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Discrete time minimax tracking control with disturbance estimation 10

Discrete time minimax tracking control with disturbance esti...

引用

2009 10th European Control Conference, ECC 2009

作者： Bauer, Peter Kulcsar, Balazs Bokor, Jozsef Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands

ISBN: (纸本)9783952417393

The paper proposes an alternative way to solve robust reference tracking problem. Instead of rejecting the effect of the disturbance directly, an intermediate step is built into the state estimation problem. The advantage of the methodology is to elaborate a modified optimal state estimation problem taking the unbiased estimate of the disturbance into account. Henceforward, the solution of the discrete time, optimal LQ minimax tracking problem is modified and subjected to attenuate the disturbance residual. The paper addresses the nominal case for constant reference and disturbance signal showing the asymptotical stability and the tracking performance of the discrete time, optimal min-max control. Suboptimal solution is given for time varying reference and disturbance signal. A linearized hovering quadrotor example demonstrates the importance of the suggested technique. © 2009 EUCA.

关键词： State estimation

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Swarm Robots Long Term Autonomy Using Moveable Charger

Swarm Robots Long Term Autonomy Using Moveable Charger

引用

International Conference on Future computer and Communication, ICFCC

作者： Farshad Arvin Khairulmizam Samsudin Abdul Rahman Ramli Computer Systems Research Group Department of Computer System Engineering University of Putra Malaysia Serdang Malaysia Intelligent System and Robotic Laboratory Institute on Advanced Technology University of Putra Malaysia Serdang Malaysia

This paper proposes an alternative docking charger station for mobile robots. One crucial task in swarm robots scenario is to find low battery robots and recover them. Overcoming this problem requires a versatile mobile charging station that is able to actively locate and charge inactive mobile robots unlike the conventional stationary docking stations. The mobile charger robot should perform independent tasks other than the swarm robots global task. It uses similar communication method with other swarm robots, however new preprogrammed instructions are required to facilitate battery charging task for swarm robots.

关键词： Mobile robots Batteries Intelligent robots Service robots Robotics and automation computer interfaces Portable computers Robot sensing systems Humans Navigation

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Robotics-mechatronics design competition in Kyushu area, Japan

Robotics-mechatronics design competition in Kyushu area, Jap...

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Sakaki, Taisuke Kiyota, Takanori Kino, Hitoshi Sagara, Shinichi Oguro, Ryuichi Moromugi, Shunji Imado, Keiji Ikeuchi, Hidetaka Fukushima, Manabu Ikeda, Takeshi Aoki, Kanta Ushimi, Nobuhiro Department of Engineering Kyushu Sangyo University Fukuoka Japan Department of Mechanical Systems Engineering University of Kitakyushu Kitakyushu Japan Department of Intelligent Mechanical Engineering Fukuoka Institute Technology Fukuoka Japan Department of Control Engineering Kyushu Institute of Technology Kitakyushu Japan Department of Computer Science and System Engineering Kyushu Institute of Technology Iizuka Japan Department of Mechanical Systems Engineering Nagasaki University Nagasaki Japan Department of Architecture and Mechatronics Oita University Oita Japan Department of Media Technology Nippon Bunri University Oita Japan Department of Mechanical Engineering Kyushu University Fukuoka Japan Department of Art Kyushu Sangyo University Fukuoka Japan

ISBN: (纸本)9784907764296

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Seventy-seven students of eleven teams from seven universities in the Kyushu area participated in the competition, whose subject was " Health care, life supporting and communication or other technical aids for the elderly or disabled." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design. © 2009 SICE.

关键词： Robotics

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On the identification of LPV traffic flow model 10

On the identification of LPV traffic flow model

引用

2009 10th European Control Conference, ECC 2009

作者： Luspay, T. Kulcsar, B. Van Wingerden, J.W. Verhaegen, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13.-17 BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands

ISBN: (纸本)9783952417393

关键词： LPV Identification Linear Parameter Varying (LPV) systems freeway traffic modeling Traffic flow Authentication Subspace systems comparison Loop detector nonlinearity Flow models

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Quantized Feedback Stabilization of Hybrid Impulsive Control systems

Quantized Feedback Stabilization of Hybrid Impulsive Control...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Zhichun Yang Yiguang Hong Zhong-Ping Jiang Xiaoli Wang Chongqing Key Lab of Operations Research and System Engineering Department of Mathematics and Computer ScienceChongqing Normal University Institute of Systems Science Chinese Academy of Sciences Key Laboratory of Systems and Control Institute of Systems ScienceChinese Academy of Sciences Dept.of Electrical & Computer Engineering Polytechnic Institute of New York University

In this paper,we consider the feedback stabilization problem of impulsive linear control systems with quantized input signals and quantized output *** concepts including quasi-invariant sets and attracting sets for hybrid impulsive quantized systems are *** on these concepts and the analysis of related dynamic properties,we propose hybrid quantized control schemes to stabilize the considered impulsive systems via state and output feedback.

关键词： quantization impulsive systems hybrid control stabilization

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Feature extraction of electroencephalogram of photic evoked spikes with slow burst and its automatic detection

Feature extraction of electroencephalogram of photic evoked ...

