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2006 IEEE PES Transmission and Distribution Conference and Exposition: Latin America, TDC'06

作者： Del Valle, Y. Hernandez, J.C. Venayagamoorthy, G.K. Harley, R.G. Department of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO 65409 United States

ISBN: (纸本)1424402883

Heuristic approaches are traditionally applied to find the size and location of Flexible AC Transmission systems (FACTS) devices in a small power system. Nevertheless, more sophisticated methods are required for placing them in a large power network. Recently, the Particle Swarm Optimization (PSO) technique has been applied to solve power engineering optimization problems giving better results than classical methods. This paper shows the application of PSO for optimal sizing and allocation of a Static Compensator (STATCOM) in a power system. A 45 bus system (part of the Brazilian power network) is used as an example to illustrate the technique. Results show that the PSO is able to find the best solution with statistical significance and a high degree of convergence. A Detailed description of the method, results and conclusions are also presented. © 2006 IEEE.

关键词： Flexible AC transmission systems

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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Yu Chen B.R. Abidi D.L. Page M.A. Abidi Electrical and Computer Engineering Department Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise intelligent robots Image processing Helium robotics and automation intelligent systems Laboratories Electronic mail

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms intelligent systems

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Real-time implementation of a STATCOM on a wind farm equipped with doubly fed induction generators

Real-time implementation of a STATCOM on a wind farm equippe...

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2006 IEEE Industry Applications Conference - Forty-First IAS Annual Meeting

作者： Wei, Qiao Venayagamoorthy, Ganesh K. Harley, Ronald G. Intelligent Power Infrastructure Consortium School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332-0250 United States Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri-Rolla Rolla MO 65409-0249 United States

ISBN: (纸本)1424403642

Voltage stability is a key issue to achieve the uninterrupted operation of wind farms equipped with doubly fed induction generators (DFIGs) during grid faults. A Static Synchronous Compensator (STATCOM) is applied to a power network which includes a DFIG driven by a wind turbine, for steady state voltage regulation and transient voltage stability support. The control schemes of the DFIG rotor-side converter, grid-side converter and the STATCOM are suitably designed and coordinated. The system is implemented in real-time on a RealTime Digital Simulator (RTDS®). Results show that the STATCOM improves the transient voltage stability and therefore helps the wind turbine generator system to remain in service during grid faults. © 2006 IEEE.

关键词： Wind turbines

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Fault diagnosis with dynamic fuzzy discrete event system approach

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14th Turkish Symposium on Artificial Intelligence and Neural Networks, TAINN 2005

作者： Kiliç, Erdal Karasu, Çaǧlar Leblebicioǧlu, Kemal Middle East Technical University Electrical and Electronic Engineering Department Computer Vision and Intelligent Systems Laboratory 006531 Ankara Turkey Tübitak Sage 06531 Ankara Turkey

ISBN: (纸本)3540367136

Determining faults is a challenging task in complex systems. A discrete event system (DES) or a fuzzy discrete event system (FDES) approach with a fuzzy rule-base may resolve the ambiguity in a fault diagnosis problem especially in the case of multiple faults. In this study, an FDES approach with a fuzzy rule-base is used as a means of indicating the degree and priority of faults, especially in the case of multiple faults. The fuzzy rule-base is constructed using event-fault relations. Fuzzy events occurring any time with different membership degrees are obtained using k-means clustering algorithm. The fuzzy sub-event sequences are used to construct super events. The study is concluded by giving some examples about the distinguishability of fault types (parameter, actuator) in an unmanned small helicopter. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Fault tolerant computer systems

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Introduction

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Springer Tracts in Advanced robotics 2006年 26卷 1-10页

作者： Taylor, Geoffrey Kleeman, Lindsay Monash University Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash VIC 3800 Australia

ISBN: (纸本)3540334548

Since the middle of last century, technologists have confidently predicted the imminent revolution in domestic and service robotics. We are told that intelligent robots will begin to appear in guises such as cars, vacuum cleaners, and even humanoids. These machines will lift the burden of work in our homes and offices by taking the role of cleaner, courier, nurse, and security guard among others. Robots will recognize their owners by appearance and voice, and understand natural modes of communication including gestures and speech. We will give simple commands such as "Set the table" or "Bring the coffee to my desk", and our service robot will have the necessary sensing and intelligence to fulfill the request. Robotic tele-presence will allow owners to remotely feed pets, check security and perform other tasks while away. Robotic aids will improve the quality of life for the elderly and disabled, while society as a whole will benefit from the reduced demand on health care services. Eventually, service robots will roam freely around our homes and offices to help in whatever way they see fit, driven by an internal emotional model and learning from their surroundings. © Springer-Verlag Berlin/Heidelberg 2006.

