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IEEE International Conference on Robotics and automation (ICRA)

作者： Wei Zhang W.A. Halang C. Diedrich Faculty of Electrical and Computer Engineering Fern Universität Hagen Hagen Germany Institut of Automation and communication Barleben Germany

The concept of FB based on newly appearing standard IEC 61499 originates in automation engineering and corresponds to the distributed control structure. A FB represents an abstraction of a software functional unit comprising an individual data structure and associated operations. To support the mature of the FB-related design paradigm in this paper, we discuss the specification of FBs and FB applications in UML. The paper suggests three types of models which have the purposes of general specification, automated code generation and test case generation. The first and second models are specified in UML while the third one is to be formalised in certain formal language. We focus on the first two model specification in this paper which transform FB-related elements in UML expressions. This shows that the rich resources provided for UML can be applicable to FB paradigm. The characteristics and the potential use of the model are discussed.

关键词： Unified modeling language IEC standards Software testing System testing automation Application software Distributed control Distributed computing Communication standards Data structures

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Design of a climbing robot for cleaning spherical surfaces

Design of a climbing robot for cleaning spherical surfaces

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IEEE International Conference on Robotics and Biomimetics

作者： Houxiang Zhang Jianwei Zhang Rong Liu Wei Wang Guanghua Zong TAMS Faculty of Computer Science University of Hamburg Hamburg Germany School of Mechanical Engineering and Automation Beihang University Beijing China

This paper proposes a new kind of auto-climbing robot which is used for cleaning the spherical surface of the newly built National Grand Theatre in China. Firstly, an overview of the robotic system is given. Then for system design and control purposes, the climbing process is studied in detail. The force distribution of the front and rear supporting mechanisms is computed in a way that ensures the safety of the climbing process. After that, a new approach to path planning for wall-cleaning robots is presented considering the movement security, cleaning efficiency and the percentage of cleaning coverage. The successful on-site test confirms the principles described above and the robot's ability to work on a spherical surface

关键词： Climbing robots Cleaning Robotics and automation Path planning Buildings Safety Shape Legged locomotion Control systems computer science

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Towards modeling human expertise: Am empirical case study

Towards modeling human expertise: Am empirical case study

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Recent Advances in Artifical Intelligence - Eighteenth International Florida Artificial Intelligence Research Society Conference, FLAIRS 2005

作者： Knauf, Rainer Tsuruta, Setsuo Gonzalez, Avelino J. Faculty of Computer Science and Automation Ilmenau Technical University PO Box 100565 98684 Ilmenau Germany School of Information Environment Tokyo Denki Unversity 2-1200 Musai-gakuendai Inzai Chiba 270-1382 Japan Dept. of Electrical and Computer Engineering University of Central Florida Orlando FL 32816-2450 United States

ISBN: (纸本)1577352343

The success of TURING Test technologies for system validation depends on the quality of the human expertise behind the system. The authors developed models of collective and individual human expertise, which are shortly outlined here. The focus of the paper is an experimental work aimed at determining the quality of these models. The models have been used for both solving problem cases and rating (other agents') solutions to these cases. By comparing the models' solutions and ratings with those of the human original we derived assessments of their quality. An analysis revealed both the general usefulness and some particular weaknesses. Copyright © 2005, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Human computer interaction

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Contract-based mutation for testing components

Contract-based mutation for testing components

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International Conference on Software Maintenance (ICSM)

作者： Ying Jiang Shan-Shan Hou Jin-Hui Shan Lu Zhang Bing Xie Institute of Software School of Electronics Engineering and Computer Science Peking University Beijing China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming China

Testing plays an important role in the maintenance of component based software development. Test adequacy for component testing is one of the hardest issues for component testing. To tackle this problem, it is a natural idea to apply mutation testing, which is a fault-based testing method used for measuring test adequacy, for component contracts, whose aim is to improve the testability of the component. Though powerful, mutation testing is usually very computation-expensive, as many mutants need to be produced and executed in mutation testing. In this paper, we propose a contract-based mutation technique for testing components. Based on the discordance between contracts and specification, our approach employs a set of high level contract mutation operators. The experimental results show that these operators can greatly reduce the number of mutants compared with traditional mutation operators. At the same time, the contract-based mutation using our contract mutation operators can provide almost the same ability as that of using traditional mutation operators. Moreover, effective test suite can be produced to reduce the maintenance effort.

关键词： Genetic mutations Contracts Software testing Software reusability Software maintenance Electronic equipment testing Programming Application software computer science automation

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Timed-LTS: a method of selecting test cases

Timed-LTS: a method of selecting test cases

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IEEE International Conference on Industrial Technology (ICIT)

作者： Wei Zhang W.A. Halang Diedrich Faculty of Electrical and Computer Engineering Fern Universität Hagen Germany Department of Automation Systems Institut für Automation und Kommunikation e.V. Magdeburg (ifak) Germany

Safety-related automation application is getting more and more attentions. This paper introduces a concept: safe-application for software applications in industrial automation area. Safe-application is based on FB paradigm, which is thought of representing automation engineering experiences. In verifying safe-applications based on FBs, integration testing is understood very essential. Timed-LTS, an extension of standard LTS is defined for test case selection in order to guarantee safety of an automation application and satisfy integration testing criteria

