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IEEE PES Power systems Conference and Exposition, PSCE

作者： Ganesh K. Venayagamoorthy Real-Time and Intelligent Systems Laboratory Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

The National science Foundation (NSF), USA, CAREER program is a premier program that emphasizes the importance the Foundation places on the early development of academic careers solely dedicated to stimulating the discovery process in which the excitement of research enriched by inspired teaching and enthusiastic learning. This paper presents the research and education experiences gained by the principal investigator - Venayagamoorthy and his research collaborators and students as a result of a NSF CAREER proposal been awarded by the Power, Control and Adaptive Networks (PCAN) program of the electrical, Communications and Cyber systems Division, effective June 1, 2004. The main emphasis of this paper is how and what a CAREER proposal awardee do to be a double winner in all aspects - research, education and outreach. In addition, suggestions on writing a winning NSF CAREER proposal are presented.

关键词： Awards

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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AAAI 2008 workshop reports

AAAI 2008 workshop reports

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作者： Anand, Sarabjot Singh Bunescu, Razvan Carvcdho, Vitor Chomicki, Jan Conitzer, Vincent Cox, Michael T. Dignum, Virginia Dodds, Zachary Dredze, Mark Furcy, David Gabrilovich, Evgeniy Göker, Mehmet H. Guesgen, Hans Hirsh, Haym Jannach, Dietmar Junker, Ulrich Ketter, Wolfgang Kobsa, Alfred Koenig, Sven Lau, Tessa Lewis, Lundy Matson, Eric Metzler, Ted Mihalcea, Rada Mobasher, Bamshad Pineau, Joelle Poupart, Pascal Raja, Anita Ruml, Wheeler Sadeh, Norman Shani, Guy Shapiro, Daniel Smith, Trey Taylor, Matthew E. Wagstaff, Kiri Walsh, William Zhou, Rong Department of Computer Science University of Warwick United Kingdom School of Electrical Engineering and Computer Science Ohio University United States Microsoft Live Labs United States computer science and engineering University at Buffalo United States Computer science and economics Duke University United States Intelligent Computing group of BBN Technologies Utrecht University Netherlands Department of Computer science Harvey Mudd College United States University of Pennsylvania United States University of Wisconsin United States Yahoo Research PricewaterhouseCoopers Center for Advanced Research United States Department of Computer science School of Engineering and Advanced Technology Massey University New Zealand Departent of Computer science Rutgers University United States Department of Computer Science Dortmund University of Technology. Germany ILOG Rotterdam School of Management Erasmus University Netherlands Donald Bren School of Information and Computer Sciences University of California Irvine United States Depatrment of Computer science University of Southern California United States IBM Almaden Research Center United States Department of Computer Information Technology Southern New Hampshire University United States Computer and Information Technology Program College of Technology Purdue University United States Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computer Science and Engineering University of North Texas United States School of Computing DePaul University United States Department of Computer Science McGill University Canada School of Computer Science University of Waterloo Canada Department of Software and Information Systems University of North Carolina Charlotte United States University of New Hampshire United States Microsoft Research Institute for the Study of Learning and Expertise Applied Reactivity Inc. United States NASA Ames Research Center Carnegie Mellon University West

AAAI was pleased to present the AAAI-08 Workshop Program, held Sunday and Monday, July 13-14, in Chicago, Illinois, USA. The program included the following 15 workshops: Advancements in POMDP Solvers;AI Education Workshop Colloquium;Coordination, Organizations, Institutions, and Norms in Agent systems, Enhanced Messaging;Human Implications of Human-Robot Interaction;Intelligent Techniques for Web Personalization and Recommender systems;Metareasoning: Thinking about Thinking;Multidisciplinary Workshop on Advances in Preference Handling;Search in Artificial Intelligence and Robotics;Spatial and Temporal Reasoning;Trading Agent Design and Analysis;Transfer learning for Complex Tasks;What Went Wrong and Why: Lessons from AI Research and Applications;and Wikipedia and Artificial Intelligence: An Evolving Synergy. Copyright © 2009, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Software architecture of the Autonomous Mobile Outdoor Robot AMOR

Software architecture of the Autonomous Mobile Outdoor Robot...

