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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Thomas Gußner Jürgen Adamy Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

In this paper, a computational approach for controller design for polynomial systems with input constraints is proposed. The design is formulated as a convex optimization problem and capable of dealing with asymmetric input constraints. The idea of the method is to combine the recently introduced notion of virtual inputs and the notion of feedback passivity to obtain an optimization problem with polynomial constraints. The optimization problem is relaxed using the method of sum of squares which finally results in an LMI problem. The resulting state feedback controllers are non-polynomial. The approach contains some conservatism arising when formulating the design as a convex optimization problem. The introduction of slack variables and a postprocessing step reduces this conservatism. The applicability of the method is demonstrated by a controller design for a jet engine compressor.

关键词： Polynomials Optimization Closed loop systems Stability analysis Lyapunov method State feedback

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Nonlinear system modeling via hybrid system representation of recurrent fuzzy systems

Nonlinear system modeling via hybrid system representation o...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Andreas Schwung Jürgen Adamy Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

This paper proposes a new approach to system modeling using continuous-time recurrent fuzzy systems (CTRFS). The approach is based on the representation of CTRFS as hybrid systems. With this representation, various forms of a priori knowledge about the system to be modeled can be incorporated. This allows a reasonable reduction of optimization parameters and hence, avoids overfitting. Furthermore, the presented approach offers a deeper insight into the system structure on the basis of measurement data solely. This is illustrated by a selection algorithm for relevant input and state variables. The applicability of the approach is shown by modeling a chemical process.

关键词： Optimization Fuzzy systems Pragmatics Input variables Nonlinear systems Indexes Linear systems

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Saturating Set Point Tracking control for Linear Systems subject to Input Constraints

Saturating Set Point Tracking Control for Linear Systems sub...

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2010 49th IEEE Conference on Decision and control

作者： Klaus Kefferputz Jurgen Adamy Institute of Automatic Control Control Theory and Robotics Lab Technische Universitat Darmstadt 64283 Darmstadt Germany

ISBN: (纸本)9781424477456

We propose a new set point tracking controller achieving short settling times respecting for saturating input vectors. One major advantage of the method is that once we designed a controller stabilizing the origin with an associated domain of attraction we are able to state the tracking controller. Additionally, no assumptions concerning the rate of the reference signal are necessary.

关键词： Linear system Reference signals Set of points Viral Set Point region of attraction tracking controller tracking control Constraint Saturated controllers

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A probabilistic method for hierarchical 2D-3D tracking

A probabilistic method for hierarchical 2D-3D tracking

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International Joint Conference on Neural Networks (IJCNN)

作者： Chen Zhang Julian Eggert Institute of Automatic Control Control Theory and Robotics Laboratory Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach am Main Germany

In this paper, we present a generic way to use a hierarchical representation of prediction models for adaptive tracking purposes. Each node of the hierarchy consists of an interacting multiple models (IMM) particle filter that combines local predictions with top-down predictions arriving from nodes situated higher up in the hierarchy. Such a hierarchical prediction structure provides mechanisms to automatically control the influences between the nodes of the hierarchy. We demonstrate the gain of a hierarchical 2D-3D tracking system by first using it to track 3D elliptically rotating object in an artificial scene, where in approaching and departing phases the target is inherently hard to track in pure 2D space due to large accelerations. To the contrary, the proposed hierarchical 2D- 3D tracking system successfully tracks the target, because it benefits from the ability of dynamically adapting its prediction models. In order to test the robustness of this framework and its feasibility for real-world applications, we then show in a traffic scene that we can successfully track a motorcylist from a driving car by means of this hierarchical tracking framework.

关键词： Target tracking Acceleration Adaptation model

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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

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IFAC Proceedings Volumes 2010年第18期43卷 660-668页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162314) TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany (Tel: +49-6151-166283) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-163114) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162114)

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Fault Accomodation Electro-hydraulic Servo Axis Duplex-valve-system Active Fault Tolerant control Reconfiguration Bumpless-Transfer

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Registration of human eye movement in biometric research

Registration of human eye movement in biometric research

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13th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2009, Jointly with the 15th International Conference on Information Systems Analysis and Synthesis, ISAS 2009

作者： Nawrat, Aleksander Czornik, Adam Gawliczek, Pawel Institute of Automatic Control Department of Control Theory and Robotics Silesian University of Technology 16 Akademicka St. 44-100 Gliwice Poland

ISBN: (纸本)1934272620

One of the basic human sense is vision. Every day most of the people use their eyes for gathering information about surrounding world. The light is constantly being captured by the human eye, sampled, causing the eye to move to sample next important light structure. In next step the brain is processing the information provided by the eye. Scientists all over the world try to make similar process artificial, allowing computers to gain from sense of vision. Great number of research has been put into eye tracking making it more and more efficient over the years. In this paper we try to propose a solution which is in position to track eyes. There are used two USB cameras connected to a Desktop PC. Each camera tracks one eye and basing on position of center of the eye compute its coordinates. In biometric projects quality of the input signal is crucial variable for whole process. In research was checked 3 algorithms: color filtering, circle Hough transform and optical flow. Each of approached which was tried has its advantages and disadvantages. It would be difficult to have good eye tracking system basing only on one algorithm. So in the work it was proposed a method based on combination of optical flow for tracking the center of the eye, while resetting its position was obtained using Hough transform every Xth frame. It eliminated problem of drift and blinking as was shown on numerical examples.

