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International Conference on control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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Visual impression localization of autonomous robots

Visual impression localization of autonomous robots

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Somar Boubou A.H. Abdul Hafez Einoshin Suzuki Faculty of Information Science and Electrical Engineering Kyushu University Japan Post-Doctoral researcher in Control System Laboratory Toyota Technological Institute Japan Hasan Kalyoncu University Turkey

This paper proposes a novel localization approach based on visual impressions. We define a visual impression as the representation of a HSV color distribution of a place. The representation uses clustering feature (CF) tree to manage the color distribution and we propose to weight each CF entry to indicate its importance. The method compares the navigating tree, which is created by the robot from its observations, with the available reference trees of the environment. In addition, we propose a new similarity measure to compare two CF trees which represent the visual impressions of the corresponding two places. The method is tested on two data sets collected in different environments. The results of the experiments show the effectiveness of the proposed method.

关键词： Robots Visualization Navigation Image color analysis Vegetation Streaming media Weight measurement

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ROBUST controlLER DESIGN WITH INPUT CONSTRAINTS: FREQUENCY DOMAIN APPROACH

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IFAC-PapersOnLine 2015年第14期48卷 376-381页

作者： Vojtech Veselý Jakub Osuský Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic Tel.: +421 2 60291111 Fax: +421 2 60291111 Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic Tel.: +421 2 60291111 Fax: +421 2 60291111

A novel approach to robust controller design with input hard constraints is presented. The proposed design procedure contains robust stability condition based on the M-delta structure and it is used for additive and inverse additive uncertainty types. The obtained design results and their properties are illustrated on simulation example.

关键词： Robust controller Small Gain Theorem M-delta structure Hard input constraints

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Microscopic image segmentation using quantum inspired evolutionary algorithm

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Journal of Advanced Microscopy Research 2015年第3期10卷 164-173页

作者： Choudhury, Alokeparna Samanta, Sourav Dey, Nilanjan Ashour, Amira S. Balas-Timar, Dana Gospodinov, Mitko Gospodinova, Evgeniya Department of Computer Science and Engineering University Institute of Technology Burdwan West Bengal713104 India Department of Information Technology Techno India College of Technology Kolkata700156 India Department of Electronics and Electrical Communications Engineering Faculty of Engineering Tanta University 31527 Egypt Aurel Vlaicu University of Arad Arad310130 Romania Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia1113 Bulgaria

Image segmentation has became an important research area for various medical imaging fields. The automated complex analytical process makes it a huge time consuming procedure. The intention to microscopic images segmentation is to extract the cellular, nuclear or tissue components. This is considered a challenging process due to the large variations of features of these components (size, shape, orientation or texture). In this paper, a novel approach to deal with rats' microscopic hippocampus images segmentation based on the hybrid evolutionary strategy (ES) is proposed. The proposed work used the quantum-inspired evolutionary algorithm (QIEA) to establish the optimal level for the multilevel thresholding. The QIEA depends on both quantum and evolutionary computing. An intensive works for automatic hippocampus segmentation is performed on a database of 179 images. The acquired results have demonstrated that the proposed algorithm provides superior segmentation with eight levels (L = 8), that offer the highest correlation between the original and the corresponding segmented image. © Copyright 2015 American Scientific Publishers All rights reserved.

关键词： Evolutionary algorithms

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Robust Event-based Data Scheduling for Resource Constrained Networked control Systems

Robust Event-based Data Scheduling for Resource Constrained ...

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American control Conference

作者： Mohammad H. Mamduhi Domagoj Tolic Sandra Hirche Institute for Information-oriented Control Technische Universitat Munchen Arcisstrasse 21 D-80290 Munchen Germany University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia

ISBN: (纸本)9781479917730

This paper modifies a recently proposed event-based probabilistic medium access for multi-loop Networked control Systems (NCSs) over a shared communication channel subject to limited capacity and uncertainties and study its robustness. The novel design combines deterministic and probabilistic attributes to efficiently allocate the channel access among the control loops in the presence of network-induced phenomena such as packet dropouts and scheduling with delayed information update. Since the scheduler receives error information from a number of systems simultaneously, this sheer amount of information cannot always be processed in timely manner, which in turn gives rise to delays. Given the local error thresholds, the subsystems with error values lower than their corresponding thresholds are deterministically excluded from the medium access competition in favor of those with larger errors. In case of resource scarcity, the scheduler probabilistically allocates the channel to those that exceed the local thresholds according to an error-dependent priority measure. We show stochastic stability of such NCSs in terms of f-ergodicity of the network-induced error, which is modeled as a Markov chain. Numerical results validate our stability results in the presence of packet dropouts and delayed data update.

关键词： Event-based Networked control systems scheduler program resource scarcity Media Access

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Laguerre network implementation in industrial control systems

Laguerre network implementation in industrial control system...

