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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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A four-channel adaptive structure for high friction teleoperation systems in contact with soft environments

A four-channel adaptive structure for high friction teleoper...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Thomas Delwiche Michel Kinnaert Faculty of Applied Science Department of Control Engineering and Systems Analysis Université Libre de Bruxelles Brussels Belgium

In this paper, an adaptive control structure based on the well-known four-channel (4C) control architecture is proposed to achieve transparency in non-ideal (high friction) teleoperation devices. The choice of the parameters to be adapted is motivated using a modified version of the 4C model. Next, two experiments are proposed to define the boundaries of the parameters values to be tuned during the adaptive process. Finally, the adaptive control scheme is successfully applied experimentally to a one degree of freedom (dof) teleoperation device.

关键词： Friction Master-slave Iron Force control Adaptive control Actuators Laplace equations Minimally invasive surgery Robotics and automation Automatic control

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Artificial realization of decision making for sleep stage of EEG contaminated with artifacts: Conditional probability of knowledge-base of expert visual inspection

Artificial realization of decision making for sleep stage of...

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作者： Wang, Bei Wang, Xingyu Zou, Junzhong Kawana, Fusae Nakamura, Masatoshi Department of Advanced Systems Control Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Automation East China University of Science and Technology Meilong Road Shanghai 200237 China Department of Clinical Physiology Toranomon Hospital Tokyo 105-8470 Japan

ISBN: (纸本)9784990288013

An artificial realization of decision making for sleep stages of EEG (electroencephalograph) contaminated with artifacts was developed in order to construct a reliable sleep stage recognition system for clinics. The methodology was based on the conditional probability of knowledge-base of expert visual inspection. Expert visual inspection was the manual scoring result of sleep stages by a qualified EEGer (F.K.). Knowledge-base was constructed in terms of probability density functions of characteristic parameters with each sleep stage, according to the expert visual inspection. Artificial realization of decision making for sleep stage was based on the value of conditional probability. Totally, the overnight sleep EEG recordings of four subjects were analyzed. The results showed a close agreement with the expert visual inspection by EEGer. ©ISAROB 2007.

关键词： Decision making

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Active Eye-tracking System by Using Quad PTZ Cameras

Active Eye-tracking System by Using Quad PTZ Cameras

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Annual Conference of Industrial Electronics Society

作者： Chao-Ning Chan Shunichiro Oe Chern-Sheng Lin Department of Intelligence Systems and Information Science Faculty of Engineering University of Tokushima Japan Department of Automatic Control Engineering Feng Chia University FCU Taichung Taiwan

There have been many researches on eye-tracking systems to estimate eye gaze and integrated with head movement tracking. In this paper, we describe an active eye- tracking system that can provide usability improvement of human-machine interface (HMI) with quad PTZ cameras. We propose an active tracking architecture for real-time eye- tracking in an open environment to get a wide-angle and long-distance available range. We implemented four following parts: face tracking module by Adaboost algorithm, eye detection module by Cognitive calibration algorithm, active control module by integration algorithm and input control module by diagonal-box checker search. We presented an active eye-tracking system that users can use it in unrestricted posture with different angles and distance to the pc. It can calculate the camera target position and then map the gazing point to screen coordinate. We can choice any user to track eye gazing when there are multi-users in front of the pc. The results provide a useful HMI for large head motion and long distance usages.

关键词： Cameras Calibration Usability Magnetic heads Contacts Magnetic field measurement Face detection Humans Lenses Magnetic sensors

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Development of an active gaze tracking system in unrestricted posture

Development of an active gaze tracking system in unrestricte...

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International Conference on control, Automation and systems ( ICCAS)

作者： Chan Chao Ning Oe Shunichiro Chern-Sheng Lin Department of Intelligence Systems and Information Science Faculty of Engineering University of Tokushima Japan Department of Automatic Control Engineering Feng Chia University FCU Taichung Taiwan

In this paper we describe an active gaze-tracking system that can provide an interactive interface with computer by using PTZ cameras. We propose an active tracking architecture for real-time gaze-tracking in an open environment and recorded the data into the database for diagnosis. When the cursor is out of control by gazing, a technical improvement theory is used to account for the reflective action of psychological natural reaction to correct the relevant process automatically. This architecture consists of four following parts: face tracking module, eye tracking module, active control module and input control module. We present a high accuracy gaze tracking system which can dynamically estimate the better target position of four PTZ and map the gazing point to screen coordinates. A user can use the active gaze-tracking system without difficult calibration and restricted posture.

关键词： Calibration Usability Automatic control Target tracking Cameras Magnetic heads Contacts Magnetic field measurement Psychology Humans

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Fault tolerant SVM based nonlinear model predictive control 9

Fault tolerant SVM based nonlinear model predictive control

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2007 9th European control Conference, ECC 2007

作者： Saludes, Sergio Fuente, M.J. Fundación Cartif Parque Tecnológico de Boecillo P205 Boecillo Valladolid47151 Spain Department of Systems Engineering and Control University of Valladolid Science Faculty Prado de la Magdalena s/n Valladolid47011 Spain

ISBN: (纸本)9783952417386

This paper describes a nonlinear Model Predictive controller (MPC) which uses Support Vector Machines (SVM) as a model of the plant. Both batch and on-line trained SVM are presented. The fault tolerance capabilities of this kind of nonlinear MPC are discussed. A strategy for achieving fault tolerance in this nonlinear MPC based on on-line trained SVM is presented. Results obtained under simulation in a continuous stirred tank reactor are discussed. © 2007 EUCA.

