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Robust Experiment Design for System Identification via Semi-Infinite Programming Techniques *

IFAC Proceedings Volumes 2012年第16期45卷 680-685页

作者： Dimitrios Katselis Cristian R. Rojas James S. Welsh Håkan Hjalmarsson Automatic Control Lab and ACCESS Linnaeus Center Electrical Engineering KTH Royal Institute of Technology S-100 44 Stockholm Sweden (Tel: +46 (0)8 790 8464 School of Electrical Engineering and Computer Science The University of Newcastle NSW 2308 Australia (Tel: +61 (02) 4921 6087

Robust optimal experiment design for dynamic system identification is cast as a minmax optimization problem, which is infinite-dimensional. If the input spectrum is discretized (either by considering a Riemmann approximation, or by restricting it to the span of a finite dimensional linear space), this problem falls within the class of semi-infinite convex programs. One approach to this optimization problem of infinite constraints is the so called “scenario approach”, which is based on a probabilistic description of the uncertainty to deliver a finite program that attempts to approximate the optimal solution with a prescribed probability. In this paper, we propose as an alternative an exchange algorithm based on some recent advances in the field of semi-infinite programming to tackle the same problem. This method is compared with the scenario approach both from the aspects of accuracy and computational efficiency. Furthermore, the comparison includes the MATLAB semi-infinite solver fseminf to provide a general palette of methods approximating the robust optimal design problem.

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Extending CSP to detect motor imagery in a four-class BCI

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Journal of Information and Computational Science 2012年第1期9卷 143-151页

作者： Fang, Yonghui Chen, Minyou Zheng, Xufei Harrison, R.F. State Key Laboratory of Power Transmission Equipment and System Security New Technology Chongqing University Chongqing 400044 China School of Electronic and Information Engineering Southwest University Chongqing 400715 China College of Computer Science Sichuan University Chengdu 610065 China Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

Brain computer Interface (BCI) provides a direct communication channel from brain to peripheral equipment. Common Spatial Patterns (CSP) is wildly used to extract features for electroencephalogram (EEG). However, basic CSP only suits two-class discrimination and is unable to solve multi-class discrimination problems. This paper proposes a modified CSP method termed Bisearch Common Spatial Patterns (BCSP) to solve a four-class BCI problem. In BCSP, the Fisher's Linear Discriminant Analysis (LDA) is used to discriminate among the four motor imagery tasks. The BCSP can effectively reduce the number of the basic CSP, and thus makes the overall classification procedure more efficient. The Graz BCI data set from the BCI 2008 competition be used to verify the effectiveness of the BCSP. Simulation results show that BCSP has better performance than other extension schemes. © 2012 Binary Information Press January 2012.

关键词： Brain computer interface

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Predictive control for Autonomous Aerial Vehicles Trajectory Tracking

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IFAC Proceedings Volumes 2012年第17期45卷 508-513页

作者： Ionela Prodan Ricardo Bencatel Sorin Olaru João Borges de Sousa Cristina Stoica Silviu-Iulian Niculescu SUPELEC Systems Sciences (E3S) - Automatic Control Department 3 rue Joliot Curie 91192 Gif sur Yvette France Laboratory of Signals and Systems SUPELEC - CNRS 3 rue Joliot Curie 91192 Gif sur Yvette France Department of Electrical and Computer Engineering School of Engineering University of Porto 4200 Porto Portugal

This paper addresses a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified using the differential flatness formalism. Furthermore, an off-line linearization strategy of the nonlinear model of the vehicle along the flat trajectory is proposed. Since the reference trajectory is available beforehand, an optimization problem which minimizes the tracking error for the vehicle is formulated in a predictive control framework. The proposed method exhibits effective performance validated through software-in-the-loop simulations for the control of Unmanned Aerial Vehicles (UAVs).

关键词： Unmanned Aerial Vehicle (UAV) differential flatness constrained Model Predictive control (MPC)

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Feature extraction of motor imagery in BCI with approximate entropy

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Journal of Computational Information Systems 2012年第6期8卷 2485-2491页

作者： Fang, Yonghui Chen, Minyou Zheng, Xufei Harrison, Robert F State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing 400044 China School of Electronic and Information Engineering Southwest University Chongqing 400715 China College of Computer Science Sichuan University Chengdu 610065 China Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

Approximate Entropy (ApEn) is a regularity statistic that quantifies the unpredictability of fluctuations in a time series and can classify complex systems. This study, ApEn is used to extract features from motor imagery Electroencephalogram (EEC) that containing two motor imagery tasks. This method is different from the traditional way to get the character from EEC. Appropriate parameters must been chosen for different dataset. Two datasets are used in this paper. One comes from BCI Competion2003, the other from the lab of Electromagnetic theory and artincal intelligence, Chongqing University. The results show that ApEn can extract different features in left-hand and right-hand motor imagery EEC efficiently. Comparison between ApEn and Fast Fourier Transform (FFT) shows that ApEn has good capability to the two imagery tasks Brain computer Interface. © 2012 Binary Information Press.

