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Mediterranean Conference on control and Automation (MED)

作者： M Barisic Z. Vukic N. Miskovic Department of Computer and Control Engineering Laboratory for Underwater Systems and TechnologiesFaculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.

关键词： Kinematics Analytical models Trajectory Computational modeling computer simulation Electric variables measurement Feature extraction Stability Underwater vehicles Communication system control

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

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Mediterranean Conference on control and Automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Underwater Systems and Technologies Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Laboratory for Underwater Systems and Technologies Zagreb Croatia

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system).

关键词： Transfer functions Relays Frequency control systems control engineering computing Delay systems Vehicle dynamics Open loop systems Delay effects Feedback

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The hybrid estimation algorithm for Wastewater Treatment Plant Robust Model Predictive control purposes at medium time scale

The hybrid estimation algorithm for Wastewater Treatment Pla...

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作者： Rutkowski, T. Brdys, M.A. Faculty of Electrical and Control Engineering Gdansk University of Technology ul. G. Narutowicza 11/12 80 952 Gdansk Poland School of Engineering Department of Electronic Electrical and Computer Engineering University of Birmingham Birmingham B15 2TT United Kingdom

ISBN: (纸本)9783902661258

The paper proposes an approach to designing the hybrid estimation algorithm/module (HEA) with moving measurements window for Wastewater Treatment Plant (WWTP) Robust Model Predictive control (RMPC) purposes at medium time scale. The RMPC uses a dedicated grey-box model of biological reactor for the system outputs prediction purposes. The grey-box model parameters are dependant on the plant operating point. Hence, these parameters and grey-box model state should be estimated according to the current operating plant condition. The needed parameters and state estimates at medium time scale are provided by the HEA algorithm. The HEA consist of the set-bounded parameter and state estimation algorithm cooperated with the Extended Kalman Filter (EKF) algorithm. The HEA algorithm is used to ensure robustness of grey-box model parameter and state estimates in situation of limited amount of hard measurements on the WWTP. The state estimates provided by the EKF are used as pseudo measurements of the states and the set-bounded estimation algorithm produce sets bounding the grey-box model parameters and states. There are two hybrid estimation algorithms presented and described in the paper: algorithm of explicit method and algorithm of implicit method. Both hybrid estimation algorithms are validated by simulation base on real data records and calibrated model of Kartuzy WWTP in northern Poland. © 2007 IFAC.

关键词： Wastewater treatment

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Robustly feasible integral LQ-MPC controller for output tracking in constrained linear systems

Robustly feasible integral LQ-MPC controller for output trac...

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作者： Deinrych, P. Szumski, A. Brdys, M.A. Grochowski, M. Szczygielski, P. Faculty of Electrical and Control Engineering Gdansk University of Technology ul. Narutowicza 11/12 80-952 Gdansk Poland Department of Electronic Electrical and Computer Engineering University of Birmingham Birmingham B15 2TT United Kingdom

ISBN: (纸本)9783902661258

This paper considers the dual-mode MPC with linear quadratic performance index in application to robust output tracking of linear constrained discrete time invariant system affected by additive bounded disturbances. The invariant sets were used to ensure robust feasibility of the controller. The well-known Integral control methodology was coupled with MPC and employed to track the reference value and to reject the disturbances. Paper proposes the algorithms for computing the Maximal Admissible Set, as well as its robust versions. At the end the numerical example showing the performance of Integral control LQ-MPC is presented. © 2006 IFAC.

关键词： controllers

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Softly switched robustly feasible mpc for constrained linear systems under set bounded uncertainty-LQ-MPC with IC action

Softly switched robustly feasible mpc for constrained linear...

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ISBN: (纸本)9783902661258

An efficient plant control under state and output constraints under a wide range of operating conditions is not possible by one controller. Hence, the concept of multiple controllers being switched as required by operating conditions is an attractive option. Quite often, hard switching of the controllers may not be desired due to variety of reasons or not possible at all. The paper considers soft switching of the predictive controllers utilizing the invariant sets theory to constrained linear discrete time invariant system operating under bounded additive disturbances. The applied resulting softly switched predictive controller (SS MPC) with the integral action activates smooth and robustly feasible tracking of the plant output reference trajectory under wide range of operating conditions. The controller performance is illustrated by simulations. © 2006 IFAC.

关键词： controllers

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Using supervised fuzzy clustering and cwt for ventricular late potentials (vlps) detection in high-resolution ecg signal

Using supervised fuzzy clustering and cwt for ventricular la...

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5th Conference of the European Society for Fuzzy Logic and Technology, EUSFLAT 2007

作者： Khorshidi, Gholamreza Salimi Jaafari, Ayyoub Pourmorteza, Amir Motie, Ali Golpayegani, Mohammadreza Hashemi School of Cognitive Sciences Institute for Studies in Theoretical Physics and Mathematics Tehran Iran Faculty of Biomedical Engineering Amirkabir University of Technology Tehran Iran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Nasrabadi Group of Biomedical Engineering Faculty of Engineering Shahed University Tehran Iran

ISBN: (纸本)9788073683863

Ventricular Late Potentials (VLPs) are lowamplitude, high-frequency components that appear at the end of the QRS complex of a High-Resolution ECG (HRECG) record. VLPs are clinically useful for identifying post-MI (Myocardial Infarction) patients prone to Ventricular Tachycardia (VT) and Sudden Cardiac Death (SCD). In this paper, the Continuous Wavelet Transform (CWT) and a supervised fuzzy clustering algorithm are used together to detect VLP. The terminal part of the QRS complex in the Vector Magnitude (VM) waveform is processed with the CWT to extract a feature vector. Resulting time-frequency representation is subdivided into several sub bands, and the sum of the squared decomposition coefficients is computed in each region. Finally, a supervised Fuzzy clustering method, trained by an appropriate set of these feature vectors, is applied to this data in order to identify VLP.

