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Dynamic system eigenvalue extraction using a linear echo state network for small-signal stability analysis - A novel application

Dynamic system eigenvalue extraction using a linear echo sta...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Liang, Jiaqi Dai, Jing Venayagamoorthy, Ganesh K. Harley, Ronald G. School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States University of KwaZulu-Natal Durban South Africa Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO 65409 United States

ISBN: (纸本)9781424469178

A large nonlinear dynamic system usually has complex dynamic modes corresponding to the system's eigenvalues. These eigenvalues govern the system's local behavior and thus are critical information for designing system operation and control strategies. Without the availability of the system's analytical model, which is often the case for large nonlinear systems, the system's eigenvalues need to be estimated. A linear echo state network (ESN) based method for extracting observable eigenvalues of a dynamic system together with the participation factors of these eigenvalues in the accessible system states is presented in this paper. A linear ESN is first trained to track the dynamic system's local responses under injected small perturbation signals. The dynamic system's eigenvalues are then extracted from the ESN's weight matrices. Given the merit of fast training of ESNs, the ESN can be quickly retrained once the system operating point changes, and the system eigenvalues can be reestimated. Application of the proposed eigenvalue extraction method in the power system small-signal analysis is presented to demonstrate the effectiveness of the proposed method. © 2010 IEEE.

关键词： Dynamical systems

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Bio-inspired micro air vehicle: Design and control issues

Bio-inspired micro air vehicle: Design and control issues

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作者： Ratti, Jayant Goel, Rohan Kim, Seong-Joo Moon, Jung-Ho Pappas, Thomas D. Vachtsevanos, George Roemer, Mike Georgia Institute of Technology Atlanta GA 30332 United States Impact Technologies LLC Rochester NY 14623 United States School of Electrical and Computer Engineering United States Kangnung National University Korea Republic of Intelligent Control Systems Laboratory United States

ISBN: (纸本)9781600867439

Missions envisioned for Micro Air Vehicles (MAVs) such as Intelligence, Surveillance and Reconnaissance (ISR) in urban environments require exceptional agility. These missions typically involve flight through or in close proximity to buildings, tunnels and trees, and require the MAVs to maneuver using sharp dives and climbs along with small-radius turns. The small size of MAVs allows such flight operations within confined space but the control effectors must provide sufficient maneuverability, while maintaining stability, with only limited sensing capability onboard the platform. To meet these challenges, researchers have long been attracted by the amazing attributes of biological systems, such as those exhibited by birds and insects. Birds can fly in dense flocks, executing rapid maneuvers with g-loads far in excess of modern fighter aircrafts, and yet never collide with each other, despite the absence of air traffic controllers. This paper introduces a novel framework for the design and control of a Micro Air Vehicle. The vehicle's conceptual design is based on biologically-inspired principles and emulates a dragonfly (Odonata-Anisoptera). The author is borrowing flight mechanism features from the dragonfly and merging them with indigenous designs in creating a novel version of a Flapping Wing MAV, called the QV. The QV design incorporates the simplicity of mechanical construction and the complexity of a sophisticated multi-layered Hybrid & Linear / Non-Linear controller to achieve extended flight times and improved agility compared to other Rotary and Flapping Wing MAV designs. The paper talks about the design and control features of the proposed QV design and gives an overview on the developmental efforts been made towards the prototyping of the QV flyer. The potential applications for such a high endurance vehicle are numerous, including air-deployable mass surveillance in cluster and swarm formations. The disposability of the vehicle would help in battle-field

关键词： Birds

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A survey on intelligent interaction and cooperative control of multi-robot systems

A survey on intelligent interaction and cooperative control ...

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International Conference on Control and Automation (ICCA)

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Multi-robot systems have drawn the attention of many different research communities, such as physics, electronics, control, computer science, mathematics, and biology. Motivated by the growing popularity of multi-robot system and related coordination approaches, this paper surveys and analyzes the relevant literature, including six classification dimensions: system architectures, communication and robotic sensor networks, swarm intelligence and swarm robotics, cooperation among robots, applications, and research projects.

关键词： Control systems Multirobot systems Robot sensing systems Robot kinematics intelligent robots Physics Communication system control Biological control systems computer science Mathematics

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Improved learning in grid-to-grid neural network via clustering

Improved learning in grid-to-grid neural network via cluster...

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International Joint Conference on Neural Networks (IJCNN)

作者： W. White K. Iftekharuddin A. Bouzerdoum Intelligent Systems and Image Processing Laboratory Department of Electrical and Computer Engineering University of Memphis TN USA Department of Electrical and Computer Engineering University of Memphis TN USA School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong NSW Australia

The maze traversal problem involves finding the shortest distance to the goal from any position in a maze. Such maze solving problems have been an interesting challenge in computational intelligence. Previous work has shown that grid-to-grid neural networks such as the cellular simultaneous recurrent neural network (CSRN) can effectively solve simple maze traversing problems better than other iterative algorithms such as the feedforward multi layer perceptron (MLP). In this work, we investigate improved learning for the CSRN maze solving problem by exploiting relevant information about the maze. We cluster parts of the maze using relevant state information and show an improvement in learning performance. We also study the effect of the number of clusters on the learning rate for the maze solving problem. Furthermore, we investigate a few code optimization techniques to improve the run time efficiency. The outcome of this research may have direct implication in rapid search and recovery, disaster planning and autonomous navigation among others.