关键词： Biometrics

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Mathematical methods for target detection in the CCD camera stream

Mathematical methods for target detection in the CCD camera ...

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13th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2009, Jointly with the 15th International Conference on Information Systems Analysis and Synthesis, ISAS 2009

作者： Nawrat, Aleksander Rachwal, Tomasz Daniec, Krzysztof Kozak, Kamil Institute of Automatic Control Department of Control Theory and Robotics Silesian University of Technology 16 Akademicka St. 44-100 Gliwice Poland

ISBN: (纸本)1934272612

This paper presents a comparison of neural network method and scale invariant featured method for target detection in the stream possessed from CCD camera. The techniques are designed to run in real-time using off-the-shelf hardware for use on an unmanned vehicle - helicopter. Our methodology is to quickly detect candidate locations using neural network or SIFT. Additional processing is then applied to the candidate locations in order to eliminate false alarms. This technique have been tested on a set of imagery from a live - test range with outstanding results.

关键词： CCD cameras

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controller Design for Polynomial Systems with Input Constraints

Controller Design for Polynomial Systems with Input Constrai...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Thomas Gu?ner Jürgen Adamy Institute of Automatic Control Control Theory and Robotics LabTechnische Universit¨at Darmstadt

In this paper,a new optimization based design method for stabilization of polynomial systems with input constraints is *** method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial control law fulfilling amplitude constraints of the *** of input rate constraints can be included by extending the optimization *** resulting sum of squares optimization problems are ***,an iterative algorithm is used to obtain a *** applicability of the method is demonstrated by an example system,for which it turns out that the resulting controller exploits the given amplitude range very well and leads to better control performance than a polynomial controller.

关键词： SOS Lyapunov controller Design for Polynomial Systems with Input Constraints

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Level-set segmentation with contour based object representation

Level-set segmentation with contour based object representat...

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International Joint Conference on Neural Networks (IJCNN)

作者： Daniel Weiler Florian Roehrbein Julian Eggert Institute of Automatic Control Control Theory and Robotics Laboratory Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach Germany

In this paper we present an approach for contour based object representation. To this end we use a curvature signal gained by a level-set segmentation method. The advantage of that curvature signal is that it generates no computational overhead as it is a byproduct of standard level-set segmentation methods. Different methods for the description of the segmented objects, so called object descriptors are presented. The object descriptors are all invariant against translation, rotation and scale of the object. Furthermore we show a sparse and memory efficient representation of the descriptors for a series of objects. Finally an approach for classification of unknown objects based on ldquomemorizedrdquo objects is proposed.

关键词： Image segmentation Shape Biological system modeling Neurons Pixel Neural networks Signal generators Labeling Automatic control control theory

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Global shape with morphogen gradients and motile polarized cells

Global shape with morphogen gradients and motile polarized c...

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Congress on Evolutionary Computation

作者： Till Steiner Jens Trommler Martin Brenn Yaochu Jin Bernhard Sendhoff Honda Research Institute Europe GmbH Offenbach Germany Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

A new cellular model for evolving stable, lightweight structures is presented in this paper. The focus lies in enhancing the ability of the cellular system to create complex 3D shapes with non self-similar regions. Compared to our previous work, the model proposed in this paper is composed of polarized cells that have directionally differential force functions for cell adhesion and thus are able to follow morphogen gradients (chemotaxis). We investigate the evolution of global information in form of evolving morphogen gradients that are created prior to development, which serve to guide cellular and shape differentiation. Our analysis shows that for a set of Pareto-optimal solutions of lightweight stable structures, no unique gradient can be evolved. Nevertheless, it is revealed that neighboring individuals in the genotype space are also neighbored in the gradient space. By contrast, neighborhood in the fitness space is not maintained in the genotype space. These results suggest that a hierarchical genetic formulation might be better than a 'common predefined spatial pattern' in form of a predefined gradient. In addition, our analysis also implies that some well-known properties in direct-coding evolutionary algorithms may be lost in developmental mappings.

关键词： Shape Organisms Evolution (biology) Biological system modeling Optical polarization Genetics Chemicals Embryo DNA Lightweight structures

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