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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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A higher order adaptive approach to tackle the swinging problem

A higher order adaptive approach to tackle the swinging prob...

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10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009

作者： Tar, József K. Rudas, Imre J. Bitó, János F. Tenreiro Machado, José A. Kozlowski, Krzysztof R. Telematics and Communications Informatics Knowledge Centre Hungary John Von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems Budapest Tech Bécsi út 96/B H-1034 Budapest Hungary Department of Electrotechnical Engineering Institute of Engineering of Porto Rua Dr. Antonio Bernardino de Almeida 4200-072 Porto Portugal Poznan University of Technology Control and Systems Engineering Computing Science and Management Piotrowo 3a 60-965 Poznan Poland

In numerous practical applications precise control of a subsystem passively connected to a precisely controllable subsystem by elastic connection is needed. As typical example is a crane carrying its payload swinging on an elastic string can be mentioned. From the point of view of control technology this task is interesting since the connected degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed for simultaneously tackle the problems originating from the imprecisions of the available dynamic model of the system to be controlled and the swinging phenomenon. In the simulation investigations presented a simple model consisting of two connected masspoints is considered: one of them can directly by controlled by control forces, the other one (in the role of the payload) is dragged by the controlled point via an elastic spring. The control considers the 4th time-derivative of the trajectory of the dragged system.

关键词： Degrees of freedom (mechanics)

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Improvement of linear actuator with ER gel

Improvement of linear actuator with ER gel

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Kentarou Sato Ken'ichi Koyanagi Yasuhiro Kakinuma Hidenobu Anzai Koji Sakurai Toru Oshima Department of Intelligent Systems Design Engineering Faculty of Engineering Toyama Prefectural University Imizu Toyama Japan Faculty of Science and Technology Keio University Yokohama Japan Fujikura Kasei Company Limited Sano Tochigi Japan Department of Intelligent Systems Design Engineering Toyama Prefectural University Imizu Toyama Japan

Nowadays, certain kinds of robots have been developed to be used in proximity to daily human activities. Backdriveability is important for robots to act according to users' movements. We want to develop a linear actuator of high power and backdriveability. In this study we aim to achieve high generative force and backdriveability with a novel linear actuator, because there are many straight line operations in real space. In this paper, we aim to create a new electro-rheological (ER) gel linear actuator by reviewing the prototype ER gel linear actuator.

关键词： Hydraulic actuators Erbium Orbital robotics Humans Rehabilitation robotics Space technology Design engineering Virtual reality Surgery Stress

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

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

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European Control Conference (ECC)

作者： Dariusz Pazderski Krzysztof Kozłowski József K. Tar Faculty of Computer Science and Management Poznan University of Technology Poznan Poland John von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems Budapest Tech. Budapest Hungary

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.

关键词： Control systems Transient analysis Europe Convergence Robustness Robot kinematics

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Remarks on robust extraction of hand's silhouette for 3D hand motion capture system

Remarks on robust extraction of hand's silhouette for 3D han...

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Annual Conference of Industrial Electronics Society

作者： Kazuhiko Takahashi Tomohiro Ishihara Ken Ueda Masafumi Hashimoto Department of Information Systems Design Faculty of Science and Engineering Doshisha University Kyotanabe Kyoto Japan Canon Inc. Ohta Tokyo Japan Graduate School of Engineering Doshisha University Kyotanabe Kyoto Japan Department of Intelligent Information Engineering and Science Faculty of Science and Engineering Doshisha University Kyotanabe Kyoto Japan

This paper investigates a human hand motion capture based on back projection of human hand's silhouette images extracted from multi-camera images. The multi-camera system consists of a server-client system to run the motion capture in real time, and small USB cameras are utilized to make the system compact and low cost. To achieve robust extraction of the hand's silhouette that is used in silhouette volume intersection for 3D reconstruction, the skin colour subtraction algorithm that combines two skin colour models in RGB colour space is proposed. One model is based on brightness and chromaticity, and the other model utilizes the normalized RG plane. To evaluate the proposed hand motion capture system, 3D reconstruction experiments of human hand posture are carried out. The experimental results show both the feasibility and effectiveness of the skin colour subtraction method and confirm that the 3D human hand posture reconstruction runs in real time.

关键词： Robustness Humans Image reconstruction Skin Real time systems Universal Serial Bus Cameras Costs Brightness Roentgenium

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Improved evolving kernel of fisher's discriminant analysis for classification problem

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Journal of Applied sciences 2009年第12期9卷 2313-2318页

作者： Sayed, Hanaa E. Gabbar, Hossam A. Miyazaki, Shigeji Department of Intelligent Systems Engineering Okayama University 1-1 Tsushima Naka 3-chome 700-8530 Okayama Japan Faculty of Energy Systems and Nuclear Science UOIT ON L1H 7K4 ON Canada

This study presents a kernel approach called Improved Evolving Kernel Fisher's Discriminant Analysis (IE-KFDA), which chooses kernel function parameters using proposed Gaussian mutation operator. Evolutionary Programming (EP) known by enhancing the search performance without increasing the computational time. An integration of KFDA with evolutionary optimization algorithm is presented. Classification example shows improving classification results using IE-KFDA in classifying different groups of data over KFDA, KPCA and PLS. © 2009 Asian Network for Scientific Information.

