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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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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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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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The implementation of radar signal simulator

The implementation of radar signal simulator

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2011 IEEE International Symposium on IT in Medicine and Education, ITME 2011

作者： Zhang, Fuyang Wang, Jun Zhang, Yuxian Wang, Pei School of Electronic and Information Engineering Beihang University Beijing 100191 China Automatic Control and Computer Simulation Liaoning 125001 China 95830 Troops China

ISBN: (纸本)9781612847023

This article describes a variety of FPGA-based radar signal generator. This system is connected to the host, binding data from the software interface, through the PCI bus transfer stored in the system. Within the FPGA to achieve DDS signal generator, and finally through the digital-analog converter output. Finally, the system resource utilization and the actual results are given. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Backstepping control of uncertain strict-feedback system based on time-scale separation

Backstepping control of uncertain strict-feedback system bas...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Noroozi, Navid Khayatian, Alireza Chen, Tianshi School of Electrical and Computer Engineering Shiraz University Post Box: *** Shiraz Iran Automatic Control Division Electrical Engineering Department Linköping University Linköping Sweden

ISBN: (纸本)9781467316903

In this paper, a state-feedback strategies based on time-scale separation technique for a class of strict-feedback systems in the presence of unstructured uncertainties is proposed which recovers the state trajectories of a nominal control design (without uncertainties) in the presence of unmatched uncertain nonlinearities. The performance of the feedback control scheme is evaluated by simulating state-feedback control for an uncertain strict-feedback system. © 2011 IEEE.

关键词： State feedback

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Developing a denoising filter for electron microscopy and tomography data in the cloud

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Biophysical Reviews 2012年第3期4卷 223-229页

作者： Starosolski, Zbigniew Szczepanski, Marek Wahle, Manuel Rusu, Mirabela Wriggers, Willy Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology 44-100 Gliwice Akademicka 16 Poland School of Biomedical Informatics University of Texas Health Science Center Houston TX 77030 7000 Fannin St. UCT 600 United States Department of Pediatric Radiology Texas Children's Hospital Houston TX 77030 6621 Fannin St. United States Department of Biomedical Engineering Rutgers The State University of New Jersey Piscataway NJ 08854 599 Taylor Road United States Department of Physiology and Biophysics and Institute for Computational Biomedicine Weill Medical College of Cornell University NY NY 10065 1300 York Ave. United States D. E. Shaw Research NY NY 10036 120 West 45th Street United States

The low radiation conditions and the predominantly phase-object image formation of cryo-electron microscopy (cryo-EM) result in extremely high noise levels and low contrast in the recorded micrographs. The process of single particle or tomographic 3D reconstruction does not completely eliminate this noise and is even capable of introducing new sources of noise during alignment or when correcting for instrument parameters. The recently developed Digital Paths Supervised Variance (DPSV) denoising filter uses local variance information to control regional noise in a robust and adaptive manner. The performance of the DPSV filter was evaluated in this review qualitatively and quantitatively using simulated and experimental data from cryo-EM and tomography in two and three dimensions. We also assessed the benefit of filtering experimental reconstructions for visualization purposes and for enhancing the accuracy of feature detection. The DPSV filter eliminates high-frequency noise artifacts (density gaps), which would normally preclude the accurate segmentation of tomography reconstructions or the detection of alpha-helices in single-particle reconstructions. This collaborative software development project was carried out entirely by virtual interactions among the authors using publicly available development and file sharing tools. © 2012 International Union for Pure and Applied Biophysics (IUPAB) and Springer.

关键词： cryo-EM Digital paths Filtering Helix detection Remote collaboration Supervised classification

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton 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 Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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A new method of 3D position and attitude estimation for pinpoint lunar landing

A new method of 3D position and attitude estimation for pinp...

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62nd International Astronautical Congress 2011, IAC 2011

作者： Wang, Lina Gao, Xiaoying Beijing Key Laboratory of Digital Media School of Computer Science and Engineering Beihang University China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing Aerospace Automatic Control Institute China

ISBN: (纸本)9781618398055

With the development of lunar exploration, the higher resolution lunar maps are described and lunar terrain 3D models are established. The position information of lunar ground control points can be determined from them. These research productions should be enough applied to estimating lander's state parameters. Based on lunar ground control points, this paper puts forward a new method of 3D position and attitude estimation for the lunar lander in descent phase. The lunar maps and digital elevation models of the covered area during descent are processed to obtain lunar surface reference data. Through correlating a descent 2D image with the reference data, the corresponding image points of the lunar ground control points are located. According to the geometric relation between the lunar lander, lunar ground control points and their image points, the lander's state equations can be established. Using simulated data, the feasibility and validity of the method are verified. The error and error factors are analyzed in theory. It can be concluded that the precision of this method is satisfying. If the existing higher resolution lunar maps are applied, the precise state parameters can be achieved. And this method is simple to realize. By using the reference data and a 2D lunar surface image, the 3D position and attitude parameters can be obtained. This method can integrate with INS to eliminate the accumulation error and provide lander's precise state parameters for pinpoint and safe lunar landing. Copyright ©2011 by the International Astronautical Federation. All rights reserved.

关键词： Lunar landing

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Neighborhood discriminant nearest feature line analysis for face recognition

Neighborhood discriminant nearest feature line analysis for ...

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2011 2nd International Conference on Innovations in Bio-inspired Computing and Applications, IBICA 2011

作者： Yan, Lijun Pan, Jeng-Shyang Chu, Shu-Chuan Roddick, John F. Department of Automatic Test and Control Harbin Institute of Technology Harbin China Department of Computer Science Harbin Institute of Technology Shenzhen Graduate School Shenzhen China School of Computer Science Engineering and Mathematics Flinders University of South Australia Australia

ISBN: (纸本)9781457712197

A novel subspace learning algorithm named neighborhood discriminant nearest feature line analysis (NDNFLA) is proposed in this paper. NDNFLA aims to find the discriminant feature of samples by maximizing the between-class feature line (FL) distances and minimizing the within-class FL distance. At the same time, theneighborhood is preserved in the feature space. Experimental results demonstrate the efficiency of the proposed algorithm. © 2011 IEEE.

关键词： Face recognition

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