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2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007

作者： Ligang, Wu Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 IBJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an ∞ and 2-∞ dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by ∞ and 2- ∞ norms. © 2007 IEEE.

关键词： Signal filtering and prediction

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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Experimental implementation and analysis of a DNA computing readout method based on real-time PCR with TaqMan probes

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Natural Computing 2007年第2期7卷 277-286页

作者： Zuwairie Ibrahim John A. Rose Akira Suyama Marzuki Khalid Department of Mechatronics and Robotics Faculty of Electrical Engineering Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Darul Takzim Malaysia Institute of Information Communication Technology Ritsumeikan Asia Pacific University Oita Japan J.S.T.-CREST Kawaguchi Japan Department of Life Sciences and the Institute of Physics University of Tokyo Tokyo Japan

A new readout approach for the Hamiltonian Path Problem (HPP) in DNA computing based on the real-time polymerase chain reaction (PCR) is experimentally implemented and analyzed. Several types of fluorescent probes and detection mechanisms are currently employed in real-time PCR, including SYBR Green, molecular beacons, and hybridization probes. In this study, real-time amplification performed using the TaqMan probes is adopted, as the TaqMan detection mechanism can be exploited for the design and development of the proposed readout approach. Double-stranded DNA molecules of length 140 base-pairs are selected as the input molecules, which represent the solving path for an HPP instance. These input molecules are prepared via the self-assembly of 20-mer and 30-mer single-stranded DNAs, by parallel overlap assembly. The proposed readout approach consists of two steps: real-time amplification in vitro using TaqMan-based real-time PCR, followed by information processing in silico to assess the results of real-time amplification, which in turn, enables extraction of the Hamiltonian path. The performance of the proposed approach is compared with that of conventional graduated PCR. Experimental results establish the superior performance of the proposed approach, relative to graduated PCR, in terms of implementation time.

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SUPER-HEURISTICS AND THEIR APPLICATIONS TO COMBINATORIAL PROBLEMS

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Asian Journal of control 2008年第1期1卷

作者： Tak Wing Edward Lau Yu-Chi Ho Division of Engineering and Applied Sciences Harvard University Cambridge MA02138 U.S.A. Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Professor of Engineering at Harvard and as visiting professor to the Cockrell Family Regent's Chair in Engineering at the University of Texas Austin. He has published over 120 articles and three books one of which (co-authored with A.E. Bryson Jr.) has been translated into both Russian and Chinese and made the list of Citation Classics as one of the most referenced works on the subject of optimal control. He is on the editorial boards of several international journals and is the editor-in-chief of the new international Journal on Discrete Event Dynamic Systems. He is the recipient of various fellowships and awards including the Guggenheim (1970) and the IEEE Field Award for Control Engineering and Science (1989) the Chiang Technology Achievement Award (1993). He is a fellow of IEEE a Distinguished Member of the Control Systems Society and a member of the U.S. National Academy of Engineering. In addition to serving on various governmental and industrial panels and professional society administrative bodies he was the President of the IEEE Robotics & Automation Society in 1988

Combinatorial problems are known to be difficult because of the shear size of the solution space and the lack of polynomial time algorithms to “solve” them. Heuristics are often devised to produce acceptable solutions in an affordable time. In this paper, we propose a method called super-heuristic that expands the capabilities of heuristics using randomization and sampling techniques. We submit that heuristics are in general strategies that map from available information of a problem instance to decisions in solution constructions/improvement. We show that it is important to utilize the information effectively in the randomization process. More importantly, the possibility of randomization around a heuristic spells out the demarcation between the roles of human and machines in complex optimization problems.

关键词： Combinatorial problems heuristics randomization and sampling techniques man-machine interactions

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Fault-tolerant control of Uncertain Time-delay Discrete-time Systems Using T-S Model

Fault-tolerant Control of Uncertain Time-delay Discrete-time...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Le Zhang Yuan-Wei Jing Rong-Zhen Chen Honghai Liu Georgi M. Dimirovski Control Science Institute of the School of Information Science and Engineering Northeastern University Shenyang China Institute of Industrial Research University of Portsmouth Portsmouth UK SS Cyril and Methodius Faculty of Electrical & Computer Engineering University of Skopje Skopje Macedonia Computer Eng. Department Dogus University Istanbul Turkey

The investigated control problem of nonlinear time-delay discrete-time systems is addressed using Takagi-Sugeno model. Parametric uncertainty and time-delay terms are employed in building the Takagi-Sugeno model for the controlled plant for the purpose of close representation of the original plant system. The integrity and robustness are guaranteed for the closed-loop fuzzy system in sense of Lyapunov stability method via fuzzy state observers. Sufficient conditions for the fuzzy system to possess integrity against actuator failures and sensor failures in the closed-loop are derived in terms of linear matrix inequalities under assumption of known bounds on uncertainties. The results for trailer-truck example are used to illustrate the effectiveness of the method.