关键词： Search engines

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The commercial potential of MIM titanium alloy

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Metal Powder Report 2009年第5期64卷 17-20页

作者： Itoh, Yoshinori Miura, Hideshi Uematsu, Toshiaki Sato, Kenji Niinomi, Mitsuo Ozawa, Tomomi Hamamatsu Industrial Research Institute of Shizuoka Prefecture 1-3-3 Shinmiyakoda Hamamatsu 431-2103 Japan Department of Intelligent Machinery and Systems Faculty of Engineering Kyushu University 744 Motooka Nishi-ku Fukuoka 819-0395 Japan Department of Biomaterials Science Institute for Materials Research Tohoku University 2-1-1 Katahira Aoba-ku Sendai 980-8577 Japan Teibow Co. Ltd. MIM R D Division 1-7-1 Shinmiyakoda Hamamatsu 431-2103 Japan

The Ti-6Al-7Nb alloy has been developed for a more suitable biomaterial in place of the Ti-6Al-4V alloy, due to the toxicity of vanadium to the human body. However, the cost of the starting material powder for MIM Ti-6Al-7Nb alloy is understood to be expensive. This study investigates the feasibility of using commercially available powders.... © 2009 Elsevier Ltd. All rights reserved.

关键词： Aluminum alloys

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Solving convex optimization problems using recurrent neural networks in finite time

Solving convex optimization problems using recurrent neural ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Long Cheng Zeng-Guang Hou Noriyasu Homma Min Tan Madam M. Gupta The Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China School of Health Sciences Faculty of Medicine Chinese Academy and Sciences Sendai Japan Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Saskatoon SAS Canada

A recurrent neural network is proposed to deal with the convex optimization problem. By employing a specific nonlinear unit, the proposed neural network is proved to be convergent to the optimal solution in finite time, which increases the computation efficiency dramatically. Compared with most of existing stability conditions, i.e., asymptotical stability and exponential stability, the obtained finite-time stability result is more attractive, and therefore could be considered as a useful supplement to the current literature. In addition, a switching structure is suggested to further speed up the neural network convergence. Moreover, by using the penalty function method, the proposed neural network can be extended straightforwardly to solving the constrained optimization problem. Finally, the satisfactory performance of the proposed approach is illustrated by two simulation examples.

关键词： Recurrent neural networks Neural networks Constraint optimization Asymptotic stability Current supplies Convergence Robot control Design optimization Lagrangian functions Quadratic programming

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Estimating structure of multivariate systems with genetic algorithms for nonlinear prediction

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Physical Review E 2009年第6期80卷 066208-066208页

作者： Tomoya Suzuki Yuta Ueoka Haruki Sato Department of Intelligent Systems Engineering College of Engineering Ibaraki University 4-12-1 Nakanarisawa-cho Hitachi Ibaraki 316-8511 Japan Graduate School of Engineering Doshisha University 1-3 Tatara-Miyakodani Kyotanabe-shi Kyoto 610-0321 Japan Department of Information System Design Faculty of Science and Engineering Doshisha University 1-3 Tatara-Miyakodani Kyotanabe-shi Kyoto 610-0321 Japan

Although we can often observe time-series data of many elements, these elements do not always interact with each other. This paper proposes a scheme to estimate the interdependency among observed elements only by time-series data, which is useful for selecting essential elements to optimize multivariate prediction model. Because this estimation is a sort of combinatorial optimization problems, we applied the genetic algorithm as a method to moderate this problem. Through some simulations, we confirmed performance of our method, which can identify interaction of multivariate system and can improve its prediction accuracy. Especially, our method can be applied to predict real foreign-exchange markets even if system has nonstational property and its structure changes dynamically.

关键词： Genetic algorithms

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Performance comparison between RGB and HSI linear stretching for tuberculosis bacilli detection in Ziehl-Neelsen tissue slide images

Performance comparison between RGB and HSI linear stretching...

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IEEE International Conference on Signal and Image Processing Applications (ICSIPA)

作者： M. K. Osman M. Y. Mashor H. Jaafar R. A. A. Raof Nor Hazlyna Harun Electronic & Biomedical Intelligent Systems (EBLtS) Research Group School of Engineering Universiti Malaysia Pedis Arau Malaysia Faculty of Electrical Engineering Universiti Teknologi MARA Pinang Malaysia Department of Pathology School of Medical Science Universiti Sains Islam Malaysia Kelantan Malaysia

Ziehl-Neelsen staining method is commonly used for diagnosis of tuberculosis patients. Sputum or tissues samples are stained using this method before microscopic examination. However, manual screening is time consuming and tedious process. Therefore, an automated image processing and analysis system for improving the manual screening of samples is desirable. Unfortunately, the quality of images being observed is influenced by some factors such as illumination, staining and noise problem. Image enhancement is a necessary part of image processing technique used to improve the quality of images being captured. This paper investigates the performance of linear stretching based on RGB and HSI colour spaces. In RGB colour space, linear stretching of each RGB component is carried out, while in HSI colour space, linear stretching is performed on S and I components. Both RGB and HSI linear stretching are applies to enhance the Ziehl-Neelsen tissue slide images that have been analysed under light microscope and capture using digital camera. Although both techniques are quite simple, the results indicate that these methods may have potential to be used in enhancing Ziehl-Neelsen tissue slide images. However, overall analyses indicates that linear stretching based on HSI colour spaces performed better enhancement compares to RGB based linear stretching.

关键词： Decision support systems Signal processing Image processing

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