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11th IASTED International Conference on control and Applications, CA 2009

作者： Alvarez, Teresa Salim, Anuar Bolajraf, Mohammed Department of Engineering Science and Automatic Control School of Computer Engineering University of Valladolid Valladolid Spain

ISBN: (纸本)9780889867949

Internet users rely on the good capabilities of TCP/IP networks for dealing with congestion. Classic algorithms, such as drop tail or even RED, do not give good results under many situations. The network delay and the number of users fluctuate from one moment to the next. Predictive control can deal with these conditions so performance can be improved. This paper presents how predictive control, with on-line linearized models, performs better than PID or classic predictive control when dealing with control congestion, because changes in the network delay and the current number of users can be updated in the model. Non-linear simulations illustrate the advantages and disadvantages of the various methods under different working scenarios.

关键词： Linearization

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Developmental process of a chopstick-like hybrid-structure two-fingered micromanipulator hand for 3-D manipulation of microscopic objects

Developmental process of a chopstick-like hybrid-structure t...

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作者： Ramadan, Ahmed A. Takubo, Tomohito Mae, Yasushi Oohara, Kenichi Arai, Tatsuo Computer Engineering and Automatic Control Department Faculty of Engineering Tanta University Tanta 31527 Egypt Department of Systems Innovation Graduate School of Engineering Science Osaka University Osaka 560-8531 Japan

The development of a chopstick-like two-fingered micromanipulator based on a hybrid mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical (PRS) parallel modules connected serially in a mirror image style. Each module has a long glass pipette as an end effector. The development process consists of three phases. In the first phase, analysis and mathematical modeling, a novel solution of the inverse kinematics problem (IKP) of a 3-revolute-prismatic-spherical (RPS) parallel module, is derived and applied with proper modification to the case of 3-PRS of the proposed mechanism. The solution is extended to the two-fingered hybrid mechanism of the microhand. In the optimization and design phase, the optimization of the chosen design parameters of a theoretical 3-PRS parallel module is carried out using two approaches: discretization method and genetic algorithms. Based on the optimal design parameters, a CAD model of the 3-PRS finger module is built, and a complementary optimization step using the ANSYS Workbench program is carried out to determine suitable characteristics of the pin flexure hinge. Finally, the total CAD model of the two-fingered hand is built. In the realization and implementation phase, the description of the hardware system of the two-fingered microhand prototype is presented. The program description, calibration method, practical Jacobian matrices, practical workspace, and error analysis of the prototype are discussed. © 2009 IEEE.

关键词： Genetic algorithms

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Congestion control of Tcp/Aqm networks: Does the simulation tool change results?

Congestion control of Tcp/Aqm networks: Does the simulation ...

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IEEE International Conference on Industrial engineering and engineering Management

作者： Teresa Alvarez Anuar Salim Mohamed Bolajraf Department of Engineering Science and Automatic Control School of Computer Engineering University of Valladolid Valladolid Spain

ISBN: (纸本)9781424448692

The simulation of congestion control algorithms of TCP networks is discussed in this paper. Simulation is a widespread procedure for testing and understanding how real systems evolve. Internet has a great impact in our society. Everyone wants fast and reliable links, but sometimes congestion happens because the network delay and the number of users fluctuate from one moment to the next. There are different approaches for dealing with congestion: classical (such as drop tail or RED) or process control techniques (PID, predictive control or fuzzy). Future engineers need to learn about this topic. So it seems logical to use simulation, but which tools should we use? This paper presents a comparison using three different simulation programs: Matlab, EcosimPro and ns-2. Results show that, depending on what we want, we should choose different tools.

关键词： Mathematical model Computational modeling Communication system control Power system modeling automatic control Internet Three-term control Telecommunication control control systems Reliability engineering

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Development and application of a data-driven fault prediction method to the imperial smelting furnace process

Development and application of a data-driven fault predictio...

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7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09

作者： Jiang, Shaohua Gui, Weihua Ding, S.X. Naik, Amol School of Information Science and Engineering Central South University Changsha 410083 China School of Computer Science Shaoguan University Shaoguan 512024 China Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany

ISBN: (纸本)9783902661463

This paper addresses the development and application of a data-driven method to the fault diagnosis in imperial smelting furnace (ISF). Based on the method of the weighted least squares vector machines regression, a Hammerstein model is constructed and identified for the ISF. This model is used to predict the dynamic behavior of the furnace and the possible faults in the process. The simulation study shows that the identified model well adapts to the changes in the structural parameters and provides accurate prediction. © 2009 IFAC.

关键词： Furnaces

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Particle filter approach to nonlinear system identification under missing observations with a real application

Particle filter approach to nonlinear system identification ...

