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Novel AQM algorithm employing observer-based SMC for efficient internet congestion prevention

Novel AQM algorithm employing observer-based SMC for efficie...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Hongwei Wang Yuanwei Jing Goran S. Stojanovski Mile J. Stankovski Georg M. Dimirovski School of Information Science and Engineering Northeastern University Shenyang Liaoning China Faculty of Electrical Engineering & Information Technologies SS Cyril and Methodius University Skopje Macedonia Faculty of Engineering Acibadem Dogus University Istanbul Turkey

An active queue management (AQM) scheme employing state observer and sliding mode control (SMO-SMC) is designed in this paper in order to overcome congestion problem in TCP communication networks. First, sliding mode observer is designed for input delay network system; a sufficient condition is given for the existence of such an observer in terms of linear matrix inequality. Then, on the grounds of estimated system state vector, a controller is synthesized by using the sliding-mode control theory combined with the reaching law technique. The reachability condition in such a SMO-SMC AQM scheme is also discussed. The stability and robustness of the proposed control scheme are then validated for different network scenarios using Matlab/Simulink. Simulation results for the single-bottleneck benchmark network confirmed the proposed scheme achieves high-quality performance as well as outperforms the previous observer-based sliding-mode and traditional controllers.

关键词： Robustness Delay

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Implementation of an Overblowing Correction Controller and the proposal of a quantitative assessment of the sound's pitch for the anthropomorphic saxophonist robot WAS-2

Implementation of an Overblowing Correction Controller and t...

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2010 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Jorge Solis Klaus Petersen Tetsuro Yamamoto Masaki Takeuchi Shimpei Ishikawa Atsuo Takanishi Kunimatsu Hashimoto Faculty of Science and Engineering Humanoid Robotics Institute Waseda University Japan Graduate School of Advanced Science and Engineering Waseda University Japan Partner Robot Division Toyota Motor Corporation Japan

Since 2007, our research is related to the development of an anthropomorphic saxophonist robot, which it has been designed to imitate the saxophonist playing by mechanically reproducing the organs involved for playing a saxophone. Our research aims in understanding the motor control from an engineering point of view and enabling the communication. In a previous paper, the Waseda Saxophone robot No. 2 (WAS-2) which is composed by 22-DOFs has been presented. Moreover, a feedback error learning with dead time compensation has been implemented to control the air pressure of the robot. However, such a controller couldn't deal with the overblowing effects (unsteady tones) that are found during a musical performance. Therefore; in this paper, the implementation of an Overblowing Correction Controller (OCC) has been proposed and implemented in order to assure the steady tone during the performance by using the pitch feedback signal to detect the overblowing condition and by defining a recovery position (off-line) to correct it. Moreover, a saxophone sound evaluation function (sustain phase) has been proposed to compare the sound produced by human players and the robot. A set of experiments were carried out to verify the improvements on the musical performance of the robot and its sound has been quantitatively compared with human saxophonists. From the experimental results, we could observe improvements on the pitch (correctness) and tone stability.

关键词： robot kinematics Calibration Lips Humans Fluctuations Instruments

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Imitating the Saxophone playing by the anthropomorphic saxophonist robot

Imitating the Saxophone playing by the anthropomorphic saxop...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jorge Solis Klaus Petersen Tetsuro Yamamoto Masaki Takeuchi Shimpei Ishikawa Atsuo Takanishi Kunimatsu Hashimoto Faculty of Science and Engineering Humanoid Robotics Institute (HRI) Waseda University Japan Graduate School of Advanced Science and Engineering Waseda University Japan Partner Robot Division Toyota Motor Corporation Japan

Our research aims in developing an anthropomorphic saxophonist robot designed to mechanically reproduce the human organs involved during the saxophone playing. In this paper, the Waseda Saxophone robot No. 2 (WAS-2) which is composed by 22-DOFs is detailed. The lip mechanism of WAS-2 has been designed with 3-DOFs to control the motion of the lower, upper and sideway lips. In addition, a human-like hand (16 DOF-s) has been designed to enable to play all the keys of the instrument. Regarding the improvement of the control system, a feed-forward control system with dead-time compensation has been implemented to assure the accurate control of the air pressure. In addition, the implementation of an auditory feedback control system has been proposed and implemented in order to adjust the positioning of the physical parameters of the components of the robot by providing a pitch feedback and defining a recovery position (off-line). A set of experiments were carried out to verify the mechanical design improvements and the dynamic response of the air pressure. As a result, the range of sound pressure has been increased and the proposed control system improved the dynamic response of the air pressure control.

关键词： robots Control systems Instruments Fingers Lips DC motors Feedback control

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Notice of Violation of IEEE Publication Principles: Cholesky-based reduced-rank square-root ensemble Kalman filtering

Notice of Violation of IEEE Publication Principles: Cholesky...

