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IEEE International Conference on networking, Sensing and Control

作者： An-Min Zou Zeng-Guang Hou Min Tan Derong Liu Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Department of Electrical and Computer Engineering University of Illinois Chicago IL USA

The problem of path planning of mobile robots typically consists of two subproblems: path generation and path tracking. In this paper, the path of a mobile robot is generated by a sequence of straight lines, and then the kinematic controller is designed by using coordinate transformation in order to drive the robot to move in the desired path. Stability of the proposed controller is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed method

关键词： Path planning Mobile robots Robot kinematics Motion control Backstepping Tracking Robotics and automation Laboratories Intelligent systems Neural networks

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Motion and squeeze force control for omnidirectional wheeled mobile robots

Motion and squeeze force control for omnidirectional wheeled...

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American Control Conference (ACC)

作者： Xuyue Deng Dongbin Zhao Jianqiang Yi J.T. Wen Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

For a redundantly-actuated wheeled mobile robot, the squeeze force between the robot body and its wheels does not contribute to the motion of the robot, but to squeeze the related rigid bodies each other. It is good to control the squeeze force, regulate it to zero if possible, from the view of energy efficiency or life span of joint components. Thus a scheme controlling robot motion while controlling squeeze force is proposed as the following procedure: After a stable controller is presented for robot motion control, a squeeze force controller is designed to regulate the squeeze force to zero. The proposed scheme is demonstrated in robot regulation and tracking control problem. A "PD+" controller is adopted for robot regulation, a modified inverse dynamics control is applied for robot tracking control. In both robot control problems, an integral feedback squeeze force controller is used to minimize the squeeze force. The presented simulation results verify the effect of the proposed scheme

关键词： Force control Mobile robots Wheels Motion control Robot control Robot motion Kinematics Force feedback Energy efficiency Feedback control

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Particle Swarm Optimization based Defensive Islanding of Large Scale Power System

Particle Swarm Optimization based Defensive Islanding of Lar...

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International Joint Conference on Neural Networks (IJCNN)

作者： Wenxin Liu D.A. Cartes G.K. Venayagamoorthy Center of Advanced Power Systems (CAPS) Florida State University Tallahassee USA Real-Time Power and Intelligent Systems Laboratory the Department of Electrical and Computer Engineering University of Missouri MO USA

Defensive islanding is an efficient way to avoid catastrophic failures and wide area blackouts. Power system splitting especially for large scale power systems is a combinatorial explosion problem. Thus, it is very difficult to find an optimal solution (if one exists) for large scale power system in real time. This paper proposes to utilize the computational efficiency property of binary particle swarm optimization (BPSO) to find some efficient splitting solutions in limited timeframe. The solutions are optimized based on a cost function considering the balance between real power generation and consumption, the relative importance of customers, the capacities of distribution and transmission systems, and possibility of region to be impacted, etc. The solutions not only provide the lines to cut but also the corresponding load shedding information in each island. Simulations with large scale power system demonstrate the effectiveness of the proposed algorithm.

关键词： Particle swarm optimization Large-scale systems Power systems Power system stability Power system protection Power system dynamics Cost function Power system simulation Real time systems Power system faults

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Cooperation: Concepts and General Typology

Cooperation: Concepts and General Typology

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IEEE International Conference on systems, Man and Cybernetics

作者： Alaa M. Khamis Mohamed S. Kamel Miguel A. Salichs Pattern Analysis and Machine Intelligence (PAMI) Laboratory University of Waterloo Canada RoboticsLab Department of Systems Engineering and Automation Carlos III Technical University of Madrid Spain PAMI Laboratory Electrical and Computer Engineering Department University of Waterloo Canada

Life on this planet is full of astonishing examples of cooperation. Individual species depend upon one another for sustenance, often forming surprising alliances to achieve a common goal: continuance of the species. The majority of living things also display amazing altruism in order to protect and provide the best care for their offspring, incomparable to any form of sacrifice shown by human beings. Studying the cooperation patterns between living things and their intelligent behaviors has been source of inspiration for many new algorithms, theories and systems. This paper addresses the concept of cooperation and why it is important. It highlights the available biologically-inspired models and algorithms, and their potential applications. The paper also presents a general typology of cooperation patterns, which can help to understand how systems could work cooperatively in an intelligent manner.

关键词： Intelligent systems Biological system modeling Intelligent robots Artificial intelligence Cybernetics Planets Displays Protection Humans Multiagent systems

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Baseband analog front-end and digital back-end for reconfigurable multi-standard terminals

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IEEE Circuits and systems Magazine 2006年第1期6卷 8-26页

作者： Baschirotto, A. Castello, Rinaldo Campi, Fabio Cesura, Giovanni Toma, Mario Guerrieri, Roberte Lodi, Andrea Lavagno, Luciano Malcovati, Piero Department of Electronics University of Pavia Italy STMicroelectronics Italy Advanced Research Center on Electronic Systems University of Bologna Italy Department of Electronics Politecnico di Torino Italy Department of Electrical Engineering University of Pavia Italy Department of Central Research and Development ST Microelectronics Italy Bologna Italy Department of Electronics University of Pavia Italy Italy Solid State Circuit Society IEEE Italy IEEE Italy Semiconductor Laboratory Max Planck Institute of Terrestrial and Extrater- Restrial Physics Munich Germany New IP and Design Support of the Computer and Peripheral Group of ST-Microelectronics University of Bologna Italy Politecnico di Torino Italy Cadence Berkeley Laboratories United States STMicroelectronics Italy Bologna Italy Department of Electrical Engineering University of Pavia Italy CR and D ST-Microelectronics Agrate Brianza Italy

