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International Workshop on Variable Structure Systems, VSS

作者： H. Ríos E. Punta L. Fridman Department of Control Engineering and Robotics National Autonomous University of Mexico Mexico D.F National Research Council of Italy Institute of Electronics Computer and Telecommunication Engineering Torino Italy

This paper deals with the fault detection problem for nonlinear uncertain non-affine systems. The variable-structure output-feedback stabilization based on observer is required. Depending on the type of uncertainties, conditions are given under which convergence to the unique solution of both the system and the observer, and fault detection are achieved. Simulation results illustrate the feasibility of the proposed approach.

关键词： Vectors Uncertainty Observers Fault detection Jacobian matrices Manifolds control systems

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Cyclic Scheduling of Multimodal Processes in Crystalline-like Network Structures

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Procedia computer Science 2014年 35卷 1567-1576页

作者： Grzegorz Bocewicz Robert Wójcik Zbigniew Banaszak Department of Electronics and Computer Science Koszalin University of Technology Sniadeckich 2 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Department of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

The paper introduces the concept of a crystalline-like model of a computer communication network (CCN) composed of routers forming a repeating or periodic arrangement. The considered homogenous network assumes the same routers servicing the same number of transmissions form an array. In such a network several isomorphic sub-networks encompassing packet transmission processes serviced by each router, interact each other as to provide a variety of demand-responsive host-server transmission services. In that context, a crystalline-like layout of physically different, however functionally identical, routers provides a homogenous array supporting computer network flows. In turn, packet transmission flows are treated as multimodal processes encompassing arbitrarily given inter-computer communications. Assuming the packets passing their origin-destination routes are synchronized by the same mechanism of packet transmission the problem boils down to a communication processes scheduling. Since concurrent transmission flows are processed along the same presumed routes, hence the schedules sought are cyclic ones. In general case, cycles of multimodal processes depend on CNN's periodicity. That objective to develop conditions allowing one to calculate the cyclic schedule of whole CCN while taking into account only periodicity of its repeating isomorphic structure.

关键词： cyclic scheduling multimodal networks constraint programming structures composition

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The Use of Intelligent Systems for Planning and Scheduling of Product Development Projects

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Procedia computer Science 2014年 35卷 1586-1595页

作者： Marcin Relich Wojciech Muszyński University of Zielona Gora Licealna 9 Zielona Gora 65-216 Poland Wrocław University of Technology Institute of Computer Engineering Control and Robotics Wybrzeże Wyspiańskiego 27 Wrocław 50-370 Poland

The paper investigates the use of intelligent systems to identify the factors that significantly influence the duration of new product development. These factors are identified on the basis of an internal database of a production enterprise and further used to estimate the duration of phases in product development projects. In the paper, some models and methodologies of the knowledge discovery process are compared and a method of knowledge acquisition from an internal database is proposed. The presented approach is dedicated to industrial enterprises that develop modifications of previous products and are interested in obtaining more precise estimates for project planning and scheduling. The example contains four stages of the knowledge discovery process including data selection, data transformation, data mining, and interpretation of patterns. The example also presents a performance comparison of intelligent systems in the context of variable reduction and preprocessing. Among data mining techniques, artificial neural networks and the fuzzy neural system are chosen to seek relationships between the duration of project phase and other data stored in the information system of an enterprise.

关键词： data mining knowledge acquisition pattern recognition fuzzy neural system artificial neural networks business intelligence systems

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Innovative hand exoskeleton design for extravehicular activities in space

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期 i-iv页

作者： Freni, Pierluigi Marina Botta, Eleonora Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Torino Italy Mechanical Engineering McGill University Montreal Canada Control and Computer Engineering Polytechnic University of Turin Torino Italy Center for Space Human Robotics Italian Institute of Technology Torino Italy

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Multistage Naive Bayes classifier with reject option for multiresolution signal representation

Multistage Naive Bayes classifier with reject option for mul...

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2nd International Conference on Pattern Recognition Applications and Methods, ICPRAM 2013

作者： Libal, Urszula Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

ISBN: (纸本)9789898565419

In the article, two approaches to pattern recognition of signals are compared: a direct and a multistage. It is assumed that there are two generic patterns of signals, i.e. a two-class problem is considered. The direct method classifies signal in one step. The multistage method uses a multiresolution representation of signal in wavelet bases, starting from a coarse resolution at the first stage to a more detailed resolutions at the next stages. After a signal is assigned to a class, the posterior probability for this class is counted and compared with a fixed level. If the probability is higher than this level, the algorithm stops. Otherwise the signal is rejected and on the next stage the classification procedure is repeated for a higher resolution of signal. The posterior probability is calculated again. The algorithm stops when the probability is higher than a fixed level and a signal is finally assigned to a class. The wavelet filtration of signal is used for feature selection and acts as a magnifier. If the posterior probability of recognition is low on some stage, the number of features on the next stage is increased by taking a better resolution. The experiments are performed for three local decision rules: naive Bayes, linear and quadratic discriminant analysis.

关键词： Probability

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Application of artificial neuron networks and hurst exponent to forecasting of successive values of a time series representing environmental measurements in an intelligent building

Application of artificial neuron networks and hurst exponent...

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14th International Conference on computer Aided Systems Theory, EUROCAST 2013

作者： Stachno, Andrzej Jablonski, Andrzej Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

ISBN: (纸本)9783642538551

control systems for intelligent buildings based on environmental measurements. The information contained in the measurement data in many cases are independent and chaotic. You can not interact with the control system, but only to monitor. In many cases, the use of measurement data for the purpose of building automation control, requires the use of forecasting systems. For the needs forecasting this type of measurement data apply artificial neural networks. Learning provides a mechanism to adjust its internal parameters of artificial neural network to characterize the trend of the time series reflects the measurement data. For time series with greater variability of smoothing is necessary. The intention initial classification time series smoothing and allows the use of artificial neural networks to forecast the next value of the time series irrespective of their volatility. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Forecasting

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Application of stochastic counterpart optimization to contrast-detection autofocusing

Application of stochastic counterpart optimization to contra...

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2013 2nd International Conference on Advances in Computing, Communications and Informatics, ICACCI 2013

作者： Śliwiński, Przemyslaw Wachel, Pawel Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw 50-370 Poland

ISBN: (纸本)9781467362153

A simple model for the contrast-detection autofocusing problem is considered. The variance of the image is examined as a focus function. We prove that the standard convergence rate of the variance estimate (empirical focus function) of order O(T-1), where T is a (relative) sensor size, allows direct application of the golden-section search algorithm to the empirical focus function. © 2013 IEEE.

关键词： Stochastic systems

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Singular and non-singular path following control of a wheeled mobile robot of (2,0) type

Singular and non-singular path following control of a wheele...

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10th International Conference on Informatics in control, Automation and robotics, ICINCO 2013

作者： Plaskonka, Joanna Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 Wroclaw Poland

ISBN: (纸本)9789898565716

This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. The additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. The influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.

关键词： Mobile robots

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Empirical recovery of input nonlinearity in distributed element models

Empirical recovery of input nonlinearity in distributed elem...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Sliwinski, Przemysaw Berezowski, Krzysztof Wachel, Pawe Sicard, Gilles Fesquet, Laurent Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Laboratoire TIMA Grenoble France

ISBN: (纸本)9783902823373

Two algorithms recovering an input nonlinearity in a nonlinear distributed element modeled as a Hammerstein system are proposed. The ?rst is based on the empirical distribution function while the other on the empirical Haar orthogonal series. Both algorithms self-adjust their accuracy to a local density of the input measurements. © IFAC.

关键词： control nonlinearities

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