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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Zbigniew Emirsajłow Anna Krakowiak Adam Kowalewski Jan Sokołowski Institute of Control Engineering West Pomeranian University of Technology Szczecin Poland Institute of Mathematics Technical University Cracow Cracow Poland Faculty of Electrical Engineering Automatics Computer Science and Electronics Institute of Automatics AGH University of Science and Technology Cracow Poland Systems Research Institute Polish Academy of Sciences Warszawa Poland Institut Elie Cartan Laboratoire de Mathématiques Université Henri Poincaré Vandoeuvre-les-Nancy France

In the paper the first order sensitivity analysis is performed for a class of optimal control problems for time delay parabolic-hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincaré operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.

关键词： Optimal control Equations Delay effects Sensitivity analysis Boundary conditions Educational institutions Electronic mail

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Information System for Administrative Services of Educational Process

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computer Technology and Application 2011年第5期2卷 354-357页

作者： Lyudmilla Yordanova Stoyanova Department of Programming and Computer Technology Faculty of Computer Systems and Control Technical University of SofiaSofia 1000 Bulgaria

The goal of this paper is to analyze and propose a reconstruction of functional possibilities and database requirements of a Web based Educational Information system. For the research the Information system of the Technology School ＂electronic systems＂（TUES） associated with the Technical University of Sofia is on focus. The modules for admission of students, specialty classification, and graduation of students, management of the student＇s work in computer classrooms and lecturers＇ data management have been analyzed, developed and implemented. The additionally developed modules concern mainly the management of educational process and do not affect the e-learning or the official part modules. That led to the idea that the functionality for managing educational process has to be organized in a separate module defined as module for administrative services of educational process. Such restructuring of the system will bring flexibility in further growth of the system--for example students＇ admission or selection for different purposes.

关键词： Information systems functional structure database education.

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Analyzing the support for large group collaborations using Google Maps

Analyzing the support for large group collaborations using G...

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International Conference on computer Supported Cooperative Work in Design

作者： Antunes, Pedro Ferreira, Antonio Zurita, Gustavo Baloian, Nelson Faculty of Sciences University of Lisbon Portugal Management Control and Information Systems Department Business School Universidad de Chile Chile Department of Computer Science Universidad de Chile Chile

ISBN: (纸本)9781457703874

Group support systems are becoming quite popular. They are also instigating large groups of people into collaborative practices. But research on large group collaborations is still very scarce, making it difficult to assess the benefits and drawbacks. This paper describes an empirical study with a group of 48 participants who used Google Maps to accomplish a collaborative design task. The main research goal was to obtain quantitative and qualitative insights about large group collaborations. Various dimensions of group collaboration were studied, including group size, shared awareness, task monitoring, and coordination. The obtained results indicate that large groups face very significant coordination problems and difficulties converging and handling the volume of information. But the study also points out that large group collaborations stimulate participation and task synergy through positive reinforcements, constant feedback and peer pressure. © 2011 IEEE.

关键词： Decision support systems

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A new method for hybrid-fuzzy identification

A new method for hybrid-fuzzy identification

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作者： Núñez, Alfredo Sáez, Doris Škrjanc, Igor De Schutter, Bart Delft Center for Systems and Control Delft University of Technology Delft Netherlands Electrical Engineering Department Universidad de Chile Santiago Chile Faculty of Electrical and Computer Engineering University of Ljubljana Slovenia

ISBN: (纸本)9783902661937

In this paper a new identification method for non-linear hybrid systems that have mixed continuous and discrete states by using fuzzy clustering and principal component analysis is described. The method first determines the hybrid characteristic of the system inspired by an inverse form of the merge method for clusters, which makes it possible to identify the unknown switching points of a process based on just input-output data. Using the switching points, a hard partition of the input-output space is obtained. Then, we propose to use Takagi-Sugeno (TS) fuzzy models with Gaussian MFs as sub-models for each partition. Thus, the overall model is hybrid-fuzzy and will include explicitly the hybrid behavior of the system (the detected switching points) by means of binary MFs, and in each partition all the other non-linearities by means of TS sub-models. An illustrative experiment on a hybrid-tank system is conducted to present the benefits of the proposed approach. © 2011 IFAC.

