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An integrated control of shading blinds, natural ventilation, and HVAC systems for energy saving and human comfort

An integrated control of shading blinds, natural ventilation...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Biao Sun Peter B. Luh Qing-Shan Jia Ziyan Jiang Fulin Wang Chen Song Center of Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory of Information Science and Technology Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs CT USA Department of Building Science Tsinghua University Beijing China Safety and Control Systems China and the Tsinghu-UTC Research Institute of Integrated Building Energy United Technologies Research Center Inc. Beijing China

Improving the control of shading blinds, lights, natural ventilation, and HVAC systems while satisfying human comfort requirements can result in significant energy cost savings with time-of-day electricity pricing. Traditionally, the above-mentioned devices are controlled separately. In this paper, a novel formulation for the integrated control and the corresponding solution methodology are presented. The problem is to minimize daily energy costs of lights and HVAC systems while satisfying equipment capacities, system dynamics, and human comfort. The problem is complicated since 1) individual rooms are coupled as they compete for the HVAC with limited capacity and nonlinear characteristics, and 2) the problem is believed to be NP-hard in view that decision variables are all discrete. A solution methodology that combines Lagrangian relaxation and stochastic dynamic programming is developed within the surrogate optimization framework to obtain near-optimal strategies. These strategies are further refined to become novel control rules for easy practical implementation. Numerical simulation results show that both of the above strategies can effectively reduce the total energy cost, and that the integrated control works better than selected traditional control strategies.

关键词： Ventilation Humidity Equations Optimization Heating Humans

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Learning human behavior from observation for gaming applications

Learning human behavior from observation for gaming applicat...

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22nd International Florida Artificial Intelligence Research Society Conference, FLAIRS-22

作者： Moriarty, Christopher Gonzalez, Avelino J. Intelligent Systems Laboratory School of Electrical Engineering and Computer Science University of Central Florida Orlando FL 32816-2450 United States

ISBN: (纸本)9781577354192

The gaming industry has reached a point where improving graphics has only a small effect on how much a player will enjoy a game. The focus has turned to adding more humanlike characteristics into computer game agents. Machine learning techniques are scarcely being used in games, although they do offer powerful means for creating humanlike behaviors in agents. The first person shooter (FPS), Quake 2, is an open source game that offers a multi-agent environment in which to create game agents (bots). The work described in this paper seeks to combine neural networks with a modeling paradigm known as context based reasoning (CxBR) to create a contextual game observation (CONGO) system that produces humanlike Quake 2 bots. A default level of intelligence is instilled into the bots through contextual scripts to prevent the bot from being trained to be completely useless. The results show that the humanness and entertainment value as compared to a traditional scripted bot have improved, although, CONGO bots usually ranked only slightly above a novice skill level. Overall, CONGO offers the gaming community a mode of game play that has promising entertainment value. Copyright © 2009, Assocation for the Advancement of ArtdicaI Intelligence (***). All rights reserved.

关键词： computer games

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Robot motion planning using exact cell decomposition and potential field methods

Robot motion planning using exact cell decomposition and pot...

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作者： Glavaški, Dušan Volf, Mario Bonković, Mirjana Laboratory for Robotics and Intelligent Systems Faculty of Electrical Engineering Mechanical Engineering and Naval Architecture University of Split Rudera Boškovića bb 21000 Split Croatia

ISBN: (纸本)9789604741137

When studying mobile robotics and robot motion planning, there is always a gap which exists between theoretical achievements and practical considerations of the described methods. This paper clearly overrides the mentioned problem describing minutely the procedures necessary for practical implementations. Moreover, the known algorithms were optimized to reduce computational time. Also, two classic path planning procedures have been explained and adopted for the simulation in the Matlab and MobileSim environment. The algorithms have been presented together with their pseudo codes. The simulation results clearly show the advantages and drawbacks of each of the method.

关键词： Motion planning

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Determination of circular waits in multiple-reentrant flowlines based on machine-job incidence matrix 10

Determination of circular waits in multiple-reentrant flowli...

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2009 10th European Control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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An introduction to the echo state network and its applications in power system

An introduction to the echo state network and its applicatio...

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2009 15th International Conference on intelligent System Applications to Power systems, ISAP '09

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

ISBN: (纸本)9781424450985

Echo State Network (ESN) is a new type of Recurrent Neural Network (RNN) proposed in recent years. The training process of ESN is easier and requires less computational effort than regular RNN which has the same size. Due to its high modeling capability of complex dynamic system, ESN has been used in various power system applications such as power system nonlinear load modeling and true harmonic current detection, wide area monitoring, intelligent control of an Active Power Filter (APF), overhead conductor thermal dynamics identification, wind speed or water inflow forecasting, etc. This paper introduces the basic concept and the offline and online training algorithms of the ESN in detail and reviews the state of the art of ESN applications in power systems. © 2009 IEEE.

