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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Lixian Zhang Ting Yang Xudong Zhao Yanzheng Zhu Process System Engineering Laboratory MIT USA Research Center of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang China College of Information and Control Engineering China University of Petroleum Qingdao China

ISBN: (纸本)9781467351942

The paper is concerned with the problem of robust filtering for a class of systems with state-dependent uncertainties and energy-bounded disturbance. The state-dependent uncertainties can more precisely describe many practical dynamic systems with parameters varying with system states, such as spring stiffness, nonlinear resistor and friction coefficient. A non-quadratic Lyapunov function is adopted, upon which the sufficient condition for the filtering performance analysis is first derived. Then, the parameter-dependent full-order filter is designed such that the corresponding filtering error system is globally asymptotically stable and guarantees a noise attenuation performance index. A numerical example of a class of tunnel diode circuit systems is provided to show the effectiveness of the derived theoretical results.

关键词： Uncertainty Noise Attenuation Performance analysis Symmetric matrices Robustness Uncertain systems

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Forecasting time series with a logarithmic model for the Polynomial Artificial Neural Networks

Forecasting time series with a logarithmic model for the Pol...

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International Joint Conference on Neural Networks (IJCNN)

作者： J. C. Luna-Sanchez E. Gomez-Ramirez K. Najim E. Ikonen Intelligent Systems Group Faculty of Engineering La Salle University Mexico D.F. Mexico Process Control Laboratory ENSIACET Toulouse France Department of Process and Environmental engineering Systems Engineering Laboratory University of Oulu Oulu Finland

The adaptation made for the Polynomial Artificial Neural Networks (PANN) using not only integer exponentials but also fractional exponentials, have shown evidence of its better performance, especially, when it works with non-linear and chaotic time series. In this paper we show the comparison of the PANN improved model of fractional exponentials with a new logarithmic model. We show that this new model have even better performance than the last PANN improved model.

关键词： Mathematical model Modeling Polynomials Genetic algorithms Time series analysis Training Artificial neural networks

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty Robot sensing systems

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Superparamagnetic photosensitive polymer nanocomposite for microactuators

Superparamagnetic photosensitive polymer nanocomposite for m...

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TRANSDUCERS 2009 - 15th International Conference on Solid-State Sensors, Actuators and Microsystems

作者： Suter, M. Graf, S. Ergeneman, O. Schmid, S. Camenzind, A. Nelson, B.J. Hierold, C. Micro and Nanosystems Department of Mechanical and Process Engineering ETH Zurich Switzerland Institute of Robotics and Intelligent Systems Department of Mechanical and Process Engineering ETH Zurich Switzerland Particle Technology Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

ISBN: (纸本)9781424441938

We present a photosensitive polymer composite with superparamagnetic characteristics for the fabrication of microactuators. A uniform distribution of particles in the photosensitive polymer matrix SU-8 is achieved by applying superparamagnetic nanoparticles with the aid of a surfactant. The composite contains Fe3O4 nanoparticles up to 3 vol.% (12 wt.%) with diameters of around 13 nm. Superparamagnetic composite microcantilevers are successfully fabricated and actuated in resonance by the magnetic field of an external coil. ©2009 IEEE.

关键词： Magnetite

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Classes of optimal network topologies under multiple efficiency and robustness constraints

Classes of optimal network topologies under multiple efficie...

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IEEE International Conference on systems, Man and Cybernetics

作者： Sanket Patil Srinath Srinivasa Venkat Venkatasubramanian Open Systems Laboratory International Institute of Information Technology Bangalore India Laboratory for Intelligent Process Systems School of Chemical Engineering Purdue University West Lafayette IN USA

We address the problem of designing optimal network topologies under arbitrary optimality requirements. Using three critical system parameters, efficiency, robustness and cost, we evolve optimal topologies under different environmental conditions. Two prominent classes of topologies emerge as optimal: (1) Star-like topologies, with high efficiency, high resilience to random failures and low cost, and (2) ¿Circular Skip Lists¿ (CSL), with high robustness to random failures as well as targeted attacks, and high efficiency at moderate cost. We analyze CSLs to observe that they show several structural motifs that are optimal with respect to a variety of metrics.

关键词： Network topology Robustness DH-HEMTs Telecommunication traffic Resilience Cost function USA Councils Laboratories intelligent networks Circuits

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Bayesian inference for fault-tolerant control

Bayesian inference for fault-tolerant control

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International Symposium on Resilient Control systems, ISRCS

作者： Kris Villez Venkat Venkatasubramanian Shankar Narasimhan Laboratory of Intelligent Process Systems (LIPS) School of Chemical Engineering Purdue University West Lafayette IN USA Department of Chemical Engineering Indian Institute of Technology Madras Chennai India

In this contribution, we present initial developments in view of model-based fault-tolerant control (FTC). In this context, we use an original method based on the Kalman-filter by which fault detection, diagnosis and accommodation is possible provided that an accurate model is available. Since this is not generally true, we attempt to alleviate this necessity by means of accounting for uncertainty, in both model as well as in the measurements used for fault diagnosis. Our preliminary results are focused on the diagnosis step in the FTC scheme.

