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Lyapunov-design for a super-twisting sliding-mode controller using the certainty-equivalence principle

IFAC-PapersOnLine 2015年第11 11期48卷 860-865页

作者： Barth, Alexander Reichhartinger, Markus Reger, Johann Horn, Martin Wulff, Kai Computer Science and Automation Department Technische Universität Ilmenau Ilmenau98684 Germany Faculty of Electrical and Information Engineering Graz University of Technology Graz8010 Austria

In this article, a Lyapunov-based control concept is presented combining variable structure and adaptive control. The considered system class comprises single-input systems which are affected by structured and unstructured uncertainties. The design is based on a Lyapunov function for the super-twisting algorithm. This Lyapunov function is exploited to derive the adaptive part of the proposed controller using the certainty equivalence principle. It is demonstrated that this combination of sliding-mode and adaptive control methodology allows to relax the boundedness condition known from the super-twisting algorithm while reducing the sliding-mode gain significantly. The effectiveness of the presented concept is demonstrated in detail, using results from numerical simulations and experimental data of a laboratory testbed. © 2015

关键词： Adaptive control systems Controllers Lyapunov functions Robust control Sliding mode control Uncertain systems Adaptive Control Boundedness conditions Lyapunov theories Lyapunov based control Sliding mode controller Sliding modes Super twisting algorithm Unstructured uncertainty

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Evolving fuzzy models for myoelectric-based control of a prosthetic hand

Evolving fuzzy models for myoelectric-based control of a pro...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Radu-Emil Precup Teodor-Adrian Teban Thiago Eustaquio Alves de Oliveira Emil M. Petriu Department of Automation and Applied Informatics Politehnica University of TiMISOara TiMISOara Romania University of Ottawa Faculty of Medicine Ottawa ON CA School of Electrical Engineering and Computer Science University of Ottawa Ottawa Canada

ISBN: (纸本)9781509006274

This paper proposes a set of evolving Takagi-Sugeno-Kang (TSK) fuzzy models of the nonlinear dynamic mechanisms occurring in the myoelectric-based control of prosthetic hand fingers. The rule bases and the parameters of the TSK fuzzy models are evolved by an online identification algorithm. The experimental results prove the performance of the TSK fuzzy models by good output responses and root mean square error values. A performance comparison with two recurrent neural network architectures is included.

关键词： Artificial neural networks Muscles Thumb Computational modeling Prosthetic hand MIMO

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Architecture and performance of the industrial wired/wireless hybrid networks with multi-token 3

Architecture and performance of the industrial wired/wireles...

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3rd MobiHoc International Workshop on Mobile Sensing, Computing and Communication, MSCC 2016

作者： Hou, Weiyan Song, Yang Wang, Haikuan Hunger, Axel School of Info. Eng. Univ.Zhengzhou Science Avenue 100 Zhengzhou China School of Mechatronic Eng. and Automation Univ.Shanghai Shanghai China Shanghai Key Lab. of Powerstation Technology Yanchang Rd.149 Shanghai China Faculty of Engineering Institute of Computer Eng. Univ.Duisburg-Essen Duisburg Germany

ISBN: (纸本)9781450343435

With the application and development of wireless network in industrial fields, wireless network technology can be applied to control network systems at field control layer, which achieves a hybrid wired/wireless networks with industrial-grade real-time performance. This paper focuses on the integration architecture and performance evaluation of the industrial wired/wireless hybrid networks, and proposes a synchronized optimization method for hybrid integration. A periodic real-time communication model in gateway based on multi-token is established. Especially, a delay model of data synchronization update and data are built in the case of low-speed and high-speed token network. The token cycle synchronization is proposed according to the integration situation, which is significant in reducing network delay and improving delay stability of integration hybrid network. At last performance evaluation on conversion time, control cycle is carried out to study the hybrid integration gateway model and gateway optimization. © 2016 ACM.

关键词： Integration

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A comparison of voltage balancing versus energy balancing approach for modular multilevel converters

A comparison of voltage balancing versus energy balancing ap...

