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Program recursive forms and programming automatization for functional languages

WSEAS Transactions on computers 2009年第8期8卷 1256-1265页

作者： Archvadze, N. Pkhovelishvili, M. Shetsiruli, L. Nizharadze, M. Department of Computer Sciences Faculty of Exact and Natural Sciences I. Javakhishvili Tbilisi State University 2. University st. 0143 Tbilisi South Georgia and the South Sandwich Islands Department of Programming N. Muskhelishvili Computing Mathematic Institute 7 Akuri st. 0193 Tbilisi South Georgia and the South Sandwich Islands Department of Mathematics and Computer Science Shota Rustaveli State University 35 Ninoshvili st. 6010 Batumi South Georgia and the South Sandwich Islands Faculty of Informatics and Control Systems Georgian Technical University 77 Kostava st. 0175 Tbilisi South Georgia and the South Sandwich Islands

The automatic programming system has been considered by means of which it becomes easier to carry out traditional programming stages. There is discussed both recursive forms: parallel, interrecursion and recursion of high level that exist for functional programming languages and induction methods for the purpose of their verification. The way how to present imperative languages easy and double cycles by means of recursion forms is shown, the possibility of verification has been studied for each recursion form.

关键词： Functional programming

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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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Evaluating a Mobile Emergency Response System

Evaluating a Mobile Emergency Response System

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14th International Workshop of Groupware

作者： Sapateiro, Claudio Antunes, Pedro Zurita, Gustavo Vogt, Rodrigo Baloian, Nelson Systems and Informatics Department Superior School of Technology Polytechnic Institute of Setúbal Portugal Department of Informatics Faculty of Sciences University of Lisbon Portugal Management Control and Information Systems Department Business School Universidad de Chile Chile Computer Science Department Engineering School Universidad de Chile Chile

ISBN: (纸本)9783540928300

Existing information systems often lack support to crisis and emergency situations. In such scenarios, the involved actors often engage in ad hoc collaborations necessary to understand and respond to the emerging events. We propose a collaboration model and a prototype aiming to improve the consistency and effectiveness of emergent work activities. Our approach defends the requirement to construct shared situation awareness (SA). To support SA, we developed a collaborative artifact named situation matrixes (SM), which relates different situation dimensions (SD) of the crisis/emergency scenario. A method was also developed to construct and evaluate concrete SM and SD. This method was applied in two organizations' IT service desk teams, which often have to deal with emergency situations. The target organizations found our approach very relevant in organizing their response to emergencies.

关键词： Emergency services

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Performance exploration on mission level using standardized architecture components

Performance exploration on mission level using standardized ...

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International Conference on Microelectronics, MIEL

作者： T. Baumann V. Zerbe Department of Systems and Control Theory Faculty of Computer Science and Automation Technical University Ilmenau Ilmenau Germany

The performance exploration (T. Baumann et al., 2007) is becoming more important in embedded system design like networked system on chip (NoC) design. Due to the rising complexity it is necessary to accomplished the performance analysis (T. Baumann et al., 2007) already in the early design stages. The model based mission level design supports exactly this approach (MLDesigner). An overall executable model can be achieved consisting of function, architecture/performance and mission models. Missions describe the environment and concrete use cases which makes an early execution and thus a validation of the system (V. Zerbe et al.) possible. In the paper the focus is directed toward the standardized architecture components and the performance exploration. Furthermore the concept is illustrated on an example of an ethernet based system.

关键词： Protocols computer architecture Ethernet networks ISO Open systems Virtual prototyping Physical layer TCPIP Microelectronics Embedded system

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Tracking and Disturbance Rejection of Extended Constant Signals with Unknown Disturbance Structure Using MPC

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SICE Journal of control, Measurement, and System Integration 2008年第2期1卷 82-91页

作者： Edward J. Davison Ruth Milman Systems Control Group Dept. of Electrical and Computer Engineering University of Toronto Faculty of Engineering and Applied Science University of Ontario Institute of Technology

This paper considers the Model Predictive control (MPC) set point tracking/regulation problem for a discrete LTI system, which is subject to a class of unbounded disturbances/tracking signals called extended constant signals of unknown structure. Examples of disturbances which belong to this class include constant disturbances as well as unbounded signals such as w[k]=√k and log (k), k=1,2,3,…. A discussion re the choice of window size for MPC is also made; in particular, it is shown that the window size must be larger than a certain lower bound, which can be easily determined, in order to guarantee closed loop stability in MPC control. The main contribution is a formulation of the system's plant equations under which, for output regulation, no knowledge of the structure or magnitude of disturbances is needed in order to achieve set point regulation for this class of extended constant signals. The result is of interest since it also implies that no disturbance observer is necessary in order to solve the set point tracking/regulation problem when full-state feedback is available. The results are experimentally verified.