关键词： Principal component analysis

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Two elitist variants of differential ant-stigmergy algorithm

Two elitist variants of differential ant-stigmergy algorithm

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作者： Şerbencu, Adrian Emanoil Minzu, Viorel Şerbencu, Adriana Cernega, Daniela Control Systems and Industrial Informatics Department Computer Science Faculty Dunarea de Jos University from Galati Str. Domneasca 111 800201 Galati Romania

ISBN: (纸本)9789898425744

This paper deals with the analysis for two types of elitist variant proposed for the DASA algorithm. It is usual for the genetic algorithms to keep the best solution found in the population used from next generation. Another way to insert elitist behaviour in algorithms that construct solution is to use the most attractive components in order to obtain god quality solution, and may be the optimal ones. Based on particularities of ant colony based metaheuristics these two types of elitist behaviour were successfully applied to DASA algorithm. In this paper the efficiency of the proposed elitist variants of DASA algorithms is analyzed using experimental results. The analysis is applied to six benchmark functions from the class of high-dimensional real-parameter optimization problems.

关键词： Ant colony optimization

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Maneuvering Target Tracking Method based on Unknown but Bounded Uncertainties

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IFAC Proceedings Volumes 2011年第1期44卷 4290-4295页

作者： Hodjat Rahmati Hamid Khaloozadeh Moosa Ayati Faculty of Electrical and Computer Engineering Systems and Control Department K. N. Toosi University of Technology Tehran Iran

Abstract In this paper a new maneuvering target tracking method based on a model with unknown but bounded uncertainties is proposed. Firstly, a model with unknown but bounded uncertainties is proposed. Then, an algorithm for tracking the target in both maneuvering and non-maneuvering cases is generated. The proposed method can be used for a large diversity of input types. Also, this method does not require maneuver detection and covariance resetting that are necessary in previous maneuvering target tracking methods. Therefore, it doesn't consume any time for maneuver detection and covariance resetting. Also simulation results are provided to confirm the theoretical development.

关键词： target tracking unknown but bounded uncertainties input estimation Kalman filtering

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An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

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作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

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Monocular visual self-localization for humanoid soccer robots

Monocular visual self-localization for humanoid soccer robot...

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International Conference on Electronics, Communications and computers (CONIELECOMP)

作者： J.M. Ibarra Zannatha R. Cisneros Limón A.D. Gómez Sánchez E. Hernández Castillo L.E. Figueroa Medina F.J.K. Lara Leyva Departament of Automatic Control Cinvestav Engineering Faculty La Salle University Departament of Computer Systems Cinvestav

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented.

关键词： Image color analysis Feature extraction Image segmentation Three dimensional displays Robots Image edge detection Pixel

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Safety zones based Robustly Feasible Model Predictive control for nonlinear network systems

Safety zones based Robustly Feasible Model Predictive Contro...

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作者： Brdys, Mietek A. Tran, Vu Nam Kurek, Wojtek Depeartment of Electronics 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

ISBN: (纸本)9783902661937

The paper considers design of Robustly Feasible Model Predictive controller which achieves recursive robust feasibility of the generated control actions when applied to nonlinear network systems with state constraint under bounded disturbances. The optimizing control algorithm with safety zones modifying the model based state constraints is derived to achieve recursive robust feasibility. Its performance is illustrated by application to optimizing control of hydraulics in Drinking Water Distribution System example. Copyright © 2011 IFAC.

关键词： Complex networks

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A reliable-Adaptive scheduler for computational grids with failure recovery and rescheduling mechanisms

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International Journal of Grid and Utility Computing 2011年第1期2卷 59-75页

作者： Sarhan, Amany Saleh, Ahmed I. Hamed, Amr M. Computer Engineering and Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt Computer Engineering and Systems Department Faculty of Engineering Mansoura University P.O. Box 72 Mansoura Egypt

Computational grids (CGs) have become an attractive research area as they suggest a suitable environment for developing large scale parallel applications. CGs integrate a large amount of distributed heterogeneous resources into a single powerful platform. However, to make good use of CGs, grid resources should be scheduled efficiently. Various scheduling strategies have been introduced, including static and dynamic behaviours. The former maps tasks to resources at submission time, while the latter operates at schedule time. While static scheduling is unsuitable for the dynamic grid environment, scheduling in CGs is still more complex than the proposed dynamic ones. This paper introduces a decentralised adaptive grid scheduler (AGS) based on a novel rescheduling mechanism. AGS has several salient properties as it is;hybrid, adaptive, decentralised, and efficient. AGS is also robust as it has the ability to: 1 detect resource failures 2 continue its functionality in spite of the failure existence 3 recover back as soon as possible. Moreover, it integrates both static and dynamic scheduling behaviours. An initial static scheduling map is proposed for an input directed acyclic graph (DAG). However, DAG tasks may be rescheduled if the hosting resources' performance changes in a way that affects the tasks' response time. AGS tries to overcome drawbacks of traditional schedulers by utilising the mobile agent unique features to enhance the resource discovery and monitoring processes. Experimental results have shown that AGS outperforms traditional grid schedulers as it introduces a better scheduling efficiency. © 2011 Inderscience Enterprises Ltd.

关键词： Mobile agents

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