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7th International Joint Conference on Computational Intelligence, IJCCI 2015

作者： Kubalìk, Jiřì Alibekov, Eduard Žegklitz, Jan Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics CTU in Prague Prague Czech Republic Department of Cybernetics Faculty of Electrical Engineering CTU in Prague Prague Czech Republic Delft Center for Systems and Control Delft University of Technology Delft Netherlands

ISBN: (纸本)9783662535240

This paper presents a first step of our research on designing an effective and efficient GP-based method for symbolic regression. First, we propose three extensions of the standard Single Node GP, namely (1) a selection strategy for choosing nodes to be mutated based on depth and performance of the nodes, (2) operators for placing a compact version of the best-performing graph to the beginning and to the end of the population, respectively, and (3) a local search strategy with multiple mutations applied in each iteration. All the proposed modifications have been experimentally evaluated on five symbolic regression benchmarks and compared with standard GP and SNGP. The achieved results are promising showing the potential of the proposed modifications to improve the performance of the SNGP algorithm. We then propose two variants of hybrid SNGP utilizing a linear regression technique, LASSO, to improve its performance. The proposed algorithms have been compared to the state-of-the-art symbolic regression methods that also make use of the linear regression techniques on four real-world benchmarks. The results show the hybrid SNGP algorithms are at least competitive with or better than the compared methods. © Springer-Verlag Berlin Heidelberg 2016.

关键词： Genetic programming

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Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots Real time systems Equations Motion control control systems Fingers Grippers Automatic control Flowcharts Torque control

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When measurements fail: using an interactive SLAM solution to fight bad odometry

When measurements fail: using an interactive SLAM solution t...

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IEEE Instrumentation and Measurement Technology Conference

作者： Robert Milijaš Juraj Oršulić Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9781728144603

ISBN: (纸本)9781728144610

In this paper we use the underlying pose graph structure of graph SLAM to allow the user to inspect and intervene into the Simultaneous Localization and Mapping (SLAM) process. With post-processing the map by inserting custom constraints into the optimization problem, the user can improve the quality of the map obtained as the final SLAM result. We refer to this inspection and intervention process as interactive SLAM. The mathematical background, which allows such interventions, is laid out, and a software implementation is used to improve the quality of a map created at the faculty of Electrical Engineering and Computing, University of Zagreb.

关键词： SLAM robotics Interactive SLAM supersonic low altitude missile robotics maps software implementation ELECTRICAL ENGINEERING odometry

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Power Line Communication Technologies in Automated control systems

Power Line Communication Technologies in Automated Control S...

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IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering

作者： Anton A. Zhilenkov Dinis D. Gilyazov Ilya I. Matveev Yanina V. Krishtal Faculty of Control Systems and Robotics Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia

ISBN: (纸本)9781509048663

PLC- is a new telecommunication technology, which based on using power electrical lines for high-speed information exchange. Experiments on data transmission by electrical networks were led a long time ago, but the low speed of data transference and a low noise immunity were a weak point of this technology. However, progress does not stand still, and the emergence of more powerful processors made it possible to use more complicated methods of signal modulation, such as Orthogonal Frequency Division Multiplexing. This allowed to significantly move forward in the implementation of PLC technology. Nowadays PLC can find a wide use in home communications, security systems, automation of technological processes, etc. Nevertheless, in Russia, PLC-technology may face a number of difficulties.

关键词： Electrical network Data transferring Frequency division multiplexing Automated control system

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Output Robust Tracking control of Permanent Magnet Synchronous Motors ⁎

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IFAC-PapersOnLine 2021年第14期54卷 197-202页

作者： Anton Pyrkin Alberto Isidori Oleg Borisov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Department of Computer Control and Management Engineering “A. Ruberti” University of Rome “La Sapienza” Rome Italy

This paper shows the design of output robust tracking control by means of the enhanced extended observer and the internal model with application to permanent magnet synchronous motors. Two types of references, namely a biased sinusoidal signal and a “ramp”, along with a constant disturbance represented by the load torque have been addressed. The performance achieved by this control framework is shown by simulations.

关键词： Output regulation Tracking control Robust control Internal model PMSM

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Manufacturing systems control Design 1

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丛书名： Advances in Industrial control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： control and systems Theory Industrial and Production Engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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On Small-Gain Theorem for Interconnected Finite/Fixed-Time Input-to-State Stable systems 63

On Small-Gain Theorem for Interconnected Finite/Fixed-Time I...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zimenko, K. Efimov, D. Polyakov, A. Ping, X. Itmo University Faculty of Control Systems and Robotics 49 Kronverkskiy av Saint Petersburg197101 Russia Inria Univ. Lille Cnrs Umr 9189 - CRIStAL LilleF-59000 France Xidian University Shaanxi Xi'an China

ISBN: (纸本)9798350316339

The paper addresses the problem of input-to-state stability analysis for interconnected systems with accelerated convergence, namely, for interconnected nonlinear systems composed of two finite-time or (nearly) fixed-time input-to-state stable subsystems. Under additional mild restrictions, small-gain theorems are proposed for a class of such systems that guarantee the preservation of accelerated convergence for the interconnection. © 2024 IEEE.

关键词： Nonlinear simulations

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Finite Time Convergence Parameter Estimator for Nonlinear MIMO System*

Finite Time Convergence Parameter Estimator for Nonlinear MI...

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Mediterranean Conference on control and Automation (MED)

作者： Dmitry Bazylev Sergey Vrazhevsky Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that was recently proposed by the authors. Compared to the previous solution the new modified estimator doesn’t require the unobvious to achieve in practice assumptions imposed on regression functions to ensure guaranteed convergence. As a practical example, we use a “Twin Rotor MIMO System” laboratory bench which model is given by a nonlinear multi-channel system with cross-couplings. Significant improvement of the transient behavior for the new parameter estimator is demonstrated via representative simulation results.

关键词： Parameter estimation Heuristic algorithms Simulation Friction Rotors Transforms Mathematical models

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CCTV based system for detection of anti-virus masks

CCTV based system for detection of anti-virus masks

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Jakub Suder Tomasz Marciniak Adam Dąbrowski Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznań Poland

ISBN: (数字)9788362065394

ISBN: (纸本)9781728177465

This paper presents the use of neural networks to detect people with anti-virus masks. The algorithm allows to determine if a person has a correctly worn mask (covered nose and mouth). The use of neural networks has been compared with typical Haar cascade frontal face solutions available in the OpenCV library. The proposed solution has been checked for efficiency and precision, as well as for the minimum resolution requirements of the resulting facial image. The software works on still images as well as on video sequences from computer webcams and CCTV cameras.

关键词： Face recognition Neural networks Databases Image resolution Faces Face detection Software

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