关键词： Model predictive control

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Robust super-exponential methods for blind deconvolution of MIMO-FIR systems with Gaussian noise

Robust super-exponential methods for blind deconvolution of ...

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15th European Signal Processing Conference, EUSIPCO 2007

作者： Kohno, Kiyotaka Inouye, Yujiro Kawamoto, Mitsuru Department of Electronic and Control Systems Engineering Shimane University 1060 Nishikawatsu Matsue Shimane 690-8504 Japan Information Technology Research Institute National Institute of Advanced Industrial Science and Technology Central 2 1-1-1 Umezono Tsukuba Ibaraki 305-8568 Japan

ISBN: (纸本)9788392134022

The so called "super-exponential" methods (SEMs) are attractive methods for solving multichannel blind deconvolution problem. The conventional SEMs, however, have such a drawback that they are very sensitive to Gaussian noise. To overcome this drawback, the robust super-exponential methods (RSEMs) were proposed for single-input single-output infinite impulse response (SISO-IIR) channels and for multi-input multi-output (MIMO) static channels (instantaneous mixtures). While the conventional SEMs use the second-and higher-order cumulants of observations, the RSEMs use only the higher-order cumulants of observations. Since higher-order cumulants are insensitive to Gaussian noise, the RSEMs are robust to Gaussian noise. We proposed an RSEM extended to the case of MIMO-FIR channels (convolutive mixtures). To show the validity of the proposed RSEM, some simulation results are presented. © 2007 EURASIP.

关键词： Gaussian distribution

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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Eigenvector Algorithms for Blind Deconvolution of MIMO-IIR systems

Eigenvector Algorithms for Blind Deconvolution of MIMO-IIR S...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Mitsuru Kawamoto Kiyotaka Kohno Yujiro Inouye National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan Department of Electronic and Control Systems Engineering Shimane University Matsue Japan

This paper presents eigenvector algorithms (EVAs) for blind deconvolution (BD) of multiple-input multiple-output infinite impulse response (MIMO-IIR) channels (convolutive mixtures). Using the idea of reference signals, the EVA is derived. Differently from the conventional researches on EVAs, one of the novel points of the paper is that the EVA using any reference signal is applied to the BD problem of the MIMO-IIR system, and then the validity of the EVA is shown.

关键词： Deconvolution MIMO Source separation Signal processing algorithms Signal processing Blind source separation Electrical equipment industry Electronics industry Industrial control Industrial electronics

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Incorporating a generic model of subcutaneous insulin absorption into the AIDA v4 diabetes simulator: 1. A prospective collaborative development plan

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Journal of Diabetes science and Technology 2007年第3期1卷 423-435页

作者： Lehmann, Eldon D. Tarín, Cristina Bondia, Jorge Teufel, Edgar Deutsch, Tibor Department of Imaging (MRU) Imperial College of Science Technology and Medicine (NHLI) Royal Brompton Hospital London United Kingdom Department of Imaging University of Toronto ON Canada ITEAM Technical University of Valencia (UPV) Valencia Spain Department of Systems Engineering and Control Technical University of Valencia (UPV) Valencia Spain Department of Informatics and Medical Technology Faculty of Health Care Semmelweis University Budapest Hungary

Introduction: AIDA v4 is an interactive educational diabetes simulator that has been made available, for over a decade, without charge via the Internet. The software is currently freely accessible at http://***. This report sets out a collaborative development plan to enhance the program with a new model of subcutaneous insulin absorption, which permits the simulation of rapidly acting and very long-acting insulin analogues, as well as insulin injection doses larger than 40 ***: A novel, generic, physiological subcutaneous insulin absorption model is overviewed and a methodology is proposed by which this can be substituted in place of the previously adopted insulin absorption model utilized within AIDA v4.3a. Apart from this substitution it is proposed to retain the existing model of the glucoregulatory system currently used in AIDA v4.3a. Results: Initial simulation results based on bench testing of this approach using MATLAB are presented for the exogenous insulin flow profile (Iex) following subcutaneous injections of a rapidly acting insulin analogue, a short-acting (regular) insulin preparation, intermediate-acting insulins (both Semilente and neutral protamine Hagedorn types), and a very long-acting insulin analogue. Discussion: It is proposed to implement this collaborative development plan - first by bench testing the approach in MATLAB and then by integrating the generic subcutaneous insulin absorption Iex model into the AIDA simulator in Pascal. The aim is to provide enhanced functionality and educational simulations of regimens utilizing novel insulin analogues, as well as injections larger than 40 units of insulin. © Diabetes Technology Society.

关键词： Absorption Computer Diabetes Insulin Model Simulation Software

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