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19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Tar, J.K. Rudas, I.J. Bitó, J.F. Kozlowski, K.R. Pozna, C. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Ó Buda University Bécsi út 96/B H-1034 Budapest Hungary Department of Control and Systems Engineering Computing Science and Management Poznań University of Technology Piotrowo 3a 60-965 Poznań Poland Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781424468867

The "Model Reference Adaptive control (MRAC)" is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the "reference model" that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2nd ("direct") method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of "Robust Fixed Point Transformations (RFPT)" in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can "fob" the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a "cart-beam-hamper" system is considered. The conclusions of the paper are illustrated by simulation results. © 2010 IEEE.

关键词： Model reference adaptive control

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An Effective Feature Extraction Method for Facial Expression Recognition using Adaptive Gabor Wavelet

An Effective Feature Extraction Method for Facial Expression...

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The 2010 IEEE International Conference on Progress in Informatics and Computing

作者： Behzad Oshidari Babak N.Araabi Faculty of Engineering Islamic Azad UniversityScience and Research BranchTehranIran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Eng.University of TehranTehranIran

Feature extraction is an important and challenging phase of facial expression recognition *** this paper,an effective feature extraction method is *** facial feature representation method is based on an adaptive Gabor wavelet *** this method,we used a fuzzy controller for tuning the orientation parameter of *** filter can detect the most significant edges of facial ***,the proposed adaptive filter improves the drawbacks of conventional Gabor *** neighbor and multi-class Support Vector Machine(SVM) classifiers are applied for classification task. Experimental results on Japanese Female Facial Expression (JAFFE) database show that the proposed method can provide high recognition *** main advantage of proposed method over other methods is its flexibility.

关键词： adaptive Gabor wavelet transform facial expression recognition fuzzy controller multi-class support vector machine classifier nearest neighbor classifier

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A constructive approach to minimal realization problem of 2D systems

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控制理论与应用（英文版） 2009年第3期7卷 335-343页

作者： Huijin FAN Hua CHENG Li XU The Key Laboratory of Image Processing and Intelligent control and Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China Faculty of Systems Science and Technology Akita Prefectural University Akita 015-0055 Japan

Unlike in the 1D case, it is not always possible to find a minimal state-space realization for a 2D system except for some particular categories. The purpose of this paper is to explore a constructive approach to the minimal Roesser model realization problem for a class of 2D systems which does not belong to the clarified categories. As one of the main results, a constructive realization procedure is first proposed. Based on the proposed procedure, sufficient conditions and explicit construction for minimal realizations of the considered 2D systems are shown. In addition, possible variations and applications of the obtained results are discussed and illustrative examples are presented.

关键词： 2D systems Minimal realization Roesser local state-space model

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Evolutionary Prisoner＇s Dilemma Game Based on Pursuing Higher Average Payoff

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Chinese Physics Letters 2009年第1期26卷 360-363页

作者：李玉金汪秉宏杨涵新凌翔陈小杰姜锐 Department of Modern Physics University of Science and Technology of China Hefei 230026 Shanghai Academy of System Science and University of Shanghai for Science and Technology Shanghai 200093 Faculty of Science Zhefiang Normal University Jinhua 321004 School of Engineering Science University of Science and Technology of China Hefei 230026 Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Space Technologies College of Engineering Peking University Beijing 100871

We investigate the prisoner＇s dilemma game based on a new rule： players will change their current strategies to opposite strategies with some probability if their neighbours＇ average payoffs are higher than theirs. Compared with the cases on regular lattices （RL） and Newman-Watts small world network （NW）, cooperation can be best enhanced on the scale-free Barabasi-Albert network （BA）. It is found that cooperators are dispersive on RL network, which is different from previously reported results that cooperators will form large clusters to resist the invasion of defectors. Cooperative behaviours on the BA network are discussed in detail. It is found that large-degree individuals have lower cooperation level and gain higher average payoffs than that of small-degree individuals. In addition, we find that small-degree individuals more frequently change strategies than do large- degree individuals.

关键词： PRISONER'S dilemma game BRIBERY MILITARY strategy LATTICE theory GAME theory MATHEMATICAL models

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Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation 10

Discontinuous stabilizer of the first order chained system u...

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2009 10th European control Conference, ECC 2009

作者： Pazderski, Dariusz Kozlowski, Krzysztof Tar, Jozsef K. Faculty of Computer Science and Management Control and Systems Engineering Poznan University of Technology ul. Piotrowo 3a Poznan60-965 Poland John von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems Budapest Tech Bécsi út 96/BH BudapestH-1034 Hungary

ISBN: (纸本)9783952417393

This paper considers problem of stabilization of the first order nonholonomic chained system using polar-like coordinates. A control method considered here can be regarded as an extension of control solution based on polar coordinate transformation in order to apply it to other system than unicycle. Presented control strategy gives possibility to obtain fast convergence of regulation errors without oscillatory behavior. A robustness of the controller in the neighborhood of the desired point is ensured via additional non-smooth techniques. In order to verify usefulness of developed control strategy simulation results are given. © 2009 EUCA.

