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2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010

作者： Tunçer, Özgür Güvenç, Levent Coşkun, Fuat Karsligil, Elif Ford Otosan - Gebze Engineering Gebze Kocaeli Turkey ITU Mekar Labs. Automotive Control and Mechatronics Research Center Istanbul Technical University Istanbul Turkey Department of Computer Engineering Intelligent System Laboratory Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781424465880

Inattentive and impaired drivers are a major cause of road accidents. Especially when impaired by drugs, fatigue or physical handicaps, the skill levels, driving habits, capabilities and decisions of a human driver are adversely affected. In such cases, the ability of a driver to safely operate a vehicle may be augmented considerably by well tuned and driver adaptive warning and assistance systems. Data from 105 drivers were collected in the Drive Safe project on an approximately 30 km route containing both city and highway traffic. The data was used to develop methods for determining inattentive/impaired drivers. This paper is on a lane keeping driver assistant system that is activated once such an inattentive/impaired driver who cannot perform a good task of lane keeping by himself is determined. Robust, parameter space based and velocity scheduled control design techniques carried out in the COMES toolbox are used for designing the lane keeping controller. A camera based image processing algorithm for lane detection and tracking is used. The image processing algorithm and the lane keeping assistant control system are evaluated first using offline simulations and then using more realistic, real time hardware-in-the-loop simulations. While a relatively simple linear model is used for lane keeping controller design, evaluation of the designed controller also uses the high fidelity, high order, realistic and nonlinear vehicle model in Carmaker HiL. A PC is used for processing video frames coming from an in-vehicle camera pointed towards the road ahead. Lane detection and tracking computations including fitting of composite Bezier curves to curved lanes are carried out in this PC. A dSpace microautobox is available for obtaining the lane data from the PC and the Carmaker vehicle data from the dSpace compact simulator used and calculating the required steering actions and sending them to the Carmaker vehicle model. Offline and real time simulation results demonstrate t

关键词： controllers

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Motion planning of multiple mobile robots with formation requirement

Motion planning of multiple mobile robots with formation req...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Liu, Shuang Sun, Dong Zhu, Changan Control and Mechatronics Group University of Hong Kong University of Science and Technology of China Suzhou China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong Hong Kong Department of Precision Machinery and Precision Instrumentations University of Science and Technology of China Hefei China

ISBN: (纸本)9781424457021

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a velocity optimization problem. An objective function to minimize the formation errors is established. A solution to achieve this objective function is obtained by the optimizer of LINGO (a linear interactive and general optimizer). Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach. ©2010 IEEE.

关键词： Motion planning

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Unknown input-proportional integral observer for singular systems: Application to fault detection

Unknown input-proportional integral observer for singular sy...

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2010 18th Iranian Conference on Electrical engineering, ICEE 2010

作者： Share Pasand, M.M. Aliyari Sh, M. Taghirad, H.D. Department of Systems and Control Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Mechatronics K.N. Toosi University of Technology P.O. Box 16315-1355 Tehran Iran

ISBN: (纸本)9781424467600

A new approach to the observer design for descriptor continuous time systems is proposed and its application in the fault diagnosis problem is illustrated. In this observer, two features of disturbance decoupling and fault estimation are combined. Also a more general frame for fault estimation is used. Some numerical examples and simulation results are shown to justify the effectiveness of the algorithm. ©2010 IEEE.

关键词： Fault detection

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Optimization of wings in ground effect using multi-objective genetic algorithm

Optimization of wings in ground effect using multi-objective...