引用

ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Nishida, Shigeto Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Neurology Kyoto University School of Medicine Kyoto Japan Department of System Neuroscience Sapporo Medical University Sapporo Japan Takeda General Hospital Kyoto Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

A method for detecting spikes and slow burst in photic evoked electroencephalogram (EEG) was proposed. The spikes were detected by combining methods of the morphological filter and the similarity coefficient in the time domain. The slow burst was detected by using pole of AR model in the frequency domain. The proposed method was applied for the photic evoked EEG data containing spikes and slow burst, and brought satisfactory coincidence with the results interpreted by a qualified electroencephalographer. © 2009 SICE.

关键词： Electroencephalography

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Analysis of the different wireless transmission technologies in Distributed Measurement systems

Analysis of the different wireless transmission technologies...

引用

IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： L. Skrzypczak D. Grimaldi R. Rak Department of Electronics Computer and System Sciences University of Calabria Cosenza Italy Institute of the Theory of Electrical Engineering Information and Measurement Systems Electrical Engineering Faculty Warsaw University of Technology Warsaw Poland

In order to make modern measurement systems more flexible, faster and easier to configure and use, the implementation of wireless technology is needed into the Distributed Measurement system (DMS). There is a number of wireless standards available on the market, each one with unique characteristics. The paper is an attempt at categorizing different wireless standards to meet specific requirements of the DMSs. Innovative system architectures making use of modern microcontrollers and multiple wireless transmission standards were taken into account. In order to analyze the characteristics different wireless transmission standard (such as ZigBee and SimpliciTI.) in the operating condition available into the wireless DMS, experimental tests were devoted. The information obtained from theses experimental tests are used to develop a new design approach of the wireless connection into the DMS to integrate different standards and to achieve best transmission properties.

关键词： Instruments Electric variables measurement Microcontrollers ZigBee Wireless sensor networks Distributed computing Testing Communication cables Intelligent sensors Conferences

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A human DNA methylation site predictor base on SVM

A human DNA methylation site predictor base on SVM

引用

2009 9th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2009

作者： Sun, Yi-Ming Liu, Baw-Jhiune Liao, Wei-Li Chang, Cheng-Wei Huang, Hsien-Da Horng, Jorng-Tzong Wu, Li-Ching Department of Computer Science and Information Engineering National Central University Jhongli 320 Taiwan Department of Computer Science and Information Engineering Yuan-Ze University Jhongli 320 Taiwan Department if Information Management Hsing Wu College Taipei 244 Taiwan Department of Biological Science and Technology Institute of Bioinformatics and Systems Biology National Chiao-Tung University Hsinchu 300 Taiwan Department of Bioinformatics Asia University Wufeng 413 Taiwan Graduate Institute of System Biology and Bioinformatics National Central University Jhongli 320 Taiwan

ISBN: (纸本)9780769536569

During gene expression, transcription factors are unable to bind to a transcription binding site (TFBS) involved in regulation if DNA methylation has occurred at the TFBS. Methyl-CpG-binding proteins may also occupy the TFBS and prevent the functioning of a transcription factor. Thus, the methylation status of CpG sites is an important issue when trying to understand gene regulation and shows strong correlation with the TFBS involved. In addition, CpG islands would seem to undergo cell-specific and tissue-specific methylation. Such differential methylation is presented at numerous genetic loci that are essential for development. Current DNA methylation site prediction tools need to be improved so that they include TFBS features and have greater accuracy in terms of the DNA region that is involved in methylation. We developed models that compare the differences across these regions and tissues. The TFBSs, DNA properties and DNA distribution were used as features for this classification. From the results, we found some TFBSs that were able to discriminate whether a sequence was methylated or not. The sensitivity, specificity and accuracy estimated using 10-fold cross validation were 90.8%, 80.54%, and 86.07%, respectively. Thus, for these four regions and twelve tissues, the performance levels (ACC) were all greater than 80%. We propose that the differential features or methylations vary between the different regions because the features common to each DNA region made up only 50% of the top 70 features. An online predictor based on EpiMeP is available at http://140.115.51.41/EpiMeP/. Supplementary file is available at http://140.115.51.41/EpiMeP/supplementary. doc. © 2009 IEEE.

关键词： Methylation

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Yaw control via combined braking and steering

Yaw control via combined braking and steering

引用

European Control Conference (ECC)

作者： B. Vanek B. Kulcsár P. Falcone G. Balas Computer and Automation Research Institute of the Hungarian Academy of Sciences Delft Center for System and Control Department of Signals and Systems Chalmers University of Technology Department of Aerospace Engineering and Mechanics University of Minnesota

Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tyre characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tyre characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.

关键词： Tires Force Mathematical model Wheels Vehicles Equations Nonlinear dynamical systems

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An exterior-point approach to the fixed-order mixed H∞/D-stability controller design

An exterior-point approach to the fixed-order mixed H∞/D-st...

引用

International Conference on Control and Automation (ICCA)

作者： Takeshi Terada Yasushi Kami Eitaku Nobuyama Department of the Mechanical and Electronic System Engineering Akashi National College of Technology Hyogo Japan Department of the Electrical and Computer Engineering Akashi National College of Technology Hyogo Japan Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9781424447060

This paper deals with the mixed H ∞ /D-stability control problem with a fixed-order output feedback controller. It is well known that this control problem is described as a combined bilinear matrix inequality (BMI) problem whose feasible solution is difficult to be found. In this paper, we propose a new exterior-point approach for finding a feasible solution of this problem. The advantage of our approach is to be able to use a non-stabilizing controller as an initial point. Numerical examples show the efficiency of our approach.

关键词： Output feedback Automatic control Linear matrix inequalities Iterative methods Educational institutions Design automation Robust control Uncertainty Time factors computer numerical control

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