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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： David Oswald Wei Li Linwei Niu Jin Zhang Yan Li Jiangchen Yu Fuchun Sun Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield CA USA Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield Liaoning USA Department of Mathematics & Computer Science West Virginia State University USA Robotics State Key Laboratory Chinese Academy of Sciences Shenyang Liaoning China Robotics State Key Laboratory Chinese Academy of Sciences Shenyang China Department of Computer Science and Technology Tsinghua University Beijing China

A fuzzy color extractor is defined by fuzzy rules to extract certain colors based on a color pattern (color seed). In order to extract certain colors from images in real-time, this paper attempts to implement a fuzzy color extractor on NI myRIO embedded device, which features the Xilinx Zynq-7010 all-programmable system including a dual-core ARM® Cortex™-A9 real-time processor and an Artix-7 FPGA with customizable I/O. To implement the fuzzy color extractor on NI myRIO, the fuzzy logic module, real-time module, and FPGA module of Lab VIEW 2013 are required. LabVIEW is a system-design platform and development environment for a visual programming language. First, we define the fuzzy membership functions and fuzzy rules for the fuzzy color extractor using the Fuzzy Logic module. Second, we implement the fuzzy color extractor using Real-Time module. Finally, we implement the fuzzy color extractor a DaNI robot to test the color extraction performance under varying illumination conditions.

关键词： Image color analysis Nickel Robots Cameras Feature extraction Fuzzy logic Real-time systems

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Decoding of Intentional Actions from Scalp Electroencephalography (EEG) in Freely-behaving Infants

Decoding of Intentional Actions from Scalp Electroencephalog...

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

作者： Zachery R. Hernandez Jesus Cruz-Garza Teresa Tse Jose L. Contreras-Vidal Non-Invasive Brain-Machine Interface Systems Laboratory at the Department of Electrical and Computer Engineering University of Houston (UH) Center for Robotics and Intelligent Systems Tecnologico de Monterrey

ISBN: (纸本)9781424479276

The mirror neuron system (MNS) in humans is thought to enable an individual's understanding of the meaning of actions performed by others and the potential imitation and learning of those actions. In humans, electroencephalographic (EEG) changes in sensorimotor a-band at central electrodes, which desynchronizes both during execution and observation of goal-directed actions (i.e., μ suppression), have been considered an analog to MNS function. However, methodological and developmental issues, as well as the nature of generalized μ suppression to imagined, observed, and performed actions, have yet to provide a mechanistic relationship between EEG μ-rhythm and MNS function, and the extent to which EEG can be used to infer intent during MNS tasks remains unknown. In this study we present a novel methodology using active EEG and inertial sensors to record brain activity and behavioral actions from freely-behaving infants during exploration, imitation, attentive rest, pointing, reaching and grasping, and interaction with an actor. We used δ-band (1-4Hz) EEG as input to a dimensionality reduction algorithm (locality-preserving Fisher's discriminant analysis, LFDA) followed by a neural classifier (Gaussian mixture models, GMMs) to decode the each MNS task performed by freely-behaving 6-24 month old infants during interaction with an adult actor. Here, we present results from a 20-month male infant to illustrate our approach and show the feasibility of EEG-based classification of freely occurring MNS behaviors displayed by an infant. These results, which provide an alternative to the μ-rhythm theory of MNS function, indicate the informative nature of EEG in relation to intentionality (goal) for MNS tasks which may support action-understanding and thus bear implications for advancing the understanding of MNS function.

关键词： Electroencephalography Scalp Acceleration Training Coherence Electrodes Testing

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A scalable FPGA-based architecture for digital controllers and a corresponding rapid prototyping design methodology

A scalable FPGA-based architecture for digital controllers a...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Christoforos Economakos Maria Tzamtzi George Economakos Department of Automation Engineering Technological Educational Institution of Sterea Ellada Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Athens Greece

Recent advances in embedded automation applications require quality of results in terms of speed and computational complexity, along with strict time-to-market schedules. To cope with these demands, the design industry is searching for novel approaches. Performance is sought by utilizing modern FPGA devices, offering hundreds of GFLOPs with maximum power efficiency. Productivity is enforced with modern design methodologies like High-Level Synthesis and Electronic System Level design, that offer an efficient abstraction level to boost-up early prototyping. This paper presents a scalable architecture and a corresponding design methodology for the design of digital controllers, as a reference for modern control applications. The advantages of the proposed methodology are: (a) improved performance through hardware acceleration of demanding application cores, (b) improved quality of results with floating point calculations, (c) flexibility and integration of common peripheral devices supported by a RISC microcontroller, (d) low-overhead scalability from single core to multi core architectures and (e) improved designer productivity by working with C level design descriptions only. Experimental results show that the proposed System-on-Chip architecture is an efficient rapid prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Hardware computer architecture Field programmable gate arrays Software Microcontrollers Digital signal processing Performance evaluation

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Quantized nonlinear control-a cyclic-small-gain approach

Quantized nonlinear control-a cyclic-small-gain approach

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World Congress on Intelligent Control and automation (WCICA)

作者： Tengfei Liu Zhong-Ping Jiang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Department of Electrical and Computer Engineering 5 MetroTech Center Brooklyn NY USA

The problem of controlling systems through quantized communication channels has recently attracted a lot of attention from the controls community. The strong nonlinear characteristics of quantization such as discontinuity and saturation cause the major difficulties of quantized control. This paper reviews the results available in the literature of quantized control of linear and nonlinear systems, and specifically discusses the design techniques for quantized nonlinear control. With quantization considered as perturbation, robust control design ideas play an important role in quantized nonlinear control. We discuss how the quantized control problems are handled by modifying the robust nonlinear control techniques. In particular, it is shown that the notion of input-to-state stability (ISS) and its small-gain methods are quite powerful for quantized control of high-order nonlinear systems due to the capability of dealing with uncertainty, strong nonlinearity and interconnections. The paper ends with some future research directions of quantized nonlinear control. While many classical tools could be used for the future development, the ISS small-gain methods turn out to be fundamental in handling the complexity caused by quantization.