Multimedia applications are driving wireless network operators to add high-speed data services such as Edge (E-GPRS), WCDMA (UMTS) and WLAN (IEEE 802.11a,b,g) to the existing network. This creates the need for multi-mode cellular handsets that support a wide range of communication standards, each with a different RF freguency, signal bandwidth, modulation scheme, etc. This in turn generates several design challenges for the analog and digital building blocks of the physical layer. In addition to the above-mentioned protocols, mobile devices often include Bluetooth, GPS, FM-radio and TV services that can work concurrently with data and voice communication. Multi-mode, multi-band, and multi-standard mobile terminals must satisfy all these different reguirements. Sharing and/or switching transceiver building blocks in these handsets is mandatory in order to extend battery life and/or to reduce cost. Only adaptive circuits that are able to reconfigure themselves within the handover time can meet the design reguirements of a single receiver or transmitter covering all the different standards while ensuring seamless inter-interoperability. This paper presents analog and digital base-band circuits that are able to support GSM (with Edge), WCDMA (UMTS), WLAN and Bluetooth using reconfigurable building blocks. The blocks can trade off power consumption for performance on the fly, depending on the standard to be supported and the reguired QoS (Quality of Service) level. © 2006 IEEE.

关键词： computer terminals

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Carrier-density evolution in polarization sensitive semiconductor optical amplifiers

Carrier-density evolution in polarization sensitive semicond...

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International Conference on Numerical Simulation of Optoelectronic Devices, (NUSOD)

作者： B. S. Gopalakrishna Pillai A. Nirmalathas C. Lim M. Premaratne ARC Special Research Centre for Ultra-Broadband Information Networks Department of Electrical and Electronic Engineering University of Melbourne VIC Australia Advanced computing and simulation laboratory Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

We derive analytical expressions for carrier-density evolution along a polarization-sensitive semiconductor optical amplifier (SOA) that have a range of signal processing applications. The analytical results closely m... 详细信息

关键词： Optical polarization Semiconductor optical amplifiers Tellurium Optical signal processing Optical wavelength conversion Optical sensors Optical pulses computer networks Optical computing systems engineering and theory

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Joint Asynchronous Congestion Control and Distributed Scheduling for Multi-Hop Wireless Networks

Joint Asynchronous Congestion Control and Distributed Schedu...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： L. Bui A. Eryilmaz R. Srikant X. Wu Department of Electrical and Computer Engineering and Coordinated Science Laboratory University of Illinois Urbana-Champaign USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology USA Flarion Technologies NJ USA

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Pulse Propagation in Polarization-sensitive Semiconductor Optical Amplifiers

Pulse Propagation in Polarization-sensitive Semiconductor Op...

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The Joint International Conference on Optical Internet and Next Generation Network (COIN-NGNCON)

作者： Bipin Sankar Gopalakrishnapillai Malin Premaratne David Abramson Ampalavanapillai Nirmalathas Christina Lim Victoria Research Laboratory CUBIN Department of Electrical and Electronic Engineering University of Melbourne VIC Australia Advanced computing and Simulation Laboratory (AXL) Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia Faculty ofInformation Technology Monash University Clayton VIC Australia

We derive analytical expressions for modal gain, phase evolution, energy gain along a polarization-sensitive semiconductor optical amplifier that have a range of signal processing applications. The analytical results ... 详细信息

关键词： Optical pulses Pulse amplifiers Optical propagation Optical polarization Semiconductor optical amplifiers Tellurium Optical signal processing Optical wavelength conversion Optical sensors Pulse measurements

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Recurrent Neural Network Based Predictions of Elephant Migration in a South African Game Reserve

Recurrent Neural Network Based Predictions of Elephant Migra...

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International Joint Conference on Neural Networks (IJCNN)

作者： P. Palangpour G.K. Venayagamoorthy K. Duffy Real-Time Power and Intelligent Systems (RTPIS) Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA Centre for Systems Research Durban Institute of Technology Durban South Africa

A large portion of South Africa's elephant population can be found on small wildlife reserves. When confined to enclosed reserves the elephant densities are much higher than observed in the wild. The large nutritional demands and destructive foraging behavior of elephants threaten rare species of vegetation. If conservation management is to protect threatened species of vegetation, knowing how long elephants will stay in one area of the reserve as well as which area they will move to next is essential. The goal of this study is to train a recurrent neural network (RNN) to continuously predict an elephant herd's next position in the Pongola Game Reserve. Accurate predictions would provide a useful tool in assessing future impact of elephant populations on different areas of the reserve. The particle swarm optimization (PSO) algorithm is used to adapt the weights of the neural network. Results are presented to show the effectiveness of RNN-PSO for elephant migration prediction.

关键词： Recurrent neural networks Intelligent networks Vegetation Neural networks Africa Wildlife Particle swarm optimization Power system management Predictive models Protection

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Experimental Multipath Component Results from MIMO Measurements in a Microcell Urban Environment

Experimental Multipath Component Results from MIMO Measureme...

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12th European Wireless Conference 2006 - Enabling Technologies for Wireless Multimedia Communications

作者： Nikolaos D. Skentos Athanasios G. Kanatas Philip Constantinou Mobile Radio Communications Laboratory School of Electrical & Computer Engineering National Technical University of Athens Greece Department of Technology Education & Digital Systems University of Piraeus Greece

This paper presents results on the parameters of multipath components extracted from wideband measured MIMO channel matrices. Experimental data were collected with wideband channel sounding measurements at 5.2 GHz in a microcell urban environment, under line of sight propagation conditions. The double directional and propagation delay parameter values of the dominant multipaths were estimated using the multidimensional parameter estimation algorithm. The results presented provide information in the context of parametric MIMO channel characterization and refer to the number of identified waves, and focus on the path weights characteristics. Additionally, the extracted multipath estimates are used to synthesize MIMO matrices that are compared to the directly measured data.

关键词： Educational institutions

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