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Evasion of instabilities caused by neglected subsystems and saturations in the control of a cart of asynchronous electric drives

Evasion of instabilities caused by neglected subsystems and ...

引用

SISY 2009 - 7th International Symposium on intelligent systems and Informatics

作者： Tar, József K. Ráti, Csaba Rudas, Imre J. Bitó, JǍnos F. Machado, José A. Tenreiro Budapest Tech. Transportation Informatics and Telematics Knowledge Center Bécsi út 96/B Budapest H-1034 Hungary Budapest Tech. John von Neumann Faculty of Informatics Inst. of Intelligent Engineering Systems Bécsi út 96/B Budapest H-1034 Hungary Institute of Engineering of Porto Department of Electrotechnical Engineering Rua Dr. Antonio Bernardino de Almeida 4200-072 Porto Portugal

ISBN: (纸本)9781424453498

The task of solving the adaptive control of a partially and imprecisely modeled electrical vehicle driven by three omnidirectional wheels together with the torque and/or power limits of their electric driving motors is considered. The vehicle is very roughly modeled as a rigid body while the a part of the burden carried by it through elastic connection is completely neglected in the controller's model. Instead parameter estimation techniques a simple, kinematically designed, PID-type trajectory tracking is formulated that is implemented via robust fixed point transformations. It is shown that if the nominal trajectory does not significantly excite the vehicle-burden connection precise and stable control can be achieved by the adaptivity, while the pure PID-type control may considerably excite this degree of freedom and can be corrupted by achieving either the torque or the power limits of the motors. The motors are supposed to be voltage controlled asynchronous drives with constant frequency excitation. Our statement is substantiated by numerical simulations. The main advantage of the proposed control is that it operates with local basin of attraction developed for convergent iterative Cauchy sequences that is easy to design by setting only a few parameters. Its disadvantage is that it cannot guarantee global stability therefore its application must be preceded by numerical tests. Its use may be especially useful in applications in industrial workshops when modeling the dynamics of the coupled subsystem technically is very difficult, e.g. when it is a tank partially containing heavy liquid. © 2009 IEEE.

关键词： Iterative methods

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OWA fuzzy linking histogram approach for image retrieval

OWA fuzzy linking histogram approach for image retrieval

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International Conference on Computational Cybernetics (ICCC)

作者： Maryam Tayefeh Mahmoudi Maedeh Beheshti Caro Lucas Fattaneh Taghiyareh Knowledge Engineering & Intelligent Systems Group Iran Telecom Research Center Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran School of computer engineering Iran University of Science and Technology Tehran Iran Control and Intelligent Processing Laboratory University of Tehran Tehran Iran School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Color image histograms are very useful tools for content based image retrieval (CBIR) that can be applied on features such as colour, texture and shape. As these kinds of histograms results with large variations between neighbouring bins, they seem so sensitive to any kind of changes such as noise, illumination. To overcome this problem, in this paper, fuzzy linking histogram approach based on OWA aggregation operator is proposed, which is capable of projecting 3-dimensional (L*a*b*) colour histograms into single-dimension. The proposed method have been evaluated and compared with five other related methods in retrieving similar images from the common dataset which is available on http://***/~konkonst. The experimental results on 100 images within two categories of Cat and Sky reveals better performance of the proposed method in comparison with the other mentioned methods.

关键词： Open wireless architecture Joining processes Histograms Image retrieval Colored noise Color Content based retrieval Shape Noise shaping Lighting

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Evasion of instabilities caused by neglected subsystems and saturations in the control of a cart of asynchronous electric drives

Evasion of instabilities caused by neglected subsystems and ...

引用

International Symposium on intelligent systems and Informatics (SISY)

作者： Jozsef K. Tar Csaba Rati Imre J. Rudas Janos F. Bito Jose A. Tenreiro Machado Transportation Informatics and Telematics Knowledge Center Budapest University슠of슠Technology슠and슠Economics Budapest Hungary John von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Electrotechnical Engineering Institute Engineering of Porto Porto Portugal

