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International Joint Conference on Neural Networks (IJCNN)

作者： I. Petrovic M. Baotic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

The majority of nonlinear models based on neural networks are of the black-box structure. A nonlinear system can be nonlinear in many different ways, thus the nonlinear black-box model structure must be very flexible. This means that it must have many parameters. A model offering many parameters usually creates problems, and the variance contribution to the error might be high. For a particular identification problem, only a subset of the parameters may be necessary, and the main topic in nonlinear system identification is how to select a model structure that describes the system dynamics with the minimum number of parameters. This paper discusses nonlinear input-output models that are suitable for implementation of feedforward neural networks. The proposed model structures were tested and compared using the identification procedure of a pH process. The results indicated that a simplest model structure can satisfactorily represent the investigated process.

关键词： Nonlinear systems Neural networks Feedforward neural networks Nonlinear dynamical systems control engineering computing computer networks Predictive models Automatic control Nonlinear control systems Automation

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Adaptive Neuro controller for a Precise Maneouvring of Underwater Vehicle

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IFAC Proceedings Volumes 2000年第21期33卷 173-178页

作者： Zoran Vukić Bruno Borović Boris Tovornik Department of Control and Computer Engineering in Automation University of Zagreb Control Engineering Department Brodarski institute d.o.o. Institute of Automation University of Maribor Faculty of Electrical Engineering and Computer Science

A neuro controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle’s nonlinearities, couplings which exist between various degrees of freedom as well as effects of the sea currents. The neuro control system for underwater vehicle maneouvring described here is based on the conventional controller supported with the so called adaptive neural network.

关键词： neural networks underwater vehicle trajectory guidance

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Requirements-based monitors for real-time systems 00

Requirements-based monitors for real-time systems

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ISSTA 00 Proceedings of the ACM SIGSOFT 2000 International Symposium on Software Testing and Analysis

作者： Peters, Dennis K. Parnas, David L. Electrical and Computer Engineering Fac. of Eng. and Applied Science Memorial University of Newfoundland St. John's Nfld. Canada Department of Computing and Software Faculty of Engineering McMaster University Hamilton Ont. Canada

ISBN: (纸本)1581132662

Before designing safety- or mission-critical real-time systems, a specification of the required behaviour of the system should be produced and reviewed by domain experts. After the system has been implemented, it should be thoroughly tested to ensure that it behaves correctly. This is best done using a monitor, a system that observes the behaviour of a target system and reports if that behaviour is consistent with the requirements. Such a monitor can be used both as an oracle during testing and as a supervisor during operation. Monitors should be based on the documented requirements of the system. If the target system is required to monitor or control real-valued quantities, then the requirements, which are expressed in terms of the monitored and controlled quantities, will allow a range of behaviours to account for errors and imprecision in observation and control of these quantities. Even if the controlled variables are discrete valued, the requirements must specify the timing tolerance. Because of the limitations of the devices used by the monitor to observe the environmental quantities, there is unavoidable potential for false reports, both negative and positive. This paper discusses design of monitors for real-time systems, and examines the conditions under which a monitor will produce false reports. We describe the conclusions that can be drawn when using a monitor to observe system behaviour.

关键词： Real time systems

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Real-time object tracking based on optical flow and active rays

Real-time object tracking based on optical flow and active r...

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Kalafatic S. Ribaric V. Stanisavljevic Department of Electronics MicroelectronicsFaculty of Electrical Engineering and Computing Computer and Intelligent Systems Zagreb Croatia

A real-time system for tracking multiple quasi-rigid objects is presented. To enable the tracking of objects having similar gray-level intensity during contacts, we use dynamic information extracted by computing sparse optical flow along the object contours. Optical flow vectors are used for updating the positions of the tracked contours in a sequence of image frames. The local properties of optical flow enable the system to track the objects during and after contact, when parts of object contours become hidden. The missing dynamic information is reconstructed by using a model of constant optical flow along an object contour. To deal with the contours of changing-shape, a contour-correcting procedure based on an active contour model is added. The robustness of the tracking algorithm is improved by adding a supervision module, which detects tracking failures and reinitializes the lost contours. The system has been tested on real sequences with laboratory animals during pharmacological experiments and has been shown to be sufficiently robust and efficient.

