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International Conference on Information and automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines computer vision

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Delay-dependent stability of 2D state-delayed linear systems

Delay-dependent stability of 2D state-delayed linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： W. Paszke J. Lam K. Galkowski Shengyuan Xu E. Rogers A. Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Nanjing University of Science and Technology of PLA Nanjing China Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK

This paper addresses the problem of stability for two-dimensional systems with delays in the state. To solve this problem, the Lyapunov second method is used. The resulting condition is written in terms of linear matrix inequalities and it is dependent on the size of delays. This fact allows us to reduce the conservatism in the stability analysis of two-dimensional systems with state delays. A simulation example is given to illustrate the theoretical developments

关键词： Stability Linear systems Delay systems Symmetric matrices control systems Linear matrix inequalities Delay lines Automatic control control engineering computing Mechanical engineering

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards automation Software tools control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors.

关键词： Earthquake sliding mode control structural systems vibration control

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An approach for designing real-time embedded systems from RT-UML specifications

An approach for designing real-time embedded systems from RT...

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作者： Wehrmeister, M.A. Becker, L.B. Pereira, C.E. Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

ISBN: (纸本)008045108X

The current work presents an API based on the Real-Time Specification for Java (RTSJ) that optimizes real-time embedded systems development. Using this API it is possible to state non-functional specifications, like time constraints, and guarantee its implementation in the selected platform. Moreover, it discusses how real-time requirements derived from the RT-UML standard can be mapped to the elements from the proposed API..An integrated toolset is used to support the intermediate steps of this mapping process. The paper illustrates the mapping mechanism by means of a case study that implements the control system of an automated wheelchair. Copyright © 2005 IFAC.

关键词： Mapping

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Prediction-based diagnosis and loss prevention using model-based reasoning

Prediction-based diagnosis and loss prevention using model-b...

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18th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems: Innovations in Applied Artificial Intelligence, IEA/AIE 2005

作者： Námeth, Erzsábet Lakner, Rozália Hangos, Katalin M. Cameron, Ian T. Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Computer Science University of Veszprám Veszprám Hungary School of Engineering University of Queensland Brisbane Australia

ISBN: (纸本)3540265511

A diagnostic expert system established on model-based reasoning for on-line diagnosis and loss prevention is described in the paper. Its diagnostic "cause-effect" rules and possible actions (suggestions) are extracted from the results of standard HAZOP analysis. Automatic focusing as well as "what-if" type reasoning for testing hypothetical actions have been also implemented. The diagnostic system is tested on a granulator drum of a fertilizer plant in a simulation test-bed. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Artificial intelligence

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Adaptive backstepping sliding mode control with gaussian networks for a class of nonlinear systems with mismatched uncertainties

Adaptive backstepping sliding mode control with gaussian net...

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Lei, Ma. Schilling, Klaus Schmid, Christian Department of Computer Science VII Universität Würzburg D-97074 Würzburg Germany Institute of Automation and Computer Control Ruhr-Universität Bochum D-44801 Bochum Germany

ISBN: (纸本)0780395689

This paper is concerned with the adaptive sliding-mode control of a class of nonlinear systems in nonlinear parametric-pure-feedback form with mismatched uncertainties. Backstepping design procedure is applied, which leads to a new adaptive sliding-mode control. Gaussian radial-basis-function networks are used to approximate the unknown system dynamics. A new growing scheme of the Gaussian networks is proposed. The networks start with a loose structure in order to reduce the computational effort. More nodes are added to the networks progressively in order to improve the transient behaviour. With ideal sliding mode, asymptotic stability is reached. The performance of the control scheme is illustrated by simulation studies. © 2005 IEEE.

关键词： Adaptive control systems

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Methods of computational intelligence to give qualitative and quantitative statements of gas concentrations at a high temperature sensor

Methods of computational intelligence to give qualitative an...

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HIS 2005: Fifth International Conference on Hybrid Intelligent Systems

作者： Bauersfeld, Norman Kramer, Klaus-Dietrich Patzwahl, Steffen Harz University of Applied Studies and Research Friedrichstr. 57-59 D-38855 Wernigerode Germany Institute for Automation Control Computer Science Inc. Dornbergsweg 2 D-38855 Wernigerode Germany

ISBN: (纸本)0769524575

This paper describes property evaluation and clustering of sensor data that depends on different gas types and their concentrations. The application subject is to find gas specific information by a multidimensional feature set to give qualitative and quantitative statements. This is investigated by different clustering methods, the fuzzy-c-means algorithm and its derivatives and neural networks. The resulting patterns will be deployed as recognition field for gas detection, that takes recalibration mechanisms into consideration.

关键词： Artificial intelligence

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AN APPROACH FOR DESIGNING REAL-TIME EMBEDDED SYSTEMS FROM RT-UML SPECIFICATIONS

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IFAC Proceedings Volumes 2005年第1期38卷 117-122页

作者： M.A. Wehrmeister L.B. Becker C.E. Pereira Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

The current work presents an API based on the Real-Time Specification for Java (RTSJ) that optimizes real-time embedded systems development. Using this API it is possible to state non-functional specifications, like time constraints, and guarantee its implementation in the selected platform. Moreover, it discusses how real-time requirements derived from the RT-UML standard can be mapped to the elements from the proposed API. An integrated toolset is used to support the intermediate steps of this mapping process. The paper illustrates the mapping mechanism by means of a case study that implements the control system of an automated wheelchair.

关键词： embedded systems design real-time programming support

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Applying the SEEP method in the design of a real-time embedded control system for a motorized wheelchair

Applying the SEEP method in the design of a real-time embedd...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： M.A. Wehrmeister L.B. Becker C.E. Pereira Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details regarding embedded system modeling and its transition to the programming level are presented. Moreover, it describes the embedded system generation and provides data obtained from the hardware synthesis and the application execution. Moreover, it discusses how projects can be optimized according to requirements priorities. It finishes by highlighting the main advantage of SEEP in comparison to other existing methodologies for embedded systems design

关键词： Design methodology Real time systems control systems Wheelchairs Embedded system Hardware Embedded software Object oriented modeling Application software Process design

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