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A Geometric Optimization Approach to Detecting and Intercepting Dynamic Targets

A Geometric Optimization Approach to Detecting and Intercept...

引用

American Control Conference (ACC)

作者： Silvia Ferrari Chenghui Cai Rafael Fierro Brent Perteet Laboratory for Intelligent Systems and Controls Department of Mechanical Engineering & Materials Science Duke University Durham NC USA MARHES Laboratory School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA

A methodology is developed to deploy a mobile sensor network for the purpose of detecting and capturing mobile targets in the plane. The sensing-pursuit problem considered in this paper is analogous to the Marco Polo game, in which the pursuer must capture multiple mobile targets that are sensed intermittently, and with very limited information. In this paper, the mobile sensor network consists of a set of robotic sensors that must track and capture mobile targets based on the information obtained through cooperative detections. Since the sensors are installed on robotic platforms and have limited range, the geometry of the platforms and of the sensors field-of- view play a key role in obstacle avoidance and target detection. Thus, a new cell decomposition approach is presented to formulate the probability of detection and the cost of operating the robots based on the geometric properties of the network. Numerical simulations verify the validity and flexibility of our methodology.

关键词： Robot kinematics Vehicle dynamics Robot sensing systems Target tracking Intelligent sensors Object detection Sensor phenomena and characterization Motion planning Mobile robots Sensor systems

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Force Tracking Impedance Control of Robot Manipulators for Environment with Damping

Force Tracking Impedance Control of Robot Manipulators for E...

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Annual Conference of Industrial Electronics Society

作者： Seul Jung T. C. Hsia Intelligent Systems and Emotional Engineering Laboratory BK21 Mechatronics Group Mechatronics Engineering Department Chungnam National University Daejeon South Korea Department of Electrical & Computer Engineering University of California Davis CA USA

In this paper, a simple force tracking algorithm for robot manipulators is presented. In the framework of impedance control formulation, the controller can deal with uncertainties from unknown environment and unknown robot dynamics. Uncertainties in the robot dynamics are compensated by the time-delayed joint space control method. The damping characteristic of the environment which is usually ignored in the impedance force formulation is considered. The stability of the impedance function is analyzed and assured under uncertain environment. Extensive simulation studies are presented for testing the performance of the impedance function.

关键词： Force control Impedance Robot control Manipulators Damping Uncertainty Intelligent robots Orbital robotics Mechatronics Robust control

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QoS STUDY PERFORMANCE OF AN INTEGRATED SATELLITE TELEMEDICINE PLATFORM

QoS STUDY PERFORMANCE OF AN INTEGRATED SATELLITE TELEMEDICIN...

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18th International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC 2007), vol.3

作者： Dimitris Komnakos Philip Constantinou Demosthenes Vouyioukas Ilias Maglogiannis School of Electrical and Computer Engineering Mobile RadioCommunications Laboratory Zografou National and Technical University of Athens Athens Greece Department of Information and Communication Systems Engineering Karvlovassi University of Aegean Samos Greece

This paper describes a wide-area tele-medicine platform, specially suited for homecare services, based on the DVB-RCS and Wi-Fi communication technologies. Implementation of DVB-RCS, utilizing dynamic assignment techniques mandated in the DVB-RCS specification, has been specifically designed and tuned for multimedia and high-speed data transfer. The monitored patients can be practically anywhere, even in geographically dispersed and isolated areas, where normally there is no terrestrial communications infrastructure capable of supporting similar services. The presented platform combines medical data acquisition and transfer, patient remote monitoring and teleconference services. Possible operational scenarios simulated and results regarding available data rates, Quality of Service (QoS) provision, and prioritization of tele-monitoring, videoconference and medical data transfer are provided and discussed in the paper.

关键词： Satellites Telemedicine Quality of service Digital video broadcasting Remote monitoring Communications technology Multimedia systems Patient monitoring Biomedical monitoring Data acquisition

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Differential Evolution Approach for Reactive Power Optimization of Nigerian Grid System

Differential Evolution Approach for Reactive Power Optimizat...

