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International research Workshop: Coping with Complexity: Model Reduction and Data Analysis

作者： Szederkényi, Gábor Hangos, Katalin M. Csercsik, Dávid Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences Budapest 1518 Hungary Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 Veszprém 8200 Hungary

ISBN: (纸本)9783642149405

The solution to the problem of finding the reaction kinetic realization of a given system obeying the mass action law containing the minimal/maximal number of reactions and complexes is shown in this paper. The proposed methods are based on Mixed Integer Linear Programming where the mass action kinetics is encoded into the linear constraints. Although the problems are NP-hard in the current setting, the developed algorithms give a usable answer to some of the questions first raised in [1].

关键词： Reaction kinetics

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Mass action realizations of reaction kinetic system models on various time scales

Mass action realizations of reaction kinetic system models o...

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作者： Hangos, K.M. Szederkényi, G. Process Control Research Group Computer and Automation Reseach Institute Kende u. 13-17 Budapest H-1111 Hungary Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 Veszprém Hungary

Complex chemical reaction networks often exhibit different dynamic behaviour on different time scales. A combined approach is proposed in this work for determining physically meaningful mass action realizations of complex chemical reaction networks that describe its dynamic behaviour on different time scales. This is achieved by appropriately reducing the detailed overall mass action kinetic scheme using quasi steady state assumptions fit to the particular time scale, and then searching for an optimal realization using mixed integer linear programing. Furthermore, the relationship between the properties (reversibility, deficiency, stability) of the obtained realizations of the same system on different time scales are also investigated and related to the same properties of the detailed overall model. It is shown that the reduced models obtained by quasi steady state assumptions may show exotic nonlinear behaviour, such as oscillations, when the original detailed is globally asymptotically stable. The proposed methods are illustrated by using a simple Michaelis-Menten type reaction kinetic example. The simplified versions of the well known Brusselator model have also been investigated and presented as a case study. © Published under licence by IOP Publishing Ltd.

关键词： Reaction kinetics

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and automation Working group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions.

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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Tuning of Dynamic Matrix controller for FOPDT Models Using Analysis of Variance

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IFAC Proceedings Volumes 2011年第1期44卷 12319-12324页

作者： Peyman Bagheri Ali Khaki-Sedigh Advanced Process Automation & Control (APAC) Research Group K. N. Toosi University of Technology Tehran Iran

Abstract Dynamic Matrix control (DMC) is well known in the MPC family and has been implemented in many industrial processes. In all the MPC methods, tuning of controller parameters is a key step in successful control system performance. An analytical tuning expression for DMC is derived using the analysis of variance (ANOVA) methodology and nonlinear regression. It is assumed that the plants under consideration can be modeled by a First Order plus Dead Time (FOPDT) linear model. This facilitates the derivation of a closed form formulae for the tuning procedure. The proposed method is tested via simulations and experimental work. The plant chosen for practical implementation of the proposed tuning strategy is a nonlinear laboratory scale pH plant. Also, comparison results are provided to show the effectiveness of this method.

关键词： Dynamic Matrix control Analysis of Variance Nonlinear Regression Tuning industrial processes pH process

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Multiple Model Predictive control of Multivariable pH process Using Adaptive Weighting Matrices

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IFAC Proceedings Volumes 2011年第1期44卷 12366-12371页

作者： Peyman Bagheri Vahid Mardanlou Alireza Fatehi Advanced Process Automation & Control (APAC) Research Group K. N. Toosi University of Technology Tehran Iran

Abstract Extreme nonlinearity and exhibition of severe interaction effects of multivariable pH processes makes it an appropriate test bed for evaluation of advanced controllers. This paper studies different multiple model methods for Generalized Predictive control using Independent Model approach (GPCI) with adaptive weighting matrices. New method for adaptive determination of weighting matrices, proposed in this paper. Simulation results via typical multivariable pH process demonstrate the effectiveness and validity of the method. Different multiple model methods using adaptive weighting matrices compared with each other.