关键词： Recurrent neural networks

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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An advanced sonar ring design with 48 channels of continuous echo processing using matched filters

An advanced sonar ring design with 48 channels of continuous...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Damien Browne Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Australia

Advanced sonar systems produce both accurate range and bearing measurements rather than just range alone as in conventional systems. Previous advanced sonar rings do not process incoming echo data as it arrives, but only after a completed measurement cycle and only on limited data samples that are above a noise floor threshold. The system described in this paper can process all echo data, as it is produced, with full matched filtering tuned to each receiver on all echo samples directly implemented in hardware. This minimises measurement latency, important for real time robotics applications and also provides optimal arrival time estimates due to the matched filters. Previous systems have used sequential firing of many transmitters around the ring to prevent interference between transmitters or used different pulses fired simultaneously. This paper presents a single transmitter solution where a reflector disperses a single ultrasonic pulse evenly around the sonar ring. Processing is performed with a dedicated hardware data processing architecture implemented with a Field Programmable Gate Array to achieve the desired real time performance. The system reports range and bearing results at a rate of 30 measurement cycles a second in a full 360 degree coverage to ranges up to 4 metres with the prototype processing over 4.9 Giga-arithmetic operations per second. Experimental results are presented that show the performance of the system is suitable for high speed mapping and localisation applications.

关键词： Matched filters Sonar measurements Transmitters Hardware Noise measurement Filtering Delay Robots Interference Data processing

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Interactive learning of visually symmetric objects

Interactive learning of visually symmetric objects

引用

2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Wai Ho Li Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper describes a robotic system that learns visual models of symmetric objects autonomously. Our robot learns by physically interacting with an object using its end effector. This departs from eye-in-hand systems that move the camera while keeping the scene static. Our robot leverages a simple nudge action to obtain the motion segmentation of an object in stereo. The robot uses the segmentation results to pick up the object. The robot collects training images by rotating the grasped object in front of a camera. Robotic experiments show that this interactive object learning approach can deal with top-heavy and fragile objects. Trials confirm that the robot-learned object models allow robust object recognition.

关键词： Object recognition intelligent robots Robustness Training data Humans Robot vision systems Cameras computer vision Image segmentation Object segmentation

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Loop exploration for SLAM with fusion of advanced sonar features and laser polar scan matching

Loop exploration for SLAM with fusion of advanced sonar feat...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Fredy Tungadi Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

SLAM is a well studied technique for robots to build a map of environments while at the same time keeping track of their pose (position and orientation). However SLAM does not provide control approaches for how the robot moves around the environment. This paper presents an integrated approach to create a fully autonomous exploring and mapping robot. An EKF-SLAM approach is used to fuse Advanced Sonar and Laser Scan-Matching. This also tackles the problem of map-drifts in some types of environment where lasers do not supply sufficient information in some directions such as along a corridor. In addition, the proposed exploration algorithm takes advantage of the characteristic of the Voronoi Graph to enable the robot to strategically explore the environments in a loop-closing fashion and safe manner. By revisiting areas to close loops as early as possible, the robot can build a more stable map incrementally while still reliably tracking its pose. Experimental results of the integrated approach are shown to demonstrate the algorithm provides real-time exploration of a mobile robot in an initially unknown real environment. Experimental comparisons of exploration strategies with and without early local loop closing demonstrate the benefits of the approach in the map quality.

关键词： Simultaneous localization and mapping Sonar Laser fusion intelligent robots Tracking loops Mobile robots Path planning systems engineering and theory Uncertainty USA Councils

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Simultaneous object recognition and position tracking for robotic applications

Simultaneous object recognition and position tracking for ro...

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International Conference on Mechatronics (ICM)

作者： Dimitris Aristos Spyros Tzafestas Intelligent Robotics and Automation Laboratory School of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

Object recognition techniques are well known in the field of machine vision, and aim at the classification of certain observed rigid objects based on the information acquired by a specific sensor. These techniques can either be performed in the 2D image space by simply applying suitable image processing algorithms, or in the real world 3D space by performing surface reconstruction of the object's surface and comparing it with a database of known CAD data. This paper presents a combination of techniques which not only recognize and categorize the observed rigid objects but also compute their 3D pose (position and orientation) with respect an industrial robot's workspace frame. This task is very useful in the field of robotics as it allows an industrial robot to simultaneously recognize and follow the displacements of a specific rigid object, among other objects that may co-exist in the same environment.

关键词： Object recognition Service robots Orbital robotics Surface reconstruction Robot sensing systems Machine vision Image processing Image reconstruction Image databases Object oriented databases

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