引用

IEEE General Meeting Power& Energy Society

作者： G. A. Bakare G. Krost G. K. Venayagamoorthy U. O. Aliyu Abubakar Tafawa Balewa University Bauchi Nigeria Electrical Power Systems Institute University of Duisburg-Essen Duisburg Germany Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA

The goal of reactive power dispatch is to minimize the system losses and improve the system voltage profiles at all times. This is achieved by adjusting various generating units' excitation systems continuously, discrete tap positions of on-load tap changers of transformers as well as switching of correct doses of inductors or capacitors. This is a mixed integer non-linear optimization problem. In this paper, the differential evolution (DE), a novel evolutionary computation technique which was originally designed for continuous problems is applied to solve this problem. DE appears to ally qualities of established computational intelligence (CI) techniques with a more striking computational performance, thus suggesting the possibility of having the potential for on line applications in the control center; comparison work with other techniques is presently conducted. The developed tool was demonstrated on the Nigerian power system grid for three case scenarios preset on the power world simulator which was linked with DE for power flow calculation (fitness check of solutions). The results achieved revealed that DE procured a significant reduction of real power losses while simultaneously keeping the voltage profiles within the acceptable limits.

关键词： Reactive power Power system simulation On load tap changers Transformers Inductors Capacitors Evolutionary computation Computational intelligence Computational modeling Load flow

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Fast Computation of Orthogonal Fourier-Mellin Moments Using Modified Direct Method

Fast Computation of Orthogonal Fourier-Mellin Moments Using ...

引用

International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell Thessaloniki Institute of Technology Thessaloniki Greece

A novel, modified direct method for Orthogonal Fourier-Mellin Moments (OFMMs) computation, which lacks of any factorial terms, is presented. The proposed algorithm is based on the substitution of the factorial terms by their approximate values, according to Stirling's Approximation formula. In this way, a new set of orthogonal moments, which are approximate versions of the original ones, are extracted. The approximation error introduced by the Stirling's Approximation formula is of low order and thus the resulted moments do not significantly differ from their original values. The resulted formulas are factorial free and therefore the time needed to compute the OFMMs is less than this of the conventional direct method.

关键词： Polynomials Automation Pattern recognition Kernel Laboratories Automatic control Control systems Feature extraction Approximation algorithms Approximation error

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480-GMACS/mW resonant adiabatic mixed-signal processor array for charge-based pattern recognition

480-GMACS/mW resonant adiabatic mixed-signal processor array...

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作者： Karakiewicz, Rafal Genov, Roman Cauwenberghs, Gert Department of Electrical and Computer Engineering University of Toronto Toronto ON M5S 3G4 Canada Snowbush Microelectronics Toronto ON M5G 1Y8 Canada Integrated Systems Neuroscience Laboratory University of California at San Diego San Diego CA 92093-0357 United States

A resonant adiabatic mixed-signal VLSI array delivers 480 GMACS (10 9 multiply-and-accumulates per second) throughput for every mW of power, a 25-fold improvement over the energy efficiency obtained when resonant clock generator and line drivers are replaced with static CMOS drivers. Losses in resonant clock generation are minimized by activating switches between the LC tank and DC supply with a periodic pulse signal, and by minimizing the variability of the capacitive load to maintain resonance. We show that minimum energy is attained for relatively wide pulse width, and that typical load distribution in template-based charge-mode computation implies almost constant capacitive load. The resonantly driven 256 × 512 array of 3-T charge-conserving multiply-accumulate cells is embedded in a template matching processor for image classification and validated in a face detection task. © 2007 IEEE.

关键词： Template matching

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A Brief Overview of the Complex Biological and engineering Networks

A Brief Overview of the Complex Biological and Engineering N...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Jinhu Lu Derong Liu Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Illinois Chicago Chicago IL USA

Over the last few decades, complex networks have been intensively studied throughout many fields of science, especially in biological and engineering sciences. This paper briefly reviews the main advances in the complex biological and engineering networks, aiming to bridge the gap between the complex biological and engineering networks. Biologists pay more attention to the mechanisms and local dynamics of individuals, however, engineers are more interesting in the global dynamical behaviors. It is the time for the biologists and engineers to work together for better understanding the complex networks.

