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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Fateme Bakhshande Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

Visual Servoing is generally comprised of feature tracking and control. According to the literature, no attempt has already been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize the entire control loop. By kernel definition, a Lyapanov candidate function is formed and the control input is computed so that the Lyapanov stability can be verified. This is performed in four degrees of freedom. In the present study, previous kernel algorithm from the recorded literature has been implemented. We have used the KBVS for our purpose such that an object without any marker is tracked. This method is chosen because of its robustness, speed and featureless properties. Furthermore, in order to show the visual tracking performance, all four degrees of freedom have been synthesized. Experimental results verifies the effectiveness of this method implemented for four degrees of freedom movements.

关键词： Kernel Visualization Asymptotic stability

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Position based sliding mode control for visual servoing system

Position based sliding mode control for visual servoing syst...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： M. Parsapour S. RayatDoost H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In this research, PD-type sliding surface is designed for tracking target. The control signal is obtained from the sliding surface and the stability of the algorithm is verified by Lyapunov theory. Moreover, a recent designed robust estimator based on unscented Kalman observer (UKO) cascading with Kalman filter (KF) is used to estimate the pose, velocity and acceleration of the target. The combination of the implemented estimator and the proposed controller provide a stable and robust structure in PBVS. The reported experimental results, verify the effectiveness of the proposed method in an industrial visual servoing system.

关键词： Estimation Measurement uncertainty Robustness Visualization Service robots Positron emission tomography

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Unsupervised 3D object classification from range image data by algorithmic information theory

Unsupervised 3D object classification from range image data ...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

The problem of unsupervised classification of 3D objects from depth information is investigated in this paper. The range images are represented efficiently as sensor observations. Considering the high-dimensionality of 3D object classification, little attention has been paid to the curse of dimensionality in the existing state-of-the-art algorithms. In order to remedy this problem, a low-dimensional representation is defined here. The sparse model of every range image is constructed from a parametric dictionary. Employing the algorithmic information theory, a universal normalized metric is used for comparison of Kolmogorov complexity based representations of sparse models. Finally, most similar objects are grouped together. Experimental results show efficiency and accuracy of the proposed method in comparison to a recently proposed method.

关键词： Dictionaries Accuracy

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Robust PID control of cable-driven robots with elastic cables

Robust PID control of cable-driven robots with elastic cable...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

In this paper robust PID control of fully-constrained cable-driven robots with elastic cables is studied in detail. To develop the idea, a robust PID control for cable-driven robots with ideal rigid cables is firstly designed and then, this controller is extended for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable-driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable-driven robot.

关键词： Robustness Robots Linear matrix inequalities

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Tightly-Coupled Integrated LR-WPAN/WiMAX Network:Architecture and Performance Modelling

Tightly-Coupled Integrated LR-WPAN/WiMAX Network:Architectur...

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2013 International Conference on Electronic Engineering and computer Science(EECS 2013)

作者： Ayyoub Akbari-Moghanjoughi Aduwati Sali José Roberto Amazonas Burhanuddin Mohd Ali Shamala Subramaniam Sabira Khatun Department. of Computer & Communications Systems Engineerin Faculty of Engineering Universiti Putra Malaysia Department of Telecommunications and Control Engineering of Escola Politécnica of the University of S?o Paulo Department of Communication Technology & Networks Faculty of Computer Science and IT Universiti Putra Malaysia School of Computer and Communication Engineering Universiti Malaysia Perlis

In this paper a general architecture of tightly-coupled integrated LR-WPAN/Wi MAX network has been introduced by proposing and utilising a novel access router named Wireless Integrated Access Router(WIAR). The suggested access router effectively combines both Wi MAX and LR-WPAN technologies in a same device. The main motivation to propose this integration is to deploy Internet of Things(Io T) applications and services in wide area networks. Using Wi MAX as backhaul service, the Internet connection can be provided for dispersed mobile LR-WPAN users over a wide area. Moreover, it enables to access all collected data in the local LR-WPAN coverage area – which is named as Senspot in this paper – by third-party clients through the Internet. Furthermore, an analytic model has been developed for the integrated network to evaluate the system's performance. Theoretical results on blocking probability of new and handover calls from Wi MAX subscribers, as well as new connections from LR-WPAN Senspots in a cell of Wi MAX have been investigated in terms of call/connection rates and number of allocated channels.

关键词： Backhaul Support Heterogeneous Wireless Network IoT Networks Integration WiMAX LR-WPAN

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Performance analysis of MILP based model predictive control algorithms for dynamic railway scheduling

Performance analysis of MILP based model predictive control ...

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European control Conference (ECC)

作者： János Rudan Bart Kersbergen Ton van den Boom Katalin Hangos Faculty of Information Technology Pázmány Péter Catholic University Delft Center for Systems and Control Delft University of Technology Computer and Automation Research Institute Hungarian Academy of Sciences

ISBN: (纸本)9781479901890

In this paper we analyse the performance of solvers for Mixed Integer Linear Programming (MILP) problems that appear from the model predictive control of railway networks. Our aim is to study techniques that reduce the amount of delay using dynamic traffic management by the rescheduling of trains. Due to the size of the emerging MILP problem and the given constraints on solution time, a thorough analysis of different MILP solution techniques was necessary. It has been proven that a significant speedup in the solution time can be achieved by the proper restructuring of the matrices of the MILP problem. The simulation results also confirm the effectiveness of the proposed control technique and the ability of this setup to analyse the most delay-sensitive trains in the network.

