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World Congress on Intelligent Control and automation (WCICA)

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai P.R. China Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

As well-known, model predictive control is closely related to optimal control. This paper studies relationships between them and provides a unified framework for optimality analysis of model predictive controllers (MPC). The optimality is evaluated by comparing total performance of MPC with finite and infinite horizon optimal cost. Based on relaxed value iteration method, upper and lower bounds of optimality evaluation functions are expressed explicitly in terms of optimization horizon. These results reveal detailed characteristics on performance of closed-loop MPC systems due to using “receding horizon optimization” implementation style.

关键词： Optimal control Nonlinear systems Cost function Predictive control Predictive models

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An Overview of the Triangle of Knowledge as a Driving Force for Sustainable Growth in Developing Nations

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IFAC Proceedings Volumes 2013年第8期46卷 106-115页

作者： P.P. Groumpos Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Patras Greece

Today's challenging and critical world situation is briefly reviewed. Mathematical and geometrical approaches to the Knowledge Triangle (KT) concept are outlined and analyzed. The Triptych: Education + Research+ Innovation has been used in the definition of the Knowledge Triangle (KT). The relationship of the KT and the Lisbon Strategy is presented and discussed. The European Institute of Technology (EIT) is briefly mentioned which also uses the KT but in addition is taking into consideration the important component of Entrepreneurship. A new approach to explore an expanded triptych of KT, by adding the Entrepreneurship-Business component (K-E+R-I+E-B), is attempted and a new definition is developed by exploring better the geometric triangle schema and the expanded triptych. The new term been introduced is the Triangle of Knowledge (ToK). It is fully explained and justified for this new approach using the expanded (K-E+R-I+E-B) fundamental concepts. The Triangle of Knowledge (ToK) guarantees the full and dynamic interaction between all components needed for the sustainable development-growth of a Region-Country. The different funding schemes are considered and the pyramid for sustainable development is presented for the first time especially for Developing Nations. This new approach seems to address better many fundamental issues and problems of the Knowledge-Based-Society (KBS). The important role that Control can play in the further development and mathematical study of the new proposed concept for the Triangle of Knowledge (ToK) is briefly formulated and analyzed. Interesting and future research directions for the proposed new approaches are presented and discussed

关键词： sustainable development economic models knowledge triangle systems theory control triangle of knowledge

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Sensitivity analysis for building energy simulation model calibration via automatic differentiation

Sensitivity analysis for building energy simulation model ca...

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IEEE International Conference on Networking, Sensing and Control

作者： Sisi Li MengChu Zhou Kun Deng Zhen Song Yan Lu Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana IL USA Department of Automation and Control Siemens Corporation Corporate Technology Princeton NJ USA

High-fidelity building energy simulation models are established on well-known physical laws and attempt to faithfully represent a real building. The numerical solution of differential algebraic equations that interpret thermal balance of buildings is included in building energy simulation models. It thereby leads to highly discontinuous systems that involve a large number of sub-routine calls and model switches during the execution. To acquire a building energy simulation model with good quality, parameter sensitivity analysis is well-advocated since it aims to target those parameters from the parameter pool in a specific building that hold more influence on the building thermal performance than others. Since building energy simulation models are given in a large piece of program codes and encapsulate a series of sub-models, the existing sensitivity analysis is built on Monte Carlo simulation and statistics-based random sampling methods only, e.g., Monte Carlo sampling and Latin Hypercube sampling methods, which are extremely time-consuming. We propose to perform the sensitivity analysis of a first-principle high-fidelity building energy simulation model via a straightforward differential sensitivity analysis method that relies on the estimation of derivatives. A key technical challenge is that the complexity of the model prohibits the analytical differentiation, while the numerical differentiation is sensitive to step size and suffers from the truncation error. We, hence, propose to adopt an automatic differentiation method, which exploits the operator overload feature of object oriented programming language, to obtain accurate numerical estimations of derivatives in an automated and computationally efficient way.

关键词： Materials Buildings Computational modeling Mathematical model Analytical models Heating Monte Carlo methods

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An Automated Thermographic Image Segmentation Method for Induction Motor Fault Diagnosis

An Automated Thermographic Image Segmentation Method for Ind...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Petros Karvelis George Georgoulas Chsysostomos D. Stylios Ioannis P. Tsoumas Jose Alfonso Antonino-Daviu Maria Jose Picazo Rodenas Vicente Climente-Alarcon Laboratory of Knowledge and Intelligent Computing Technological Educational Institute of Epirus Department of Computer Engineering Larges Drives Products R&D Department Siemens Industry Sector - Drive Technologies Instituto de Ingenieria Energetica Universitat Politecnica de Valencia Department of Electrical Engineering and Automation Aalto University

ISBN: (纸本)9781479940318

Eventual failures in induction machines may lead to catastrophic consequences in terms of economic costs for the companies. The development of reliable systems for fault detection that enable to diagnose a wide range of faults is a motivation of many researchers worldwide. In this context, non-invasive condition monitoring strategies have drawn special attention since they do not require interfering with the operation process of the machine. Though the analysis of the motor currents has proven to be a reliable, non-invasive methodology to detect some of the faults (especially when assessing the rotor condition), it lacks reliability for the diagnosis of other faults (e.g. bearing faults). The infrared thermography has proven to be an excellent, non-invasive tool that can complement the diagnosis reached with the motor current analysis, especially for some specific faults. However, there are still some pending issues regarding its application to induction motor faults diagnosis, such as the lack of automation or the extraction of reliable fault indicators based on the infrared data. This paper proposes a methodology that intends to provide a solution to the first issue: a method based on image segmentation is employed to detect several failures in an automated way. Four specific faults are analyzed: bearing faults, fan failures, rotor bar breakages and stator unbalance. The results show the potential of the technique to automatically identify the fault present in the machine.

