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Guangdian Gongcheng/Opto-Electronic engineering 2005年第5期32卷 89-92页

作者： Zhang, Peng-Fei Li, De-Sheng Wang, Qi Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China College of Mechanical Engineering and Applied Electronic Technol. Beijing University of Technology Beijing 100022 China

A novel iris recognition method based on multi-texture feature fusion is presented in the paper. The extraction of the texture features with different resolutions in different directions are carried out by performing Gabor wavelet transform for iris image and the extracted features are used as global features of iris. The local features of iris are extracted by applying gray scale level Co-Occurrence Matrix (COM) to the filtered sub-window image. The global features and local features will be recognized and sorted by weighting Euclidean distance and the minimum distance, respectively. A sorting method with Fuzzy Inference system (FIS) feature fusion is designed to improve the robustness of iris recognition. Experimental results show that the method is effective and feasible with recognition ratio up to 98.5%, False Acceptance Rates (FAR) lower than 0.1% while False Rejection Rates (FRR) keeping 1.4%.

关键词： Feature extraction Feature fusion Image preprocessing Iris recognition

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Unknown Input Detection Using Receding Horizon Approach

Unknown Input Detection Using Receding Horizon Approach

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IEEE International Symposium on Intelligent control (ISIC)

作者： B. Kulcsar J. Bokor Department of Transport Automation Faculty of Transportation Engineering Budapest University슠of슠Technology슠and슠Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on the one hand the Kalman filtering and on the other hand the moving horizon estimation (MHE) when stochastic noise on the input and on the output, with additive failure directions, are presents. The paper combines the optimal Kalman and MHE method with geometric based unknown input observer strategy. The MHE solution makes to treat constraints during the estimation process possible. A numerical example supports the necessity of constrained unknown input estimation

关键词： Fault detection State estimation control systems Kalman filters Space technology Additive noise automation Stability Predictive models Predictive control

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control OF PWA systemS USING A STABLE RECEDING HORIZON METHOD

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IFAC Proceedings Volumes 2005年第1期38卷 123-128页

作者： I. Necoara B. De Schutter W.P.M.H. Heemels S. Weiland M. Lazar T.J.J. van den Boom Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Department of Electrical Engineering Control System Group Eindhoven University of Technology Embedded Systems Institute

In this paper we derive stabilization conditions for the class of piecewise affine (PWA) systems using the linear matrix inequality (LMI) framework. We take into account the piecewise structure of the system and therefore the matrix inequalities that we solve are less conservative. Using the upper bound of the infinite-horizon quadratic cost as a terminal cost and constructing also a convex terminal set we show that the receding horizon control stabilizes the PWA system. We derive also an algorithm for enlarging the terminal set based on a backward procedure; therefore, the prediction horizon can be chosen shorter, removing some computations off-line.

关键词： piecewise affine system linear matrix inequalities model predictive control

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Optimizationof CPG-network for decentralized control of a snake-like robot

Optimizationof CPG-network for decentralized control of a sn...

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IEEE International Conference on Robotics and Biomimetics

作者： K. Inoue Shugen Ma Chenghua Jin Department of System Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

Periodic locomotion of animal bodies with large degree of freedom is known to be realized by decentralized control using network of central pattern generators (CPGs) that are distributed in spinal cord (in vertebrates) or nerve cords (in invertebrates). In this paper, optimization of a decentralized controller for a snake-like robot based on CPG-network is presented. The controller is composed of CPGs on every robot joints and connections between them. Oscillations of CPGs are coordinated by propagating them each other. For several types of network structure, genetic algorithm (GA) is used to optimize neural parameters, i.e. CPG parameters and synaptic weights. As a result, we derived a CPG-network that is optimal in terms of moving speed

关键词： Distributed control Robot kinematics Legged locomotion Mobile robots Robotics and automation Animals Spinal cord Genetic algorithms Signal generators systems engineering and theory

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Identification of critical load-parameters in power systems using bifurcation analysis

Identification of critical load-parameters in power systems ...

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International Conference on control and automation (ICCA)

作者： I. Winzenick M. Fette J. Horn Department of Electrical Engineering / Institute of Automatic Control Engineering Helmut Schmidt University-University of the Federal Armed Forces Hamburg Germany System and Dynamik Beratungsunternehmen Paderborn Germany

The importance of an uninterrupted electric power service was illustrated in 2003 and 2004 by several outages of electric power systems all over the world. In order to prevent such incidents information about the possible critical parameters are needed. Because of lack of information about this part of the system parameters of the load components are of special interest. Special recently developed tools are capable to analyze parameter influences. Together with test functions they are even capable to identify and classify so called bifurcation. This work presents a systematical analysis of load parameter changes. Points where the system changes its behavior qualitatively (=bifurcations) are identified. Furthermore, their dependence of second or third parameters are analyzed as well. This is illustrated by considering an often-used example: a nine bus power system.