关键词： Generalized Predictive control Weighting Matrices pH processes Multivariable control Multiple Model Independent Model

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Calcium coupled bursting in an integrative model of GnRH neuronal electrophysiology

Calcium coupled bursting in an integrative model of GnRH neu...

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作者： Csercsik, D. Farkas, I. Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department of Endocrine Neurobiology Institute of Experimental Medicine Hungarian Academy of Sciences Hungary MTA SzTAKI Kende U. 13-17 Budapest Hungary

In this paper, an integrative dynamical model of GnRH electrophysiology is used to study the calcium related interactions corresponding to bursting behavior. Various mechanisms affecting calcium dynamics are blocked or modified, and simulation results are compared to literature data to verify the model. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Electrophysiology

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Experiment design for Pauli channel estimation

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IFAC Proceedings Volumes 2011年第1期44卷 4344-4349页

作者： Gábor Balló Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 H-8200 Veszprém Hungary Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed.

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Novel Tuning Strategy for Two-Degree-of-Freedom PI controllers

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IFAC Proceedings Volumes 2011年第1期44卷 6757-6762页

作者： Peyman Bagheri Hossein Nemati Advanced Process Automation & Control (APAC) Research Group K. N. Toosi University of Technology Tehran Iran Department of Electrical Engineering Sistan and Baluchestan University Iran

Abstract In this paper, a new tuning procedure for PI controllers in Two-Degree-of-Freedom (2DOF) structure is proposed. In design procedure, First Order plus Dead Time (FOPDT) model is used. The aim is to have good set point tracking and disturbance rejection and also maximum robustness to model uncertainties. The tuning strategy is based on using analytical rules and some conceptual rules about closed loop poles and also an exhaustive search. Simulation results demonstrate the effectiveness and validity of proposed method in coping with conflicting design objectives for a wide variety of processes including minimum phase and non-minimum phase and also integrating processes.

关键词： 2DOF PI controller FOPDT model Optimization Robustness

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Dynamic optimal scheduling method and its application for converter fault in steelmaking and continuous casting production process

Dynamic optimal scheduling method and its application for co...

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作者： Yu, Shengping Chai, Tianyou Wang, Hong Pang, Xinfu Zheng, Binglin State Key Laboratory of Integrated Automation for Process Industry Northeastern University Shenyang 110004 China National Metallurgical Automation Engineering Technology Research Center Northeastern University Shenyang 110004 China Control Systems Centre School of Electrical and Electronic Engineering University of Manchester P O Box 88 Manchester M60 1QD United Kingdom

ISBN: (纸本)9783902661937

In steelmaking and continuous casting (SMCC) production process, converter fault can lead to unexpected changes to the pre-specified converter-continuous caster production mode so that the original scheduling plan becomes unrealizable. In this paper, the dynamic scheduling problem in response to converter fault is firstly analyzed. This is then followed by the establishment of a novel multi-objective nonlinear programming model (MONPM) by introducing the production mode parameter α, production schedule parameter β and χ. The proposed method considers changes in production mode, production schedule of charge, the interval characteristics of processing time. In specific, a two-stage dynamic optimal scheduling method is proposed including the production path planning of charges (PPP) and the production time scheduling (PTS). As a result, a dynamic optimal scheduling software system (DOSSS) is developed and is successfully applied to the scheduling of the largest iron and steel company (BaoSteel) in China. The real-time application shows that the proposed method can efficiently reduce scheduling time, significantly increase the outputs of converters and dramatically shorten the redundant waiting time for molten steel. © 2011 IFAC.

关键词： Scheduling

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A Distance and Diversity Measure for Improving the Evolutionary process of Modular Robot Organisms

A Distance and Diversity Measure for Improving the Evolution...

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IEEE International Conference on Robotics and Biomimetics

作者： Lutz Winkler Heinz Worn Adrian Friebel Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT Research Group for Multicellular Systems Biology Interdisciplinary Centre for Bioinformatics (IZBI) University of Leipzig

ISBN: (纸本)9781457721366

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution.

关键词： Organism Modular robots Evolutionary health evolution evolution evolution Elements

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