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Congress on Evolutionary Computation

作者： Hu Zhang Shenmin Song Aimin Zhou Xiao-Zhi Gao Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Computer Science and Technology East China Normal University Shanghai China Department of Electrical Engineering and Automation School of Electrical Engineering Aalto Finland

In this paper, we propose a clustering based multiobjective evolutionary algorithm (CLUMOEA) to deal with the multiobjective optimization problems with irregular Pareto front shapes. CLUMOEA uses a k-means clustering method to discover the population structure by partitioning the solutions into several clusters, and it only allows the solutions in the same cluster to do the reproduction. To reduce the computational cost and balance the exploration and exploitation, the clustering process and evolutionary process are integrated together and they are performed simultaneously. In addition to the clustering, CLUMOEA also uses a distance tournament selection to choose the more similar mating solutions to accelerate the convergence. Besides, a cosine nondominated selection method considering the location and distance information of the solutions are further presented to construct the final population with good diversity. The experimental results show that, compared with some state-of-the-art algorithms, CLUMOEA has significant advantages on dealing with the given test problems with irregular Pareto front shapes.

关键词： Sociology Statistics Shape Convergence Vectors Evolutionary computation Optimization

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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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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The application of saturation memetic algorithm in economic load dispatch

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computer Modelling and New Technologies 2014年第9期18卷 518-521页

作者： Wang, Jianguo Cong, Cong Qing, Xuhua Han, Xiao School of Automation Engineering Northeast Dianli University Jilin China School of Control and Computer Engineering North China Electric Power University Beijing China Jilin Electric Power Research Institute Jilin China College of Information Engineering Northeast Dianli University Jilin China

To solve a nonlinear constrained economic load dispatch (ELD) problem in which the minimized generation cost is taken as objective and valve point effect of thermal units and operation constraints of power grid are taken into account. A saturation memetic algorithm was presented. To avoid the blindness in the search by the proposed using saturation increase efficiency and using adaptive penalty function to deal constraints. Calculation results of 3-machine system verify the effectiveness of the proposed algorithm. Compared with the other existing techniques, the proposed algorithm has been found to perform better. This method seems to be a promising alternative approach for solving the ELD problems in practical power system.

关键词： Electric power plant loads

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Faults and fault propagation modeling in manufacturing systems based on colored petri nets 28

Faults and fault propagation modeling in manufacturing syste...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Gerzson, Miklós Leitold, Adrien Hangos, Katalin M. Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel fault integration method is proposed in this paper for manufacturing system models given in the form of timed colored Petri nets. The faults are assumed to have a stochastic nature and are represented in the form of transitions firing in stochastic way with known fault probabilities in the system model. A novel fault effect propagation method was also developed, that can be used to compute the probabilities of the possible faulty and non-faulty intermediate and final states of the system using the probabilities of faults and the occurrence graph. The faultless and fault containing models were implemented in CPNTools both for non-timed and timed cases. A software module was also developed for the proposed probabilistic fault propagation analysis. The proposed methods and tools were demonstrated using a simple case study.

关键词： Manufacture

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On-line qualitative model-based diagnosis of technological systems using colored petri nets 28

On-line qualitative model-based diagnosis of technological s...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Leitold, Adrien Gerzson, Miklós Pózna, Anna I. Hangos, Katalin M. Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel on-line diagnosis method is proposed in this paper that uses a qualitative dynamic model of the system and its colored Petri nets model. The model contains both the normal and the possible faulty operational modes of the system. The deviation between the normal and faulty modes is characterized based on P-HAZID tables. The actual system state can be searched on the occurrence graph constructed in advance. Starting from this node the possible consequences and root causes can be determined on-line with traversing on the graph. The proposed method is illustrated on simple case studies.

关键词： Petri nets

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Cooperative control in Production and Logistics

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IFAC Proceedings Volumes 2014年第3期47卷 4246-4265页

作者： László Monostori Paul Valckenaers Alexandre Dolgui Hervé Panetto Mietek Brdys Balázs Csanád Csáji Institute for Computer Science and Control Hungarian Academy of Sciences Hungary Faculty of Mechanical Engineering Budapest University of Technology and Economics Hungary Department of Health Care and Technology KHLeuven Belgium LIMOS UMR 6158 CNRS Ecole Nationale Supérieure des Mines de Saint-Etienne France Centre de Recherche en Automatique de Nancy (UMR 7039) Université de Lorraine CNRS France School of Electronic Electrical and Computer Engineering University of Birmingham United Kingdom Department of Control Systems Engineering Gdansk University of Technology Gdansk Poland