关键词： model predictive control disturbance rejection extended constant signals output feedback/regulation observers tracking

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Design and implementation of supervisory control schemes in industrial automation systems

Design and implementation of supervisory control schemes in ...

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International Conference on computer Engineering and systems

作者： Mostafa M. Gomaa Hamdi A. Awad Ahmed R. Anwar Department of Computer and Systems Engineering Faculty of Engineering Ain Shams University Cairo Egypt Department of industrial Electronics and Control Engineering Faculty of Electronic Engineering Minufiya University Minuf Egypt

Industrial automation systems have a hybrid nature. Such systems contain continuous activities and discrete event activities, interacting with each other. This paper proposes a control algorithm dealing with the continuous activities, as well as the discrete ones. The discrete event controller performs resource allocation and coordination tasks at the higher level of the hybrid system. The direct implementation of the proposed algorithm to the industrial environment is discussed. Also, a hybrid industrial process, batch one, is handled as an application example to test the proposed algorithm.

关键词： Supervisory control Electrical equipment industry Industrial control Design automation Design engineering Automatic control computer industry Electronics industry Industrial electronics control systems

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Trajectory Tracking of Underactuated Skid-Steering Robot

Trajectory Tracking of Underactuated Skid-Steering Robot

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2008 American control Conference, Pages 3088-3529

作者： Dariusz Pazderski Krzysztof Kozlowski Faculty of Computer Science and Management Chair of Control and Systems Engineering Poznan University of Technology ul. Piotrowo 3a 60-965 Poznan Poland

ISBN: (纸本)9781424420780

This paper considers problem of approximation of admissible trajectory for skid-steering mobile robot at kinematic level. Nonholonomic constraints at kinematic and dynamic level are taken into account. The trajectory tracking control problem is solved using practical stabilizer using tunable oscillator with novel method of tuning. The stability result is proved using Lyapunov analysis and takes into account uncertainty of kinematics. In order to ensure stable motion of the robot the scaling method is used. Theoretical considerations are illustrated by simulation results.

关键词： Trajectory Kinematics Mobile robots Vehicle dynamics Vehicles Oscillators Wheels Acceleration Angular velocity control Tuning

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Constrained H∞ control for discrete-time LPV systems using interpolation

Constrained H∞ control for discrete-time LPV systems using ...

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IEEE Conference on Decision and control

作者： Tamas Peni Balazs Kulcsar Jozsef Bokor Michel Verhaegen Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty of Mech Maritime and Materials Eng Technical University Delft Delft Netherlands

The paper proposes an interpolation based control method as a possible solution to the constrained H ∞ control of discrete-time, linear parameter varying (LPV) systems. The control policy is constructed by interpolating among a priori designed, unconstrained state feedback controllers. The predefined H ∞ performance level remains guaranteed under hard state and input constrains. By applying invariant set theory it is also shown that the domain of applicability of the proposed control method is significantly larger than that can be achieved by any, single state feedback.

关键词： control systems Interpolation State feedback Automatic control Nonlinear systems Nonlinear control systems Linear matrix inequalities Optimal control Set theory Robust control

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Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization

Trajectory tracking control of a 6-degree-of-freedom robot a...

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International Workshop on Advanced Motion control (AMC)

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

The trajectory tracking control of a 6-degree-of- freedom (DOF) rigid robot arm is described in this paper. The trajectories for the joint variables are generated in third-order spline form using general constrained nonlinear optimization, taking into consideration the joint position, velocity, acceleration, jerk and overall current consumption constraints during the movement. The trajectory tracking of the individual joints is solved using a discrete-time linear controller design. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The complete inverse kinematics of the arm is symbolically calculated in the Mathematica computing environment and implemented in C++. Simulations and measurements show the applicability of the proposed method.

关键词： Trajectory Robots Object oriented modeling Robotics and automation Kinematics Mathematical model Constraint optimization Automatic control Topology Orbital robotics

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Modelling and identification of a small unmanned aerial vehicle

Modelling and identification of a small unmanned aerial vehi...

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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The systems and control Laboratory of the computer and Automation Research Institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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