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International Conference on control, automation, Robotics & Vision

作者： I A Hameed A la Cour-Harbo K D Hansen Aalborg University Faculty of Engineering and Science Dept. of Electronic Systems Section of Automation and Control Fredrik Bajers Vej 7C 9220 Aalborg Denmark

ISBN: (纸本)9781479952007

Conventional agricultural fields are sprayed uniformly to control weeds, insects, and diseases. To reduce cultivation expenses, to produce healthier food and to create more environmentally friendly farms, chemicals should only be applied to the right place at the right time and exactly with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals in farming is presented. Field data are collected by small unmanned helicopters equipped with a range of sensors, including multispectral and thermal cameras. Data collected are transmitted to a ground station to be analyzed and triggers aerial and ground-based vehicles to start close inspection and/or plant/weed treatment in specified areas. A complete trajectory is generated to enable ground-based vehicle to visit infested areas and start chemical/mechanical weed treatment.

关键词： path planning turning trajectory motion control ASETA

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An introduction to the special issue on advanced control methods: Theory and application

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WSEAS Transactions on Systems 2013年第6期12卷 301-303页

作者： Pekař, Libor Neri, Filippo Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín Zlín Czech Republic WSEAS Transactions on Systems Department of Computer Science University of Naples Federico II Naples Italy

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Automatic determination of knee kinematics for lower limb rehabilitation manipulator design

Automatic determination of knee kinematics for lower limb re...

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Workshop on Robot Motion and control

作者： Marta Kordasz Piotr Sauer Chair of Control and Systems Engineering Faculty of Computing University of Technology

ISBN: (纸本)9781467355094

This paper presents a fully automatic algorithm evaluating the knee joint kinematics on the basis of X-ray images. The practical instantaneous center of rotation (ICR) path acts as the main feature of interest. The X-ray images taken from unhealthy child subject while knee flexion, are used as an input data. A clear description of each step of the procedure is provided in the paper, i.e. the image preprocessing, morphological operations, object labeling, image stabilization, determination of bone landmarks, and calculation of ICR. The output information can be used as a basis in the design stage of lower limb rehabilitation manipulator.

关键词： images Lower Extremity Knee Joint Morphological operations kinematics Ion cyclotron resonance Knee flexion Lake Restoration Rehabilitation Imagery (Psychotherapy) Basis AUTOMATIC instant center Caste determination Sex Determination Processes

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Model-free control of a two-dimensional system based on uncertainty reconstruction and attenuation

Model-free control of a two-dimensional system based on unce...

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Conference on control and Fault-Tolerant Systems

作者： Rafal Madonski Przemyslaw Herman Chair of Control and Systems Engineering Faculty of Computing Poznan University of Technology

ISBN: (纸本)9781479928569

This paper analyses the robustness of the Model-Free control (MFC) technique. The experimental tests are conducted on a 2DOF laboratory manipulator. The multidimensional, nonlinear, time-varying, cross-coupled, and mostly unknown dynamics of the considered system makes an effective control of such plant a highly demanding task. Obtained results are compared with the outcomes of a classical PID controller, widely used in industrial applications. The gathered experimental data makes the MFC a powerful fault-tolerant approach, that can eventually grow to a noticeable alternative to the controllers used in engineering practice nowadays.

关键词： Multidimensional systems Free control Proportional Integral Derivative control Attenuation controllers engineering Practice Reconstructive Surgical Procedures Standing Orders cross coupling Fault tolerance

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On the usefulness of higher-order disturbance observers in real control scenarios based on perturbation estimation and mitigation

On the usefulness of higher-order disturbance observers in r...

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Workshop on Robot Motion and control

作者： Rafal Madonski Przemyslaw Herman Chair of Control and Systems Engineering Faculty of Computing Poznan University of Technology

ISBN: (纸本)9781467355094

In this paper, a technique of increasing the effectiveness of estimating the overall system uncertainty with a class of high-gain disturbance observers is discussed. In theory, by introducing a particular set of additional, fictitious states to the system model, the considered observers can more effectively estimate wider variety of disturbances than in their classical forms. This work describes the verification of such theoretical statement also in practice. Both advantages and disadvantages of the proposed framework are pointed out in the paper using an Extended State Observer (ESO), that serves as an working example. An evaluation of the considered technique is carried out through a combination of numerical simulations and laboratory experiments.

关键词： disturbance observer system uncertainties Laboratory Experiments Observers perturbation

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High-gain disturbance observer tuning seen as a multicriteria optimization problem

High-gain disturbance observer tuning seen as a multicriteri...

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Mediterranean Conference on control & automation

作者： Rafal Madonski Adam Piosik Przemyslaw Herman Chair of Control and Systems Engineering Faculty of Computing Poznan University of Technology

ISBN: (纸本)9781479909964

The paper analyses the potential use of a Non-dominated Sorting Genetic Algorithm (NSGA-II) in finding the parameters of an Extended State Observer (ESO). The ESO in the proposed framework is used as a part of a disturbance-rejection controller, which governs the horizontal position of a nonlinear cart-like system. The considered multicriteria optimization NSGA-II algorithm is introduced to automatically find a set of the observer design parameters that guarantee a desired (and predefined) behavior of the plant. The validity of the considered approach is verified with real experiments conducted on a laboratory testbed.