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作者： Lee, Juhee Hong, Chol-Ho Kim, Byeong Sam Park, Kyoungwoo Ahn, Jong Kwan Department of Mechatronics Hoseo University Asan 336-795 Korea Republic of Department of System and Control Engineering Hoseo University Asan 336-795 Korea Republic of Department of Automotive Engineering Hoseo University Asan 336-795 Korea Republic of Department of Mechanical Engineering Hoseo University Asan 336-795 Korea Republic of

ISBN: (纸本)9781600867392

The shape optimization using the multi-objective genetic algorithm and the analysis of the 3-dimensional wings in ground effect has been performed. Unlike an airplane flying out of ground effect, wings in ground effect have to satisfy static height stability to cruise steadily above the ground or water surface. In this study, both aerodynamic performance and static height stability are considered as objectives. Due to the multi-objective optimization, the optimal solutions are not unique but a set of non-dominated potential solutions: Pareto optima. After twenty evolutions, 74 non-dominated Pareto optima can be obtained. Three objectives, lift coefficient, lift-to-drag ratio and static height stability, are strongly tradeoff each other so that the unique and dominate solution is not existed. The Pareto optima obtained in this study are placed on the edge of the objective space. From the analysis of the Pareto optima, static height stability was improved at the lower height and the higher angle of attack. The lift-to-drag ratio increases with the lower height since the pressure on the lower wing surface increases while that on the upper surface remains constant. The influence of the tip vortex reduces as ground approached.

关键词： Multiobjective optimization

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Hybrid powertrain concept evaluation using optimization

Hybrid powertrain concept evaluation using optimization

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25th World Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition: Sustainable Mobility Revolution, EVS 2010

作者： Murgovski, Nikolce Fredriksson, Jonas Sjöberg, Jonas Norén, Bengt Department of Signals and Systems Division of Automatic Control Automation and Mechatronics Chalmers University of Technology Gothenburge Sweden Complete Powertrain Powertrain Engineering Volvo Cars Corporation. Dept 97520-PV3B-Gothenburge Sweden

This paper describes automatic evaluation of series-parallel (combined) powertrain models using optimization. The novelty with the approach is the possibility to work with non-transparent industrial vehicle models, hidden for intellectual property reasons. The contribution extends the functionality of a recently developed tool for parallel hybrids, with the ability to operate on combined powertrains. Given the user inputs, which include dynamic vehicle model and driving cycle, the tool first produces a simplified powertrain model in the form of static maps, before dynamic programming is used to find an optimal torque split that minimizes fuel consumption. The main use of the tool is to evaluate the potential of a powertrain configuration. The paper contains an illustration of the tool operation on a non-transparent industrial vehicle model. The only requirement on the model is to provide access to some general variables and that it has a torque split that can be fully controlled.

关键词： Hybrid vehicles

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Camera parameters auto-adjusting technique for robust robot vision

Camera parameters auto-adjusting technique for robust robot ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Huimin Lu Hui Zhang Shaowu Yang Zhiqiang Zheng Department of Automatic Control College of Mechatronics Engineering and Automation National University of Defense Technology Changsha Hunan China

How to make vision system work robustly under dynamic light conditions is still a challenging research focus in computer/robot vision community. In this paper, a novel camera parameters auto-adjusting technique based on image entropy is proposed. Firstly image entropy is defined and its relationship with camera parameters is verified by experiments. Then how to optimize the camera parameters based on image entropy is proposed to make robot vision adaptive to the different light conditions. The algorithm is tested by using the omnidirectional vision in indoor RoboCup Middle Size League environment and the perspective camera in outdoor ordinary environment, and the results show that the method is effective and color constancy to some extent can be achieved.

关键词： Robot vision systems Cameras Robustness Entropy Machine vision Algorithm design and analysis Robotics and automation Focusing Computer vision Image processing

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Pseudo control hedging and its application for safe flight envelope protection

Pseudo control hedging and its application for safe flight e...