关键词： Bayesian methods Fault tolerance Fault diagnosis Feeds Fault detection Uncertainty Fault tolerant systems Inductors Actuators Chemical engineering

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Voluntary gait speed adaptation for robot-assisted treadmill training

Voluntary gait speed adaptation for robot-assisted treadmill...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Alexander Koenig Carmen Binder Joachim v. Zitzewitz Ximena Omlin Marc Bolliger Robert Riener Spinal Cord Injury Center Medical Faculty University Hospital Balgrist University of Zurich Zurich Switzerland Sensory Motor Systems Laboratory Institute of Robotics and Intelligent Systems Department of Mechanical Engineering and Process Engineering ETH Zurich Switzerland

Robot-assisted gait training currently lacks the possibility of the robot to automatically adapt to the patient's needs and demands (so called ldquobio-cooperative control strategiesrdquo). It is desired to give the patient voluntary control over training parameters such as gait speed or joint trajectories. We implemented a control algorithm for the driven gait orthosis Lokomat that allows severely disabled stroke patients a limited and safe allowance of influence on their gait speed. To exercise gait symmetry, our algorithm can be configured such that only activity in the paretic leg will cause changes in treadmill speed. The algorithm was successfully tested with eight healthy subjects and six stroke patients.

关键词： Rehabilitation robotics Legged locomotion Medical treatment Robotics and automation Automatic control Hospitals Force measurement Virtual environment Robot sensing systems intelligent robots

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Superparamagnetic photosensitive polymer nanocomposite for microactuators

Superparamagnetic photosensitive polymer nanocomposite for m...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： M. Suter S. Graf O. Ergeneman S. Schmid A. Camenzind B. J. Nelson C. Hierold Micro and Nanosystems ETH Zurich Switzerland Institute of Robotics and Intelligent Systems ETH Zurich Switzerland Particle Technology Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

We present a photosensitive polymer composite with superparamagnetic characteristics for the fabrication of microactuators. A uniform distribution of particles in the photosensitive polymer matrix SU-8 is achieved by applying superparamagnetic nanoparticles with the aid of a surfactant. The composite contains Fe 3 O 4 nanoparticles up to 3 vol.% (12 wt.%) with diameters of around 13 nm. Superparamagnetic composite microcantilevers are successfully fabricated and actuated in resonance by the magnetic field of an external coil.

关键词： Polymers Microactuators Magnetic materials Saturation magnetization Magnetic resonance Magnetic anisotropy Fabrication Nanoparticles Perpendicular magnetic anisotropy Actuators

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Qualitative representation of trends (QRT) as a tool for automated data-driven monitoring of on-line sensors

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IFAC Proceedings Volumes 2009年第8期42卷 1276-1281页

作者： Kris Villez Benjamin Keser Leiv Rieger modelEAU Université Laval Pavillon Pouliot 1065 av. de la Médecine Quebec G1V 0A6 Canada Laboratory of Intelligent Process Systems (LIPS) Purdue University Forney Hall of Chemical Engineering 480 Stadium Mall Drive West Lafayette IN 47906 USA

The application of on-line sensors for monitoring or real-time control of wastewater treatment plants remains a challenging problem. The primary cause for this is the unknown quality of the data obtained by such on-line instruments. In the presented work sensor-internal meta-data is used for self-diagnosis. It is verified whether the complete measurement profiles obtained during regular measurement cycles of a phosphate analyzer can help to assess the sensor's status and even indicate potential faults causing faulty behaviour. A qualitative analysis approach is taken and the obtained results indicate that measurement profiles are indeed affected by the implied fault scenarios and may thus serve for proper fault detection and diagnosis.

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Cyberinfrastructure for pharmaceutical product development

Cyberinfrastructure for pharmaceutical product development

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2007 AIChE Annual Meeting

作者： Venkatasubramanian, Venkat Laboratory for Intelligent Process Systems School of Chemical Engineering Purdue University West Lafayette IN 47906 United States

ISBN: (纸本)9780816910229

Designing new drugs and formulations with desired properties is an important and difficult problem in the pharmaceutical industry. In going from discovery to delivery in the market via several intermediate stages, a staggering amount of information of different types, ranging from raw data to lab reports to sophisticated math models, is shared and revised by humans with the aid of computational tools in each stage. Traditional trial-and-error design approaches are laborious and expensive, that delay time-to-market as well as miss some potential solutions. A new paradigm is needed that increases the idea flow, broadens the search horizon, and archives the knowledge from today's successes to accelerate those of tomorrow. However, due to the incompatibility among such diverse types of data, information and knowledge, an appropriate automated decision support environment to address these needs is also very much lacking. Additionally, at present most of the information and knowledge are generated and processed directly by humans. With the onset of information and knowledge explosion, it is clear that we need intelligent software systems to effectively manage and access information for efficient decision making. Proper informatics support to drug discovery and process development is crucial in order to achieve speed to market, and getting the process right the first time. In addition, a systematic way to convert the raw data gathered from process analytical technologies (PAT) to information and first principles knowledge that can be used for real-time decision making is also lacking. All these present considerable challenges, as well as great opportunities, for a new model-based informatics framework to address these important problems. In this talk, I will review the state of the art and present an overview of emerging trends in developing a novel cyberinfrastructure framework that enables the management of complexity, accumulation of knowledge, systematic hypotheses tes

关键词： Decision making

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