The task of solving the adaptive control of a partially and imprecisely modeled electrical vehicle driven by three omnidirectional wheels together with the torque and/or power limits of their electric driving motors is considered. The vehicle is very roughly modeled as a rigid body while the a part of the burden carried by it through elastic connection is completely neglected in the controller's model. Instead parameter estimation techniques a simple, kinematically designed, PID- type trajectory tracking is formulated that is implemented via robust fixed point transformations. It is shown that if the nominal trajectory does not significantly excite the vehicle- burden connection precise and stable control can be achieved by the adaptivity, while the pure PID-type control may considerably excite this degree of freedom and can be corrupted by achieving either the torque or the power limits of the motors. The motors are supposed to be voltage controlled asynchronous drives with constant frequency excitation. Our statement is substantiated by numerical simulations. The main advantage of the proposed control is that it operates with local basin of attraction developed for convergent iterative Cauchy sequences that is easy to design by setting only a few parameters. Its disadvantage is that it cannot guarantee global stability therefore its application must be preceded by numerical tests. Its use may be especially useful in applications in industrial workshops when modeling the dynamics of the coupled subsystem technically is very difficult, e.g. when it is a tank partially containing heavy liquid.

关键词： Torque control Adaptive control Electric vehicles Vehicle driving Wheels Parameter estimation Trajectory Robustness Voltage control Frequency

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Content personalization in organizations via composing a source content model with user model

Content personalization in organizations via composing a sou...

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2008 International Conference on Artificial Intelligence, ICAI 2008 and 2008 International Conference on Machine Learning;Models, Technologies and Applications, MLMTA'08

作者： Mahmoudi, Maryam Tayefeh Badie, Kambiz Kharrat, Mahmood Babazadeh, Sogol Yadollahi, Mahmoud Knowledge Engineering and Intelligent Systems Group Iran Telecom Research Center Tehran Iran

ISBN: (纸本)9781601320728

In this paper, a new framework is proposed for personalizing contents in organizations, according to which the content demanded for handling an issue can be obtained through a process of composing the model of source content with the one belonging to the user. A salient benefit of the proposed framework is its capability in enabling the user to consider a variety of possibilities as alternatives for pursuing his/her targets. Due to this point, it can be used as a potential means for learning decision-making, and report generation purposes in intelligent and learning organizations.

关键词： Decision making

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Aligning cognitive models using AC3M

Aligning cognitive models using AC3M

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1st International Conference on Emerging Trends in engineering and Technology, ICETET 2008

作者： Consoli, Angela Tweedale, Jeffrey Jain, Lakhmi School of Electrical and Information Engineering Knowledge-Based Intelligent Engineering Systems Centre University of South Australia Mawson Lakes ACT Australia

ISBN: (纸本)9780769532677

Agent coordination and cooperation co-exist in a multi-agent system (MAS), and are cognitively linked. This link is further emphasized by incorporating their atomic composition with their ability to perceive and gather information from the environment around them. To be able to possess enhanced situational awareness in an uncertain environment means improved tactical responses by combat crew. From each of their definitions and current implementations, we show how the relationship between the Belief-Desire-Intention, or BDI framework and the Observe-Orient-Decide-Act, or OODA loop can enable the use of Coordinative Cooperation within the Agent Coordination and Cooperation Cognitive Model, or AC3M. More importantly, we show the relationship between coordination, cooperation, BDI and OODA and how this relationship can improve cognitive modeling in uncertain environments. This paper also discusses the current developments of the model and how the BDI and OODA frameworks can affect coordination and cooperation within a MAS. We recommend how these concepts can be designed and implemented for uncertain environments. © 2008 IEEE.

关键词： Multi agent systems

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Work in progress - Programming misunderstandings discovering process based on intelligent data mining tools

Work in progress - Programming misunderstandings discovering...

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38th ASEE/IEEE Frontiers in Education Conference, FIE 2008

作者： Britos, Paola Rey, Elizabeth Jiménez Rodriguez, Dario Garcia-Martinez, Ramón CAPIS-ITBA III-FI-UNLP LSI-FI-UBA Software and Knowledge Engineering Center Buenos Aires Institute of Technology Argentina Engineering School Intelligent Systems Laboratory University of Buenos Aires Argentina Intelligent Systems Laboratory University of Buenos Aires Argentina

We present research work in progress that focuses on data mining tools used for helping teachers to apply a three step knowledge discovering process to diagnose students' misunderstandings (and their causes) relat... 详细信息

关键词： Data mining

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Diagram, dynamic geometry and Sangaku

Diagram, dynamic geometry and Sangaku

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2007 Int. Conf. on Telecommunications and Networking, TeNe 2007, 2007 Int. Conf. on Industrial Electronics, Technology and Automation, IETA 2007, Part of the Int. Jt. Conf. on Computer, Information, and systems Sciences, and engineering, CISSE 2007