关键词： computer aided software engineering IEC standards System testing Design automation Application software Automatic testing Formal languages Electrical safety Costs Unified modeling language

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GLOBAL ROBUST H ∞ CONTROL FOR NON-MINIMUM-PHASE UNCERTAIN NONLINEAR SYSTEMS WITHOUT STRICT TRIANGULAR STRUCTURE

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IFAC Proceedings Volumes 2005年第1期38卷 425-430页

作者： Shengzhi Zhao Jun Zhao Georgi M. Dimirovski Key Laboratory of Process Industry Automation Ministry of Education Northeastern University Shenyang 110004 P. R. Chain Department of Computer Engineering Faculty of Engineering Dogus University Kadikoy TR-34722 Istanbul Turkey

This paper deals with the robust H ∞ control problem for a class of multi-input non-minimum-phase nonlinear systems with parameter uncertainty. A system of this class is assumed to be in a special interlaced form, which includes a strict triangular form as a special case. By using an extension of backstepping, nonlinear static-state feedback controllers are designed such that the closed-loop system is input-to-state stable with respect to the disturbance input and has the prescribed L 2 -gain from the disturbance input to the controlled output for all admissible parameter uncertainties.

关键词： nonlinear systems H ∞ control L 2 -gain state feedback backstepping

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Chaos-based Pseudo-Random Number Generators and Chip Implementation

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IFAC Proceedings Volumes 2005年第1期38卷 1090-1094页

作者： Zhong Li Ping Li Yaobin Mao W.A. Halang Faculty of Electrical and Computer Engineering Fern Universität in Hagen 58084 Hagen Germany Department of Automation Nanjing University of Science and Technology Nanjing 210094 P. R. China

Cryptography as an ancient subject is endowed with new vigor by chaos theory. Cryptography protects the security of today's ubiquitous Internet communication, which as an open network is vulnerable to attack. In this paper, chaos-based cryptography is surveyed with focus on designing chaotic pseudo-random number generators (CPRNGs) for stream cipher and their chip implementation. The properties of the proposed CPRNG are analyzed.

关键词： Chaos-based pseudo-random number generator (CPRNG) cryptography chaos chip implementation

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Combining spatial and topological data in a spatiotemporal relational model

Combining spatial and topological data in a spatiotemporal r...

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INES'05: IEEE 9th International Conference on Intelligent engineering Systems

作者： Novák, Ágnes B. Tuza, Zsolt Faculty of Information Technology Péter Pázmány Catholic University Práter utca 50/a H-1083 Budapest Hungary Bánki Donát Faculty of Mechanical Engineering Budapest Tech Nepszinhaz utca 8 H-1081 Budapest Hungary Computer and Automation Institute Kende u. 13-17 H-1111 Budapest Hungary Dept. of Computer Sci. University of Veszprém Egyetem u. 10 H 8200 Veszprém Hungary

ISBN: (纸本)0780394747

Through the systematic investigation of the PLA spatial relational model we already gave several algorithms for discovering graph properties that are useful for applications. Here we extend the model in order to make it capable for representing not only real spatial data but also time together with topological properties. We also discuss how this modified model can be used for applications. © 2005 IEEE.

关键词： Relational database systems

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Unknown Input Detection Using Receding Horizon Approach

Unknown Input Detection Using Receding Horizon Approach

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IEEE International Symposium on Intelligent Control (ISIC)

作者： B. Kulcsar J. Bokor Department of Transport Automation Faculty of Transportation Engineering Budapest University슠of슠Technology슠and슠Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on the one hand the Kalman filtering and on the other hand the moving horizon estimation (MHE) when stochastic noise on the input and on the output, with additive failure directions, are presents. The paper combines the optimal Kalman and MHE method with geometric based unknown input observer strategy. The MHE solution makes to treat constraints during the estimation process possible. A numerical example supports the necessity of constrained unknown input estimation

关键词： Fault detection State estimation Control systems Kalman filters Space technology Additive noise automation Stability Predictive models Predictive control

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ROBUST ADAPTIVE CONTROL OF TRANSVERSE FLUX PERMANENT MAGNET MACHINES USING NEURAL NETWORKS

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IFAC Proceedings Volumes 2005年第1期38卷 169-174页

作者： A Babazadeh H.R. Karimi N Parspour Institute of Electrical Drives Power Electronics and Devices University of Bremen Bremen Germany Control and Intelligent Processing Center of Excellence Dept. of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran DAAD Scholarship Holder at the Institute of Automation University of Bremen Germany

This paper deals with modelling and adaptive output tracking of a Transverse Flux Permanent Magnet Machine (TFPM) as a non-linear system with unknown nonlinearities by utilizing High Gain Observer (HGO) and Radial Basis Function (RBF) networks. The technique of feedback linearization and H ∞ control are used to design an adaptive control law for compensating the unknown nonlinearity parts, such the effect of cogging torque, as a disturbance is decreased onto the rotor angle and angular velocity tracking performances. Finally, the capability of the proposed method is shown in the simulation results.

关键词： High gain observer transverse flux permanent magnet machine H ∞ control RBF neural network output tracking

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