关键词： Image motion analysis Optical computing Robustness Real time systems Data mining Image reconstruction Active contours System testing Laboratories Animals

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Integrating Dempster-Shafer belief functions into a knowledge representation system based on Petri nets

Integrating Dempster-Shafer belief functions into a knowledg...

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Mediterranean Electrotechnical Conference (MELECON)

作者： A.B. Posavec Department for Electronics Microelectronics Computer and Intelligent Systems at the Faculty of Electrical Engineering and Computing University of Zagreb Croatia

The expressive power and the epistemic adequacy of the Dempster-Shafer (DS) theory of evidence has often been acknowledged. DS theory of evidence is based on two components: a tool for representing belief for a statement, i.e. a pair of set functions (Bel, Pl) that quantify to what extent available evidence implies the statement and to what extent is available evidence consistent with the statement, respectively; and a tool for combining evidence. Thus DS theory deals with belief intervals rather than single numerical values of belief. There is an explicit differentiation between the notion of disbelief from that of lack of belief. However, as many other methodologies in the field of uncertain reasoning, DS theory addresses only the problem of representing the uncertainty of knowledge, without dealing with the problem of representing the knowledge itself. Saffiotti (1994) has proposed a framework for integrating the DS theory with a knowledge representation system. This approach introduces so-called belief bases, whose purpose is to allow embedding belief functions into a knowledge representation system which is better suited for representing the knowledge itself. Belief bases for a given knowledge representation system are built using three primitive operations, which utilize Dempster's combination rule. This paper describes an attempt at integrating appropriately modified belief bases into a knowledge representation system which utilizes Petri nets for representing knowledge.

关键词： Knowledge representation Uncertainty Petri nets Intelligent systems Fuzzy reasoning Fuzzy logic computer network management Microelectronics Computational complexity Modeling

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Adaptive Fuzzy Ship Autopilot for Track-Keeping

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IFAC Proceedings Volumes 2000年第21期33卷 129-134页

作者： Jasmin Velagic Zoran Vukic Edin Omerdic University of Sarajevo Faculty of Electrical Engineering Skenderija 70 BH-71000 Sarajevo Bosnia and Herzegovina fax : (+387 71) 654 972 University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia fax : (+385 1) 612 98 09 University of Tuzla Faculty of Electrical and Mechanical Engineering Franjevacka 2 BH-75000 Tuzla Bosnia and Herzegovina

We develop in this paper an adaptive fuzzy gain autopilot for ship track-keeping. This autopilot is composed of Sugeno fuzzy type autopilot in an ordinary feedback loop and adjustable scaling factors mechanism in an additional feedback loop. The adjustment mechanism represents a fuzzy controller that changes scaling factors of the base fuzzy autopilot. The control system for the track-keeping is completely described. For the track-keeping problem, the maneuver of way-point turning and ship guiding through a complex path (trajectory) are presented. The influence of sea current and wave disturbances on track-keeping performance was also considered. We first present simulation results obtained by the Sugeno fuzzy type autopilot. Then, we compare those results with ones obtained by an adaptive fuzzy autopilot.

关键词： Adaptive fuzzy control track-keeping fuzzy gain concept disturbance rejection ship control

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Application of a neural predictive controller in boost converter input current control

Application of a neural predictive controller in boost conve...

