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Application of Fuzzy Cognitive Maps in Large Manufacturing Systems

IFAC Proceedings Volumes 1998年第20期31卷 521-526页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +30 61 997293 Fax. +30 61 997309

In this paper the application of Fuzzy Cognitive Map (FCM) in controlling a process problem and its use in modelling Supervisory Manufacturing Systems is presented. The description, construction and the mathematical model of Fuzzy Cognitive Map are examined. Then, a chemical process is modelled with FCM and its behaviour is simulated and the application of Fuzzy Cognitive Maps in the mode ling of the Supervisor of Manufacturing Systems is discussed.

关键词： Cognitive Systems Supervision Manufacturing Systems

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Nonlinear invariance: Cross-positive vector fields

Nonlinear invariance: Cross-positive vector fields

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1998 American Control Conference, ACC 1998

作者： Meyer, David G. Piatt, Teri L. Wadley, Haydn N.G. Vancheeswaran, Ravi Kosut, Robert Nonlinear and Real-Time Control Laboratory Electrical and Computer Engineering Department University of Colorado Boulder CO 80309-0425 United States Intelligent Processing of Materials Laboratory Materials Science and Engineering Department University of Virginia Charlottesville VA 22901 United States SC Solutions Inc. 3211 Scott Blvd. Santa Clara CA 95054 United States

ISBN: (纸本)0780345304

This paper introduces the concept of cross-positivity for vector fields and explores ramifications of cross-positivity relative to solutions of ordinary differential equations. The motivation is to understand the dynamic behavior of systems where the natural physics place constraints on the vector field. Our results extend to nonlinear systems several well-known results about properties of x = Ax when A satisfies special conditions. © 1998 AACC.

关键词： Ordinary differential equations

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Analysis of the sustained ventricular arrhythmias from SAECG using artificial neural network and fuzzy clustering algorithm

Analysis of the sustained ventricular arrhythmias from SAECG...

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

作者： H. Heidari A.V. Shahidi K. Aminian N. Sadati Department of Electrical Engineering Sahand University of Technology Tabriz Iran Department of Electrical and Computer Engineering University of Tehran Tehran Iran Electrical Engineering Department Metrology Laboratory Swiss Federal Lnstitute of Technology Lausanne Switzerland Intelligent Systems Laboratory Sharif University of Technology Tehran Iran

Patients with sustained ventricular tachycardia and ventricular fibrillation have a potential for sudden death. After myocardial infarction the chance to get sustained ventricular tachycardia or ventricular fibrillation increases, thus reduction in number of sudden death requires advanced predictive procedures. In this study, frequency domain feature extraction, clustering and classification models are combined for providing an integrated system for the sustained ventricular arrythmias. The radial basis function network and the fuzzy c-means algorithm for training clustering and classification were investigated. These techniques do not have limitation of the previous classical procedures. The value of sensitivity and specificity, on the data was used here, for the RBFN were found to be 92.3% and 71.4%, respectively, also the value of sensitivity and specificity for the PCM were found to be 84.6% and 71.4%, respectively.

关键词： Artificial neural networks Myocardium Frequency domain analysis Clustering algorithms Fibrillation Feature extraction Filtering Laboratories Sensitivity and specificity Time domain analysis

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Movement control system design for an artificial eye implant

Movement control system design for an artificial eye implant

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IEEE International Conference on Systems, Man and Cybernetics

作者： J. Gu M. Meng M.G. Faulkner A. Cook Department of Electrical and Computer Engineering Advanced Robotics and Teleoperation Laboratory Edmonton AB Canada Department of Mechanical Engineering University of Alberta Edmonton AB Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The main objective of the research project reported in this paper is to design an assistive device that will help patients with eye-implant to have natural eye movement. The patients lose their eye for various reasons. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like a real eye cosmetically. But the problem is that it is static and does not have the natural movement of an eye. We design an ocular assistive system to enable the artificial eye have the natural movement of a real eye. This paper starts with the literature review of the eye movement detection methods and followed by the description of the experimental system we designed and constructed. The paper is concluded with further considerations.

关键词： Control systems Implants Servomotors Space vector pulse width modulation Eyelids Amorphous magnetic materials Magnetic separation Infrared sensors Medical control systems Medical robotics

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Generalizing over aspect and location for rooftop detection

Generalizing over aspect and location for rooftop detection

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IEEE Workshop on Applications of computer Vision (WACV)

作者： M.A. Maloof P. Langley T.O. Binford R. Nevatia Department of Computer Science George town University Washington D.C. DC USA Institute for the Study of Learning and Expertise Palo Alto CA USA Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we investigated how well machine learning methods generalized to unseen images that differed in location and in aspect. For the purpose of comparison, we included in our evaluation a handcrafted linear classifier, which is the selection heuristic currently used in the building detection system. ROC analysis showed that, when generalizing to unseen images that differed in location and aspect, a naive Bayesian classifier outperformed nearest neighbor and the handcrafted solution.