This is a milestone paper of the Coordinating Committee on Manufacturing and Logistics Systems (CC5) of the International Federation of Automatic control (IFAC). Classical applications of control engineering and information and communication technology (ICT) in production and logistics are often done in a rigid, centralized and hierarchical way. These inflexible approaches are typically not able to cope with the complexities of the manufacturing environment, such as the instabilities, uncertainties and abrupt changes caused by internal and external disturbances, or a large number and variety of interacting, interdependent elements. A paradigm shift, e.g., novel organizing principles and methods, is needed for supporting the interoperability of dynamic alliances of agile and networked systems. Several solution proposals argue that the future of manufacturing and logistics lies in network-like, dynamic, open and reconfigurable systems of cooperative autonomous entities. The paper overviews various distributed approaches and technologies of control engineering and ICT that can support the realization of cooperative structures from the resource level to the level of networked enterprises. Standard results as well as recent advances from control theory, through cooperative game theory, distributed machine learning to holonic systems, cooperative enterprise modelling, system integration, and autonomous logistics processes are surveyed. A special emphasis is put on the theoretical developments and industrial applications of Robustly Feasible Model Predictive control (RFMPC). Two case studies are also discussed: i) a holonic, PROSA-based approach to generate short-term forecasts for an additive manufacturing system by means of a delegate multi-agent system (D-MAS); and ii) an application of distributed RFMPC to a drinking water distribution system.

关键词： intelligent manufacturing systems complex systems agents production control distributed control predictive control adaptive control machine learning optimization

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Design of a multi-functional system based on virtual reality for stroke rehabilitation

Design of a multi-functional system based on virtual reality...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xin Wen Feng Duan Yong Yu Jeffrey Too Chuan Tan Xiaomin Cheng College of Computer and Control Engineering Nankai University Tianjin P. R. China Institute of Industrial Science The University of Tokyo Tokyo Japan School of Mechanical Engineering Ningbo University of Technology Ningbo P. R. China

This paper presents a motor function rehabilitation system for the disabled with virtual reality. The design of the entire system is established on the SIGVerse virtual platform. The patient can complete the rehabilitation training immersed in a virtual environment. Firstly, the motion information of the patient is recognized by Kinect, and regenerated by the avatar in the virtual environment accurately. At the same time, the view of the avatar can be presented to the patient by HMD. Though this method, the patient can exposure to the virtual environment during the rehabilitation training, so that they can feel like their real and health motions in the virtual environment. Additionally, the EMG signals of the activated muscle are collected, and they can provide a feedback of contraction intensities of the muscle to the patient in real time. Moreover, we provide an electrical stimulation to the corresponding muscle. As a result, the patient can have the perception of muscle contractions.

关键词： Electromyography Muscles Electrical stimulation Training Virtual environments Avatars

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Significance and Mechanism of the Crack Initiation Process during Very High Cycle Fatigue of Duplex Stainless Steel

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Procedia engineering 2014年 74卷 143-146页

作者： U. Krupp A. Giertler M. Söker H. Fu B. Dönges H.-J. Christ K. Istomin A. Hüsecken U. Pietsch C.-P. Fritzen W. Ludwig Faculty Engineering and Computer Science University of Applied Sciences Osnabrück 49009 Osnabrück Germany Institute for Materials Technology Solid State Physics Institute for Mechanics and Control University of Siegen 57068 Siegen Germany European Synchrotron Radiation Facility ESRF 38043 Grenoble Cedex France

In the very high cycle fatigue (VHCF) regime, fatigue damage starts by the formation of slip bands within the softer austenite phase. By high energy X-ray diffraction it was shown that local austenite plasticity due to elastic/plastic anisotropy results in the gradual formation of residual stresses within the ferrite grains. Consequently, cracks are initiated either transgranularly or intergranularly at austenite/ferrite phase boundaries or ferrite/ferrite grain boundaries in the vicinity of the austenite slip bands. By means of ultrasonic fatigue testing of miniature specimens in combination with (i) in-situ observation, (ii) electron back- scatter diffraction, (iii) synchrotron computer tomography, and (vi) high-energy X-ray diffraction, the fatigue crack initiation process and the interactions of the cracks with the first microstructural barriers were quantified. By implementing the results in a numerical modeling approach, the experimental observation that the first barrier seems to limit the VHCF life was supported.

关键词： duplex steel VHCF short cracks modeling barrier strength

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Unmanned Aerial Vehicles (UAV) Heading Optimal Tracking control Using Online Kernel-based HDP Algorithm

Unmanned Aerial Vehicles (UAV) Heading Optimal Tracking Cont...

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International Joint Conference on Neural Networks

作者： Fuxiao Tan Derong Liu Xinping Guan Bin Luo School of Computer and Information Fuyang Teachers College State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University School of Computer Science and Technology Anhui University

ISBN: (纸本)9781479914821

UAV can work in places that are dangerous, or not easy to reach for humans. However, due to active control and operating difficulties, it is still a challenge to develop fully autonomous flight in complex environments. This paper applies a novel heuristic dynamic programming for the UAV heading optimal tracking controller design, using kernel-based heuristic dynamic programming (KHDP). Kernel-based HDP is developed by integrating kernel methods and approximately linear dependence (ALD) analysis with the critic learning of HDP algorithm. Compared with conventional HDP where neural networks are widely used and their features were manually designed, the proposed algorithm can obtain better generalization capability and learning efficiency through applying the sparse kernel machine into the critic learning process of HDP algorithm. Simulation and experimental results of UAV heading optimal tracking control problems demonstrate the effectiveness of the proposed kernel-based HDP algorithm.

关键词： Kernel Algorithm design and analysis Heuristic algorithms Equations Vectors Approximation algorithms Mathematical model

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