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International Joint Conference on Neural Networks (IJCNN)

作者： Liang-Wei Ho G.G. Yen Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

The growing demand in system reliability and survivability under failures has urged ever-increasing research effort on the development of fault diagnosis and accommodation. In this paper, the on-line fault tolerant control problem for dynamic systems under unanticipated failures is investigated from a realistic point of view without any specific assumption on type of system dynamical structure or failure scenarios. The sufficient condition for system on-line stability under catastrophic failures has been derived using the discrete-time Lyapunov stability theory. Based upon the existing control theory and the modern intelligent techniques, an on-line fault accommodation control strategy is proposed to deal with the desired trajectory-tracking problems for systems suffering from various unknown and unanticipated catastrophic failures. To investigate the feasibility of the developed technique for unanticipated fault accommodation in real hardware under the real-time environment, an on-line fault tolerant control test bed has been constructed to validate the proposed technology. Both on-line simulations and the real-time experiment show encouraging results and promising futures of on-line real-time fault tolerant control based solely upon insufficient information of the system dynamics and the failure modes.

关键词： Real time systems Control systems Fault tolerant systems Reliability Fault diagnosis Sufficient conditions Stability Lyapunov method Control theory Hardware

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On the local interpretation of Takagi-Sugeno fuzzy models from a dynamical systems view

On the local interpretation of Takagi-Sugeno fuzzy models fr...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Seok-beom Lee G.G. Yen Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

Takagi-Sugeno (TS) fuzzy models have been the popular choice for multi-model based nonlinear system identification for controller design. However, the interpretation of the model from a dynamical systems point of view is still unclear. We investigate the interpretation of the TS fuzzy models in terms of local dynamics of nonlinear systems in state space. The investigation is based on the comparison between the constant-affine recursive i/o equation and constant-affine state space representations. We show that the true local dynamics is not identifiable by TS fuzzy models by analysis and example. For the identification of constant-affine state space models, a subspace identification algorithm is proposed to identify the true local dynamics with zero initial conditions.

关键词： Takagi-Sugeno model Fuzzy systems Least squares approximation Fuzzy control Control system synthesis Nonlinear systems State-space methods Equations Function approximation Nonlinear control systems

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Dynamic database approach for fault tolerant control using dual heuristic programming

Dynamic database approach for fault tolerant control using d...

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American Control Conference (ACC)

作者： G.G. Yen P.G. de Lima Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

In this paper a hierarchical architecture that combines a high degree of reconfigurability and long-term memory is presented as a fault tolerant control algorithm for complex nonlinear systems. Dual heuristic programming (DHP) is used for adapting to faults as they happen for the first time in an effort to prevent the build up of a general failure and also as tuning device after switching to a known scenario. A dynamical database, initialized with as much information of the plant as available, oversees the DHP controller. The decisions of which environments to record, when to intervene and where to switch are autonomously made based on the specifically designed quality indexes. Results of the application of the complete algorithm to a proof-of-the-concept numerical example help to illustrate the fine interrelations between each of its subsystems.

关键词： Dynamic programming Databases Fault tolerance Control systems Programmable control Adaptive control Nonlinear control systems Nonlinear systems Stability Switches

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Facial feature extraction using genetic algorithm

Facial feature extraction using genetic algorithm

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Congress on Evolutionary Computation

作者： G.G. Yen N. Nithianandan Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

An automatic facial feature extraction method is presented in this paper. The method is based on the edge density distribution of the image. In the preprocessing stage a face is approximated to an ellipse, and a genetic algorithm is applied to search for the best ellipse region match. In the feature extraction stage, the genetic algorithm is applied to extract the facial features, such as the eyes, nose and mouth, in the predefined sub regions. The simulation results validates that the proposed method is capable of automatically extracting features from various video images effectively under natural lighting environments and in the presence of certain amount of artificial noise and of multi-face oriented with angles.

关键词： Facial features Genetic algorithms Feature extraction Surveillance Data mining Data security Information security Biometrics Video coding Smart cards

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Hierarchical rank density genetic algorithm for radial-basis function neural network design

Hierarchical rank density genetic algorithm for radial-basis...