关键词： Machine vision Buildings Machine learning computer science intelligent robots Learning systems Image analysis Nearest neighbor searches Robustness Head

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Autonomous mobile robot global self-localization using Kohonen and region-feature neural networks

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Journal of Field robotics 1998年第4期14卷

作者： Jason A. Janét Ricardo Gutierrez Troy A. Chase Mark W. White John C. Sutton III Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695-7911

This article presents and compares two neural network-based approaches to global self-localization (GSL) for autonomous mobile robots using: (1) a Kohonen neural network, and (2) a region-feature neural network (RFNN). Both approaches categorize discrete regions of space (topographical nodes) in a manner similar to optical character recognition (OCR). That is, the mapped sonar data assumes the form of a character unique to that region. Hence, it is believed that an autonomous vehicle can determine which room it is in from sensory data gathered from exploration. With a robust exploration routine, the GSL solution can be time-, translation-, and rotation-invariant. The GSL solution can also become independent of the mobile robot used to collect the sensor data. This suggests that a single robot can transfer its knowledge of various learned regions to other mobile robots. The classification rate of both approaches are comparable and, thus, worthy of presentation. The observed pros and cons of both approaches are also discussed. © 1997 John Wiley & Sons, Inc.

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Production Control as a Complex Dynamic Object

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IFAC Proceedings Volumes 1998年第20期31卷 517-520页

作者： Peter Groumpos Bary Ilyasov Larisa Ismagilova Roza Valeeva University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 00 Rion Greece Fax: +30 61 997 309 Ufa State Aviation Technical University Department of Technical Cybernetics 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18 Ufa State Aviation Technical University Department of Technical Cybernetics 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

The problem of production control as of a complex dynamic object is under discussion. There are elaborated and studied intelligent control algorithms using modelling results of system functioning dynamics which testify to uncertainty of environment. The proposed procedure of information exchange allows to unit effectively the dynamic and intelligent algorithms as well as man participation in decision making.

关键词： Production control dynamic models decision support systems

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Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics

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INTERNATIONAL JOURNAL OF CONTROL 1997年第4期68卷 819-847页

作者： Tomlin, CJ Sastry, SS Department of Electrical Engineering and Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA 94720-1770 United States

In this paper, we derive tracking control laws for non-minimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, we combine the ideas from some recent work of Hunt, Meyer and Su with that of Devasia, Chen and Paden on an asymptotic tracking procedure for non-minimum phase nonlinear systems. We give (somewhat subtle) conditions under which the tracking control input is bounded as the magnitude of the perturbation of the nominal system becomes zero. Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques. The method is applied to a suite of examples, including the simplified planar dynamics of VTOL and CTOL aircraft.

关键词： STABILIZATION AIRCRAFT perturbation Vertical take off Fasting tracking control Zero dynamics control input Aircraft Bounded multiple input multiple output systems

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Geometry and thermal regulation of GMA welding via conventional and neural adaptive control

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JOURNAL OF intelligent & ROBOTIC SYSTEMS 1997年第2期19卷 153-186页

作者： Tzafestas, SG Rigatos, GG Kyriannakis, EJ Department of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory National Technical University of Athens 15773 Zografou Campus Athens Greece

This paper investigates the application of conventional and neural adaptive control schemes to Gas Metal Are (GMA) welding. The goal is to produce welds of high quality and strength. This can be achieved through proper on-line control of the geometrical and thermal characteristics of the process. The welding process is variant in time and strongly nonlinear, and is subject to many defects due to improper regulation of parameters like arc voltage and current, or travel speed of the torch. Adaptive control is thus naturally a very good candidate for the regulation of the geometrical and thermal characteristics of the welding process. Here four adaptive control techniques are reviewed and tested, namely: model reference adaptive control (MRAC), pseudogradient adaptive control (PAC), multivariable self-tuning adaptive control (STC), and neural adaptive control (NAC). Extensive numerical results are provided, together with a discussion of the relative merits and limitations of the above techniques.

关键词： gas metal arc (GMA) welding geometric characteristics thermal characteristics adaptive control pseudogradient control self-tuning control neural adaptive control regulation of GMA welding

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Compensation of teleoperator modeling uncertainties with a sliding mode controller

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robotics AND computer-INTEGRATED MANUFACTURING 1997年第1期13卷 9-20页

作者： Tzafestas, SG Prokopiou, PA Intelligent Robotics and Automation Laboratory Computer Science Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. The original system is enhanced by replacing the previous controller of each robot with a sliding mode robust one. A two-stage approach is employed: a desired trajectory is first generated and then tracked by the controller. The difficulties incurred for the man/machine cooperation are discussed. This extension of the original teleoperator architecture is tested through simulations and compared with a twin system based on neural controllers, presented elsewhere. (C) 1997 Elsevier Science Ltd.

关键词： Man machine systems

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