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Annual Conference of Industrial Electronics Society

作者： Apparao Dekka Bin Wu Ricardo Lizana Navid R. Zargari Dept. of Electrical and Computer Engineering Ryerson University Toronto ON Canada Faculty of Engineering Universidad Catolica de la Santisima Concepcion Concepcion Chile Medium-Voltage Drive R&D Rockwell Automation Cambridge ON Canada

The multilevel submodules (SMs) bring the added advantages of compact size and improved efficiency over standard submodules to the modular multilevel converter (MMC). These SMs have more than one floating capacitor, which stores the arm energy. Each arm of MMC has several SMs connected in series to meet the required operating voltage. The SM capacitors voltage or energy must be controlled to ensure the safe and reliable operation of MMC. This objective can be achieved by using either voltage balancing or energy balancing approaches. When all the SMs have equal capacitance value, then the voltage and energy balancing approaches have identical performance. However, the SM capacitance deteriorates over a long run, which affects the performance of MMC. This paper presents the performance comparison of voltage and energy balancing approaches for MMC with equal and unequal SM capacitance. The performance of balancing approaches is evaluated in terms of active and reactive power loading of individual SMs, rating of IGBT devices and SM capacitors, and output voltage and current harmonic distortion.

关键词： Capacitors Reactive power Voltage measurement Capacitance Voltage control Indexes Performance evaluation

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Statistical Interconnect Crosstalk Noise Model and Analysis for Process Variations

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Chinese Journal of Electronics 2015年第1期24卷 83-87页

作者： LI Jianwei DONG Gang WANG Zeng YE Xiaochun Faculty of Automation and Information Engineering Xi'an University of Technology State Key Laboratory of Computer Architecture Institute of Computing TechnologyChinese Academy of Sciences Microelectronics Institute Xidian University College of Physics Sicence Qingdao University

When operating frequency is over several gigahertz, the effect of inductance plays an important role and should be included for accurate and speed crosstalk noise analysis. And for new generation IC(Integrated circuit) design tools, the crosstalk noise analysis tools should consider the influence of process variations. In this paper, we propose coupled RLC crosstalk noise distributed parameter model with capacitive load termination. And we develop the framework that how to use the crosstalk noise model for process variations. Our results show that compare with HSPICE, the critical data errors of proposed model are within 1% and the relative errors occurred between calculated values for process variations and HSPICE Monte Carlo simulation values are less than 5%. The key features of the new model include:(1) The impact of inductance on crosstalk noise is considered;(2) The model can be used for process variations analysis;(3) The model reflect the effects of load capacitance directly;(4) The numerical inversion of Laplace transform is introduced for improving speed. So the proposed model meets the needs of future IC design both in speed and accuracy.

关键词： Crosstalk noise Interconnect Inductance Process variation Statistical

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An optimal filter for short photoplethysmogram signals

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Scientific data 2018年第1期5卷 180076页

作者： Yongbo Liang Mohamed Elgendi Zhencheng Chen Rabab Ward School of Electrical and Computer Engineering University of British Columbia Vancouver V6T 1Z4 Canada. School of Electronic Engineering and Automation Guilin University of Electronic Technology Guilin 541004 PR China. School of Life and Environmental Sciences Guilin University of Electronic Technology Guilin 541004 PR China. Faculty of Medicine University of British Columbia Vancouver V6T 1Z3 Canada. BC Children's & Women's Hospital Vancouver V6H 3N1 Canada.

A photoplethysmogram (PPG) contains a wealth of cardiovascular system information, and with the development of wearable technology, it has become the basic technique for evaluating cardiovascular health and detecting diseases. However, due to the varying environments in which wearable devices are used and, consequently, their varying susceptibility to noise interference, effective processing of PPG signals is challenging. Thus, the aim of this study was to determine the optimal filter and filter order to be used for PPG signal processing to make the systolic and diastolic waves more salient in the filtered PPG signal using the skewness quality index. Nine types of filters with 10 different orders were used to filter 219 (2.1s) short PPG signals. The signals were divided into three categories by PPG experts according to their noise levels: excellent, acceptable, or unfit. Results show that the Chebyshev II filter can improve the PPG signal quality more effectively than other types of filters and that the optimal order for the Chebyshev II filter is the 4 order.