关键词： Observers Tuning Sociology Statistics Optimization Mathematical model Cranes

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control of Air Flow in Air Heating Set - Algebraic Approach using Structured Singular Value

Control of Air Flow in Air Heating Set - Algebraic Approach ...

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Mediterranean Conference on control & automation

作者： Marek Dlapa Department of Automation and Control Engineering Faculty of Applied Informatics TBU in Zlin

ISBN: (纸本)9781479909964

The paper deals with the robust control of air-flow in air heating set. The identification is performed using step responses and approximation via second order system. The controller is designed using the structured singular value (SSV or μ) and algebraic approach. Since the cost function is nonconvex the optimization cannot be done using standard tools. Hence an evolutionary algorithm - Differential Migration (DM) is employed yielding good results in this case. The functionality of the controller is verified through experiments on the real plant.

关键词： Algebraic approach controller design PID control Structured singular value Differential Migration Evolutionary algorithms

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control of air flow in air heating set algebraic approach using structured singular value

Control of air flow in air heating set algebraic approach us...

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2013 21st Mediterranean Conference on control and automation, MED 2013

作者： Dlapa, Marek Department of Automation and Control Engineering Faculty of Applied Informatics TBU in Zlin nám. T. G. Masaryka 5555 760 01 Zlín Czech Republic

ISBN: (纸本)9781479909971

The paper deals with the robust control of airflow in air heating set. The identification is performed using step responses and approximation via second order system. The controller is designed using the structured singular value (SSV or μ) and algebraic approach. Since the cost function is nonconvex the optimization cannot be done using standard tools. Hence an evolutionary algorithm - Differential Migration (DM) is employed yielding good results in this case. The functionality of the controller is verified through experiments on the real plant. © 2013 IEEE.

关键词： Three term control systems

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A novel human detection algorithm based on foreground segmentation

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Journal of Fiber Bioengineering and Informatics 2013年第3期6卷 285-292页

作者： Liu, Chunguang Gong, Zhiheng Zhu, Huijie Liu, Yanan Zhou, Yue Han, Zhonghua Editorial Department of Journal Shenyang Jianzhu University Shenyang 110168 China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Department of Planning and Finance Shenyang Jianzhu University Shenyang 110168 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

In computer vision applications, human detection occupies an important position. HOG (Histograms of Oriented Gradient) is a classical algorithm which was used in the area of object detection. But the complex background would greatly affect the test accuracy when taking HOG as a human characteristic for human detection. In order to improve the accuracy of human detection, this paper applied a new algorithm which was based on foreground segmentation. We could get each closed region by Oriented Watershed Transform and Ultrametric Contour Map, then the foreground and the background could be distinguished. Finally we removed the background and calculated the foreground characteristic. The experimental results show that this approach was effective in improving detection accuracy. © 2013 Binary Information Press & Textile Bioengineering and Informatics Society September 2013.

关键词： Object detection

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PCA & HMM based arm gesture recognition using inertial measurement unit 13

PCA & HMM based arm gesture recognition using inertial measu...

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8th International Conference on Body Area Networks, BODYNETS 2013

作者： Zhang, Yinlong Li, Yang Liang, Wei Zeng, Ziming Tan, Jindong Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang110168 China Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee Knoxville Tennessee United States

ISBN: (纸本)9781936968893

This paper presents a novel arm gesture recognition approach that is capable of recognizing seven commonly used sequential arm gestures based upon the outputs from Inertial Measurement Unit (IMU) integrated with 3-D accelerometer and 3-D gyroscope. Unlike the traditional gesture recognition methods where the states in the gesture sequence are irrelevant, our proposed recognition system is intentionally designed to recognize the meaningful gesture sequence where each gesture state relates to the contiguous states which is applicable in the specific occasions such as the police directing the traffic and the arm-injured patients performing a set of arm gestures for effective rehabilitation. In the proposed arm gesture recognition system, the waveforms of the inertial outputs, i.e., 3-D accelerations and 3-D angular rates are automatically segmented for each arm gesture trace at first. Then we employ the Principal Component Analysis (PCA) - A computationally efficient feature selection method characteristic of compressing the inertial data and minimizing the influences of gesture variations. These selected features from PCA are compared with those standard features stored in pattern templates to acquire the gesture observation sequence that satisfy the Markov property. Finally, the Hidden Markov Model is applied in deducing the most likely arm gesture sequence. The experimental results show that our arm gesture classifier achieves up to 93% accuracy. By comparing with the other published recognition methods, our approach verifies the robustness and feasibility in arm gesture recognition using wearable MEMS sensors. © 2013 ICST 978-1-936968-89-3.

关键词： Hidden Markov models

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