关键词： Fault tolerant systems Fuzzy systems Takagi-Sugeno model Uncertainty Nonlinear control systems Robust stability Lyapunov method Sufficient conditions Hydraulic actuators Sensor systems

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An Improved Readout Method of Molecular Computation based on Real-Time PCR Implemented on DNA Engine Opticon 2 System

An Improved Readout Method of Molecular Computation based on...

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Congress on Evolutionary Computation

作者： Zuwairie Ibrahim Muhammad Faiz Mohamed Saaid Adi S. Paramita Akira Suyama John A. Rose Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia Department of Life Sciences and the Institute of Physics University of Tokyo Japan Institute of Information Communication Technology Ritsumeikan Asia Pacific University Beppu Oita Japan

A readout approach for the Hamiltonian path problem (HPP) in DNA computing based on the real-time polymerase chain reaction (PCR) is re-implemented on DNA Engine Opticon 2 System. Several types of fluorescent probes and detection mechanisms are currently employed in real-time PCR, including SYBR Green, molecular beacons, and hybridization probes. Based on the new approach, real-time amplification performed using the TaqMan probes is adopted, as the TaqMan detection mechanism can be exploited for the design and development of the proposed readout approach. In this study, double-stranded DNA molecules of length 140 base- pairs are selected as the input molecules, which represent the solving path for an HPP instance. These input molecules are prepared via the self-assembly of 20-mer and 30-mer single- stranded DNAs, by parallel overlap assembly. The proposed readout approach consists of two steps: real-time amplification in vitro using TaqMan-based real-time PCR, followed by information processing in silico to assess the results of real-time amplification, which in turn, enables extraction of the Hamiltonian path. The experimental result is compared with that of previously implementation on Roche LightCycler System. Experimental results establish an easier method to interpret the output of real-time PCR for the subsequent in silico information processing.

关键词： DNA computing Optical computing Real time systems Engines Probes Optical polymers information processing Stimulated emission Fluorescence Self-assembly

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H∞ Filtering for a class of 2D systems

H∞ Filtering for a class of 2D systems

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European Signal Processing Conference (EUSIPCO)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Gałkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China Department of Mechanical Engineering The University of Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65–246 Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Department of Electronics and Computer Science University of Southampton Southampton U.K. Information and Media Engineering University of Wuppertal Faculty of Electrical

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required.

关键词： Stability analysis Asymptotic stability Process control Signal processing Linear systems Filtering State-space methods

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Filtering of Discrete Linear Repetitive Processes with H and l2-l Performance

Filtering of Discrete Linear Repetitive Processes with H and...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Galkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China The University of Hong Kong Hong Kong Hong Kong China Institute of Control and Computation Engineering University of Zielona Góra Góra Poland School of Electronics and Computer Science University of Southampton Southampton U.K Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Germany

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an H infin and l 2 -l infin dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by H infin and l 2 -l infin norms.

关键词： Nonlinear filters Filtering Symmetric matrices Space technology Communication system control Attenuation measurement Algorithm design and analysis Iterative algorithms Optimal control Stability

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Preface

Advanced Textbooks in Control and Signal Processing

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Advanced Textbooks in control and Signal Processing 2007年第9781846288722期 ix-xii页

作者： Hrúz, Branislav Zhou, Mengchu Department of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava 1812 19 Slovakia Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ07102 United States

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Robust decentralized controller design: Independent design

Robust decentralized controller design: Independent design

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1st IFAC Workshop on Applications of Large Scale Industrial Systems, ALSIS'06

作者： Kozáková, Alena Veselý, Vojtech Faculty of Electrical Engineering and Information Technology Institute for Control and Industrial Informatics Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9783902661159

The paper deals with the frequency domain robust decentralized controller design technique for continuous-time uncertain systems given as a set of transfer function matrices. By applying the independent designs to individual subsystems modified by pertinent entries of a suitably chosen diagonal transfer function matrix, nominal stability and fulfillment of the M - Δ structure based robust stability conditions modified for decentralized systems are guaranteed. Copyright © 2006 IFAC.

关键词： Robust control

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