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Congress on Evolutionary Computation

作者： Arash Arami Bijan Rahmizadeh Rofoee Caro Lucas Control and Intelligent Processing Center of Excellence (CIPCE) school of Electrical and Computer Engineering University of Tehran Tehran Iran Electrical and Computer Engineering Department Tabriz University Tabriz Iran School of Cognitive Science Institute of Studies in Theoretical Physics and Mathematics Tehran Iran CIPCE school of Electrical and Computer Engineering University of Tehran Tehran Iran

The method of multiple heterogeneous ant colonies with information exchange (MHACIE) is presented in this paper with emphasis on the speed of finding the optimal solution and the corresponding computational complexity. The proposed method which is inspired by biology and psychology has a structure composed of several ant colonies. These colonies participate in solving problems in a concurrently manner and also exchange information with each other in communicational steps. Each ant colony is considered as an intelligent agent with behavioral traits. These behavioral traits play a key role in the solving procedure, in interrelation circumstances and in installation of relations. Faster solutions have been achieved using different employments of agents in the algorithm structure. Experimental results show the superiority of Multiple heterogeneous ant colonies algorithm in comparison to the standard ant colony system (ACS) and particle swarm optimization (PSO) algorithms on different benchmarks. A dynamic, control engineering benchmark is also provided in order to gain a more complete evaluation of the proposed algorithm.

关键词： Benchmark testing Evolution (biology) Optimization Heuristic algorithms Evolutionary computation Electronic mail Educational institutions

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Comparison of two linear models for estimating brain deformation during surgery using finite element method

Comparison of two linear models for estimating brain deforma...

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International Joint Conference on Neural Networks (IJCNN)

作者： Hajar Hamidian Hamid Soltanian-Zadeh Reza Faraji-Dana Masoumeh Gity Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Radiology University of Tehran Medical School Tehran Iran

This paper presents finite element computation of brain deformation during craniotomy. Two mechanical models are compared for this purpose: linear solid-mechanic model and linear elastic model. Both models assume finite deformation of the brain after opening the skull. We use a test sphere as a model of the brain, tetrahedral finite element mesh, and function optimization that optimizes the modelspsila parameters by minimizing the distance between the resulting deformation and the supposed deformation. Based on the final value of the objective function, we conclude that the accuracy of the solid mechanic model is higher than that of the elastic model. Applications of the methods to the MR images of the brain confirm this finding.

关键词： Brain modeling Brain models Mathematical model Optimization Equations Deformable models Computational modeling

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A study of Particle Swarm Optimization on leukocyte adhesion molecules and control strategies for smart prosthetic hand

A study of Particle Swarm Optimization on leukocyte adhesion...

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IEEE Swarm Intelligence Symposium, SIS

作者： Cheng-Hung Chen Ken W. Bosworth Marco P. Schoen Shawn E. Bearden D. Subbaram Naidu Alba Perez Measurement and Control Engineering Research Center and the Department of Biological Sciences Idaho State University ID USA Measurement and Control Engineering Research Center and the Department of Computer Science Idaho State University ID USA Measurement and Control Engineering Research Center and the Department of Mechanical Engineering Idaho State University ID USA Idaho Biomedical Research Institute and the Department of Biological Sciences Idaho State University ID USA Measurement and Control Engineering Research Center and the Department of Electrical Engineering Idaho State University ID USA Measurement and Control Engineering ResearchCenter and the Department of Mechanical Engineering Idaho State University ID USA

Hard computing based optimization algorithms usually require a lot of computational resources and generally do not have the ability to arrive at the global optimum solution. Soft computing algorithms on the other hand negate these deficiencies, by allowing for reduced computational loads and the ability to find global optimal solutions, even for complex cost surfaces. This paper presents two numerical case studies where a particle swarm optimization (PSO) algorithm is applied to biomedical problems. In particular, the problem of identifying the rupture force for leukocyte adhesion molecules and the problem of finding the correct control parameters of a robotic hand, are addressed. Simulation results indicate that PSO is a feasible alternative to the computational expensive hard computing algorithms.

关键词： Particle swarm optimization White blood cells Adhesives Prosthetic hand Biomedical computing Cams Blood vessels Microorganisms Immune system Humans

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Optical Properties of Closely Coupled Dilute Nitride Mid-Infrared InNSb Quantum Dots

Optical Properties of Closely Coupled Dilute Nitride Mid-Inf...

