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25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012

作者： Paull, Liam Severac, Gaetan Raffo, Guilherme V. Angel, Julian Mauricio Boley, Harold Durst, Phillip J. Gray, Wendell Habib, Maki Nguyen, Bao Ragavan, S. Veera Saeedi G., Sajad Sanz, Ricardo Seto, Mae Stefanovski, Aleksandar Trentini, Michael Li, Howard COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB E3B 5A3 Canada ONERA-University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC 3909 Halls Ferry Road Vicksburg MS 39180 United States Mechanical Engineering Department School of Sciences and Engineering American University in Cairo New Cairo Egypt Defence Research and Development Canada-CORA Ottawa ON Canada Monash University Sunway Campus Australia Systems Engineering and Automatic Control Autonomous Systems Laboratory Research Group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada-Atlantic Dartmouth NS Canada Department of Computer Science George Washington University United States Defence R and D Canada-Suffield PO Box 4000 Station Main Medicine Hat AB T1A 8K6 Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions. © 2012 IEEE.

关键词： Ontology

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A new method of 3D position and attitude estimation for pinpoint lunar landing

A new method of 3D position and attitude estimation for pinp...

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62nd International Astronautical Congress 2011, IAC 2011

作者： Wang, Lina Gao, Xiaoying Beijing Key Laboratory of Digital Media School of Computer Science and Engineering Beihang University China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing Aerospace Automatic Control Institute China

ISBN: (纸本)9781618398055

With the development of lunar exploration, the higher resolution lunar maps are described and lunar terrain 3D models are established. The position information of lunar ground control points can be determined from them. These research productions should be enough applied to estimating lander's state parameters. Based on lunar ground control points, this paper puts forward a new method of 3D position and attitude estimation for the lunar lander in descent phase. The lunar maps and digital elevation models of the covered area during descent are processed to obtain lunar surface reference data. Through correlating a descent 2D image with the reference data, the corresponding image points of the lunar ground control points are located. According to the geometric relation between the lunar lander, lunar ground control points and their image points, the lander's state equations can be established. Using simulated data, the feasibility and validity of the method are verified. The error and error factors are analyzed in theory. It can be concluded that the precision of this method is satisfying. If the existing higher resolution lunar maps are applied, the precise state parameters can be achieved. And this method is simple to realize. By using the reference data and a 2D lunar surface image, the 3D position and attitude parameters can be obtained. This method can integrate with INS to eliminate the accumulation error and provide lander's precise state parameters for pinpoint and safe lunar landing. Copyright ©2011 by the International Astronautical Federation. All rights reserved.

关键词： Lunar landing

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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Seeded faults and their locations design using bayes formula and program logic in software testing

Seeded faults and their locations design using bayes formula...

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6th International Conference on Evaluation of Novel Approaches to Software engineering, ENASE 2011

作者： Lina, Wang Jie, Tian Bo, Li Beijing Key Laboratory of Digital Media School of Computer Science and Engineering Beihang University Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing Aerospace Automatic Control Institute Beijing China Beijing Command College CPAPF Beijing China

ISBN: (纸本)9789898425577

Focusing on three questions "what faults to seed", "how to seed faults more effectively" and "how to select the seeded fault locations", the methods of fault seeding are studied. Aiming at procedural language source code, a fault classification scheme is presented. Referring to Howden's fault classification scheme, and based on the occurrence causes and manifestations of software faults, a hierarchy of fault classes is designed. The faults are categorized as assignment faults, control flow faults or runtime environment faults. Then they are further classified by degrees, respectively. 96 categories are included in all. According to this classification, a statistical method based on Bayes formula is designed to determine the manifestations of seeded faults. A logical method based on the logical relation between control flow and data flow of program is presented to set seeded locations. And the concrete seeding process is introduced. Finally, the methods are verified by a case.

关键词： Software testing

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On the polyhedral set-invariance conditions for time-delay systems

On the polyhedral set-invariance conditions for time-delay s...

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作者： Lombardi, Warody Olaru, Sorin Lazar, Mircea Bitsoris, Georges Niculescu, Silviu-Iulian Automatic Control Department France LSS - Laboratory of Signals and Systems SUPELEC CNRS Gif-sur-Yvette France Department of Electrical and Computer Engineering University of Patras Patras Greece Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9783902661937

In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay)-invariant set with respect to a bounded polyhedral subset of the state-space. D-invariance conditions are derived based on the Minkowski addition in a first stage, and subsequently translated in feasibility-based tests in order to obtain an efficient computation time. © 2011 IFAC.

关键词： Time delay

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Hybrid optimal control for aircraft trajectory design with a variable sequence of modes

Hybrid optimal control for aircraft trajectory design with a...

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作者： Kamgarpour, Maryam Soler, Manuel Tomlin, Claire J. Olivares, Alberto Lygeros, John Department of Mechanical Engineering University of California Berkeley United States Department of Statistics and Operations Research URJC 28933 Madrid Spain Department of Electrical Engineering and Computer Sciences University of California Berkeley United States Automatic Control Laboratory ETH Zurich CH-8092 Switzerland

ISBN: (纸本)9783902661937

The problem of aircraft trajectory planning is formulated as a hybrid optimal control problem. The aircraft is modeled as a switched system, that is, a class of hybrid dynamical systems. The sequence of modes, the switching times, and the inputs for each mode are the control variables. An iterative bi-level optimization algorithm is employed to solve the optimal control problem. At the lower level, given a pre-defined sequence of flight modes, the optimal switching times and the input for each mode are determined. This is achieved by extending the continuous state to include the switching times and then solving a conventional optimal control problem for the extended state. At the higher level, the algorithm modifies the mode sequence in order to decrease the value of the cost function. We illustrate the utility of the problem formulation and the solution approach with two case studies in which short horizon aircraft trajectories are optimized in order to reduce fuel burn while avoiding hazardous weather. © 2011 IFAC.

