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Estimating the state of distributed dynamical systems based on limited measurements by means of cooperative filtering with application to ad-hoc vehicle networks

Estimating the state of distributed dynamical systems based ...

引用

7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09

作者： Edelmayer, A. Miranda, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Faculty of Engineering University of Los Andes Merida Venezuela

ISBN: (纸本)9783902661463

In this paper a decentralized approach to state estimation of distributed dynamical systems over unreliable communication network subject to uncertain and limited measurements is addressed. Specifically, a distributed filtering concept for enhancing the estimation accuracy of vehicles state from uncertain position data in ad-hoc vehicle networks is presented. The filter relies on a variety of position measurements obtained from the on-board vehicle positioning system, from other nearby cooperating vehicles, as well as from the immediate roadside environment via communication. Direct distance measurements between vehicles as well as between vehicles and the static elements of the roadside infrastructure can be used, if available, as highly accurate reference measurements. The paper demonstrates how successfully the idea of cooperative filtering in addressing the demands of both sensor fault tolerance and enhanced estimation accuracy in distributed systems over ad-hoc communication networks can be used. © 2009 IFAC.

关键词： State estimation

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Basic object shape detection and tracking using perceptual organization

Basic object shape detection and tracking using perceptual o...

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International Conference on Advanced Robotics (ICAR)

作者： Andreas Richtsfeld Markus Vincze Automation and Control Institute Faculty of Electrical Engineering University of Technology Vienna Vienna Austria

If a robot shall learn object affordances, the task is greatly simplified if visual data is abstracted from pixel data into basic shapes or Gestalts. This paper introduces a method of processing images to abstract basic features and into higher level Gestalts. Perceptual Grouping is formulated as incremental problem to avoid grouping parameters and to obtain anytime processing characteristics. Furthermore we want to present a efficient method to track Gestalts using low-level Gestalts for motion field approximation. The proposed system allows shape detection and tracking of 3D shapes such as cubes, cones and cylinders for robot affordance learning.

关键词： Object detection Indexing Tracking Mobile robots Shape control Computer vision Humans Visual perception Data mining Predictive models

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On the complexity of explicit MPC laws 10

On the complexity of explicit MPC laws

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2009 10th European control Conference, ECC 2009

作者： Borrelli, Francesco Baotic, Mato Pekar, Jaroslav Stewart, Greg Department of Mechanical Engineering University of California Berkeley94720-1740 United States Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10000 Croatia Honeywell Prague Laboratory Prague Czech Republic Honeywell Automation and Control Solutions North Vancouver Canada

ISBN: (纸本)9783952417393

Finite-time optimal control problems with quadratic performance index for linear systems with linear constraints can be transformed into Quadratic Programs (QPs). Model Predictive control requires the online solution of such QPs. This can be obtained by using a QP solver or evaluating the associated explicit solution. Objective of this note is to shed some light on the complexity of the two approaches. © 2009 EUCA.

关键词： Model predictive control

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LPV model identification using blended linear models with given weightings

LPV model identification using blended linear models with gi...

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15th IFAC Symposium on System Identification, SYSID 2009

作者： Zhu, Yucai Ji, Guoli Control Systems Faculty of Electrical Engineering Eindhoven University of Technology PO BOX513 5600MB Eindhoven Netherlands Department of Automation Xiamen University Xiamen 361005 China Tai-Ji Control Grensheuvel 10 5685 AG Best Netherlands

ISBN: (纸本)9783902661470

Nonlinear process identification is studied. In model identification, a linear parameter varying (LPV) model is used and it consists of weighted local linear models. In this work, predetermined weighting functions are used and the LPV model identification becomes a linear identification problem with multiple weighted input data sets. So simplicity is its strength. The developed method is especially suitable for batch processes for which only transition tests are feasible and no working point tests are permitted. It is also suitable for continuous nonlinear process identification. Identifiability and stability of the LPV model are discussed. Simulation studies will be used to verify the effectiveness of the method. © 2009 IFAC.

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Tremor analysis by decomposition of acceleration into gravity and inertial acceleration using inertial measurement unit

Tremor analysis by decomposition of acceleration into gravit...

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9th International Conference on Information Technology and Applications in Biomedicine, ITAB 2009

作者： Šprdlík, Otakar Hurák, Zdeněk Hoskovcová, Martina Růžička, Evžen Institute of Information Theory and Automation ASCR Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Dept. of Control Eng. Czech Republic Charles University in Prague 1st Faculty of Medicine Dept. of Neurology Czech Republic

ISBN: (纸本)9781424453795

Decomposition of acceleration was investigated as an alternative to commonly used direct spectral analysis of measured acceleration or angular velocity for tremor quantification. Orientation estimation algorithm was devised to decompose the measured acceleration into inertial acceleration caused by sensor movement in inertial reference frame and gravitational artifact. Resulting signals, beside measured acceleration and angular velocity, were used to assess tremor amplitude and frequency by spectral peak detection. The algorithm was tested on experimental data from a clinical study including patients with essential tremor. Influence of sensor calibration and connections of results to analytic approach are analyzed briefly. ©2009 IEEE.

关键词： Acceleration

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Thickness dependent formation of iron suicides on clean and boron modified Si(001) surface*

Thickness dependent formation of iron suicides on clean and ...