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IEEE Conference on Nanotechnology

作者： S. M. Kim F. Hatami H. Yuen A. Chin P. Kung J. S. Harris Solid State and Photonics Laboratory Department of Electrical Engineering University of Stanford Stanford CA USA Department of Electrical and Computer Engineering University of Alabama Tuscaloosa AL USA NASA Ames Research Center Moffett Field CA USA

ISBN: (纸本)9781424421039

We report the growth and characterization of a new dilute nitride, InNSb quantum dots embedded on both InAs and GaAs substrate. Strain induced, self-assembled quantum dots are grown using solid-source molecular beam epitaxy. For improved growth control, we developed a growth technique similar to atomic layer epitaxial methods. Nitrogen incorporation during formation of quantum dots changes surface energy barrier and causes anisotropic distribution of strain energy, results in formation of closely coupled multiple quantum dots in <110> orientation. We obtained mid infrared luminescence around 3.6 mum from InNSb QDs grown on InAs substrate, where it exhibits relatively low efficiencies of nitrogen incorporation compared to the quantum well structure. The band structure calculation confirms band-anticrossing occurs with localized nitrogen energy band, E N =0.42 eV, and results in energy band gap reduction of 50 meV with adding 1% of nitrogen.

关键词： Nitrogen Temperature measurement Quantum dots Strain Materials Temperature Molecular beam epitaxial growth

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Robust hybrid source-seeking algorithms based on directional derivatives and their approximations

Robust hybrid source-seeking algorithms based on directional...

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IEEE Conference on Decision and control

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA

ISBN: (纸本)9781424431236

A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semi-global practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller fitting into this family is developed and demonstrated by simulation and experiment.

关键词： Robustness Remotely operated vehicles Mobile robots Robust control Stability Position measurement Noise measurement Working environment noise Chemical sensors Current measurement

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Robust source-seeking hybrid controllers for nonholonomic vehicles

Robust source-seeking hybrid controllers for nonholonomic ve...

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2008 American control Conference (ACC), vol.7

We develop a hybrid controller that drives a nonholonomic vehicle to the source of a radiation-like signal. The control signal depends only on measurements of the signal, which may be corrupted by noise, and internal states of the controller. The control strategy is inspired by a line minimization-based algorithm for unconstrained optimization of nonlinear functions without gradient information. We state the main properties of the algorithm and then discuss its implementation in a hybrid controller that coordinates the optimization algorithm with vehicle steering. We present semi-global practical convergence and stability results for the closed-loop system. These results are illustrated by simulation and experiment.

关键词： Robust control Remotely operated vehicles Mobile robots Noise measurement Convergence Vehicle driving Working environment noise Position measurement Tin Noise robustness

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Design and Real Time Implementation of a Fuzzy Tuned H ∞ Estimator in a Low Cost AHRS

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IFAC Proceedings Volumes 2008年第2期41卷 11554-11559页

作者： Jafar Keighobadi Mansour Kabganian Mohamad J. Yazdanpanah Mechanical Engineering Department 424 Hafez Ave Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran (Tel:+98-*** Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran (Tel: (+98-21) 82233020

In this paper a Fuzzy Tuned extended H ∞ (FTH ∞ ) estimator is designed and implemented in an Attitude Heading Reference System (AHRS), which is specialized to vehicular applications. In AHRS, 3-axis accelerometers are allotted to measure the earth's gravity field vector and then to update the roll and pitch angles obtained from gyros’ dynamic. Therefore, the AHRS on an accelerated vehicle will be affected by large disturbances. Additionally, in ground vehicles, the measurements of 3-axis magnetometers are corrupted by both soft and hard iron time varying disturbances. The FTH ∞ estimator is an extended H ∞ *** filter in which only noise and attenuation bounds are tuned based on fuzzy linguistic if-then rules. The mentioned features make the estimator more reliable and suitable for hardware implementation. FTH ∞ estimator relies on a consistent fuzzy combination of two change detection tests; namely, likelihood ratio and averaged norm error. Real-time implementation of new attitude-heading estimator is performed on a TMS320VC5416 Digital Signal Processor (DSP). Incorporating this powerful and small size DSP with micro electro mechanical inertial and resistive magnetic sensors leads to a low cost, small size and low power consumption AHRS. Performance of the AHRS was evaluated in Monte Carlo simulations of vehicle's attitude-headings. The FTH ∞ estimator results in a superior performance compared to that of the extended H ∞ estimator in simulation and real tests.