关键词： Delays Rail transportation Schedules Time factors Vectors Simulation Predictive control

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Prediction of Mortality and Survival of Patients After Cardiac Surgery Using Fuzzy EuroSCORE System and Reliability Analysis

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Procedia computer Science 2013年 20卷 368-373页

作者： Sina Khanmohammadi Hassan Sadeghpour Khameneh Harold W. Lewis Chun-An Chou Department of Systems Science and Industrial Engineering State University of New York at Binghamton Binghamton New York 13902-6000 U.S.A Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz 51666-14766 Iran

Cardiac surgery is an important medical treatment for coronary vessel patients. Different models have been introduced to determine the risk factors related to side effects of this operation. The goal of this research is to study EuroSCORE (European System for Cardiac Operative Risk Evaluation) as a useful method for predicting the risk of mortality after cardiac surgery, and to introduce a new way of inference, called Fuzzy EuroSCORE. In addition, a systems reliability analysis will be used to calculate the survival possibility of patients after a certain time period after cardiac surgery. To model and simulate the suggested system, eight important parameters of EuroSCORE table are chosen using expert's knowledge and a new method is applied based on a fuzzy inference system. To calculate the risk of mortality after cardiac surgery, the patients are categorized into 3 different groups of low risk, medium risk, and high risk. The range of the mortality risk is determined by appropriate medical data in the fuzzy EuroSCORE system. Additionally, a defect density function for the cardiovascular problem is suggested using the systems reliability analysis. Finally, the prospect of patient's survival after a certain time period after cardiac surgery is predicted.

关键词： Cardiac Surgery Mortality Fuzzy logic Reliability Analysis Medical Prognostics

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Hardware-based parallel firefly algorithm for embedded applications

Hardware-based parallel firefly algorithm for embedded appli...

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2013 NASA/ESA Conference on Adaptive Hardware and systems, AHS 2013

作者： Muñoz, Daniel M. Llanos, Carlos H. Dos Santos Coelho, Leandro Ayala-Rincón, Mauricio Electronics Engineering Graduate Program Faculty of Gama University of Brasilia Brasilia DF Brazil Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil Industrial and Systems Engineering Graduate Program LAS/PPGEPS Pontifical Catholic University of Parana Curitiba Parana Brazil Departments of Computer Science and Mathematics University of Brasilia Brasilia DF Brazil

ISBN: (纸本)9781467363839

The firefly algorithm (FA) is a new population-based metaheuristic bioinspired on the behavior of the flashing characteristics of fireflies. As a population-based algorithm, the FA suffers from large execution times specifically for embedded optimization problems with computational limitations. For reducing execution times we propose a hardware parallel architecture of the FA algorithm that facilitates the implementation in Field Programmable Gate Arrays (FPGAs). In addition, this work proposes the application of the opposition-based learning (OBL) approach to the FA algorithm. The respective hardware implementation (HPOFA) was mapped into a Virtex5 FPGA device and numerical experiments using four well-known benchmark problems demonstrate that the opposition-based approach allows the FA algorithm to improve its functionality, preserving the swarm diversity and avoiding the premature convergence problem. Synthesis results point out that the HPOFA architecture is effectively mapped in hardware and is suitable for embedded applications. © 2013 IEEE.

关键词： Parallel architectures

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ATP production optimization in biochemical mass action models with protein turnover

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IFAC Proceedings Volumes 2013年第14期46卷 42-47页

作者： Dávid Csercsik Gábor Szederkényi Faculty Information Technology Pázmány Peter Catholic University P.O. Box 278 H-1444 Budapest Hungary Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 P.O. Box 63 Budapest Hungary

We introduce a simple approach to account for the ATP consumption and production in the case of mass action models of metabolic pathways including protein turnover. Under some simplifying assumptions, the method makes it possible to characterize the optimal rate of enzyme synthesis if the substrate concentrations and other rate constants are known. Furthermore we demonstrate that the proposed approach is capable of the comparison of the efficiency of different feedback laws in dynamic environment, considering time-varying substrate concentration.

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Robot Learning and Use of Affordances in Goal-directed Tasks

Robot Learning and Use of Affordances in Goal-directed Tasks

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chang Wang Koen V. Hindriks Robert Babuska Interactive Intelligence Group Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology 2628 CD Delft The Netherlands. Delft Center for Systems and Control Faculty of Mechanical Engineering Delft University of Technology 2628 CD Delft The Netherlands.

ISBN: (纸本)9781467363563

An affordance is a relation between an object, an action, and the effect of that action in a given environmental context. One key benefit of the concept of affordance is that it provides information about the consequence of an action which can be stored and reused in a range of tasks that a robot needs to learn and perform. In this paper, we address the challenge of the on-line learning and use of affordances simultaneously while performing goal-directed tasks. This requires efficient online performance to ensure the robot is able to achieve its goal fast. By providing conceptual knowledge of action possibilities and desired effects, we show that a humanoid robot NAO can learn and use affordances in two different task settings. We demonstrate the effectiveness of this approach by integrating affordances into an Extended Classifier System for learning general rules in a reinforcement learning framework. Our experimental results show significant speedups in learning how a robot solves a given task.

关键词： Goal-directed Tasks given environmental context perform Robot learning Affordances Robot Action Religious Missions Learning

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