关键词： Power system analysis computing Bifurcation Power systems Uninterruptible power systems Power system control Testing Power system stability Power system modeling Power system dynamics Automatic control

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Robust control design for stiffness measurement of flexible joint

Robust control design for stiffness measurement of flexible ...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Guang-Lin Wang Yun-Feng Li Yun-Li Wu Department of Mechanical Engineering and Automation Harbin Institute of Technology Harbin China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

Flexible joint, one kind of force-sensing element, is a key part of flexible gyro. Its stiffness is very small such that it is easily disturbed by noises in working environment. During the development of the instrument of its stiffness measuring, instability is the main factor affecting the measuring precision. This paper firstly presents a model for stiffness measuring system subjected to disturbance. Based on the model, robust H/sub /spl infin// control design for stiffness measurement of flexible joint is proposed by using a complete parametric approach of eigenstructure assignment to stabilize the stiffness measuring system and guarantee the specified H/sub /spl infin//-norm upper-bound constraint. Finally, the results of simulation show the effect of the proposed approach.

关键词： Robust control control design Neck Instruments Riccati equations Force sensors Mechanical engineering automation control theory Working environment noise

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Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical systems

Natural Gait Generation Techniques for Multi-bodied Isolated...

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IEEE International Conference on Robotics and automation (ICRA)

作者： E. Shammas K. Schmidt H. Choset Mechanical Engineering Department Carnegie Mellon University Pittsburgh PA USA Institute of Automation and Control University of Erlangen Nuremberg Erlangen Germany

This paper investigates how to generate cyclic gaits for multi-bodied isolated mechanical systems whose configuration space is represented by a trivial fiber bundle. We describe how to generate gaits in the base space of the fiber bundle, or the shape space of the robot on which we assume full control. Such gaits are guaranteed to generate a non-zero motion along the fiber space, i.e., a net change in the position of the robot, while making sure that the robot’s shape is unchanged after a complete cycle. The gait generation technique presented in this paper is intuitive; it involves dividing the base space into well defined regions and devising a set of simple rules on how to generate curves in such regions. Not only do such curves guarantee non-zero position change but also do allow for gait optimization.

关键词： Mechanical systems Orbital robotics Robot kinematics Mechanical engineering Shape control Lagrangian functions automation Automatic generation control control systems Equations

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Contour extraction of a moving vehicle in visible images based on image fusion

Contour extraction of a moving vehicle in visible images bas...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Peng Zhao Ni-Hong Wang Zhao-Bang Pu Department of Automation Measurement and Control Harbin Institute of Technology Haerbin China Information and Computer Engineering Institute North East Forestry University Haerbin China

Infrared (IR) and visible images are commonly used in the detection and tracking of a moving target. A novel contour extraction scheme for a moving vehicle is proposed in this paper. Firstly, a motion segmentation technology is applied to get an initial contour. Secondly, a dynamic contour is applied to represent the initial contour and then converges to the target's contour. Lastly, a novel image fusion is proposed, which minimizes the B-spline norm's square of control point vector's difference in two modal images. Image registration is not required. The experiment indicates that for visible images, average contour extraction error decreases by 58.14% after the fusion. Moreover, a fast iteration algorithm of dynamic contour based on the Newmark algorithm is devised. This image fusion is implemented only with control point vectors and is suitable for real-time processing.

关键词： Image fusion Infrared detectors Vehicle dynamics Infrared imaging Target tracking Motion segmentation Computer vision Image converters Spline Image registration

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Auto-tuning PID controller of Internet congestion control system

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2005年第SUPPL.期35卷 67-70页

作者： Yang, Hongyong Zhang, Fuzeng Lin, Xiangze Zong, Guangdeng Department of Computer Science and Technology Yantai Normal College Yantai 264025 China Department of Automatic Control Engineering Southeast University Nanjing 210096 China Institute of Automation Qufu Normal University Qufu 273165 China

Internet congestion control system is considered as a closed-loop feedback system with time-delay. A proportional-integral-differential (PID) controller is then established as active queue management (AQM) scheme to adjust the congestion marked possibility at the links in Internet, whose parameters is auto-tuned by applying the minimization of an integral criterion for adapting the change of the network system. The simulations show that the new AQM scheme can control the size of the queue in the buffer to an expected length and has the robustness for the loading perturbation and the parameter change in the network.

关键词： Congestion control (communication)

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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