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American Control Conference (ACC)

作者： Yucheng Zhou Jiahe Xu Yuanwei Jing Georgi M. Dimirovski Faculty of Engineering Department of Research Institute of Wood Industry Chinese Academy of Forestry Beijing China Faculty of Information Science and Engineering Northeastern University Shenyang Liaoning China Faculty of FEIT SS Cyril and Methodius University Skopje Macedonia Faculty of Engineering Dogus University Istanbul Turkey

Notice of Violation of IEEE Publication Principles "Cholesky-Based Reduced-Rank Squar-Root Ensemble Kalman Filtering," by Yucheng Zhou, Jiahe Xu, Yuanwei Jing, Georgi M. Dimirovski in the Proceedings of the 2010 American Control Conference, July 2010, pp. 6870-6875 After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles. This paper contains significant portions of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission. Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article: "Cholesky-Based Reduced-Rank Square-Root Kalman Filtering," by J. Chandrasekar, ***, D.S. Bernstein, A.J. Ridley in the Proceedings of the 2008 American Control Conference, June 2008, pp. 3987-3992 The reduced-order ensemble Kalman filter (EnKF) is introduced to the problem of state estimation for nonlinear large-scale systems. The filter reduction based on both the singular value decomposition (SVD) and the Cholesky decomposition provide for reduced-order square-root EnKF. To solve the filter reduction, the EnKF algorithm is modified to obtain members of measurement ensemble from uncorrelated sensors in the system but not a Monte Carlo method, and the performances of the reduced-order EnKF under different conditions are investigated. Simulation shows that the Cholesky-factorization-based reduced-order EnKF is superior to the SVD-based and offer much advantage in terms of estimation performance.

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Effectiveness Evaluation of Warfare Command Systems with Dissymmetrical Warfare Information

Effectiveness Evaluation of Warfare Command Systems with Dis...

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American Control Conference

作者： Xiangyong Chen Yuanwei Jing Chunji Li Nan Jiang Georgi M. Dimirovski College of Information Science and Engineering Northeastern University 110004 Shenyang Liaoning P.R. of China College of Science Northeastern University 110004 Shenyang Liaoning P.R. of China Dogus University Faculty of Engineering Istanbul TR-34722 R. of Turkey

ISBN: (纸本)9781424474264

This paper researches the warfare command decision making problems in dissymmetrical information war, which are of important to military system science researches. Based on the features of dissymmetrical information war, we develop a corresponding warfare command decision making model by using Lanchester square law equation. Two proper military stratagems which can transform the battlefield situation are pointed out and analyzed quantitatively with the equation. The analysis model and the proposed approach may reflect the effect of information war in warfare command decision making. The computation results show the feasibility and effectiveness of the proposed model. The research results may provide a theoretical reference for warfare command decision making.

关键词： Decision making Equations Game theory Information analysis Military computing Weapons Information systems Educational institutions Control systems USA Councils

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Notice of Violation of IEEE Publication Principles: Extended target tracking using an IMM based nonlinear Kalman filters

Notice of Violation of IEEE Publication Principles: Extended...

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American Control Conference (ACC)

作者： Yucheng Zhou Jiahe Xu Yuanwei Jing Georgi M. Dimirovski Department of Research Institute of Wood Industry Faculty of Engineering Chinese Academy of Forestry Beijing China Faculty of Information Science and Engineering Northeastern University Shenyang Liaoning China Faculty of FEIT SS Cyril and Methodius University Skopje Macedonia Faculty of Engineering Dogus University Istanbul Turkey

Notice of Violation of IEEE Publication Principles "Extended Target Tracking Using an IMM Based Nonlinear Kalman Filters," by Yucheng Zhou, Jiahe Xu, Yuanwei Jing, Georgi M. Dimirovski in the Proceedings of the 2010 American Control Conference, July 2010, pp. 6870-6875 After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles. This paper contains significant portions of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission. Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article: "Extended Target Tracking Using an IMM based Rao-Blackwellised Unscented Kalman Filter," by Zhiwen Zhong; Huadong Meng; Xiqin Wang in the Proceedings of the 9th International Conference on Signal Processing, October 2008, pp.2409-2412 The unscented Kalman filter (UKF) and ensemble Kalman filter (EnKF) are developed to extended target tracking problem for high resolution sensors. The nonlinear Kalman filters are based on an ellipsoidal model, which is proposed to exploit sensor measurement of target extent. The ellipsoidal model can provide extra information to enhance tracking accuracy, data association performance, and target identification. In contrast to the most commonly used extended Kalman filter (EKF), the UKF and EnKF provide more accurate and reliable estimation performance, due to the presence of high nonlinearity of the model. Correspondingly, the EnKF has lower computational complexity than the UKF. An interacting multiple model (IMM) technique is combined with the filters to adapt the target maneuver and motion mode switching problem which is vital for nonlinear filtering. The develop

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Ultra-miniaturized WB-3 Inertial Measurement Unit: performance evaluation of the attitude estimation

Ultra-miniaturized WB-3 Inertial Measurement Unit: performan...

