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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Micael S. Couceiro Rui P. Rocha Carlos M. Figueiredo J. Miguel A. Luz N. M. Fonseca Ferreira Institute of Systems and Robotics University of Coimbra Pólo II 3030-290 Coimbra Portugal Ro-boCorp at the Electrical Engineering Department Engineering Institute of Coimbra Rua Pedro Nunes - Quinta da Nora 3030-199 Coimbra Portugal

ISBN: (纸本)9781467317375

This paper presents a collective foraging algorithm designed to simulate natural selection in a group of swarm robots. The Robotic Darwinian Particle Swarm Optimization (RDPSO) previously proposed is improved using fractional calculus theory and evaluated on real low-cost mobile robots performing a distributed foraging task. This work aims at evaluating this novel exploration strategy, by studying the performance of the algorithm within a population of up to 12 robots, under communication constraints. In order to simulate the maximum allowed communication distance, robots were provided with a list of their teammates' addresses. Experimental results show that only 4 robots are needed to accomplish the proposed mission and, independently on the number of robots, maximum communication distance and fractional coefficient, the optimal solution is achieved in approximately 90% of the experiments.

关键词： Fittest RDPSO experiments

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Accurate Matlab/Simulink model of a Power Generation System Based on Fuel Cells

Accurate Matlab/Simulink model of a Power Generation System ...

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Annual Conference on IEEE Industrial Electronics Society

作者： A. S. Carvalho M. T. Outeiro Department of Electrical Engineering and Computers Engineering Faculty of Oporto University Institute of Systems and Robotics University of Porto

ISBN: (纸本)9781467324199

Modeling and simulation techniques are indispensable in every aspect of power system design. Power systems need to be simulated in a longer period of time and more frequently especially when they are being analyzed using complex computer algorithms. The MatLab/Simulink software is used in the simulation of a power generation system based on fuel cells. To provide a higher level of accuracy, a stiff algorithm is used. The accuracy of the simulation is verified by comparing the simulation results to these obtained experimentally in a prototype. Firstly the paper presents the electrical equivalent circuit of the PEM fuel cell, and its modelization in MatLab/Simulink. Secondly and once selected the topology and decided the control structure of the converter, its implementation in MatLab/Simulink software is presented. The model of the power generation system is performed in two parts, namely: the power circuit and the control circuit A special attention is given to the control strategy, providing detailed explanation to each control subsystem, particularly, the voltage control, the frequency control and PEM control. The simulation and experimental results that are focused on the stability of the system, and the resonant converter operation, are used to validate the accuracy of the model developed.

关键词： Mathematical model MATLAB Integrated circuit modeling Load modeling Topology Lead

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Scheduling measurements and controls over networks — Part II: Rollout strategies for simultaneous protocol and controller design

Scheduling measurements and controls over networks — Part I...

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American Control Conference (ACC)

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhovan University of Technology Netherlands Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macao China

ISBN: (纸本)9781457710957

We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.

关键词： Sensors Protocols Scheduling Optimal scheduling Covariance matrix Processor scheduling Networked control systems

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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A Taxonomy for User-Healthcare Robot Interaction

A Taxonomy for User-Healthcare Robot Interaction

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Conrad Bzura Hosung Im Tammy Liu Kevin Malehorn Taskin Padir Bengisu Tulu Biomedical Engineering Department Worcester Polytechnic Institute Worcester MA 01609 USA Robotics Engineering Program Worcester Polytechnic Institute Worcester MA 01609 USA Management Information Systems Program Worcester Polytechnic Institute Worcester MA 01609 USA Assistant Professor of Robotics Engineering and Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA 01609 USA Assistant Professor in the School of Business Worcester Polytechnic Institute Worcester MA 01609 USA

ISBN: (纸本)9781424441198

This paper evaluates existing taxonomies aimed at characterizing the interaction between robots and their users and modifies them for health care applications. The modifications are based on existing robot technologies and user acceptance of robotics. Characterization of the user, or in this case the patient, is a primary focus of the paper, as they present a unique new role as robot users. While therapeutic and monitoring-related applications for robots are still relatively uncommon, we believe they will begin to grow and thus it isimportant that the spurring relationship between robot and patient is well understood.

关键词： understood relationship isimportant

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USE OF DARWINIAN PARTICLE SWARM OPTIMIZATION TECHNIQUE FOR THE SEGMENTATION OF REMOTE SENSING IMAGES

USE OF DARWINIAN PARTICLE SWARM OPTIMIZATION TECHNIQUE FOR T...

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IEEE International Geoscience and Remote Sensing Symposium

作者： Pedram Ghamisi Micael S. Couceiro Nuno M. F. Ferreira Lalit Kumar Geodesy & Geomatics Engineering Faculty K. N. Toosi University of Technology Institute of Systems and Robotics University of Coimbra Robo Corp Electrical Engineering Department Engineering Institute of Coimbra GECAD - Knowledge Engineering and Decision Support Research Center Ecosystem Management School of Environmental and Rural Science University of New England

ISBN: (纸本)9781467311601

In this work, a novel method for segmentation of Remote Sensing (RS) images based on the Darwinian Particle Swarm Optimization (DPSO) for determining the n-1 optimal n-level threshold on a given image is proposed. The efficiency of the proposed method is compared with the Particle Swarm Optimization (PSO) based segmentation method. Results show that DPSO-based image segmentation performs better than PSO-based method in a number of different measures.

