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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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Intelligent rehabilitation devices and user interfaces

Intelligent rehabilitation devices and user interfaces

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10th IEEE Jubilee International Symposium on Applied Machine Intelligence and Informatics, SAMI 2012

作者： Balog, R. Szerdiová, L. Šimšík, D. Galajdová, Alena Onofrejová, D. Technical University of Košice Mechanical Engineering Faculty Department of Automation Control and Human Machine Interactions Košice Slovakia Technical University of Košice MEF Department of Industrial Engineering and Management Slovakia

ISBN: (纸本)9781457701979

The paper presents a brief overview of the projects integrating the development of ICTs with the rehabilitation system for people with risk of fall that are solved under the Ambient Assistive Technology (AAL) programme. The paper includes description of our concept of the diagnostic and rehabilitation system with preventative features to decrease the risks of fall and its consequences in elderly. It integrates functions of two systems developed within the two research projects MonAMI (6FP) and SMILING (7FP) where we participated. The main goal is to ensure higher safety for seniors who are in risk of falls and are living alone. The first module of the integrated rehabilitation system is aimed to identification of falls and emergency communication system for the households of elderly living alone. The platform for that is system developed under the 6FP - MonAMI. The second module of the diagnostic and rehabilitation system plays a preventive role as a home rehabilitation device used for regular training of gait during daily activities. The device is based on an innovation of the motorized mechatronic shoe TUKE developed under the 7FP project SMILING. Users train their walk ability during performance of everyday tasks while solving unexpected perturbations simulating influence of external environment by surmounting the uncertainty when stepping on. The complex system is undertaking the challenge to come in market where we see an absence of preventive, diagnostic-rehabilitation centers aimed on people (elderly) with risk of fall. The end users will be rehabilitation clinics, geriatric centers, social services and condition centers, but preferably individual users, mostly seniors. © 2012 IEEE.

关键词： Assistive technology

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MATLAB case-based reasoning GUI application for control engineering education

MATLAB case-based reasoning GUI application for control engi...

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： Engin Yesil Cihan Ozturk Berk Cosardemir Leon Urbas Faculty of Electrical and Electronics Engineering Control Engineering Department Istanbul Technical University Maslak Istanbul Turkey Chair of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology Dresden Germany

This paper represents using Case-Based Reasoning (CBR) in order to support undergraduate control engineering students for learning nonlinear systems and control applications. CBR is an experience-based problem solving methodology; thus, it is used for helping control engineering students to design conventional PID controllers for nonlinear systems. For this purpose, GUNT pH neutralization process is used as the experimental setup and a GUI is designed for cased-based reasoning in MATLAB. It is observed that undergraduate students can learn and increase their experience on nonlinear systems using the proposed new CBR-GUI.

关键词： Process control control engineering Cognition MATLAB Databases Libraries

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Recent advances in analysis and control design for switched fuzzy systems: A review

Recent advances in analysis and control design for switched ...

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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Ojleska, Vesna Kolemishevska-Gugulovska, Tatjana Dymirkovsky, Gyorgyi SS Cyril and Methodius University in Skopje Faculty of Electrical Eng. and Information Technologies Institute of Automation and Systems Engineering 1000 Skopje R. Macedonia Faculty of Engineering Depts. of Computer and of Control Engineering Dogus University of Istanbul Acibadem TR-34722 Istanbul R. Turkey

ISBN: (纸本)9781467327824

This paper overviews recent advances in the field of switched fuzzy systems, switched systems whose subsystems are fuzzy systems, followed by the comparative study for this kind of systems. Starting with the basic ideas of switched fuzzy systems, the comparative study is aimed in introducing the diverse approaches in their model construction, as well as the challenges related with the stability analysis and stabilization of such systems. The last includes the issue of stability analysis and finding conditions for existence of switched fuzzy controllers which will stabilize the nonlinear system. © 2012 IEEE.

关键词： Hybrid systems

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An artificial immune pattern recognition approach for damage classification in structures 1

引用

2nd International Conference of Electrical and Electronics engineering, ICEEE 2011

作者： Zhou, Yue Tang, Shi Zang, Chuanzhi Zhou, Rui Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China No. 3 Laboratory Shenyang Institute of Automation Chinese Academy of Sciendes Shenyang 110016 China

ISBN: (数字)9783642260018

ISBN: (纸本)9783642260001

Structural Health Monitoring (SHM) is one of the research topics that have received growing interest in research communities. While a lot of efforts have been made in detecting damages in structures, very few researches have been conducted for the structure damage classification problem. This paper presents an artificial immune pattern recognition (AIPR) approach for the damage classification in structures. An AIPR-based Structure Damage Classifier (AIPR-SDC) has been developed, which incorporates several novel characteristics of the natural immune system. The immune learning algorithm can remember various data patterns by generating a set of memory cells that contain representative feature vectors for each pattern, which are extracted from the compressed data using the auto regression exogenous (ARX) algorithm. The AIPR-SDC approach has been tested using a benchmark structure proposed by the IASC-ASCE Structural Health Monitoring Task Group. The test results show the feasibility of using the AIPR-SDC method for the structure damage classification. © 2012 Springer-Verlag.

