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作者： Yang, Kehu Yu, Wensheng School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing 100083 China School of Software Engineering East China Normal University Shanghai 200062 China Lab. of Complex Systems and Intelligent Science Institute of Automation CAS Beijing 100190 China

ISBN: (纸本)9787894631046

This paper proposed an embedded smart sensor which is consisted of a 6 DOF (Degree Of Free) IMU (Inertial Measurement Unit), a 3-axis magnetic compass, a monocular camera and a DSP processor which is high performance and power saved, and briefly discussed the design and construction of the system's hardware. By using this embedded smart sensor, we proposed a attitude determination method which is based on the quaternion and the epipolar geometry. The experimental results demonstrated the effectiveness of the methods.

关键词： Smart sensors

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Energy Efficient Building Climate control using Stochastic Model Predictive control and Weather Predictions

Energy Efficient Building Climate Control using Stochastic M...

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American control Conference

作者： Frauke Oldewurtel Alessandra Parisio Colin N. Jones Manfred Morari Dimitrios Gyalistras Markus Gwerder Vanessa Stauch Beat Lehmann Katharina Wirth Automatic Control Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology in Zurich (ETHZ) Switzerland Department of Engineering Universita degli Studi del Sannio Benevento Italy Systems Ecology Group ETH Zurich Switzerland Siemens Building Technologies Zug Switzerland MeteoSwiss Zurich Switzerland Building Technologies Lab. EMPA Dubendorf Switzerland

ISBN: (纸本)9781424474264

One of the most critical challenges facing society today is climate change and thus the need to realize massive energy savings. Since buildings account for about 40percent of global final energy use, energy efficient building climate control can have an important contribution. In this paper we develop and analyze a Stochastic Model Predictive control (SMPC) strategy for building climate control that takes into account weather predictions to increase energy efficiency while respecting constraints resulting from desired occupant comfort. We investigate a bilinear model under stochastic uncertainty with probabilistic, time varying constraints. We report on the assessment of this control strategy in a large-scale simulation study where the control performance with different building variants and under different weather conditions is studied. For selected cases the SMPC approach is analyzed in detail and shown to significantly outperform current control practice.

关键词： Energy efficiency Stochastic processes Predictive models Predictive control Weather forecasting Automatic control Uncertainty Mathematical model Temperature control Actuators

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Effects of camera calibration errors on trajectory estimation of a flying object using RLS

Effects of camera calibration errors on trajectory estimatio...

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4th International Conference on Autonomous Robots and Agents, ICARA 2009

作者： Herrejon, Rafael Kagami, Shingo Intelligent Control Systems Lab. Information Sciences Dept. Tohoku University Sendai Japan

ISBN: (纸本)9781424427130

Effects of camera calibration errors are investigated in static-eye configuration. The effect of the error in the extrinsic parameters of the camera to extract and predict the position of a flying object in a 3D environment using Recursive Least Squares (RLS) is analyzed. Simulations have been carried in order to minimize the error of the position predicted in the global reference frame modifying the camera position. ©2009 IEEE.

关键词： Errors

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Remote measuring and control terminal based on Linux platform and embedded web server

Remote measuring and control terminal based on Linux platfor...

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9th International Conference on Electronic Measurement and Instruments, ICEMI 2009

作者： Yang, Guangyou Li, Ming Zhang, Shuangqing Lab. of Intelligent Control and Embedded System School of Mechanical Engineering Hubei University of Technology China

ISBN: (纸本)9781424438624

The paper gives a comprehensive description about how to construct a web server for remote measuring and control needs, proposes a solution under Linux software and HMS30C7202 embedded hardware platform. Combined with web browser and application interface based on Java Applet technology, dynamic flush on control web page was executed. Particular application layer data protocol was designed;dynamic exchange information between browsers and terminal was implemented by calling socket function. Adopted multi-thread mechanism and semaphore in Linux, administration on terminal was performed. ©2009 IEEE.

关键词： Linux

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Modeling of cortical signals using echo state networks

Modeling of cortical signals using echo state networks

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MIPPR 2009 - Pattern Recognition and Computer Vision: 6th International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Zhou, Hanying Wang, Yongji Huang, Jiangshuai Key Lab. for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology China

ISBN: (纸本)9780819478078

Diverse modeling frameworks have been utilized with the ultimate goal of translating brain cortical signals into prediction of visible behavior. The inputs to these models are usually multidimensional neural recordings collected from relevant regions of a monkey's brain while the outputs are the associated behavior which is typically the 2-D or 3-D hand position of a primate. Here our task is to set up a proper model in order to figure out the move trajectories by input the neural signals which are simultaneously collected in the experiment. In this paper, we propose to use Echo State Networks (ESN) to map the neural firing activities into hand positions. ESN is a newly developed recurrent neural network(RNN) model. Besides its dynamic property and short term memory just as other recurrent neural networks have, it has a special echo state property which endows it with the ability to model nonlinear dynamic systems powerfully. What distinguished it from transitional recurrent neural networks most significantly is its special learning method. In this paper we train this net with a refined version of its typical training method and get a better model. © 2009 Copyright SPIE - The International Society for Optical engineering.

关键词： Brain

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Robust control of a mobile inverted pendulum robot using a RBF neural network controller

Robust control of a mobile inverted pendulum robot using a R...