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Online platform for conducting responsible research and innovations

Online platform for conducting responsible research and inno...

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International Conference on Research Challenges in Information Science, RCIS

作者： Mohamad Ajami Louisa Grabner Giovanni Giambene Van Le Doanh Luong John Pearson Automation Technology Fraunhofer-Institute for Production Systems and Design Technology (IPK) Berlin Germany Department of Information Engineering and Mathematical Sciences University of Siena Siena Italy Faculty of Computer Science University of Namur Namur Belgium

ISBN: (纸本)9781479987115

This paper deals with the implementation of an online platform for Responsible Research and Innovation (RRI), which provides anticipatory and deliberative tools to address societal expectations with regard to resrarch and innovation and mobilises information technology tools for inclusive, responsive and sustainable research. In particular, we have developed a Forum, which is a Web-based application and service for stakeholders (members of the RRI community) to deliberate and discuss about RRI. Different interaction modalities are supported by the Forum, such as: `Caucus Process', Suggestion Board, Partnership Initiative, etc. A special attention is devoted to the Citizen Jury and Tacit Knowledge modules that represent innovative features of our Forum. The outcomes show that our online Forum represents an effective solution to address RRI issues by adopting e-Government and knowledge management approaches. This work was carried out as part of EU FP7 Responsibility project.

关键词： Rail to rail inputs Technological innovation Stakeholders Electronic mail Electronic government Knowledge management computer science

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Development and implementation of a natural interface to control an industrial hydraulic robot arm 9

Development and implementation of a natural interface to con...

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9th Annual IEEE International Systems Conference, SysCon 2015

作者： Lins, Romulo Gonçalves Gomes, Eduardo Wisniewski Marcondes Corazzim, Marcio Beaulieu, Alain Department of Industrial Automation Automation Industrial Faculty Faculty of Technology SENAI Mariano Ferraz São Paulo Brazil Department of Electrical and Computer Engineering Royal Military College of Canada KingstonON Canada

ISBN: (纸本)9781479959273

This paper discusses the architecture, the development and the implementation of a natural interface based on a vision system to control an industrial hydraulic robot arm with three Degrees Of Freedom (3 DOF). The project consists of using the natural movements of a human operator to capture commands to move the robot arm. By moving his upper limbs, hands and arms, the human operator generates control signals through an architecture which is based on a Microsoft Kinect for Windows and an electronic system developed with a microcontroller to trigger the proportional control valves of the hydraulic robot arm. From the architecture we show that we control industrial robotics systems using only the visual natural movement of human body without any other sensing device. We implemented a prototype and gathered experimental results that helped us validate our approach and architecture. The system was built to meet industrial accuracy while respecting safety standards. © 2015 IEEE.

关键词： Degrees of freedom (mechanics)

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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A maximum entropy model for automatic summarization

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Journal of computers (Taiwan) 2016年第2期27卷 50-58页

作者： Li, Wei-Jiang Wang, Zhen-Zhen Li, Dong-Jun Yu, Zheng-Tao Zhao, Tie-Jun Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China R and D Department Jinan Qingqi Peugeot Motorcycle Company Limited Jinan250104 China School of Computer Science and Technology Harbin Institute of Technology Harbin150001 China

Nowadays, the number of electronic information has grown largely. Research on summarization is particularly important. Automatic summarization can accelerate the speed of access to resources. This paper studied the automatic summarization existing technical methods and the basic principle of maximum entropy model. With the principle of maximum entropy and automatic summarization technical characteristics, the au-tomatic summarization method based on maximum entropy model is designed. Summary sentences multifac-eted characteristics, design the automatic summarization sentences characteristics of maximum entropy ex-traction rules, different digest the results of different combinations of features. The results of experiments and examples show that the new method has a good practical effect.

关键词： Maximum entropy methods

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