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作者： Korobtsov, V.V. Balashev, V.V. Pisarenko, T.A. Chusovitin, E.A. Markidonov, E.V. Institute of Automation and Control Processes FEBRAS Radio Street 5 690041 Vladivostok Russia Faculty of Physics and Engineering Far Easten State University Sukhanova Street 8 690950 Vladivostok Russia

Kinetics of structure and phase constitution of Fe/SiO2/Si(001) system under different conditions of deposition and annealing was considered. It was established that SiO2 layer is not destroyed during Fe deposition process over the temperature range from 20 to 650° C. As a result, the Fe films having different morphologies are formed on the oxide surface. Destruction of SiO2 layer occurs upon annealing on defect places of SiO2 film that results in the interaction of Fe atoms with the Si substrate and successive suicides formation. © 2007 The Surface Science Society of Japan.

关键词： Iron

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Visual Odometry Based on Gabor Filters and Sparse Bundle Adjustment

Visual Odometry Based on Gabor Filters and Sparse Bundle Adj...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Bogdan Kwolek Computer and Control Engineering Chair Faculty of Electrical and Computer Engineering Rzeszów University of Technology Rzeszow Poland

The optimal way for recovering motion and structure from long image sequences is to use sparse bundle adjustment. The objective of this work was to elaborate a method yielding good initial estimates of the pose for SBA based pose refinement. A new approach for determining inter frame correspondences between features is presented. It is based on singular value decomposition of weighted cross correlation matrix of two feature sets. The weighting of potential matches between features is realized on the basis of cross correlation of intensity values and Gabor filter responses. The method is robust to large motions. Corner and SIFT features were used to compare the effectiveness of our method with Kalman filter based tracking of features. Initial estimate of the pose is determined with singular value decomposition and quaternion based representation of camera's pose. The refinement of the pose estimate is achieved using RANSAC and then SBA on several consecutive frames at once. Experimental results demonstrate the capability of the system to estimate visual odometry in real-time.

关键词： Gabor filters Motion estimation Cameras Singular value decomposition Matrix decomposition Quaternions Robot vision systems Simultaneous localization and mapping Robotics and automation Image sequences

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Optimal Large View Visual Servoing with Sets of SIFT Features

Optimal Large View Visual Servoing with Sets of SIFT Feature...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Thomas Nierobisch Johannes Krettek Umar Khan Frank Hoffmann Faculty of Electrical Engineering and Information Technology Chair for Control and Systems eNGINEERING Universität Dortmund Dortmund Germany

This paper presents a novel approach to large view visual servoing in the context of object manipulation. In many scenarios the features extracted in the reference pose are only perceivable across a limited region of the work space. The limited visibility of features necessitates the introduction of additional intermediate reference views of the object and requires path planning in view space. In our scheme the visual control is based on decoupled moments of SIFT-features, which are generic in the sense that the control operates with a dynamic set of feature correspondences rather than a static set of individual features. The additional freedom of dynamic feature sets enables flexible path planning in the image space and online selection of optimal reference views during servoing to the goal view. The time to convergence to the goal view is estimated by a neural network based on the residual feature error and the quality of the SIFT feature distribution. The transition among reference views occurs on the basis of this estimated cost which is evaluated online based on the current set of visible features. The dynamic switching scheme achieves robust and nearly time-optimal convergence of the visual control across the entire task space. The effectiveness and robustness of the scheme is confirmed in an evaluation in a virtual reality simulation and on a real robot arm with a eye-in-hand configuration.

关键词： Visual servoing Path planning Convergence Feature extraction Neural networks Costs Robust control Robustness Virtual reality Orbital robotics

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Object Shape Recognition Using Mexican Hat Wavelet Descriptors

Object Shape Recognition Using Mexican Hat Wavelet Descripto...

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International Conference on control and automation (ICCA)

作者： Adnan Abou Nabout Bernd Tibken Chair of Automatic Control Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

In this paper we present the results of object recognition using Mexican Hat wavelet descriptors. These descriptors are derived from the continuous wavelet transformation using the Mexican Hat function as mother wavelet. To describe an object shape we use an angle function derived from the extracted contour polygon. The angle function is periodical and independent from the size of the object, its position or orientation. It depends only on the starting point of the contour. The contour extraction is based here on the object oriented contour extraction method (OCE). The polygon representation uses the curvature dependent contour approximation method (CDCA). The continuous wavelet transform (CWT) is used in order to derive a suitable number of wavelet descriptors (WD).

关键词： Continuous wavelet transforms Object recognition Pattern recognition Automatic control Shape control Approximation methods Image processing Shape measurement automation Wavelet transforms

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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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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Decoupled control of two tank system via algebraic μ-synthesis

Decoupled control of two tank system via algebraic μ-synthe...

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Mediterranean Conference on control and automation (MED)

作者： M. Dlapa Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University Zlin Zlin Czech Republic

The paper deals with design of a robust controller via algebraic mu-synthesis for two tank system, which is a well known benchmark problem. The controller is designed by decoupling two-input two-output system into two identical SISO (Single-Input Single-Output) plants. The task of designing the robust controller is then performed by finding a suitable pole placement for the SISO systems with the robustness assessed by structured singular value denoted mu for generalized plant. The final controller is compared with D-K iteration as a standard tool for mu-synthesis through simulation for nominal plant and plant perturbed by the worst case perturbation.

关键词： control systems Robust control MIMO Automatic control State feedback Valves Temperature Transfer functions Design automation control engineering

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Design and Practical Application of Simple Robust controllers: A Parametric Approach

Design and Practical Application of Simple Robust Controller...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Radek Matusu Roman Prokop Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín Zlin Czech Republic

The contribution is focused on brief description of proposed control design process and primarily on practical application of obtained simple robust control algorithms. The synthesis is based on general solutions of Diophantine equations in the ring of proper and stable rational functions, Youla-Kucera parameterization and divisibility conditions and one of its main advantages can be seen in existence of single scalar tuning parameter. The real-time control behaviour has been tested on laboratory model of hot-air tunnel which has been mathematically described by various transfer functions containing parametric type of uncertainty.

关键词： Robust control control systems Uncertainty Tuning Transfer functions Optimal control control design control system synthesis Equations Testing

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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK control

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Asian Journal of control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems control systems Level control Costs

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