作者： Ishida, Yoshiteru Fujisawa, Masayuki Department of Knowledge-Based Information Engineering Toyohashi University of Technology Tempaku Toyohashi 441-8580 Japan Intelligent Sensing System Research Center Toyohashi University of Technology Tempaku Toyohashi 441-8580 Japan

ISBN: (纸本)9781402087363

We have developed a web-based system of presenting Sangaku. Sangaku is a way of presenting theorems and conjectures in geometry in one sheet of votive picture. Sangaku was used for temples in Japan to exchange geometrical findings, and has been studied as a traditional form of Japanese mathematics called Wasan. We developed a diagrammatic reasoning that directly uses geometric objects as primitives for reasoning, while tools called dynamic geometry software have also been developed. In developing the web-based Sangaku presentation system, we used diagrammatic reasoning which allows users to directly manipulate geometric objects. As a result, geometric findings can be presented not in a static manner of a single picture, but in a dynamic manner of operational geometric objects. Some examples of Sangaku can be seen at: http://***/***. © Springer Science+Business Media B.V. 2008.

关键词： Geometry

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Aligning Cognitive Models Using AC3M

Aligning Cognitive Models Using AC3M

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International Conference on Emerging Trends in engineering and Technology, ICETET

作者： Angela Consoli Jeffrey Tweedale Lakhmi Jain School of Electrical and Information Engineering Knowledge-Based Intelligent Engineering Systems Centre University of South Australia Australia

Agent coordination and cooperation co-exist in a multi-agent system (MAS), and are cognitively linked. This link is further emphasized by incorporating their atomic composition with their ability to perceive and gather information from the environment around them. To be able to possess enhanced situational awareness in an uncertain environment means improved tactical responses by combat crew. From each of their definitions and current implementations, we show how the relationship between the Belief-Desire-Intention, or BDI framework and the Observe-Orient-Decide-Act, or OODA loop can enable the use of coordinative cooperation within the agent coordination and cooperation cognitive model, or AC 3 M. More importantly, we show the relationship between coordination, cooperation, BDI and OODA and how this relationship can improve cognitive modeling in uncertain environments. This paper also discusses the current developments of the model and how the BDI and OODA frameworks can affect coordination and cooperation within a MAS. We recommend how these concepts can be designed and implemented for uncertain environments.

关键词： Biological system modeling Atmospheric modeling intelligent agent Artificial intelligence Lead Australia Multiagent systems

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Synchrony in a self-repair network with a simple lattice

Synchrony in a self-repair network with a simple lattice

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作者： Tokumitsu, Masahiro Ishida, Yoshiteru Department of Knowledge-Based Information Engineering Toyohashi University of Technology Tempaku Toyohashi 441-8580 Japan Intelligent Sensing System Research Center Toyohashi University of Technology Tempaku Toyohashi 441-8580 Japan

ISBN: (纸本)9784990288020

We investigate a synchrony in a self-repairing network of autonomous agents capable of repairing mutually. In this paper, we define two models: a synchronous model and asynchronous one. They differ in the timing when the agents change their state. Computer simulations revealed that the synchronous model has a critical point, while the asynchronous one does not. We also studied a repair scheme in asynchronous model where the repaired agents in turn repair neighbor agents successively in a chain-reactive fashion. Performance of the scheme has been examined by computer simulations. ©ISAROB 2008.

关键词： Repair

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Reverse engineering of spatial patterns in cellular automata

Reverse engineering of spatial patterns in cellular automata

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作者： Ichise, Yuuichi Ishida, Yoshiteru Department of Knowledge-based Information Engineering Toyohashi University of Technology Toyohashi Aichi 441-8580 Japan Intelligent Sensing System Research Center Toyohashi University of Technology Tempaku Toyohashi 441-8580 Japan

ISBN: (纸本)9784990288020

Cellular automata produce spatial patterns when specific rules for time development are given. This paper deals with an inverse problem of identifying the rules for spatial patterns given. Although only jades of one-dimensional elementary cellular automata and one-dimensional probabilistic cellular automata have shown here, the system can deal with two-dimensional one. When the rule identification has not been fully successful due to the lack of information in the spatial pattern, the system is able to give an identifiable part of the rules with a format of Wolfram's rule number. ©ISAROB 2008.

关键词： Cellular automata

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