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Proceedings of the 6th International Conference on Predictive Models in Software engineering

作者： Jureczko, Marian Madeyski, Lech Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Institute of Informatics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9781450304047

Background: This paper describes an analysisthat was conducted on newly collected repository with 92 versions of 38 proprietary, open-source and academic projects. A preliminary study perfomed before showed the need for a further in-depth analysis in order to identify project clusters. Aims: The goal of this research is to perform clustering on software projects in order to identify groups of software projects with similar characteristic from the defect prediction point of view. One defect prediction model should work well for all projects that belong to such group. The existence of those groups was investigated with statistical tests and by comparing the mean value of prediction efficiency. Method: Hierarchical and k-means clustering, as well as Kohonen's neural network was used to find groups of similar projects. The obtained clusters were investigated with the discriminant analysis. For each of the identified group a statistical analysis has been conducted in order to distinguish whether this group really exists. Two defect prediction models were created for each of the identified groups. The first one was based on the projects that belong to a given group, and the second one - on all the projects. Then, both models were applied to all versions of projects from the investigated group. If the predictions from the model based on projects that belong to the identified group are significantly better than the all-projects model (the mean values were compared and statistical tests were used), we conclude that the group really exists. Results: Six different clusters were identified and the existence of two of them was statistically proven: 1) cluster proprietary B - T=19, p=0.035, r=0.40;2) cluster proprietary/open - t(17)=3.18, p=0.05, r=0.59. The obtained effect sizes (r) represent large effects according to Cohen's benchmark, which is a substantial finding. Conclusions: The two identified clusters were described and compared with results obtained by other researchers

关键词： Statistical tests

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Application of adaptive neural network to dishwasher operation control

Application of adaptive neural network to dishwasher operati...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Michał Podgórski Institute of Computer Engineering Control and Robotics Wrołcaw University of Technology Wroclaw Poland

The paper presents adaptive neural network based controller of dishwasher. It shows how to prepare input data for training networks and presents the simulation of network performance.

关键词： Neurons Robot sensing systems Artificial neural networks Smoothing methods Computational modeling Adaptation model Mathematical model

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Preface

Communications and Control Engineering

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Communications and control engineering 2011年第9780857292551期 vii-xi页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore

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Wiener-Hammerstein system identification with non-Gaussian input

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IFAC Proceedings Volumes 2010年第10期43卷 106-111页

作者： Grzegorz Mzyk The Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 50-370 Wroclaw Poland tel: +48 71 320 32 77

The paper addresses the problem of non-parametric estimation of the static characteristic in Wiener-Hammerstein (sandwich) system excited and disturbed by random processes. A new, kernel-like method is presented. The proposed estimate is consistent under small amount of a priori information. An IIR dynamics, non-invertible static non-linearity, and non-Gaussian excitations are admitted. The convergence of the estimate is proved for each continuity point of the static characteristic and the asymptotic rate of convergence is analysed. The results of computer simulation example are included to illustrate the behaviour of the estimate for moderate number of observations.

关键词： Wiener-Hammerstein system nonparametric identification kernel estimate convergence analysis

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Establishing the NP-hardness of maximally permissive RAS-based approaches to multi-vehicle system safety

Establishing the NP-hardness of maximally permissive RAS-bas...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Elzbieta Roszkowska Spyros Reveliotis Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland School of Industrial & Systems Engineering Georgia Institute of Technology USA

ISBN: (纸本)9781424450381;9781424450404

The safety problem in multi-vehicle systems seeks to establish collision-free and live vehicle motion, and it is a prominent problem for many configurations of these environments. Past work studying this problem in the context of free-range vehicular systems through abstractions based on Resource Allocation System (RAS) theory, has implicitly assumed that its resolution through maximally permissive supervision is NP-hard, and therefore, it has typically pursued suboptimal (i.e., more restrictive) solutions. The work presented in this paper offers formal proof to this implicit assumption, closing the apparent gap in the existing literature.

关键词： Resource management Vehicle safety Motion control System recovery Space vehicles control systems robotics and automation USA Councils Mobile agents Distributed computing

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Recursive estimation of Hammerstein system nonlinearity by Haar wavelets

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IFAC Proceedings Volumes 2010年第14期43卷 439-444页

作者： Przemysław łliwiński Zygmunt Hasiewicz Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland

In the note two recursive algorithms recovering the nonlinearity in Hammerstein systems are proposed. The algorithms are based on Haar wavelet orthogonal series kernels and are of the simple generic standard form: where κ k ( x ) is an algorithm-dependent weighting factor. Convergence of both algorithms is examined for continuous and discontinuous nonlinearities and the convergence rates are established. Stability of the algorithms is also shown. Their performances for small numbers of measurements are numerically compared.