关键词： Electroencephalography

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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Modeling and control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Towards an ontology for autonomous robots

Towards an ontology for autonomous robots

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25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012

作者： Paull, Liam Severac, Gaetan Raffo, Guilherme V. Angel, Julian Mauricio Boley, Harold Durst, Phillip J. Gray, Wendell Habib, Maki Nguyen, Bao Ragavan, S. Veera Saeedi G., Sajad Sanz, Ricardo Seto, Mae Stefanovski, Aleksandar Trentini, Michael Li, Howard COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB E3B 5A3 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 3909 Halls Ferry Road Vicksburg MS 39180 United States Mechanical Engineering Department School of Sciences and Engineering American University in Cairo New Cairo Egypt Defence Research and Development Canada-CORA Ottawa ON Canada Monash University Sunway Campus Australia Systems Engineering and Automatic Control Autonomous Systems Laboratory Research Group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada-Atlantic Dartmouth NS Canada Department of Computer Science George Washington University United States Defence R and D Canada-Suffield PO Box 4000 Station Main Medicine Hat AB T1A 8K6 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. © 2012 IEEE.

关键词： Ontology

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An object frame knowledge representation approach for fault diagnosis expert system

An object frame knowledge representation approach for fault ...

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International Conference on Future computer Science and Education

作者： Liu, Bailin Duan, Mingye Zhao, Gang School of Computer Science and Engineering Xi'an Technological University Xi'an China North Automatic Control Technique Institute Taiyuan China

ISBN: (纸本)9780769544229

Knowledge quality and usability is core to a fault diagnosis system. Frame knowledge technique has been used to represent knowledge in many information and expert systems. To simplify the complexity of knowledge representation in fault diagnosis expert system, a novel object-frame knowledge representation approach based on hierarchical model was proposed. In this approach, domain specific knowledge is expressed by combinations of object-frames. An Object-frame is composed by relevant state-object, test-object and rule-object or repair-object. Production rules are used to connect relevant objects' states. General features of object-frame and inference algorithm are introduced. Object-frame based knowledge items are stored in SQL database, inference engine performs the inference operation of knowledge using forward chaining strategy, implements reasoning, finds the cause of faults and gives repair suggestion driven by test data. Inference interpretation completes the task of explanation, which improved the clarity of reasoning. The advantage of this method is that we do not need knowledge representation language support. Experimental results show that the method proposed is effective, which improved the fault diagnosis and maintenance for a meteorological vehicle system. © 2011 IEEE.

关键词： Inference engines

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Dynamic cloning based immune network algorithm for multi-modal optimization

Dynamic cloning based immune network algorithm for multi-mod...

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2011 7th International Conference on Natural Computation, ICNC 2011

作者： Shi, Xu-Hua Zhu, Yu-Guang Research Institute of Electric Automatic Control NingBo University NingBo China School of Computer and Information Engineering Changzhou Institute of Technology JiangSu China

ISBN: (纸本)9781424499533

In this paper, a novel multi-modal optimization algorithm, namely Dcopt-aiNet is proposed, which is based on biological immune network mechanism for global numerical optimization. Different from de Castro's opt-aiNet algorithm, Dcopt-aiNet models cloning operation using dynamic cloning operation which is adopted from biological immune network mechanism. Based on the multi-modal benchmarks, experiments were carried out to compare the performance of Dcopt-aiNet with that of opt-aiNet. Experiment results show that when compared with the opt-aiNet method, the new algorithm is capable of improving search performance significantly in successful rate and convergence speed. © 2011 IEEE.

关键词： Cloning

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Zonotopic ultimate bounds for linear systems with bounded disturbances

Zonotopic ultimate bounds for linear systems with bounded di...

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作者： Stoican, Florin Olaru, Sorin De Doná, José A. Seron, María M. Automatic Control Department Gif sur Yvette France CDSC School of Electrical Engineering and Computer Science University of Newcastle NSW 2308 Australia

ISBN: (纸本)9783902661937

This paper deals with robust invariant sets construction for discrete-time linear time-invariant dynamics. The case of a zonotopic disturbance set is analysed in detail by exploiting the properties of these geometrical structures. A constructive method is provided for diminishing the conservatism of ultimate bound invariant sets. It is shown that the resulting zonotopic set is related to the minimal robust positively invariant set in the sense that their boundaries have common points. © 2011 IFAC.

关键词： Invariant sets Linear systems Ultimate bounds Zonotopes

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