关键词： Multilevel segmentation Swarm optimization Remote sensing Particle swarm optimization images remote sensing segmentation DPSO

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Scheduling Measurements and Controls over Networks - Part I: Rollout Strategies for Protocol Design

Scheduling Measurements and Controls over Networks - Part I:...

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American Control Conference

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhoven University of Technology the Netherlands Dept. of Electrical and Computer Eng. University of California Santa Barbara CA 93106-9560 USA Institute for Systems and Robotics Instituto Superior Tecnico 1046-001 Lisboa Portugal

ISBN: (纸本)9781457710957

We consider networked control systems where nodes (sensors, actuators, and controller) are connected via a communication network that allows only one user to transmit at a given time. We tackle the scheduling problem of deciding which node should access the network at each transmission time so as to optimize a quadratic performance objective. Using the framework of dynamic programming, we propose a rollout strategy by which the node elected to transmit at each step is the one that leads to optimal performance over a lookahead horizon assuming that from then on nodes transmit in a periodic order. The proposed strategy leads to a protocol in which a conic state partition determines which node transmits at each step and which can outperform any given periodic protocol. Moreover, we show that some of the protocols previously proposed in the literature, such as the Maximum Error First and the dynamic protocols, can be viewed as rollout strategies for a certain dynamic programming problem. The advantages of using rollout strategies are illustrated by a numerical example.

关键词： Protocols Networked control systems Actuators Sensors Vectors Dynamic programming Stability analysis

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New results on synchronization for complex dynamical networks with time-varying coupling delay and sampled-data

New results on synchronization for complex dynamical network...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Zheng-Guang Wu Ju H. Park Bo Song Sang-Choel Lee Dong Ha Lee Department of Electrical Engineering Yeungnam University Kyongsan South Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang China Division of IT Convergence/Division of Robotics System DGIST Daegu South Korea

This paper is concerned with the synchronization problem for complex dynamical networks with time-varying coupling delay and sampled-data. The sampling period considered here is assumed to be time-varying but bounded. A novel exponential synchronization condition is established based on the Gronwall's inequality, and an explicit expression for a set of sampled-data synchronization controllers is also given in terms of the solution to linear matrix inequalities. A numerical example is introduced to show the effectiveness of the given result.

关键词： Synchronization Delay Symmetric matrices Couplings Complex networks Trajectory Time varying systems

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Robust decentralized dynamic control for synchronization of a complex dynamical network with randomly occurring uncertainties

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Nonlinear Dynamics 2012年第1期70卷 559-570页

作者： Lee, Tae H. Park, Ju H. Wu, Zheng-Guang Lee, Sang-Choel Lee, Dong Ha Nonlinear Dynamics Group Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang P.R. China Division of IT Convergence/Division of Robotics System DGIST Daegu Republic of Korea

This paper considers synchronization problem of an uncertain complex dynamical network. The norm-bounded uncertainties enter into the complex dynamical network in randomly ways, and such randomly occurring uncertainties (ROUs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. Under the circumstances, a robust $\mathcal{H}_{\infty}$ decentralized dynamic feedback controller is designed to achieve asymptotic synchronization of the network. Based on Lyapunov stability theory and linear matrix inequality (LMI) framework, the existence condition for feasible controllers is derived in terms of LMIs. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our result.

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Energy Harvesting for Zigbee Compliant Wireless Sensor Network Nodes

Energy Harvesting for Zigbee Compliant Wireless Sensor Netwo...

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Annual Conference on IEEE Industrial Electronics Society

作者： J. Pedro Amaro Fernando J. T. E. Ferreira Rui Cortesao Jorge Landeck Department of Electrical Engineering Polytechnic Institute of Coimbra (IPC/ISEC) Institute of Systems and Robotics University of Coimbra ISA - Intelligent Sensing Anywhere

ISBN: (纸本)9781467324199

The power supply is one the main constraints when operating portable electronic devices. This fact is of extreme importance when addressing Wireless Sensor Networks operation and implementation, where early solutions used the most obvious power supply available: Batteries. Batteries have a number of drawbacks making them an important limitation when imple-menting large scale Wireless Sensor Networks. In this paper, a contact-less power supply using a Split-Core Toroidal Coil Current Transformer is proposed. This device is able to harvest energy from the power supply lines of domestic appliances and industrial electrical equipment. The Split-Core Current Transformer was successfully applied to power a battery-free wireless device. Moreover, a simulation model is proposed and used to design a power supply to a Zigbee compliant device. The proposed device is able to power sustained communications for this complex protocol as long as a 1A mains current exists in the power lines.

关键词： Wireless sensor networks Magnetic flux RNA Wireless communication Magnetic cores Batteries Generators

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