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作者： Gopaluni, R. Bhushan Schön, Thomas B. Wills, Adrian G. Department of Chemical and Biological Engineering University of British Columbia Vancouver V6T 1Z3 Canada Division of Automatic Control Linköping University SE-581 83 Linköping Sweden School of Electrical Engineering and Computer Science University of New Castle Australia

ISBN: (纸本)9783902661470

This article reviews authors' recently developed algorithm for identification of nonlinear state-space models under missing observations and extends it to the case of unknown model structure. In order to estimate the parameters in a state-space model, one needs to know the model structure and have an estimate of states. If the model structure is unknown, an approximation of it is obtained using radial basis functions centered around a maximum a posteriori estimate of the state trajectory. A particle filter approximation of smoothed states is then used in conjunction with expectation maximization algorithm for estimating the parameters. The proposed approach is illustrated through a real application. © 2009 IFAC.

关键词： Nonlinear systems

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Improving Software Testing Cost-Effectiveness through Dynamic Partitioning

Improving Software Testing Cost-Effectiveness through Dynami...

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International Conference on Quality Software

作者： Zhi Quan Zhou Arnaldo Sinaga Lei Zhao Willy Susilo Kai-Yuan Cai School of Computer Science and Software Engineering University of Wollongong Wollongong NSW Australia Department of Automatic Control Beijing Aeronautics and Astronautics University Beijing China

ISBN: (纸本)9781424459124

We present a dynamic partitioning strategy that selects test cases using online feedback information. The presented strategy differs from conventional approaches. Firstly, the partitioning is carried out online rather than off-line. Secondly, the partitioning is not based on program code or specifications; instead, it is simply based on the fail or pass information of previously executed test cases and, hence, can be implemented in the absence of the source code or specification of the program under test. The cost-effectiveness of the proposed strategy has been empirically investigated with three programs, namely SPACE, SED, and GREP. The results show that the proposed strategy achieves a significant saving in terms of total number of test cases executed to detect all faults.

关键词： Software testing Subspace constraints Aerodynamics Costs computer science Software engineering Fault detection Adaptive control Cybernetics Software quality

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Development and application of a data-driven fault prediction method to the imperial smelting furnace process

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IFAC Proceedings Volumes 2009年第8期42卷 1174-1179页

作者： Shaohua Jiang Weihua Gui S.X. Ding Amol Naik School of Information Science and Engineering Central South University Changsha 410083 China Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany School of Computer Science Shaoguan University Shaoguan 512024 China

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Particle Filter Approach to Nonlinear System Identification under Missing Observations with a Real Application

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IFAC Proceedings Volumes 2009年第10期42卷 810-815页

作者： R.Bhushan Gopaluni Thomas B. Schön Adrian G. Wills Department of Chemical and Biological Engineering University of British Columbia Vancouver Canada V6T 1Z3 (Tel: 604 827 5668 Division of Automatic Control Linköping University SE-581 83 Linköping Sweden School of Electrical Engineering and Computer Science University of New Castle Australia

This article reviews authors’ recently developed algorithm for identification of nonlinear state-space models under missing observations and extends it to the case of unknown model structure. In order to estimate the parameters in a state-space model, one needs to know the model structure and have an estimate of states. If the model structure is unknown, an approximation of it is obtained using radial basis functions centered around a maximum a posteriori estimate of the state trajectory. A particle filter approximation of smoothed states is then used in conjunction with expectation maximization algorithm for estimating the parameters. The proposed approach is illustrated through a real application.

关键词： Nonlinear Systems Maximum Likelihood Parameter Estimation Expectation Maximization Particle Filters

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Integration of Home Automation Technology into an Assisted Living Concept

Integration of Home Automation Technology into an Assisted L...

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Assisted Living Systems - Models, Architectures and engineering Approaches 2007

作者： Floeck, Martin Litz, Lothar Institute of Automatic Control School of Electrical and Computer Engineering University of Kaiserslautern Kaiserslautern Germany

A brief overview over a real-world Ambient Assisted Living (AAL) project in Kaiserslautern, Germany, is given. It does not only incorporate scientific research but also involves the prospective senior users right from the beginning. The authors’ perception of AAL is characterized as follows: The aspects of safety, comfort, health, and communication cannot be separated but need to be addressed simultaneously. To achieve this, only off-the-shelf home automation devices are used to limit the hardware costs. Every developer, however, should be careful not to overrate the capabilities of modern technology. To create AAL environments worth living in, social environments of the addressed AAL users must be identified and conserved in their new surrounding. MAEA 2007. All rights reserved.

关键词： Assisted living

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dominguez, Salvador Zalama, Eduardo Garcia-Bermejo, Jaime G. Pulido, Jaime CARTIF Foundation Robotics Computer Vision and Real Time Division Boecillo Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisen is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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