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Guaranteed Dominant Pole Placement with PID controllers

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IFAC Proceedings Volumes 2008年第2期41卷 5842-5845页

作者： Qing-Guo Wang Zhiping Zhang Karl Johan Astrom Yu Zhang Yong Zhang Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Automatic Control Lund Institute of Technology Sweden Global Research Shanghai GE China Technology Center Pudong Shanghai 201203 China

Pole placement is a well-established design method for linear control systems. Note however that with an output feedback controller of low-order such as PID one cannot achieve arbitrary pole placement for a high-order or delay system, and then partially or hopefully, dominant pole placement becomes the only choice. To the best of the authors’ knowledge, no method is available in the literature to guarantee dominance of the assigned poles in the above case. This paper proposes two simple and easy methods which can guarantee the dominance of the assigned two poles for PID control systems. They are based on Root-Locus and Nyquist plot, respectively. If a solution exists, the parametrization of all the solutions is explicitly given. Examples are provided for illustration.

关键词： PID controllers Dominant Poles Pole Placement Root-Locus Nyquist Plot

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An EEG-based subject- and session-independent drowsiness detection

An EEG-based subject- and session-independent drowsiness det...

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International Joint Conference on Neural Networks (IJCNN)

作者： Chin-Teng Lin Nikhil R. Pal Chien-Yao Chuang Tzyy-Ping Jung Li-Wei Ko Sheng-Fu Liang Department of Electrical & Control Engineering and Brain Research Center National Chiao Tung University Hsinchu Taiwan Department of Brain Research Center National Chiao Tung University Calcutta India Department of Brain Research Center National Chiao Tung University Taiwan Department of Electrical & Control Engineering and Brain Research Center National Chiao-Tung University and Institute for Neural Computation University of California San Diego La Jolla CA USA Department of Electrical & Control Engineering and Brain Research Center National Chiao Tung University Taiwan Department of Brain Research Center National Chiao-Tung University and the Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan

Monitoring and predicting human cognitive state and performance using physiological signals such as Electroencephalogram (EEG) have recently gained increasing attention in the fields of brain-computer interface and cognitive neuroscience. Most previous psychophysiological studies of cognitive changes have attempted to use the same model for all subjects. However, the relatively large individual variability in EEG dynamics relating to loss of alertness suggests that for many operators, group statistics cannot be used to accurately predict changes in cognitive states. Attempts have also been made to build a subject-dependent model for each individual based on his/her pilot data to account for individual variability. However, such methods assume the cross-session variability in EEG dynamics to be negligible, which could be problematic due to electrode displacements, environmental noises, and skin-electrode impedance. Here first we show that the EEG power in the alpha and theta bands are strongly correlated with changes in the subjectpsilas cognitive state reflected through his driving performance and hence his departure from alertness. Then under very mild and realistic assumptions we derive a model for the alert state of the person using EEG power in the alpha and theta bands. We demonstrate that deviations (computed by Mahalanobis distance) of the EEG power in the alpha and theta bands from the corresponding alert models are correlated to the changes in the driving performance. Finally, for detection of drowsiness we use a linear combination of deviations of the EEG power in the alpha band and theta band from the respective alert models that best correlates with subjectpsilas changing level of alertness, indexed by subjectpsilas behavioral response in the driving task. This approach could lead to a practical system for noninvasive monitoring of the cognitive state of human operators in attention-critical settings.

关键词： Electroencephalography Brain modeling Brain models Distance measurement Correlation Spectral analysis Data models

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Achieving high-bandwidth nanopositioning in presence of plant uncertainties

Achieving high-bandwidth nanopositioning in presence of plan...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Sumeet S. Aphale Santosh Devasia S. O. Reza Moheimani ARC Center of Complex Dynamic Systems and Control University of Newcastle Callaghan NSW Australia Mechanical Engineering Department University of Washington Seattle WA USA School of Electrical and Computer Engineering University of Newcastle Callaghan NSW Australia

ISBN: (纸本)9781424424948

In the absence of plant parameter uncertainties, inversion-based feedforward techniques have been known to deliver accurate tracking performance. Due to changes in operating conditions like ambient temperature, humidity and loading, piezoelectric-stack actuated nanopositioning platforms can undergo significant changes in their system parameters. Nonlinear effects of hysteresis, an inherent property of a piezoelectric actuator, are also present; charge actuation is applied to reduce the effects of hysteresis. In this work, a suitable feedback controller that reduces the effects of parameter uncertainties is integrated with the inversion-based feedforward technique to deliver accurate nanopositioning over a large bandwidth. It is shown experimentally that by integrating closed-loop damping, inversion-based feedforward and charge actuation, the tracking bandwidth of the platform from can be increased significantly from 310 Hz to 1320 Hz.

关键词： Feedforward neural networks Bandwidth Resonant frequency Harmonic analysis Nanopositioning Uncertainty Damping

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