关键词： Quantization (signal) Closed loop systems Robustness Nonlinear dynamical systems Measurement errors

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Semi-global leader-following consensus of multiple linear systems with position and rate-limited actuators: The state feedback case

Semi-global leader-following consensus of multiple linear sy...

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World Congress on Intelligent Control and automation (WCICA)

作者： Zhiyun Zhao Zongli Lin Department of Automation Key Laboratory of System Control and Information Processing Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

This paper studies the semi-global leader-following consensus problem for a group of linear systems in the presence of both actuator position and rate saturation. Each follower agent in the group is described by a general linear system subject to simultaneous actuator position and rate saturation. We construct a low gain based linear state feedback control law for each follower agent and show that semi-global leader-following consensus can be achieved by using these control laws when the communication topology among follower agents is a connected undirected graph and the leader is a neighbor of at least one follower. Simulation results illustrate the theoretical results.

关键词： Actuators State feedback Topology Linear systems Multi-agent systems Closed loop systems Vectors

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Distributed control of nonlinear uncertain systems: A cyclic-small-gain approach

Distributed control of nonlinear uncertain systems: A cyclic...

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World Congress on Intelligent Control and automation (WCICA)

This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems in the strict-feedback form for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-output stable (IOS) subsystems which are interconnected with each other through redefined outputs. The cyclic-small-gain theorem is employed as a fundamental tool to guarantee the IOS of the closed-loop large-scale system and the practical output-agreement of the multi-agent system. Moreover, if the system is disturbance-free, then accurate output-agreement is achievable. Interestingly, the closed-loop multi-agent system is also robust with respect to bounded time-delays in information exchange.

关键词： Nickel Decentralized control Multi-agent systems Information exchange Robustness Feedback control Power system stability

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Facile hydrothermal synthesis of ZnO/Co3O4 heterogeneous nanostructures and its electric property

Facile hydrothermal synthesis of ZnO/Co3O4 heterogeneous nan...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Fanan Wei Lianqing Liu Minlin Jiang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh USA

ISBN: (纸本)9781479979240

Heterogeneous nanostructures, with many appealing merits, are promising in various applications, including sensing, photovoltaic, light emitting diode and water splitting. Herein, we proposed a novel facile fabrication methods for zinc oxide (ZnO)/cobalt oxide (Co 3 O 4 ) heterojunction nanostructures. By growing or assembling Co(OH) 2 nanoplates on ZnO nanowire arrays, the ZnO/Co 3 O 4 heterogeneous nanostructures are uniformly prepared on ITO coated glass and wafer. SEM characterization of the synthesized nanostructures reveals its nice crystalline nature. Excellent photovoltaic property is demonstrated through the I-V measurement using conductive atomic force microscope. Thence, the potential application of the heterogeneous nanostructures in solar cells is demonstrated.

关键词： Zinc oxide Nanostructures Indium tin oxide Materials Photovoltaic cells Assembly Photovoltaic systems

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An Adaptive Predictive Control Strategy for RMPPT under Partially Shaded Conditions

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IFAC Proceedings Volumes 2014年第3期47卷 4947-4952页

作者： Chao Ma Jing Wu Ning Li Shaoyuan Li Kang Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. However, these methods may fail when shading conditions occur and the power loss can over as much as 70% due to the multiple maxima in I – P curve in shading conditions v.s. single maximum point in uniformly solar irradiance. In this paper, a Real Maximum Power Point Tracking (RMPPT) strategy under Partially Shaded Conditions (PSCs) is introduced to deal with this kind of problems. An optimization problem, based on a predictive model which will change adaptively with environment, is developed to tracking the global maxima and corresponding adaptive control strategy is presented. No additional circuits are required to obtain the environment uncertainties. Finally, simulations show the effectiveness of proposed method.

关键词： Photovoltaic systems RMPPT Partial shading Adaptive predictive control

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On the Estimation of the Domain of Attraction for Saturated Systems via Partitioning of the Input Space

On the Estimation of the Domain of Attraction for Saturated ...

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第三十三届中国控制会议

作者： Yuanlong Li Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479947249

This paper revisits the problem of estimating the domain of attraction for systems with saturation *** divide the input space into several regions. In one of these regions, none of the inputs saturate. In each of the remaining regions, there is a unique input that saturates everywhere with the time-derivative of its saturated signal being zero. These special properties of the inputs in different regions of the input space are combined with an existing piecewise quadratic Lyapunov functions that contains the information of input saturation to arrive at a set of less conservative stability conditions, from which a larger level set of the piecewise quadratic Lyapunov function can be obtained as an estimate of the domain of *** results indicate that the proposed approach has the ability to obtain a significantly larger estimate of the domain of attraction than the existing methods.

关键词： Actuator saturation,constrained control,domain of attraction,input saturation,piecewise quadratic Lyapunov functions,stability analysis

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied Control and automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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