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检索条件"机构=NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering"

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IEEE IRI 2006 Keynote Speech(I);System of Systems - From Definition to Architecture to Simulation to Space Applications

IEEE IRI 2006 Keynote Speech(I);System of Systems - From Def...

引用

IEEE International Conference on Information Reuse and Integration (IRI)

作者： Mo Jamshidi Department of Electrical and Computer Engineering and Autonomous Control Engineering-ACE Center University of Technology San Antonio TX USA

One of the main challenges of any related paradigms in systems engineering is being able to handle complex systems under unforeseen uncertainties. A system may be called complex if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is so uncertain that classical techniques cannot easily handle the problem. A system of systems (SoS) is a "super system," or an integration of complex systems coordinated together in such a way as to achieve a wider set of goals with possible higher significance such as global warming, Mars missions, air traffic control, global earth observation system, etc. Computational Intelligence or Soft Computing, a consortium of fuzzy logic (approximate reasoning), neuro-computing (learning), genetic algorithms and genetic programming (optimization), has proven to be a powerful set of tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this presentation, paradigms using soft computing approaches are utilized to design autonomous controller with controller reuse for a number of space applications. The notion of adaptation in autonomous controller reuse can be handled via intelligent tools to add on additional capabilities in real-time scenarios. Learning from past experience is but one such scenario for the reuse of autonomous controllers. These applications include satellite array formations, robotic agents and the Virtual Laboratory (V-LAB®) for multi-physics modeling and simulation.

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Minimal fuel consumption of electric propulsion space vehicles for deep space exploration

Minimal fuel consumption of electric propulsion space vehicl...

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IEEE Conference on Aerospace

作者： B.B.R. Reddy A.C. Esterline A. Homaifar NASA Autonomous Control and Information Technology Center Department of Electrical and Computer Engineering North Carolina Agriculture and Technical State University NC USA

The objective of this research is to find a near optimal control strategy of an electric propulsion space vehicle to consume minimal fuel while traversing between two points in space. Micro genetic algorithms (GA) wit... 详细信息

关键词： Fuels Propulsion Space vehicles Space exploration Space technology Earth Optimal control Moon Planets nasa

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A novel approach to automatic music composing: Using genetic algorithm

A novel approach to automatic music composing: Using genetic...

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International computer Music Conference, ICMC 2006

作者： Zad, Damon Daylamani Araabi, Babak N. Lucas, Caru Department of Information Systems and Computing Brunel University United Kingdom Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Iran

Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions and adequate fitness function it is possible to change the music composing into an optimization problem. This paper proposes a new genetic algorithm for composing music. Considering entropy of the notes distribution as a factor of fitness function and developing mutation and crossover functions based on harmonic rules and trying to keep the melodies intact during these processes would result in a musical piece pleasant to human ears and interesting for human mind. This algorithm does not have the constraints of the previous algorithms. Restraining mutation and crossover functions with a goal of producing melodies based on acceptable melodies composed by humans, this algorithm is not bound to any genre, instrument or melody. The experimental results of this approach show that it is near to the human composing and the results produced from it are more acceptable than the ones produced by its predecessors.

关键词： Genetic algorithms

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A toolbox for brain emotional learning based intelligent controller

A toolbox for brain emotional learning based intelligent con...

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IEEE International Conference on engineering of Intelligent Systems, ICEIS 2006

作者： Mehrabian, Ali Reza Lucas, Caro Control and Intelligent Processing Center of Excellence Department of Mechanical Engineering University of Tehran P.O.Box: 14875 347 Tehran Iran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O.Box: 14395 515 Tehran Iran School of Cognitive Science IPM Tehran Iran

ISBN: (纸本)1424404568

Brain Emotional Learning Based Intelligent controller, BELBIC, has been used for model free adaptive control of several complex industrial plants. It has proven to be very effective controller with light computational load. The aim of this research is to present a general purpose toolbox implementing BELBIC as well as examples of its performance. The user can choose to utilize default configurations or to customize specific configuration to the given plant. © 2006 IEEE.

关键词： Intelligent control

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A high-throughput processor for flight control research using small UAVs

A high-throughput processor for flight control research usin...

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25th AIAA Aerodynamic Measurement Technology and Ground Testing Conference

作者： Klenke, Robert H. Sleeman IV, W.C. Motter, Mark A. Virginia Commonwealth University Richmond VA 23284 NASA Langley Research Center Hampton VA 23681 Department of Electrical and Computer Engineering School of Engineering 601 West Main St. Electronic Systems Branch Building 1202 Mail Stop 488

ISBN: (纸本)1563478110

There are numerous autopilot systems that are commercially available for small (<100 lbs) UAVs. However, they all share several key disadvantages for conducting aerodynamic research, chief amongst which is the fact that most utilize older, slower, 8- or 16-bit microcontroller technologies. This paper describes the development and testing of a flight control system (FCS) for small UAV's based on a modern, high throughput, embedded processor. In addition, this FCS platform contains user-configurable hardware resources in the form of a Field Programmable Gate Array (FPGA) that can be used to implement custom, application-specific hardware. This hardware can be used to off-load routine tasks such as sensor data collection, from the FCS processor thereby further increasing the computational throughput of the system.