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IEEE International Conference on robotics and Biomimetics

作者： S. Sessa M. Zecca Z. Lin L. Bartolomeo K. Itoh H. Ishii Y. Mukaeda Y. Suzuki A. Takanishi Graduate School of Advanced Science and Engineering Waseda University School of Creative Science and Engineering Faculty of Science and Engineering Waseda University Global Robot Academia Waseda University Advanced Research Institute for Science and Engineering Joint Laboratory on Humanoid and Personal Robotics "RoboCasa" Waseda University Graduate School of Advanced Science and Engineering Waseda University Department of Modern Mechanical Engineering Waseda University

ISBN: (纸本)9781424493197

This paper presents the comparison of the WB-3 ultra-miniaturized inertial measurement unit (IMU), developed by our group, with the commercial IMU IntertiaCube by InterSense and the Vicon motion capture system. WB-3 is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). We implemented an Extended Kalman Filter (EKF) based on quaternion for the sensor fusion to retrieve the attitude. A new methodology for the automatic estimation of the measurement covariance matrix on the EKF is presented (R-Adaptive Algorithm). The preliminary results showed that WB-3 performance is comparable with Vicon. The R-Adaptive Algorithm improves the attitude reconstruction in case of non-static condition compared with the commercial IMU.

关键词： INERTIAL MEASUREMENT UNITS Sensor fusion Quaternion Attitude magnetometers Performance Evaluation

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Short term load forecasting: A dynamic neural network based genetic algorithm optimization

Short term load forecasting: A dynamic neural network based ...

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International (EPE-PEMC) Power Electronics and Motion Control Conference

作者： Yan Wang Vesna Ojleska Yuanwei Jing Tatjana K. Gugulovska Georgi M. Dimirovski Institute of Engineering College of I. S. & E. Northeastern University Shenyang China Faculty of EEIT Ss Cyril and Methodius University Skopje Macedonia College of Information Science & Engineering Northeastern University China Computer Engineering and Control Eng Dogus University Istanbul Turkey

The short term load forecasting plays a significant role in the management of power system supply for countries and regions, in particular in cases of insufficient electric energy for increased needs. A back-propagation artificial neural-network (BP-ANN) genetic algorithm (GA) based optimizing technique for improved accuracy of predictions short term loads is proposed. With GA's optimizing and BP-ANN's dynamic capacity, the weighted GA optimization is realized by selection, crossing and mutation operations. The performance of the proposed technique has been tested using load time-series from a real-world electrical power system. Its prediction has been compared to those of obtained by only back-propagation based neural-network techniques. Simulation results demonstrated that the here proposed technique possesses superior performance thus guarantees better forecasting.

关键词： Artificial neural networks Load forecasting Neurons Load modeling Forecasting Computational modeling

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Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking

Development of an ultra-miniaturized inertial measurement un...

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IEEE/SICE International Symposium on System Integration

作者： Z. Lin M. Zecca S. Sessa L. Bartolomeo H. Ishii K. Itoh A. Takanishi Global Robot Academia Waseda University Shinjuku Tokyo Japan School of Creative Science and Engineering Faculty of Science and Engineering Waseda University Tokyo Japan Graduate School of Advanced Science and Engineering Waseda University Tokyo Japan Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan

Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios.

关键词： Sensors Humans Magnetometers Accelerometers Gyroscopes Tracking Acceleration

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Dynamic Output Feedback for T-S Fuzzy Model Based on Chaotic Systems with Uncertainties

Dynamic Output Feedback for T-S Fuzzy Model Based on Chaotic...

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American Control Conference

作者： Zhaona Chen Yuanwei Jing Georgi M. Dimirovski Faculty of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 P.R. of China Faculty of Engineering Computer Engg. Dept Dogus University of Istanbul TR-347222 Istanbul Rep. of Turkey

ISBN: (纸本)9781424474264

In this paper, a novel Takagi-Sugeno (T-S) fuzzy model-based method is proposed for controlling a class of chaotic systems with uncertain parameters. The T-S fuzzy model is employed for accurately modeling the chaotic systems. Based on the T-S fuzzy model, the parallel distributed compensation (PDC) technique is applied to design a dynamic output feedback controller for the chaotic systems. By using Lyapunov stability theory, the robust stability of the closed-loop system is proved. The condition in this paper is represented in the form of linear matrix inequalities (LMIs). The new method considers the interactions among all fuzzy subsystems. Finally, as an illustrative example, Chen system is considered to verify the effectiveness of the control scheme.

关键词： Output feedback Fuzzy systems Chaos Uncertainty Fuzzy control Takagi-Sugeno model Lyapunov method Robust stability Linear matrix inequalities Control systems

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