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Rapid automatic segmentation and visualization of teeth in CT-scan data

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Journal of Applied sciences 2009年第11期9卷 2031-2044页

作者： Akhoondali, H. Zoroofi, R.A. Shirani, G. Control and Intelligent Processing Center of Excellence Faculty of Engineering School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Oral and Maxillofacial Surgery Faculty of Dentistry Medical Science University of Tehran Tehran Iran

In this study, a fast automatic method is proposed for the segmentation and visualization of teeth in multi-slice CT-scan data of the head. The algorithm consists of five main procedures. In the first part, the mandible and maxilla are separated using maximum intensity projection in the y direction and a step like region separation algorithm. In the second part, the dental region is separated using maximum intensity projection in the z direction, thresholding and cropping. In the third part, the teeth are rapidly segmented using a region growing algorithm based on four thresholds which are used to distinguish between seed points, teeth and none teeth tissue. In the fourth part, the results are visualized using iso-surface extraction and surface and volume rendering. A semi-automatic method is also proposed for rapid metal artifact removal. Results on multiple dadasets have shown the success of the algorithm with the dental region separation and segmentation procedure taking an average of only 2.4 sec to complete for each jaw making it at least tens of times faster than any previously proposed method. © 2009 Asian Network for Scientific Information.

关键词： Computerized tomography

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Fully automatic extraction of panoramic dental images from CT-scan volumetric data of the head

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Journal of Applied sciences 2009年第11期9卷 2106-2114页

In this study, a fully automatic technique is proposed for the extraction of panoramic dental images from CT-scan images of the teeth. The process is performed in three steps: Mandibular region isolation, mandibular curve creation and panoramic image extraction. First the mandibular region is isolated. To do this the maxilla and mandible are separated from each other by finding the slice separating them. Then an image of the maximum intensity projection of the slices containing the mandible is obtained. The projection of the mandible is then isolated from the other bones. Using the isolated mandible region an initial curve is created. Nine control points are then selected on the curve. These control points are used to create a fine curve using cubic splines. The formula for each spline segment is used to find the perpendicular lines to the spline on each point on the spline. These perpendicular lines are then used in all slices (mandible and maxilla) to create the panoramic images. The algorithm has many advantages over earlier methods. Results using multiple datasets have shown that the algorithm is robust. © 2009 Asian Network for Scientific Information.

关键词： Computerized tomography

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Adaptive sliding mode control for Takagi-Sugeno fuzzy systems

Adaptive sliding mode control for Takagi-Sugeno fuzzy system...

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48th IEEE Conference on Decision and control held jointly with 2009 28th Chinese control Conference, CDC/CCC 2009

作者： Zhang, Jinhui Shi, Peng Xia, Yuanqing Fu, Mengyin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom School of Engineering and Science Victoria University Australia

ISBN: (纸本)9781424438716

This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of linear matrix inequalities, by which the corresponding adaptive reaching motion controller is also designed. Simulation studies show the effectiveness of the control scheme. ©2009 IEEE.

关键词： Linear matrix inequalities

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Decoupled fixed point transformation based adaptive control of the generalized 2 DOF Φ6-type Van der Pol oscillator 10

Decoupled fixed point transformation based adaptive control ...

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2009 10th European control Conference, ECC 2009

作者： Tar, Jozsef K. Rudas, Imre J. Bito, Janos F. Machado, Jose A. Tenreiro Kozlowski, Krzysztof R. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Budapest Tech Bécsiút 96/B BudapestH-1034 Hungary Department of Electrotechnical Engineering Institute of Engineering of Porto Rua Dr. Antonio Bernardino de Almeida Porto4200-072 Portugal Control and Systems Engineering Computing Science and Management Poznan University of Technology ul. Piotrowo 3a Poznan60-965 Poland

ISBN: (纸本)9783952417393

In this paper a possible application of a novel adaptive control approach is reported that fits to the 'traditional line of thinking' according to which in the most practical cases neither very precise, nor even complete system model is needed for obtaining precise control for dynamical systems. The validity of this statement is briefly pointed out in the most popular approaches as the main idea of the Robust Sliding Mode / Variable Structure controllers, in Lyapunov's 2nd Method, and in a recently published problem tackling based on the simple geometric interpretation of the Singular Value Decomposition. In the present approach differential equations are deduced from iterative Cauchy sequences to realize adaptive control of a coupled nonlinear system in 'decoupled manner', using single dimensional projections of the 'acceleration space'. The paradigm on which the method is demonstrated is a 2 dimensional generalization of the originally single dimensional Φ6-type Van der Pol oscillator that is a popular paradigm of chaotic systems. Further possible generalizations of the novel method is outlined, too. © 2009 EUCA.

关键词： Chaotic systems

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Decoupled fixed point transformation based adaptive control of the generalized 2 DOF Φ6-type Van der Pol oscillator

Decoupled fixed point transformation based adaptive control ...

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European control Conference (ECC)

作者： József K. Tar Imre J. Rudas János F. Bitó José A. Tenreiro Machado Krzysztof R. Kozłowski John von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Budapest Tech Budapest Hungary John von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems Budapest Hungary Institute of Engineering of Porto Portugal Control and Systems Engineering Computing Science and Management Poznan University of Technology Poznan Poland

In this paper a possible application of a novel adaptive control approach is reported that fits to the “traditional line of thinking” according to which in the most practical cases neither very precise, nor even complete system model is needed for obtaining precise control for dynamical systems. The validity of this statement is briefly pointed out in the most popular approaches as the main idea of the Robust Sliding Mode / Variable Structure controllers, in Lyapunov's 2nd Method, and in a recently published problem tackling based on the simple geometric interpretation of the Singular Value Decomposition. In the present approach differential equations are deduced from iterative Cauchy sequences to realize adaptive control of a coupled nonlinear system in “decoupled manner”, using single dimensional projections of the “acceleration space”. The paradigm on which the method is demonstrated is a 2 dimensional generalization of the originally single dimensional Φ 6 -type Van der Pol oscillator that is a popular paradigm of chaotic systems. Further possible generalizations of the novel method is outlined, too.

关键词： Decision support systems Bismuth Europe Adaptive control

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