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AIAA Guidance, Navigation, and control Conference

作者： Lombaerts, T.J.J. Looye, G.H.N. Chu, Q.P. Mulder, J.A. Delft University of Technology P.O. Box 5058 2600 GB Delft Netherlands German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Control and Simulation Division Faculty of Aerospace Engineering Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869624

This paper describes how the previously developed concept of Pseudo control Hedging (PCH) can be integrated in a Fault Tolerant Flight controller (FTFC) as a safe flight envelope protection system of the first degree. This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. As an example, this algorithm has been applied in the pitch rate and velocity control loops of a high fidelity Boeing 747 simulation model where its beneficial influence has been illustrated. The nonlinear adaptive control law used for this example is a triple layered nonlinear dynamic inversion algorithm, based upon the concept of time scale separation. Copyright © 2010 by the authors.

关键词： Flight envelopes

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Investigation of a rotary-linear switched reluctance motor

Investigation of a rotary-linear switched reluctance motor

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International Conference on Electrical Machines, ICEM

作者： J.F Pan N.C. Cheung Guang-zhong Cao Department of Automation College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong China

A novel direct-drive rotary-linear switched reluctance motor (RLSRM) is proposed. The motor has the advantages of robust mechanical structure, low manufacture cost and capability of operation under hostile environments. Simulation tools such as finite element analysis (FEA) are applied for the verification of motor performance and corresponding experiments are carried out to testify the simulation results. The authors expect that the innovative actuator design can be applied in industrial applications that require both rotary and linear motions.

关键词： Reluctance motors Force Torque Finite element methods Stator windings Switches

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Application of GA based neuro - fuzzy automatic generation for teleoperation systems

Application of GA based neuro - fuzzy automatic generation f...

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International Conference on Digital Content, Multimedia Technology and its Applications (IDC)

作者： Sara Manifar Mahdi Aliyari Shoorhedeli Department of Mechatronics Engineering Islamic Azad University Science and Research Tehran Iran Department of Mechatronics Engineering and Advanced Process Automation and Control (APAC) Research Group K.N. Toosi University of Technology Tehran Iran

This paper discusses the design of a controller for teleoperation systems which operate in contact with unknown environments. For this purpose, the controller in the slave part is designed to use a classical controller and a neuro-fuzzy controller. To have a haptic teleoperation, the force feedback from the contact point to the master side is needed. In this study virtual force is fed back to the master instead of the measured contact force and the feedback force is the position error i.e. the difference between the position of master and slave robots. Primary, classical controller was designed for this object, the gains of this controller is obtained by standard genetic algorithm (GA), in offline and optimization method at nominal operating point. In master-slave robot with classical controller, when, robot works in soft or hard environment and the operating point was changed, the obtained controller are not suitable. For this reason, online neuro - fuzzy gain scheduling controller are designed for this system to tune the controller's parameters. The NF trained in offline mode based on GA and in online application tuned the controller based on monitoring of operating point of system. This method makes the system robust to uncertainties such as modeling errors, parameter mismatches and disturbances. The simulation results show the ability of proposed method in compare of other controllers such as Kalman filter.

关键词： Force Equations Monitoring Iron Mathematical model

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Auxiliary Model-based Stochastic Gradient Algorithm for Multivariable Output Error Systems

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自动化学报 2010年第7期36卷 993-998页

作者： DING Feng LIU Xiao-Ping School of Communication and Control Engineering Jiangnan University Wuxi 214122 P.R. China School of Mechatronics Engineering Nanchang University Nanchang 330031 P.R. China Department of Systems and Computer Engineering Carleton University Ottawa K1S 5B6 Canada

The identification problem of multivariable output error systems is considered in this paper. By constructing an auxiliary model using available input-output data and by replacing the unknown inner variables in the information vector with the outputs of the auxiliary model, an auxiliary model-based stochastic gradient (AM-SG) identification algorithm is presented. Convergence analysis using the martingale convergence theorem indicates that the parameter estimates given by the AM-SG algorithm converge to their true values. The AM-SG algorithm with a forgetting factor is given to improve its convergence rate. The simulation results confirm the theoretical findings.

关键词：多变量输出误差辨识系统自动化系统

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