词： 3-link robot,two passive joints,underactuation,energy-based control,swing-up control

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Softly switched robustly feasible model predictive control for nonlinear network systems

Softly switched robustly feasible model predictive control f...

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13th IFAC Symposium on Large Scale Complex systems: Theory and Applications, LSS 2013

作者： Tran, Vu Nam Brdys, Mietek A. Depeartment of Electronic Electrical and Computer Engineering University of Birmingham Edgbaston Birmingham B15 2TT United Kingdom Department of Control Systems Engineering Faculty of Electrical and Control Engineering Gdansk University of Technology ul. Narutowicza 11/12 80 - 233 Gdansk Poland

It is common that an efficient constrained plant operation under full range of disturbance inputs require meeting different sets of control objectives. This calls for application of model predictive controllers each of them being best fit into specific operating conditions. It further requires that not only designing robustly feasible model predictive controllers is needed to satisfy the real plant state/output constraints, but also a switching mechanism between these controllers during the operation is inevitable. A simple hard switching may introduce unwanted transients and more importantly may not achieve robustly feasible controller operation. In this paper, the soft switching method for nonlinear systems that allows switching between robustly feasible model predictive controllers is presented. The algorithm for the fast switching method is also addressed for the switching mechanism parameter design that minimizes that switching time duration. The method is illustrated by the application to hydraulic optimizing control in the Drinking Water Distribution systems example. © IFAC.

关键词： Predictive control systems

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