关键词： Hybrid systems

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Sensorless Speed control With MRAS for Induction Motor Drive

Sensorless Speed Control With MRAS for Induction Motor Drive

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International Conference on Electrical Machines

作者： Y. Agrebi Zorgani Y. Koubaa M. Boussak Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) National School of Engineering of Sfax University of Sfax-Postal Box 1173 3038 Sfax Tunisia the Laboratoire des Sciences de l'Information et des Systèmes (LSIS) UMR CNRS 7296 - Ecole Centrale Marseille (ECM) - 38 rue Joliot Curie Technop?le de Chateau Gombert 13451 Marseille Cedex 20 France

ISBN: (纸本)9781467301435

Usually In the speed sensorless of the induction motor, the machine parameters (especially rotor resistance Rr) have a strong influence on the speed estimation. This paper presents simultaneous estimation of speed and rotor resistance in sensorless ISFOC induction Motor drive based on a Model Reference System (MRAS). The MRAS has been formed to estimate the rotor speed and the rotor resistance which are tuned to obtain high-performance ISFOC induction motor drive. The error between the reference and adjustable models, developed in stationary stator reference frame, is used to drive a suitable adaptation mechanism that generates the estimate wr and Rr from measured terminal voltages and currents. The proposed algorithm has been tested by numerical simulation, showing the capability of driving active load and stability is preserved. Experimental results for the simultaneous estimation are presented in order to validate the effectiveness of the proposed scheme. The control algorithm has been implemented using a digital signal processor based on dSPACE DS1104.

关键词： Induction motor drive indirect stator field oriented control (ISFOC) model reference adaptive system (MRAS) rotor speed estimation rotor resistance estimation

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Hybrid satellite-terrestrial architecture for control systems education

Hybrid satellite-terrestrial architecture for control system...

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2011 UKSim 13th International Conference on Modelling and Simulation, UKSim 2011

作者： Tsoulkas, Vasilis N. Pantelous, Athanasios A. Dritsas, Leonidas Papachristos, Christos Athens Greece University of Liverpool United Kingdom Department of Mathematical Sciences University of Liverpool United Kingdom Hellenic Air Force Academy Division of Automatic Control Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National Technical University Athens Greece

ISBN: (纸本)9780769543765

In this paper, the modules for the conceptual design of an innovative e-learning platform using satellite communications for teaching control systems theory courses are presented. All necessary tools and mechanisms are provided enabling real time text, and audio/video based communication between tutors and learners. The end-user driven services include: virtual classroom, offline operation, sharing of applications, private/ public chatting, audio/video streaming. A concise description of the pilot architecture which depends on the DVB-RCS standard is presented justifying further the choice of the proposed platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broad-band technologies (DVB-RCS/WiMAX, DVB-RCS/Wi-Fi) are further justified. © 2011 IEEE.

关键词： Teaching

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An ACP-based framework for occupants safety evacuation under fire in high-rise buildings

An ACP-based framework for occupants safety evacuation under...

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2011 IEEE International Conference on Service Operations, Logistics and Informatics, SOLI 2011

作者： Hu, Yu-Ling Wen, Ding Liu, Xi-Wei Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology Beijing 100081 China School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture Beijing 100044 China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha 410073 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781457705731

Because the structure and function of a high-rise building is complex and the density of occupants in it is high, fire safety is still a worldwide difficult problem. Safety and timely evacuation is an important issue under fire in the high-rise buildings. Because it is impossible in fact to do experiments about fire safety evacuation in high-rise buildings, in this paper, a research framework based on the artificial system, computational experiments, and parallel excution (ACP) theory is proposed. First, an evacuation process is considered to compose of two stages including pre-evacuation stage and evacuation stage. Second, artifical men with recognition functions based agent technology is proposed. Finally, computational experiments are designed by using an orthogonal experiment table, and experiment procedure of pre-evacuation stage is given. The idea of systimatic research about the influence of fire control facilities to evacuation is also proposed © 2011 IEEE.

关键词： Fires

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On the Polyhedral Set-Invariance Conditions for Time-Delay Systems

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IFAC Proceedings Volumes 2011年第1期44卷 308-313页

作者： Warody Lombardi Sorin Olaru Mircea Lazar Georges Bitsoris Silviu-Iulian Niculescu SUPELEC Systems Sciences (E3S) – Automatic Control Department France LSS – Laboratory of Signals and Systems SUPELEC-CNRS Gif-sur-Yvette France Department of Electrical and Computer Engineering – University of Patras Patras Greece Department of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands

Abstract In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay) -invariant set with respect to a bounded polyhedral subset of the state-space. D -invariance conditions are derived based on the Minkowski addition in a first stage, and subsequently translated in feasibility-based tests in order to obtain an efficient computation time

关键词： Set Invariance Constrained Systems Time-Delay Systems

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