关键词： Program processors

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On the Continuity of Asymptotically Stable Compact Sets for Simulations of Hybrid Systems

On the Continuity of Asymptotically Stable Compact Sets for ...

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IEEE Conference on Decision and control

作者： Ricardo G. Sanfelice Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

We propose a hybrid model for simulations of hybrid systems and we establish conditions on its data so that the asymptotically stable sets observed in simulations are continuous. The most important components of the hybrid model for simulations are a discrete integration scheme for the computation of the flows and an approximated jump mapping for the computation of the jumps. Our main result is built on the facts that, on compact hybrid time domains, every simulation to a hybrid system is arbitrarily close (in the graphical sense) to some solution to the actual hybrid system, and that asymptotically stable compact sets of hybrid systems are semiglobally practically asymptotically stable compact sets for the hybrid model for simulations. We present these results and illustrate them in simulations of the bouncing ball system

关键词： Computational modeling Differential equations State-space methods Numerical simulation Analytical models Military computing USA Councils Standards development control systems Packaging

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High SNR flexible top hat monopole probe for 1.5 T MRI

High SNR flexible top hat monopole probe for 1.5 T MRI

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作者： Mohammadzadeh, M. Shahabadi, M. Soltanian-Zadeh, H. Tavakoli, A. Rafiei, B. Javidnia, D. Oghabian, M.A. Department of Physics Amir-Kabir University of Technology Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Image Analysis Laboratory Department of Radiology Henry Ford Health System Detroit MI United States Department of Electrical Engineering Amir-Kabir University of Technology Tehran Iran Medical Imaging Center Imam Khomeyni Hospital Tehran Iran Research Center for Science and Technology in Medicine Tehran University of Medical Sciences Tehran Iran

In this paper, design principles and application of a thin and flexible intravascular top hat monopole probe with increased signal-to-noise ratio (SNR) and improved longitudinal and radial coverage are described and compared with the conventional monopole probe. The top hat probe is constructed by removing a segment of the shield of a coaxial cable. A flexible thin copper foil in contact with the inner conductor of the cable is added to the end section of the cable. The copper foil acts as an antenna top hat load increasing the uniformity of the current distribution on the probe and establishes a uniform region of SNR distribution around the probe. Improvement of the SNR distribution of the top hat probe relative to the conventional monopole probe is evaluated using quantitative indices. Experimental results show that for the top hat probe, the ratio of the maximum image SNR to its relative standard deviation (SR) is 2.73 times higher than that of a conventional probe. © 2006 IOP Publishing Ltd.

关键词： Medical imaging

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A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots

A New Architecture to Execute CAs-Based Path-Planning Algori...

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International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices computer architecture Orbital robotics Automata Intelligent sensors Robotics and automation

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Finding the Number of Clusters in a Dataset Using an Information Theoretic Hierarchical Algorithm

Finding the Number of Clusters in a Dataset Using an Informa...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： M. Aghagolzadeh H. Soltanian-Zadeh B. N. Araabi A. Aghagolzadeh Department of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

One of the most challenging problems of clustering is detecting the exact number of clusters in a dataset. Most of the previous methods, presented to solve this problem, estimate the number of clusters with model based algorithms, which are not able to detect all types of clusters and also face a problem in detecting coupled clusters in a dataset. In this paper we propose a new method for finding the number of clusters in a dataset utilizing information theory and a top-down hierarchical clustering algorithm. The algorithm starts from a large number of clusters and reduces one cluster in any iteration and then allocates its data points to the remaining clusters. Finally, by measuring information potential, the exact number of clusters in a desired dataset is detected. Our method shows high capability and stability in detecting the number of clusters even in complex datasets, as it is computational efficient too. We show the effectiveness of the proposed method by experimenting on several artificial and real datasets and comparing its results with two developed methods for finding the number of clusters in a dataset. The comparisons show superiority of the proposed method.

关键词： Clustering algorithms Entropy Face detection Process control Intelligent control Information theory Stability Computational efficiency Electric variables measurement Computational complexity

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Auto-tune Predictive control of Switched Reluctance Motor

Auto-tune Predictive Control of Switched Reluctance Motor

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Arash Sadeghzadeh Babak N. Araabi Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

This paper is based our previous work on model predictive control (MPC) of switched reluctance motor (SRM). A local linear neuro-fuzzy model is used to model SRM. Then a MPC schema is devised considering an appropriate energy term in the objective function during optimization phase. Commutation occurs naturally as an outcome of the predictive control design process, not as an extra step added to the control policy. In this paper, an adaptive -time varying- objective function is proposed to better cope with nonlinear nature of the SRM. A fast and easy algorithm is devised to adjust the weights in the objective function. This new algorithm allow for an auto-tune MPC approach to SRM control. From a computational view point, we use locally linear model predictive control that with a quadratic cost and linear constraints reduces to a simple quadratic programming, which can be solved very fast in a closed form. Simulation studies justify applicability of our proposed method and algorithm to SRM applications

关键词： Predictive control Reluctance motors Predictive models Magnetic materials Photonic crystals Reluctance machines Commutation Costs Strontium Power system modeling

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