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2009 International Conference on Ultra Modern Telecommunications and Workshops

作者： Ronzhin, Andrey Budkov, Victor Karpov, Alexey Zelezny, Milos Speech and Multimodal Interfaces Laboratory St. Petersburg Institute for Informatics and Automation St. Petersburg Russia Department of Cybernetics Faculty of Applied Sciences University of West Bohemia Univerzitni 8 306 14 Plzen Czech Republic

ISBN: (纸本)9781424439416

Multimodal user interfaces are capable to perceive speech, movements, poses and gestures of meeting participants in order to satisfy their needs by a natural and intuitively understandable way of interaction between a user and the proposed intelligent meeting room. Awareness of the room about spatial positions of the participants, their current activities and preferences, as well as roles in a current event helps the system to predict more accurately the intentions and needs of participants. Integration of Nokia mobile phones with the sensor network and smart services allows users to control effectors, audio/video and other facilities distantly. Some scenarios of multimodal interaction with the room as well as issues of adaptation of graphical user interface to limitations of mobile phone Internet browser are discussed. ©2009 IEEE.

关键词： Graphical user interfaces

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Robust control of temperature fields of casting mould as distributed parameter system

Robust control of temperature fields of casting mould as dis...

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European Control Conference (ECC)

作者： C. Belavý P. Buček P. Noga G. Hulkó Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Bratislava Slovak Republic

In the paper, a robust control of temperature fields of the casting mould in the benchmark casting plant is presented. Temperature fields are represented as distributed parameter systems with dynamic models in the form of lumped-input/distributed-output system. This representation enables decomposition of control synthesis problem to time domain and space domain tasks. Control synthesis in the space domain is solved as an approximation problem. In time domain, it is possible to apply various control synthesis methods established well for lumped parameter systems. For robust control synthesis with internal model control structure, model uncertainty of the controlled system was considered. Simulation analysis of the robust control of the temperature field in the casting mould was carried out using the Distributed Parameter Systems Blockset for MATLAB & Simulink - Third-party MathWorks product.

关键词： Decision support systems Europe Robust control Temperature control Casting Distributed parameter systems

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Image-based automatic object localisation in iSpace environment

Image-based automatic object localisation in iSpace environm...

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

作者： Zanaty, Péter Korondi, Péter Sziebig, Gábor Jeni, László A. Department of Scientific Computing Narvik University College Electrical Engineering and Space technology Hungary Department of Mechatronics Budapest University of Technology and Economics Optics and Applied Informatics Hungary Computer and Automation Research Institute Japan Department of Industrial Engineering Narvik University College Norway Institute of Industrial Science University of Tokyo Japan

Localization is a fundamental task in mobile robotics and in indoor environments we can use various sensors to solve this problem. In the Intelligent Space environment we can use laser range finders or ultrasonic positioning systems to localize and track mobile robots. Nevertheless, our final goal is to substitute these sensors and accomplish this task using just cameras. In this paper, we show the feasibility of determining the robot's location based on the images received from a single camera. In our experimental room we used a surveillance camera, which can be controlled to pan/tilt in order to change the point of view. The camera had been mounted on the ceiling and six preset positions were selected to cover the whole area. The object recognition is based on colour space filtering and contour detection. Finally, the contours of the detected objects are transformed from the image space to the world coordinate system and the polygons are reduced to simpler ones. The system is able to detect not only the position of the objects, but their orientations.

关键词： Cameras

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An Iterative GPC-like nonlinear predictive control algorithm for the parametric Volterra model

An Iterative GPC-like nonlinear predictive control algorithm...

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European Control Conference (ECC)

作者： Robert Haber Ruth Bars Fakhredin Arousi Institute of Chemical Process Engineering and Plant Design University of Applied Science Cologne Germany Dept. of Automation and Applied Informatics Budapest University of Technology and Economics (BME) Hungary

Predictive control recently has gained wide acceptance in the process industry. In practice mostly linear algorithms are applied. Control algorithms considering the nonlinearities of the processes would provide better control performance than the linear algorithms. A new iterative nonlinear predictive control algorithm is presented here based on the quadratic parametric Volterra model. The algorithm uses a GPC-like structure. The control performance is demonstrated by a simulation case study of level control of a two-tank system. The behavior of the new algorithm is compared with other suboptimal nonlinear algorithms.

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Safe Mobile Robot Control in the iSpace Environment

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IFAC Proceedings Volumes 2009年第16期42卷 305-310页

作者： Laszlo A. Jeni Peter Korondi Zoltan Istenes Hideki Hashimoto University of Tokyo Institute of Industrial Science Tokyo Japan (Tel: 81+3-5452-6258) Computer and Automation Research Institute of the Hungarian Academy of Sciences Department of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics Eotvos Lorand University Faculty of Informatics

Abstract Robots and other intelligent systems in human environment need high-level cognitive capabilities to enable the achievement of complex goals in complex environments using limited computational resources. Robotic cognitive capabilities include attention allocation, planning, perception processing, reasoning about the other agents and the environment. This paper presents an approach for safe robot controlling using the Intelligent Space. In the iSpace networked distributed sensors observe and gather information from the space. In this environment mobile robots can be tracked with ultrasonic positioning system, the topological map can be build using laser range finders and other properties of the space can be recognized. The recognized properties of the space and the mobile code technology make it possible to extend the control framework of mobile robots with components in a safe way. The mobile code is a program-component obtained from a remote system, transferred across a network and dynamically downloaded and executed on the robots. This code is created, verified, stored and transmitted to the robot using the Certified Proved-Property-Carrying Code architecture, where properties and their proofs also attached to the code. The receiver can verify the proofs and it can decide whether to use or to refuse the received mobile component.