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Tracking Chemical Plumes in 3-Dimensions

Tracking Chemical Plumes in 3-Dimensions

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IEEE International Conference on robotics and Biomimetics

作者： R. Andrew Russell Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper considers the problem of tracking airborne chemical plumes in 3-dimensions. Finding the source of a volatile chemical plume is considered to be a valuable capability for a mobile robot, with potential applications in areas such as locating chemical leaks, incipient fires, explosives, narcotics, plant material, and survivors of avalanches and earthquakes. Many of the robotic systems that are being developed for this task restrict themselves to a 2-dimensional search where the chemical sensor is held at a constant height above the ground. This may prevent the robot from tracking the plume close to its source, especially if the source is positioned high above the robot or close to the ground. In this project a search strategy for tracking chemical plumes in 3-dimensions has been developed and tested on a robot. This robot has a limited capability for sensing and following chemical plumes in 3-dimensions. This paper describes the search strategy and the robot that was developed to test it. Results of practical plume tracking experiments are also presented.

关键词： Robot sensing systems Chemical sensors Sensor arrays Position measurement Gas detectors intelligent robots Mobile robots Testing Dogs Underwater tracking

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Real Time Object Tracking using Reflectional Symmetry and Motion

Real Time Object Tracking using Reflectional Symmetry and Mo...

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2006 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

Many objects found in domestic environments are reflectionally symmetric. In this paper, we present a system that can visually track moving objects by their reflectional symmetry in real time. Apart from the assumption of symmetry, the tracking system does not require any prior object models of the target, such as its colour and shape. The system is robust to shadows and specular reflections. It can also deal with transparent objects. Block motion detection is used in conjunction with symmetry for object tracking. A Kalman filter is used to estimate the object state. Predictions from the Kalman filter is used to improve the efficiency of the symmetry detector. The tracker provides a real time segmentation of an object by searching for motion that is symmetric about the object's mirror line. The tracking system also generates a rotated bounding box, aligned with the object's symmetry line, which can be used as a window for other image processing operations. The final system can track single objects in 640times480 videos at over 40 frames per second using a standard notebook PC

关键词： Target tracking Real time systems Shape Robustness Reflection Motion detection State estimation Detectors Image segmentation Mirrors

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

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International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence intelligent robots Fires Tracking Process control Communication system control Control systems intelligent control Optical computing intelligent systems

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TASTI Follows Chemical Trails with its Robot Tongue

TASTI Follows Chemical Trails with its Robot Tongue

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IEEE International Conference on robotics and Biomimetics

作者： R. Andrew Russell Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper describes initial progress of a project to build a mobile robot that can detect and respond to non-volatile chemicals. Most people would be aware that sniffer dogs and insects such as ants are capable of following chemical trails that release volatile components into the air. However, chemicals with a molecular weight greater than 300 have very low volatility and do not produce a detectable concentration in air. A number of creatures sense deposits of low volatility chemicals by dissolving them before applying the solution to taste-sensory nerve endings. Snakes and many species of flies taste the ground when searching for food items. In this project a mobile robot called TASTI has been equipped with a robotic tongue that dissolves ionic compounds in distilled water and then measures the resulting ion concentration using a conductivity sensor. This paper describes the tongue sensor and a robot control algorithm that has been developed to use the tongue sensory data to follow trails of low-volatility chemicals deposited on the ground. Results of practical trail following experiments are also provided.

关键词： Tongue Mobile robots Chemical sensors Dogs Insects Nerve endings Robot sensing systems Conductivity measurement Sensor phenomena and characterization Robot control

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