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作者： Balashev, V.V. Korobtsov, V.V. Pisarenko, T.A. Chusovitin, E.A. Institute of Automation and Control Processes Far Eastern Branch of Russian Academy of Sciences Radio Street 5 690041 Vladivostok Russia Faculty of Physics and Engineering Far Eastern National University Sukhanova Street 8 690000 Vladivostok Russia

Comparative study of solid phase epitaxy (SPE) of iron suicides on Si(001)2l and boron modified Si(001)44-B was conducted for iron coverage, which was varied from 0.6 to 11.3 monolayers (MLs). It was found that annealing of Fe film at 800C leads to formation of islands of iron suicide, whose type depends on the Fe film thickness. Using reflection high energy electron diffraction method (RHEED) and atomic force microscopy (AFM), it was shown that at Fe coverage of less than 1 ML the growth of Ε-FeSi and α-FeSi2 islands occurs on Si(001)21 surface. Increase of Fe coverage up to ∼3 ML results in growth of three dimensional (3D) γ-FeSi2 islands, preferentially, as well as 2D islands of γ-FeSi2. For iron film with thickness of 4-4.6 ML the complete transition to growth of γ-FeSi2 islands was observed. It was found that in the case of the Si(001)44-B surface preferable growth of 3D γ-FeSi2 islands occurs starting from the coverage of 0.6 ML, while the transition to growth of β-FeSi2 islands takes place at Fe coverage of ∼6.3 ML. © The Surface Science Society of Japan.

关键词： Atomic force microscopy

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Comparison of Fuzzy control Rules Using MATLAB Toolbox and Simulink for DC Induction Motor-Speed control

Comparison of Fuzzy Control Rules Using MATLAB Toolbox and S...

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International Conference of Soft Computing and Pattern Recognition (SOCPAR)

作者： Mohd Shahrieel Mohd Aras Syed Najib Bin Syed Salim Eric Chee Sai Hoo Intan Azmira binti Wan Abd Razak Mohd Hendra bin Hairi Department of Mechatronics Faculty of Electrical Engineering UTeM Malacca Malaysia Faculty of Electrical Engineering UTeM Malacca Malaysia Department of Power Faculty of Electrical Engineering UTeM Malacca Malaysia Department of Control & Automation Faculty of Electrical Engineering UTeM Malacca Malaysia

This paper presents a fuzzy logic control for a speed control of DC induction motor. The simulation developed by using Fuzzy MATLAB Toolbox and SIMULINK. The fuzzy logic controller is also introduced to the system for keeping the motor speed to be constant when the load varies. Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. The result of the 3×3 matrix fuzzy control rules and 5×5 matrix fuzzy control rules of the theta and speed will do comparison in this paper. Observation the effects of the fuzzy control rules on the performance of the DC-induction motor-speed control.

关键词： Fuzzy control MATLAB Shape Curve fitting Phase detection Image segmentation Iterative algorithms Pattern recognition Information science Data mining

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On the identification of LPV traffic flow model 10

On the identification of LPV traffic flow model

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2009 10th European control Conference, ECC 2009

作者： Luspay, T. Kulcsar, B. Van Wingerden, J.W. Verhaegen, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13.-17 BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands

ISBN: (纸本)9783952417393

关键词： LPV Identification Linear Parameter Varying (LPV) systems freeway traffic modeling Traffic flow Authentication Subspace systems comparison Loop detector nonlinearity Flow models

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Distributed state and unknown input estimation for freeway traffic flow models 10

Distributed state and unknown input estimation for freeway t...

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2009 10th European control Conference, ECC 2009

作者： Luspay, T. Kulcsar, B. Tettamanti, T. Varga, I. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute HAS Kende u. 13.-17 BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2 BudapestH-1111 Hungary

ISBN: (纸本)9783952417393

The paper presents a joint state and unmeasured input estimation technique for a special class of nonlinear second order macroscopic traffic model. The freeway traffic system is transformed into a quasi and affine approximate Lin- ear Parameter Varying (LPV) form. Observer design technique is formulated using off-line optimization problem subjected to Linear Matrix Inequality (LMI) conditions, considering uncertain scheduling parameters. Furthermore, locally designed state estimators are interconnected to cover multiple freeway sections. The elaborated method is validated using real traffic measurements. © 2009 EUCA.

关键词： Linear matrix inequalities

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Review of prognostic problem in condition-based maintenance 10

Review of prognostic problem in condition-based maintenance

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2009 10th European control Conference, ECC 2009

作者： Dragomir, Otilia Elena Gouriveau, Rafael Dragomir, Florin Minca, Eugenia Zerhouni, Noureddine Valahia University of Târgoviste Electrical Engineering Faculty Automation and Information Department Unirii Avenue 18-20 Târgoviste Romania FEMTO-ST Institute CNRS - UFC Automatic Control and Micro-Mechatronic Systems Department 24 rue Alain Savary Besançon25000 France

ISBN: (纸本)9783952417393

Prognostic is nowadays recognized as a key feature in maintenance strategies as it should allow avoiding inopportune maintenance spending. Real prognostic systems are however scarce in industry. That can be explained from different aspects, on of them being the difficulty of choosing an efficient technology: many approaches to support the prognostic process exist, whose applicability is highly dependent on industrial constraints. Thus, the general purpose of the paper is to explore the way of performing failure prognostics so that manager can act consequently. Different aspects of prognostic are discussed. The prognostic process is (re)defined and an overview of prognostic metrics is given. Following that, the 'prognostic approaches' are described. The whole aims at giving an overview of the prognostic area, both from the academic and industrial points of views. © 2009 EUCA.

关键词： Condition based maintenance

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