关键词： Hammerstein system non-parametric identification Haar orthogonal expansion regression estimation convergence on-line algorithm BIBO stability

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Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface

Switched-structure of linear MIMO controllers for positionin...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Stanisław Bańka Michał Brasel Paweł Dworak Krzysztof J. Latawiec Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland Institute of Control and Computer Engineering Opole University of Technology Opole Poland

In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.

关键词： Marine vehicles control systems Mathematical model Drilling Observers MIMO Vectors

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Parallelizing of digital signal processing with using GPU

Parallelizing of digital signal processing with using GPU

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Wojciech Bożejko Andrzej Dobrucki Maciej Walczyński Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Institute of Telecommunications Teleinformatics and Acoustics Wroclaw University of Technology Wroclaw Poland

In this paper we show the process of a class of algorithms parallelization which are used in digital signal processing. We present this approach on the instance of the popular LMS algorithm which is used in noise reduction, echo cancelation problems and digital signal processing in general. We propose an approach which uses a GPGPU technology. Parallel approach allows us decomposing the problem into a number of smaller ones, which can be computed faster. Obtained results, especially increase of speed and efficiency, show that the parallel method implemented on GPU is much more effective than other existing procedures and it can be used in the real-time systems.

关键词： Graphics processing unit Random access memory

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Disturbance and friction compensations in hard disk drives using neural networks

Disturbance and friction compensations in hard disk drives u...

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作者： Lai, Chow Yin Lewis, Frank L. Venkataramanan, Venkatakrishnan Ren, Xuemei Ge, Shuzhi Sam Liew, Thomas NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 117456 Singapore Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX United States Data Storage Institute A STAR Singapore 117608 Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

In this paper, we show that by using two adaptive neural networks (NNs), each of which is tailored for a specific task, the tracking performance of the hard-disk-drive (HDD) actuator can be significantly improved. The first NN utilizes accelerometer signal to detect external vibrations and compensates for its effect on HDD position via feedforward action. The second NN is designed to compensate for pivot friction. The appealing advantage of the NN compensators is that the design does not involve any information on the plant, sensor, disturbance dynamics, and friction model. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Experimental results show that the tracking performance of the HDDs can be improved significantly with the use of the NN compensators as compared to the case without compensation. © 2009 IEEE.

关键词： Tribology

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Combining optimistic and pessimistic DVS scheduling: An adaptive scheme and analysis 10

Combining optimistic and pessimistic DVS scheduling: An adap...

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IEEE International Conference on computer-Aided Design

作者： Simon Perathoner Kai Lampka Nikolay Stoimenov Lothar Thiele Jian-Jia Chen Computer Engineering and Networks Laboratory (TIK) Swiss Federal Institute of Technology Zurich Switzerland Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781424481927

Performance boosting of modern computing systems is constrained by the chip/circuit power dissipation. Dynamic voltage scaling (DVS) has been applied for reducing the energy consumption by dynamically changing the supply voltage. One can optimistically apply greedy online DVS scheduling algorithms by considering only the events that have arrived in the system. However, this might require a speed that is beyond a system's capability. Alternatively, one can pessimistically use a conservative speed to ensure timing guarantees, which might consume an excessive amount of energy as events might be processed faster than necessary. This paper presents an adaptive scheme that combines these two strategies for the scheduling of arbitrary event streams. The proposed adaptive DVS scheduler chooses the execution speed dynamically as long as it is below a certain threshold. Once the speed exceeds this threshold, the proposed scheduler operates at a constant (pessimistic) speed for guaranteeing the feasibility. The computation of the threshold speed is, however, not straight-forward. For deriving it, we make use of a framework based on timed model checking because the scheduler is strongly state-dependent. The resulting analysis framework allows to obtain the threshold speed for the proposed adaptive DVS scheduling algorithm such that both timing and speed constraints are guaranteed to be met and at the same time an energy-efficient execution is ensured.

关键词： Voltage control Optimized production technology Energy consumption Timing Adaptation model Scheduling algorithm Adaptive scheduling

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