关键词： Electrocardiograms

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computing the reversal distance between genomes in the presence of multi-gene families via binary integer programming

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Journal of Bioinformatics and Computational Biology 2007年第1期5卷 117-133页

作者： Suksawatchon, Jakkarin Lursinsap, Chidchanok Bodén, Mikael Advanced Virtual and Intelligent Computing (AVIC) Center Department of Mathematics Chulalongkorn University Bangkok 10330 Thailand Department of Computer Science Faculty of Science Burapha University Chonburi Thailand School of Information Technology and Electrical Engineering The University of Queensland Brisbane QLD Australia

Hannenhalli and Pevzner developed the first polynomial-time algorithm for the combinatorial problem of sorting signed genomic data. Their algorithm determines the minimum number of reversals required for rearranging a genome to another - but only in the absence of gene duplicates. However, duplicates often account for 40% of a genome. In this paper, we show how to extend Hannenhalli and Pevzner's approach to deal with genomes with multi-gene families. We propose a new heuristic algorithm to compute the nearest reversal distance between two genomes with multi-gene families via binary integer programming. The experimental results on both synthetic and real biological data demonstrate that the proposed algorithm is able to find the reversal distance with high accuracy. © 2007 Imperial College Press.

关键词： Binary integer programming Gene duplication Genome rearrangement Multi-gene families Reversal distance

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Mining Brain Tumors and Tracking their Growth Rates

Mining Brain Tumors and Tracking their Growth Rates

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Abdel-Halim Elamy Maidong Hu Department of Electrical & Computer Engineering Faculty of Engineering University of Alberta Canada Department of Computing Science Faculty of Science University of Alberta Canada

Mining brain tumors and tracking their growth trends in the course of magnetic resonance imaging is an important task that assists medical professionals to describe the appropriate treatment. Nevertheless, applying conventional techniques to carry out this process manually is time-consuming and often unreliable and insufficiently accurate. Automating this process is a challenging task due to the fact of the fractal shape of tumor and its biological structure, which is often, has a high degree of intensity and textural similarity between normal areas and tumor tissues. Moreover, tumor uptake measurements are not easy given the small size of many tumors, the limitations of spatial resolution, and the change of tumor location from slice to slice across the brain. Furthermore, the arbitrary shape of tumors makes it extremely hard, if not impossible, to adopt traditional geometric rules for tumor measurements. In this paper, we present a computational approach for modeling and mining a large number of MRI data for patients with brain tumors. In this approach, we adopt a spatial data mining technique to extract useful information from MRI data in order to identify the size of tumors and growth trend, as well as classifying tumors of patients upon specific similarity measures.

关键词： Neoplasms Magnetic resonance imaging Size measurement Shape measurement Data mining Biomedical imaging Medical treatment Fractals Biological tissues Spatial resolution

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Mat-core: A matrix core extension for general-purpose processors

Mat-core: A matrix core extension for general-purpose proces...

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International Conference on computer engineering and Systems

作者： Mostafa I. Soliman Computer & Control Section Electrical Engineering Department Faculty of Engineering South Valley University Aswan Egypt

ISBN: (纸本)1424413656;9781424413652

This paper proposes new processor architecture to exploit the increasingly number of transistors per integrated circuit and improve the performance of data parallel applications on general-purpose processors. The proposed processor (called Mat-core) is based on the use of multi-level ISA to explicitly communicate data parallelism to processor in a compact way instead of the dynamic extraction using complex hardware or the static extraction using sophisticated complier techniques. Since the fundamental data structures for data parallel applications are scalar, vector, and matrix data, Mat-core extends a scalar core (for executing scalar instructions) with a matrix unit (for executing vector/matrix instructions). Like vector microarchitectures, the extended matrix unit is organized in parallel lanes; each lane contains a pipeline of each functional unit and a slice of the register file. However, the Mat-core processor can effectively process not only vector but also matrix data on the parallel lanes. The increasingly budget of transistors can be exploited to scale the Mat-core processor by providing more cores in a physical package. On a multi-core processor, performance would be improved by parallel processing threads of codes using multi-threading techniques.

关键词： Data mining Application specific integrated circuits Instruction sets Hardware Data structures Microarchitecture Pipelines Registers Packaging Multicore processing

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Design and Use of FR-4 CBCPW Lines In Test Fixtures for SMD Components

Design and Use of FR-4 CBCPW Lines In Test Fixtures for SMD ...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： Branimir Pejcinovic Vladimir Ceperic Adrijan Baric Electrical and Computer Engineering Department Portland State University Portland OR USA Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

High frequency/speed designs still predominantly use microstrip lines on relatively cheap FR-4 substrates, despite their relatively poor high frequency performance. One good alternative is to use CBCPW lines (conductor backed co- planar waveguide). Compared to CBCPW, microstrip lines are more susceptible to interference (EMI) and can more easily generate interference themselves. We have designed a number of lines that are used as "fixtures" to access SMD components and report on their performance. Designs are improved through extensive electromagnetic simulations and potential pitfalls are identified. For the lower GHz range, up to 3 GHz, we also report on the modeling of passive SMD components - capacitors and resistors - where good agreement between measurement and simulation is observed. Finally, we report on use of TDR technique for measurement and modeling and how it compares with VNA-based measurements.

关键词： Testing Fixtures Frequency Microstrip Electromagnetic measurements Conductors Electromagnetic waveguides Electromagnetic interference Capacitors Resistors

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