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IEEE Symposium on Intelligent Vehicle

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

Even if outdoor robotics is gaining increasing interest, universal systems are rare to find up to now. One of them is the autonomous mobile outdoor robot (AMOR), which operates in rough terrain under arbitrary weather condition. This paper presents its software architecture and some performance figures. The whole system is designed by a modular and layered paradigm, to allow for easy reconfiguration and adaptation to new tasks. Elementary behaviours act as the fundament, which delivers the basic abilities and secures the robot. Model based components are utilized for more intelligent tasks like obstacle avoidance and local/global path planning. Robust operation in complex terrain is achieved by combining a multitude of sensors. The software architecture unifies them by introducing a virtualisation layer, which hides all hardware specific consideration from the application programmer. This way the overall system configuration can be easily adapted to the actual task without changing the high level software. Above the medium layer an object oriented system has been implemented, that is able to localise, navigate and avoid obstacles in rough terrain. The overall performance of the system has been proven by winning the first price in autonomous driving in the European Land Robot Trial (ELROB 2007) for urban and non-urban terrain. Details of the performance are given in the results.

关键词： Vehicles

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Concept and implementation of a software system on the Autonomous Mobile Outdoor Robot AMOR

Concept and implementation of a software system on the Auton...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration and utilisation by the application programmer. The higher levels of the software system realise localisation, navigation and obstacle avoidance. The overall performance of the system has been proven by winning the first prize in autonomous driving in the European land robot trial (ELROB 2007) for urban and non- urban terrain.

关键词： Robots Sensors Vehicles Sensor systems Robustness Distance measurement Planning

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Merge-by-Wire: Algorithms and System Support

Merge-by-Wire: Algorithms and System Support

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real-time systems Symposium (RTSS)

作者： Vipul Shingde Gurulingesh Raravi Ashish Gudhe Prakhar Goyal Krithi Ramamritham Embedded Real-Time Systems Laboratory Department of Computer Science and Engineering Indian Institute of Technology Bombay

Automakers are trying to make vehicles more intelligent and safe by embedding processors which can be used to implement ldquoby-wirerdquo applications for taking smart decisions on the road or assisting the driver in doing the same. Given this proliferation, there is a need to minimize the computing power required without affecting the performance and safety of the applications. The latter is especially important since these by-wire applications are distributed and real-time in nature and involve deadline bound computations on critical data gathered from the environment. These applications have stringent requirements on the freshness of data items and completion time of the tasks. Our work studies one such safety-related automotive application namely, automatic merge control (AMC) which ensures safe vehicle maneuver in the region where two or more roads *** our contributions, we (i) propose two merge algorithms for amc: head of the lane (HoL) and all feasible sequences (AFS) (ii) demonstrate how DSRC-based wireless communication protocol can be leveraged for the development of AMC (iii) present a real-time approach towards designing AMC by integrating mode-change and real-time repository concepts for reducing the processing power requirements and (iv) provide a scheduling strategy to meet AMC taskspsila timing requirements. Simulations and implementation on robotic vehicular platforms demonstrate the advantages of using our approach for constructing merge-by-wire systems.

关键词： Intelligent vehicles Road vehicles Vehicle safety Vehicle driving Distributed computing Automotive applications Automatic control Communication system control Scheduling algorithm Wireless communication

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Adaptive Critic Design Based Neuro-Fuzzy Controller for a Static Compensator in a Multimachine Power System

Adaptive Critic Design Based Neuro-Fuzzy Controller for a St...

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IEEE General Meeting Power& Energy Society

作者： Salman Mohagheghi Ganesh K. Venayagamoorthy Ronald G. Harley School of Electrical and Computer Engineering Georgia Institute of Technology Intelligent Power Infrastructure Consortium Atlanta GA USA Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla Rolla MO USA

Summary form only given. This paper presents a novel nonlinear optimal controller for a static compensator (STATCOM) connected to a power system, using artificial neural networks and fuzzy logic. The action dependent heuristic dynamic programming (ADHDP), a member of the adaptive critic designs (ACD) family, is used for the design of the STATCOM neuro-fuzzy controller. This neuro-fuzzy controller provides optimal control based on reinforcement learning and approximate dynamic programming, and can effectively perform in the presence of noise and uncertainties. Using a proportional-integrator approach the proposed controller is capable of dealing with actual rather than deviation signals. The STATCOM is connected to a multimachine power system in order to provide voltage support during the steady state performance of the power system and also improve the dynamic stability of the network during faults and disturbances. Two multimachine power systems are considered in this study: a 10-bus 2-generator system and a 45-bus 10-generator system, where the latter is a section of the Brazilian power grid. Simulation results are provided to show that the proposed controller outperforms a conventional PI controller in large scale faults as well as small disturbances.

关键词： Programmable control Adaptive control Control systems STATCOM Power systems Power system dynamics Power system stability Optimal control Automatic voltage control Power system faults

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A Study On Iterative learning Control With Adjustment Of learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Special Issue on Variable Structure System Control — New Designs and Applications

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Asian Journal of Control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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