关键词： Induction motor Fault diagnosis SIFT Image segmentation Object matching

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine Systems Control Laws Formation Control Station Keeping Triangular Formations

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A Cloaking-Based Approach to Protect Location Privacy in Location-Based Services

A Cloaking-Based Approach to Protect Location Privacy in Loc...

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第三十三届中国控制会议

作者： Zheng Jiangyu Tan Xiaobin Cliff Zou Niu Yukun Zhu Jin CAS Key Laboratory of Technology in Geo-spatial Information Processing and Application System University of Science and Technology of China Department of Automation University of Science and Technology of China Department of Electrical Engineering and Computer Science University of Central FloridaOrlandoFL 32816-2362

ISBN: (纸本)9781479947249

With the widespread use of mobile devices, the location-based service(LBS) applications become increasingly popular, which introduces the new security challenge to protect user's location privacy. On one hand, a user expects to report his own location as far as possible away from his real location to protect his location privacy. On the other hand, in order to obtain high quality of service(QoS), users are required to report their locations as accurate as possible. To achieve the dedicated tradeoff between privacy requirement and QoS requirement, we propose a novel approach based on cloaking technique. We also discuss the disadvantage of the traditional general system model and propose an improved model. The basic idea of our approach is to select a sub-area from the generated cloaking area as user's reported location. The sub-area may not contain a user's real location,which prevents an adversary from performing attack with side information. Specifically, by defining an objective function with a novel location privacy metric and a QoS metric, we are able to convert the privacy issue to an optimization problem. Then, location privacy metric and QoS metric are given. To reduce the complexity of the optimization, a heuristic algorithm is *** privacy-preserving analysis and comparison with related work [8], we demonstrate the effectiveness and efficiency of our approach.

关键词： Location-based Services,Location Privacy,k-anonymity,Cloaking Area

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An efficient two-stage gene selection method for microarray data

Communications in Computer and Information Science

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Communications in computer and Information Science 2013年 355卷 424-432页

作者： Du, Dajun Li, Kang Deng, Jing Key Laboratory of Power Station Automation Technology Department of Automation Shanghai University 200072 Shanghai China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast United Kingdom

Gene selection is a key issue in the analysis of microarray data with small samples and variant correlation. The main objective of this paper is to select the most informative genes from thousands of genes with strong correlation. This is achieved by proposing an efficient two-stage gene selection (TSGS) algorithm. In this algorithm, the L2- norm penalty are firstly introduced to achieve the grouping effect for the highly correlated genes. To overcome the small samples problem, the augmented data technique is then used to produce an augmented data set. Finally, by using the recently proposed two-stage algorithm, the most informative genes can be selected effectively. Simulation results confirm its effectiveness of the proposed approach in comparison with the popular Elastic Net method. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Genes

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Program-based and model-based PLC design environment for multicore FPGA architectures

Program-based and model-based PLC design environment for mul...

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International Conference on Informatics in Control, automation and robotics (ICINCO)

作者： Christoforos Economakos Michael Skarpetis George Economakos Technological Educational Institution of Sterea Ellada Department of Automation Engineering GR34400 Psahna Evia Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Heroon Polytechniou 9 GR15780 Zografou Greece

Digital design has been growing rapidly during the last years, offering advanced implementation solutions for a diversity of appliances and instruments, integrating different sensors and actuators. This has a great impact on embedded automation, where traditional Programmable Logic Controllers (PLCs) have been gradually replaced by high performance Embedded Controllers, Digital Signal Processor (DSP) chips and, more recently, power efficient Field Programmable Gate Arrays (FPGAs). Such new implementation platforms bring together efficient design methodologies, like model-based design and high-level or C level program-based design. In their turn, new design methodologies are accompanied by new design technologies like Intellectual Property (IP) based design and High-Level Synthesis (HLS). This paper presents a design environment that utilizes program-based and model-based design, for the development of PLC applications. Specifically, a tool flow is constructed that supports either the design of new control algorithms or the translation of existing algorithms into C. Then, HLS and FPGA implementation tools are adopted, to implement the selected algorithms as multicore, embedded designs, offering performance improvements and hardware utilization efficiency. Overall, the proposed methodology and underlying tool flow support a novel high productivity prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Field programmable gate arrays Algorithm design and analysis Hardware Digital signal processing Signal processing algorithms Microcontrollers Hardware design languages

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Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT

Injection-depth-locking axial motion guided handheld micro-i...

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

作者： Gyeong Woo Cheon Yong Huang Hye Rin Kwag Ki-Young Kim Russell H. Taylor Peter L. Gehlbach Jin U. Kang Department of Electrical and Computer Engineering Johns Hopkins University Baltimore MD USA Department of Chemical and Biomolecular Engineering Johns Hopkins University Baltimore MD USA Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science Johns Hopkins University Baltimore MD USA Wilmer Eye Institute Johns Hopkins School of Medicine Baltimore MD

This paper presents a handheld micro-injector system using common-path swept source optical coherence tomography (CP-SSOCT) as a distal sensor with highly accurate injection-depth-locking. To achieve real-time, highly precise, and intuitive freehand control, the system used graphics processing unit (GPU) to process the oversampled OCT signal with high throughput and a smart customized motion monitoring control algorithm. A performance evaluation was conducted with 60-insertions and fluorescein dye injection tests to show how accurately the system can guide the needle and lock to the target depth. The evaluation tests show our system can guide the injection needle into the desired depth with 4.12μm average deviation error while injecting 50nl of fluorescein dye.

关键词： Needles Optical fiber sensors Biomedical optical imaging Optical fibers Optical interferometry Coherence

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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