关键词： Biological system modeling Complex networks Mathematical model Biology Genetics Power system modeling Bridge circuits Evolution (biology) computer networks Power engineering computing

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An All-Digital Low-Power Structural Health Monitoring System

An All-Digital Low-Power Structural Health Monitoring System

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IEEE Conference on Technologies for Homeland Security

作者： Jina Kim Benjamin L. Grisso Dong S. Ha Daniel J. Inman Department of Electrical and Computer Engineering Virginia Tech Virginia Technology VLSI for Telecommunications Laboratory Blacksburg VA USA Department of Mechanical Engineering Virginia Tech Center for Intelligent Material Systems and Structures Blacksburg VA USA

Structural health monitoring is desirable in many fields to provide a means of damage detection on a variety of structures. Unfortunately, the ability to equip structures with health monitoring systems is limited by the development of adequate hardware. Previously, prototypes using the impedance-based health monitoring method have been developed to lay a foundation for permanent structural damage detection. These prototypes served their purposes, but has shortcomings such that large size and high power consumption. In this paper, all-digital excitation and sensing techniques are developed to reduce both the size and power dissipation. The digital techniques are implemented onto a new prototype, which achieves substantial reduction in size and power consumption. Validation of the new hardware on a representative structure is presented and compared with traditional techniques for structural health monitoring.

关键词： Frequency conversion Hardware Power dissipation Voltage Signal generators Prototypes Impedance measurement Frequency measurement computerized monitoring Energy consumption

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Self-Healing Control with Multifunctional Gate Drive Circuits for Power Converters

Self-Healing Control with Multifunctional Gate Drive Circuit...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Peng Xiao Ganesh K. Venayagamoorthy Keith A. Corzine Robert Woodley Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla USA 21st Century Systems Inc. Fort Leonard Wood MO USA

Many commercial and military transport systems have fault diagnostic functions implemented to help protect the device when a severe fault occurs. However, most present systems do not contain prognostics capability which would allow operators to observe an unhealthy system component in its pre- fault condition. In industry applications, scheduled downtime can result in considerable cost avoidance. The next technology step is self-healing system components which observe not only potential problems, but can also take steps to continue operation under abnormal conditions - whether due to long-term normal wear-and-tear or sudden combat damage. In this paper, current and voltage information using the double-layer gate drive concept is fed to intelligent networks to identify the type of fault and its location. These intelligent networks are based on unsupervised and supervised learning networks (self-organizing maps and learning vector quantization networks respectively). The proposed concept allows the reconfiguration of the electric machinery system for continued normal operation of the machine. This paper presents an intelligent health monitoring and self-healing control strategy for a multi-phase multilevel motor drive under various types of faults.

关键词： Circuit faults Intelligent networks Power system protection Industry applications Job shop scheduling Costs Voltage Fault diagnosis Supervised learning Self organizing feature maps

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Optimal Multipath Routing for Performance Guarantees in Multi-Hop Wireless Networks

Optimal Multipath Routing for Performance Guarantees in Mult...

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IEEE Conference on Wireless Communications and networking

作者： Sastry Kompella Shiwen Mao Y. Thomas Hou Hanif D. Sherali Information Technology Division Naval Research Laboratory Inc. Washington D.C. DC USA Department of Electrical and Computer Engineering Aubum University Auburn AL USA The Bradley Department of Electrical and Computer Engineering Virginia Technology Blacksburg VA USA The Grado Department of Industrial and Systems Engineering Virginia Technology Blacksburg VA USA

In this paper, we consider the problem of optimal multipath routing for providing application performance guarantees in multi-hop wireless networks, using multiple description video streaming as our target application. We address this problem, which is shown to be NP-hard, with a novel reformulation-linearization technique (RLT) and branch-and-bound-based approach, and develop an algorithm that produces a pair of paths within the (1 - epsiv) range of the global optimum. The proposed algorithm is computationally efficient and this (1 - epsiv) optimal algorithm provides an elegant tradeoff between optimality and computational complexity.

关键词： Spread spectrum communication Wireless networks Streaming media Application software Wireless mesh networks Routing protocols Video coding Upper bound Communications Society Information technology

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