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IEEE International Symposium on Intelligent control (ISIC)

作者： I. Petrovic M. Baric A. Magzan N. Peric Fac. of Electr. Eng. Zagreb Univ. Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia College of Electrical Engineering Polytechnics College of Zagreb Zagreb Croatia

The application of a nonlinear predictive controller in the cascade control structure of a boost converter is investigated. The neuro-predictive controller is realized as a nonlinear optimizer, using the Levenberg-Marquardt unconstrained optimization procedure. For the prediction of future process responses, two MLP neural networks are used. One network is used for modeling the converter dynamics and the other for online estimation of the converter's input voltage. This structure ensures good system performance in all operating regions and inherent compensation of ripples in the converter's input current caused by variations of the input voltage. The advantages of the proposed control structure are demonstrated through experimental comparison with a linear GPC with manually adjusted feedforward compensator.

关键词： Current control Voltage control control systems Automatic control Pulse width modulation Switches Rail transportation Current measurement Electric current control Application software

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A new model of global parallel genetic algorithm

A new model of global parallel genetic algorithm

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International Conference on Information Technology Interfaces

作者： M. Golub D. Jakobovic Fac. of Electr. Eng. & Comput. Zagreb Univ. Croatia Department of Electronics Microelectronics Computer and Intelligent SystemsFaculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (纸本)9539676916

The authors describe a multithreaded parallel genetic algorithm (PGA) implementation. Considering the basic models of parallel genetic algorithms, we identify a variant of global PGA (GPGA) as the most appropriate one for use on a multiprocessor system with few processors. The difference between the synchronous and asynchronous model is analyzed and their characteristics are evaluated. Unlike some authors, we choose not to allow a single individual to be engaged in a tournament competition in more than one instance (no duplicates). The probability of selection for elimination of an individual is than determined based on the fitness of the chromosome and compared with the same probability of the duplicate-allowing algorithm. Finally, the main advantages and disadvantages of the GPGA as well as performance comparison with sequential GA are stated.

关键词： Genetic algorithms Electronics packaging Concurrent computing Master-slave Multithreading Space exploration Microelectronics Intelligent systems Multiprocessing systems Yarn

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Distributed control Systems of Pipeline Networks Using Multi-Agent Technologies

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IFAC Proceedings Volumes 2000年第17期33卷 1093-1098页

作者： Vilém Srovnal Pavel Nevriva Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VŠB - Technical University Ostrava 17. listopadu 15 708 33 Ostrava - Poruba Czech Republic phone:+420 69 699 3137/3135 fax:+420 69 6993138

Industrial applications are characterised by increasing complexity of distributed control systems. The control system is compound of intelligent sensors and actuators, micro-controllers, PLC's, PC's and workstations in industrial and computer nets and operating systems. In such distributed control systems is possible effectively using multi-agent architecture, where agents co-operate under a structured organisation, using the scenario recognition approach. The typical application is the transport of mass and/or energy by large pipeline systems of great complexity undergoes a number of technician and economical constraints. This involves the problem of a dynamic optimal control of distribution systems. In this paper, the optimal control of steam and hot water distribution in the large pipeline network is discussed.

关键词： Optimal control Stochastic system Uncertainty Supervision

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Microprocessor Based Mobile Robot control System

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IFAC Proceedings Volumes 2000年第27期33卷 381-384页

作者： Vladimír Kašík Miroslav Pokorný VSB Technical University Ostrava Faculty of Electrical Engineering and Computer Science Department of Measurement and Control 17.listopadu St. 708 33 Ostrava Czech Republic Tel.: +420-69/6991231 fax: +420-69/6993138

The model of mobile robot is designed and performed using the three-wheels principle. Each of wheels is derived through a separate electrical motor-drive. The actual motion trajectory is defined by the actual turning frequency of motors. The motor-drivers are controlled using the microprocessor unit calculating the motion control signals for each of one. Global driving signal is calculated and transmitted through the HF radio communication equipment using the central PC self-learning control fuzzy oriented system. Distributed robot’s control system is performed using the MOTOROLA M68HC11 family equipment.

关键词： Remote control Robot control Microprocessor control Motors Wheels

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