关键词： Euclidean distance Kalman filters Training Navigation Artificial neural networks Testing

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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of conc...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Zdenko Kovacic Borislav Balac Stjepan Flegaric Kristijan Brkic Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of electrical Engineering and Computing University of Zagreb Zagreb Croatia Inteco d o o Zagreb Croatia

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

关键词： Power industry Service robots Conferences

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Multi Level Clustering of Phylogenetic Profiles

Multi Level Clustering of Phylogenetic Profiles

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IEEE Symposium on Bioinformatics and Bioengineering (BIBE)

作者： Fotis E. Psomopoulos Pericles A. Mitkas Intelligent Systems and Software Engineering Laboratory Informatics and Telematics Institute Thessaloniki Greece Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

The prediction of gene function from genome sequences is one of the main issues in Bioinformatics. Most computational approaches are based on the similarity between sequences to infer gene function. However, the availability of several fully sequenced genomes has enabled alternative approaches, such as phylogenetic profiles. Phylogenetic profiles are vectors which indicate the presence or absence of a gene in other genomes. The main concept of phylogenetic profiles is that proteins participating in a common structural complex or metabolic pathway are likely to evolve in a correlated fashion. In this paper, a multi level clustering algorithm of phylogenetic profiles is presented, which aims to detect inter- and intra-genome gene clusters.

关键词： Phylogeny Bioinformatics Genomics Clustering algorithms Databases Proteins Biomedical engineering intelligent systems Computational intelligence Software engineering

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intelligent Coordinated Control of a Wind Farm and Distributed Smartparks

Intelligent Coordinated Control of a Wind Farm and Distribut...

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

作者： Pinaki Mitra Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

Energy storage is generally recommended in presence of an intermittent source like wind farm for a better control over the power generation from the wind turbine with the variation of the wind speed. In this paper, the potential of plug-in electric vehicle parking lot (SmartPark) as an energy storage in a power system with a large wind farm has been investigated. Also, a fuzzy logic based coordination controller of the wind farm and the distributed SmartParks has been proposed in this paper. The fuzzy controller uses the total state-of-charge of the SmartParks and the difference between instantaneous demand and the available wind power generation as the inputs and thereby generates the charging or discharging power commands of the SmartParks and the pitch angle reference for the wind turbine. A 12-bus multimachine power system with a 400 MW wind farm is used as a test system. Six SmartParks are also connected to the same bus where the wind farm is connected. The entire model is developed in Real-Time Digital Simulator (RTDS) for power system. The results demonstrate the action of the coordinated controller to reduce the oscillations in the tie-line power flow with the sudden variations of the wind speed.

关键词： Wind farms Wind power generation Wind speed Niobium Energy storage Inverters Vehicles

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engineering for industrial robots in content based virtual space

Engineering for industrial robots in content based virtual s...

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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： László Horváth Imre J. Rudas Karel Jezernik Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Buddha University Budapest Hungary Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia

One of the main recent achievements in engineering is description of complex products and their physical environment in a single object model. This model has capabilities to serve engineering from the first specification of a product to recycling. New research programs were needed in order to establish a new style of engineering where engineers communicate model creation and application procedures. The authors joined to these efforts and developed new modeling methods for the above purpose. In this paper they introduce some of these methods considering needs by the complex and knowledge intensive engineering for robot systems. Paper starts with an outline of application of virtual spaces in robot system modeling. Following this, a content based contextual object definition is explained considering robotic application. Next, application of human control by contextual spaces for adaptive definition of engineering objects and the related control of product definition are shown. Finally, object space for robot system is outlined as application related issue of the proposed modeling.

关键词： Aerospace industry Service robots Orbital robotics Recycling Knowledge engineering systems engineering and theory Modeling Humans Programmable control Adaptive control

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Fuzzy-Bayesian network approach to genre-based recommender systems

Fuzzy-Bayesian network approach to genre-based recommender s...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Soheila Ashkezari-T Mohammad-R. Akbarzadeh-T Department of Computer Engineering Cognitive Computing Laboratory Center of Applied Research on Soft computing and Intelligent systems Ferdowsi University of Mashhad Mashhad Iran Departments of Electrical Engineering and Computer Engineering Cognitive Computing Laboratory Center of Applied Research on Soft computing and Intelligent systems Ferdowsi University of Mashhad Iran

The World Wide Web has created a new media for mass marketing that can also be highly customized to online customers' needs and expectations. Recommender systems (RS) play an important role in this area. Here, we aim to establish a genre-based collaborative RS to automatically suggest and rank a list of appropriate items (movies) to a user based on the user profile and the past voting patterns of other users with similar tastes. The contribution of this paper is using genre based information in a hybrid fuzzy-Bayesian network collaborative RS. The interest to the different genres is computed based on a hybrid user model. The similarity of like-minded users according to the fuzzy distance and also Pearson correlation coefficient is involved in a Bayesian network.

关键词： Motion pictures Mathematical model Collaboration Recommender systems Equations Computational modeling

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.

关键词： Simultaneous localization and mapping Area measurement Robustness computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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