关键词： Structural health monitoring

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Modified projective synchronization between genesio and rossler chaotic systems with uncertainties

Modified projective synchronization between genesio and ross...

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2012 International Conference on Electrical Insulating Materials and Electrical engineering, EIMEE 2012

作者： Du, Liming Wang, Fengying Liu, Jifei Pan, Rui State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shengyang Liaoning 110819 China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China

ISBN: (纸本)9783037854518

The paper discusses the modified projective synchronization of two different chaotic systems by nonlinear control laws, considering the conditions of the master-slave systems with uncertain parameters, the synchronization problem between Genesio system and Rossler system has been investigated, adopting the adaptive control method, a sufficient condition is attainted for the modified projective synchronization between master and slave system, finally, The control performances are verified by the numerical examples. © (2012) Trans Tech Publications, Switzerland.

关键词： Synchronization

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Real-time safety circuit based on combined MEMS sensor data for rehabilitation device

Real-time safety circuit based on combined MEMS sensor data ...

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2012 13th International Carpathian control Conference, ICCC 2012

作者： Židek, Kamil Hošovský, Alexander Maxim, Vladislav Department of Mathematics Informatics and Cybernetics Faculty of Manufacturing Technologies with a Seat in Presov TU Kosice Presov Slovakia Department of Automation Control and Human Machine Interaction Faculty of Mechanical Engineering TU Kosice Kosice Slovakia

ISBN: (纸本)9781457718687

The article deals with implementation of MEMS sensors to real-time safety circuit for automated rehabilitation device. It is necessary to acquire information about some dangerous situation during the rehabilitation process as fast as possible. We need a real-time response from sensors, because there is additional time needed to stop a device of several milliseconds. There is designed solution the angle, velocity, acceleration and vibration of each joints of rehabilitation arm are monitored. The Device works independently of the control system, detects critical states, stops rehabilitation process and store critical data. Two accelerometers (analog and digital) and one gyroscope sensor are used in the device. The main information is acquired from combination of MEMS accelerometer values. Gyroscope provides a check data for operation reliability. The designed solution can be used in other automated devices too, where some unpredictable error during the operation can cause a human injury. © 2012 IEEE.

关键词： Gyroscopes

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Bounded synchronization of switched dynamical networks with non-identical nodes

Bounded synchronization of switched dynamical networks with ...

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Du, Liming Wang, Fengying Qiao, Feng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Ministry of Education of China China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110819 China

ISBN: (纸本)9780956715715

This paper investigates the synchronization problem of a complex dynamical network with non-identical nodes and switching topology. Neither an equilibrium for each node nor a synchronization manifold is assumed to exist. We select average state trajectory as the target of synchronization and establish the error dynamical equations. Using single Lyapunov function method and the bounded synchronization theory, the switching law design method presented which guarantee the bounded synchronization of switched dynamical networks with non-identical nodes. Simulation results verify the validity of the results. © 2012 Huazhong Univ of Sci & Tec.

关键词： Synchronization

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Semantic runtime interface description based on engineering knowledge

Semantic runtime interface description based on engineering ...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Novák, Petr Melik-Merkumians, Martin Steinegger, Michael Moser, Thomas Šindelář, Radek Zoitl, Alois Christian Doppler Laboratory for Software Engineering Integration for Flexible Automation Systems Vienna University of Technology AT-1040 Vienna Austria Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague 121 35 Prague Czech Republic Automation and Control Institute Vienna University of Technology AT-1040 Vienna Austria

ISBN: (纸本)9783902661982

Design and integration of industrial automation systems require cooperation of different engineering disciplines and various engineering tools during both design and run time. The scope of this paper is to bridge the gap between design-time description and runtime integration in a semi-automated way. Furthermore, we address the problem of integrating legacy systems with no access to original engineering data. It is assumed that an interface between a real industrial system and software automation tools is OPC Unified Architecture (UA) and we propose to derive the plant knowledge from the OPC UA tag list. Since it is not possible to solve this task in general, we require the tag list to adopt the naming convention of IEC 81346, which is widespread in large-scale systems. This tag list is parsed and the engineering knowledge is derived and stored in the engineering Knowledge Base. Consequently, the plant knowledge is mapped to knowledge related to software automation tools, such as simulators. The proposed methodology is evaluated on a real-life example dealing with a laboratory tank model. © 2012 IFAC.

关键词： Knowledge based systems

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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2012 IEEE International Conference on automation Science and engineering: Green automation Toward a Sustainable Society, CASE 2012

作者： Tang, Hui Li, Yangmin Yang, Qinmin Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781467304283

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks. © 2012 IEEE.

关键词： controllers

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