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Congress on Evolutionary Computation

作者： G.G. Yen Haiming Lu Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

In this paper, we propose a genetic algorithm based design procedure for a radial-basis function neural network. A hierarchical rank density genetic algorithm (HRDGA) is used to evolve both the neural network's topology and parameters. In addition, the rank-density based fitness assignment technique is used to optimize the performance and topology of the evolved neural network to deal with the confliction between the training performance and network complexity. Instead of producing a single optimal network, HRDGA provides a set of near-optimal neural networks to the designers or the decision makers so that they can have more flexibility for the final decision-making based on their preferences. In terms of searching for a near-complete set of candidate networks with high performances, the networks designed by the proposed algorithm prove to be competitive, or even superior, to three selected traditional radial-basis function networks for predicting Mackey-Glass chaotic time series.

关键词： Genetic algorithms Neural networks Algorithm design and analysis Neurons Network topology Chaos Artificial neural networks intelligent systems intelligent control intelligent networks

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Multiple-model reconfigurable control using adaptive critic

Multiple-model reconfigurable control using adaptive critic

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IEEE International Symposium on intelligent Control (ISIC)

作者： G.G. Yen P.G. Lima Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

In this paper a hierarchical architecture that combines a high degree of reconfigurability and long-term memory is proposed as a fault tolerant control algorithm for complex nonlinear systems. Dual heuristic programming (DHP) is used for adapting to faults as they occur for the first time in an effort to prevent the build up of a general failure and also as tuning device after switching to a known scenario. A dynamical database, initialized with as much information of the plant as available, oversees the DHP controller. The decisions of which environments to record, when to intervene and where to switch are autonomously taken based on specifically designed quality indices. Results of the application of the complete algorithm to a proof-of-the-concept numerical example help to illustrate the fine interrelations between each of its subsystems.

关键词： Programmable control Adaptive control Control systems Nonlinear control systems Nonlinear systems Stability Databases Switches Robust control Adaptive systems

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

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Real-time facial patterns mining and emotion tracking 3rd

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3rd International Conference on Advances in Web-Age Information Management, WAIM 2002

作者： Xiang, Zhenggui Yao, Tianxiang Li, Jiang Yu, Keman State Key Laboratory of Intelligent Technology and Systems Dept of Computer Science and Tech Tsinghua University Beijing China Dept of Information System and Electrical Engineering Zhejiang University Zhejiang China Internet Media Group Microsoft Research Asia Beijing China

ISBN: (纸本)9783540440451

In this paper, we present a real-time method for mining the facial patterns and tracking the facial emotion. We first recognize the facial patterns based on a nonsupervised idea of pattern mining from video. To raise the mining speed, we adopt some simple and rapid filters called Gabor-like filters to mine individual feature patterns. To evaluate the facial patterns, we match deformable templates and analyze the histogram of local region. To track the mouth contour, we model dynamically the color distribution of lip and skin by EM algorithm and segment lip color by the Bayes classification rule. Finally, we represent the facial emotion with an avatar by transferring some parameters. Through experiments, our method can rapidly mine the facial patterns and track different facial expressions of different people whether they wear glasses or not. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Template matching

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ON–LINE IMPROVEMENT FOR THE DECENTRALIZED PREDICTIVE CONTROL OF THE HEAT DYNAMICS OF A GREENHOUSE

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IFAC Proceedings Volumes 2002年第1期35卷 37-42页

作者： E.J. Kyriannakis K.G. Arvanitis N. Sigrimis National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE

A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control predictive control greenhouse heat dynamics

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Real-time area-covering operations with obstacle avoidance for cleaning robots

Real-time area-covering operations with obstacle avoidance f...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Chaomin Luo S.X. Yang Xiaobu Yuan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada School of Computer Science Windsor University Windsor ONT Canada

An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.

关键词： Cleaning Robots Path planning Neural networks Equations Landmine detection Neurons Computational modeling Detectors Biomembranes

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