关键词： Intelligent Space recognition CPPCC mobile code mobile robots requirement verification

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On arbitrarily varying Markov source coding and hypothesis LAO testing by non-informed statistician

On arbitrarily varying Markov source coding and hypothesis L...

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IEEE International Symposium on Information Theory

作者： Evgueni Haroutunian Naira Grigoryan Department of Information Theory and Applied Statistics Institute of Informatics and Automation Problems National슠Academy of Sciences Yerevan Armenia Department of Applied Mathematics State Engineering University of Armenia Yerevan Armenia

ISBN: (纸本)9781424443123

Two problems concerning arbitrarily varying stationary Markov source (AVMS), namely, the binary hypothesis testing and the source coding problems are solved. First, we consider a logarithmically asymptotically optimal (LAO) hypothesis testing (HT) for distributions of AVMS. The asymptotic behavior of the second type error probability exponent is investigated in function of the first type error probability exponent, as the number of observations tends to infinity. In the problem of AVMS coding, the E-optimal rate function R(E) (the minimum rate R of the source sequences compression when the decoding error probability is less than exp{-NE}, (E > 0) and its inverse reliability function E(R) are obtained from the corresponding HT result.

关键词： Source coding Error probability Automatic testing Information theory Statistical analysis informatics automation Mathematics H infinity control Decoding

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Uncertainty analysis and robust control of temperature fields of casting mould as distributed parameter systems

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IFAC Proceedings Volumes 2009年第4期42卷 2155-2160页

作者： C. Belavý G. Hulkó B. Rohal'-Il'kiv P. Buček P. Noga Institute of Automation Measurement and Applied Informatics Slovak University of Technology in Bratislava Faculty of Mechanical Engineering Nám. Slobody 17 812 31 Bratislava Slovak Republic (Tel: ++421 2 57294555)

In the paper, an uncertainty analysis and simulation of a robust control of temperature fields of the casting mould in the benchmark casting plant are presented. Temperature fields are supposed as distributed parameter systems with dynamic models in the form of lumped-input/distributed-output system. For this representation, uncertainty of the controlled system was considered and robust control synthesis with internal model control structure was designed. Simulation of the robust control of the temperature field in the casting mould was carried out using the Distributed Parameter Systems Blockset for MATLAB & Simulink – Third-party MathWorks product.

关键词： distributed parameter systems lumped-input/distributed-output system uncertainty robust control internal model control temperature field casting mould

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Discontinuous iterated map model of bifurcation phenomena in DTC drives

Discontinuous iterated map model of bifurcation phenomena in...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Zoltán Sütő Eisuke Masada István Nagy Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Railway Technology Research Institute Chiyoda Tokyo Japan

The scope of the paper is to reveal the strange behavior of Direct Torque Controlled (DTC) drives resulting from the nonlinearity of hysteresis comparators. A piecewise-defined, non-stroboscopic, discrete-time Poincare¿ map can be constructed for the system which takes into account the fast switching operations of the Voltage Source Converter (VSC). The evolution of the stator flux linkage and the electric torque within the hysteresis loops are determined from switch to switch. The movement of the two controlled state variables exhibits periodic, subharmonic, chaotic and intermittent chaotic states along a special series of border collision bifurcations induced by discontinuity of the Poincare¿ mapping function. In order to give a better insight into these bifurcations, a one-dimensional piecewise linear discontinuous iterated map is developed and analyzed.

关键词： Bifurcation Drives Switches Hysteresis Chaos Torque control Voltage Switching converters Power conversion Stators

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Raising the Abstraction of Domain-Specific Model Translator Development

Raising the Abstraction of Domain-Specific Model Translator ...

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International Conference and Workshop on Engineering of Computer-Based Systems

作者： Tamás Vajk Róbert Kereskényi Tihamér Levendovszky Ákos Lédeczi Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Software Integrated Systems Vanderbilt University Nashville USA

Model-based development methodologies are gaining ground as software applications are getting more and more complex while the pressure to decrease time-to-market continually increase. Domain-specific modeling tools that support system analysis, simulation, and automatic code generation can increase productivity. However, most domain-specific model translators are still manually written. This paper presents a technique that automatically generates a domain-specific application programming interface from the same metamodels that are used to define the domain-specific modeling language itself. This facilitates the creation of domain-specific model translators by providing a high-level abstraction hiding all the cumbersome modeling tool-specific implementation details from the developer. The approach is illustrated using the generic modeling environment and the Microsoft .NET C# language.

关键词： Mathematical model Object oriented modeling Metamodeling Application software Software systems Unified modeling language Domain specific languages Conferences automation informatics

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