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15th International Carpathian control Conference, ICCC 2014

作者： Mrosko, M. Škultéty, J. Miklovičová, E. Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781479935284

Discrete Laguerre filters are a simple and efficient tool for approximating stable dynamical systems. They can be used not only to model the system dynamics but also to express the controller structure. In this paper the real-time implementation of a Laguerre network-based control system using a micro programmable logic controller (PLC) is presented. Generally the PC is not needed for the real-time control execution, but it may be used to support the control design, signal processing and visualization. The communication between the PLC and PC is based on the OPC communication protocol. © 2014 IEEE.

关键词： Programmable logic controllers

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Experimental Evaluation of Observer-based Throttle Valve control Using Super-Twisting Algorithm

Experimental Evaluation of Observer-based Throttle Valve Con...

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European control Conference

作者： Markus Reichhartinger Mohammad Ali Golkani Martin Horn Institute of Automation and Control Faculty of Electrical and Information Engineering Graz University of Technology

ISBN: (纸本)9781467371605

In this paper, an electronic throttle valve system is considered. The mathematical model describing the motion of the valve plate is subject to uncertainties and external disturbances. The throttle plate angle is intended to track given reference profiles. A control scheme consisting of an observer and a state controller, which both are based upon the super-twisting technique, is proposed. Effectiveness and superiority of the approach are illustrated in numerical simulation using a comparison with a classical control approach. The presented feedback loop is implemented in an engine control unit. Results obtained through comprehensive tests on an industrial combustion engine test bench are given.

关键词： Valves Observers Engines Angular velocity Uncertainty Feedback loop Mathematical model

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Two approaches to improve robot capabilitiese 23

Two approaches to improve robot capabilitiese

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23rd International Conference on robotics in Alpe-Adria-Danube Region, IEEE RAAD 2014

作者： Vitko, Anton Babinec, Andrej Dekan, Martin Paulusova, Jana Dubravska, Maria Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781479967988

The paper presents two approaches to instil advanced capabilities to the industrial and mobile robot. The first one is related to the redundant industrial robot, motion of which is to be optimized under kinematic restrictions caused by the robot operation in a tight space. To solve the task the solution of inverse kinematics problem was converted into a closed-loop optimization problem, due to which the control algorithm provided high precise and robust solution w.r.t outer influences. The algorithm was verified by simulation and at present runs its implementation on ABB IRB 4600 robot. The second one is related to learning fuzzy-neural navigation of a mobile robot in unknown environment cluttered with obstacles. The learning process runs in two modes. First the parameters of membership functions (MF) are updated, and then the walls of MFs are adaptively deformed so as to remove transversal swings from the robot trajectory. The navigation algorithm was verified by simulation and validated by the real mobile robot. © 2014 IEEE.

关键词： Mobile robots

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A note on different definitions of momentum disturbance

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Quantum Studies: Mathematics and Foundations 2015年第1期2卷 17-22页

作者： Rozema, L.A. Mahler, D.H. Hayat, A. Steinberg, A.M. Department of Physics Centre for Quantum Information and Quantum Control University of Toronto 60 Saint George Street Toronto M5S 1A7 ON Canada Faculty of Physics University of Vienna Boltzmanngasse 5 Vienna 1090 Austria Department of Electrical Engineering Technion Haifa 32000 Israel Canadian Institute for Advanced Research Toronto M5G 1Z8 ON Canada

It was recently shown that it is possible to construct an error–disturbance relation having the same form as Heisenberg’s original heuristic definition (Busch et al., Phys Rev Lett 111:160405, 2013), in contrast to the formula proposed by Ozawa which we and others previously confirmed experimentally. With Ozawa’s definitions of measurement error and disturbance, a relation of Heisenberg’s form is not in general valid, and a new error–disturbance relationship can be derived. Here we explain the different physical significance of the two definitions, and suggest that Ozawa’s definition better corresponds to the usual understanding of the disturbance that Heisenberg discussed. © 2015, Chapman University.

关键词： Quantum information Quantum measurement Quantum mechanics

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Neural-genetic control algorithm of robots 23

Neural-genetic control algorithm of robots

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23rd International Conference on robotics in Alpe-Adria-Danube Region, IEEE RAAD 2014

作者： Kajan, Slavomír Kozak, Štefán Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia

ISBN: (纸本)9781479967988

The paper deals with a soft computing state control method for multi input - multi output (MIMO) non-linear dynamic model of a robot. Soft methods based on neural networks and genetic algorithms have proven their effectiveness for this application. They are based on quite simple principles, but take advantage of their mathematical nature: non-linear iterative computation solutions. One way of controlling such nonlinear systems is to use of neural networks as effective controllers. In this paper a new methodology is proposed, where neural controller structure and parameters are computed by a genetic algorithm (GA). The proposed approach is represented by a direct neural controller using a multilayer perceptron (MLP) network in the feedback control loop. The training method using GA allows finding optimal adjustment of neural network weights so that high performance is achieved. The proposed control method is realized in Matlab/Simulink and demonstrated on a typical non-linear system with two inputs and two outputs (two-link robot). © 2014 IEEE.

关键词： Genetic algorithms

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