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2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

作者： Noh, Jin Seok Lee, Geun Hyeong Choi, Ho Jin Jung, Seul Intelligent Systems and Emotional Engineering Lab. Division of Mechatronics Engineering Chungnam National University Daejeon Korea Republic of

ISBN: (纸本)9781424426799

This article presents robust control of the mobile inverted pendulum system(MIPS) whose structure is a combination of a wheeled mobile robot and an inverted pendulum with two arms. The MIPS navigates on the horizontal plane while balancing the pendulum. control of the MIPS is difficult since the system is non-holonomic and nonlinear so that simple linear controllers may have poor performances for the system. The radial basis function(RBF) network is used as an auxiliary controller to help the primary PID controllers to perform better. The back propagation algorithm has been developed for the RBF function network. Real time control of the RBF network has been achieved by embedding the learning algorithm onto the DSP board. The performance of the RBF network controller has been tested for the remotely controlled MIPS by conducting experiments of climbing the slanted surface while balancing. © 2008 IEEE.

关键词： Inverted pendulum

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Surface Reconstruction from Multiple Images Filtering Non-Lambert Regions

Surface Reconstruction from Multiple Images Filtering Non-La...

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16th IEEE International Conference on Image Processing

作者： Buyukatalay, Soner Birgul, Ozlem Halici, Ugur Computer Vision and Intelligent Systems Research Lab. METU Electrical and Electronics Engineering Turkey Tübitak Uzay Turkey

ISBN: (纸本)9781424456536

In this study a new algorithm for 3D surface reconstruction from multiple images using a modified photometric stereo method is proposed and tested. The new algorithm, Filtered Lambert Photometric Stereo (FLPS), determines the non-Lambert pixels in the availab.e images using a linearity test and constructs filtering masks for each image that corresponds to specular and self or cast shadow regions. Then, the photometric stereo is applied after eliminating the points in these masks. Tests carried out on synthetic images show that LPS on filtered images is a feasible solution when more than 4 images are availab.e.

关键词： photometric stereo Lambert reflection model filtered photometric stereo

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Line tracking control using visual feedback of a mobile inverted pendulum: BalBot IV

Line tracking control using visual feedback of a mobile inve...

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14th IASTED International Conference on Robotics and Applications, RA 2009

作者： Lee, Geun Hyung Lee, Seung Jun Jung, Seul Department of Mechatronics Engineering Intelligent Systems and Emotional Engineering Lab. Chungnam National University Daejeon 305-764 Korea Republic of

ISBN: (纸本)9780889868137

This paper presents design and development of a balancing robot as a series of BalBots. The balancing robot, BalBot IV has a mobile inverted pendulum structure. The BalBot IV is designed to carry humanoid upper arms. The robot is required to follow a line on the floor using visual feedback while maintaining the balance. The line is captured by a camera and presented as the desired trajectory for the BalBot to follow. The controller is designed to have robust tracking performances of balancing with sensor fusion. Experimental studies are conducted to show the performances of BalBot IV.

关键词： Visual communication

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On the estimation of robustness and filtering ability of dynamic biochemical networks under process delays, internal parametric perturbations and external disturbances

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Mathematical Biosciences 2009年第2期222卷 92-108页

作者： Chen, Bor-Sen Chen, Po-Wei Lab. of Control and Systems Biology Department of Electrical Engineering National Tsing-Hua University 101 Section 2 Kuang Fu Road Hsin-chu 300 Taiwan

Inherently, biochemical regulatory networks suffer from process delays, internal parametrical perturbations as well as external disturbances. Robustness is the property to maintain the functions of intracellular biochemical regulatory networks despite these perturbations. In this study, system and signal processing theories are employed for measurement of robust stability and filtering ability of linear and nonlinear time-delay biochemical regulatory networks. First, based on Lyapunov stability theory, the robust stability of biochemical network is measured for the tolerance of additional process delays and additive internal parameter fluctuations. Then the filtering ability of attenuating additive external disturbances is estimated for time-delay biochemical regulatory networks. In order to overcome the difficulty of solving the Hamilton Jacobi inequality (HJI), the global linearization technique is employed to simplify the measurement procedure by a simple linear matrix inequality (LMI) method. Finally, an example is given in silico to illustrate how to measure the robust stability and filtering ability of a nonlinear time-delay perturbative biochemical network. This robust stability and filtering ability measurement for biochemical network has potential application to synthetic biology, gene therapy and drug design. © 2009 Elsevier Inc. All rights reserved.

关键词： Linear matrix inequalities

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Robust reference tracking control design for nonlinear distributed parameter systems: Fuzzy approach

Robust reference tracking control design for nonlinear distr...

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2009 IEEE International Conference on control Applications, CCA '09

作者： Chang, Yu-Te Chen, Bor-Sen Lab. of Control and Systems Biology Department of Electrical Engineering National Tsing Hua University Hsinchu 30013 Taiwan

ISBN: (纸本)9781424446025

This paper addresses a robust reference tracking control problem for nonlinear distributed parameter systems with external disturbances and measurement noises. An infinite-dimensional fuzzy state-space model is introduced to represent the nonlinear distributed parameter system. This fuzzy state-space model was separated into a finite-dimensional fuzzy state-space controlled subsystem with an infinite-dimensional fuzzy state-space residual subsystem. A finite-dimensional robust fuzzy observer-based reference tracking controller is proposed to control the nonlinear distributed parameter system to track a desired reference trajectory based on the finite-dimensional fuzzy state-space controlled subsystem. Finally, the criterion for the robust tracking control design is proven via the dissipative theory approach. © 2009 IEEE.

关键词： State space methods

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