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An Automatic Collision Avoidance Strategy for Unmanned Surface Vehicles

2010 International Conference on Life System Modeling and Simulation & 2010 International Conference on intelligent Computing for Sustainable Energy and Environment

作者： Wasif Naeem George W Irwin Intelligent Systems and Control School of Electronics Electrical Engineering and Computer ScienceQueen's University Belfast

ISBN: (纸本)3642158520;9783642158520

Unmanned marine vehicles are useful tools for various hydrographical tasks especially when operating for extended periods and in hazardous environments. The autonomy of these vehicles depends on the design of robust navigation, guidance and control systems. This paper concerns the preliminary design of an automatic guidance system for unmanned surface vehicles based on standardised rules defined by the International Maritime Organisation. A guidance system determines "reasonable" and safe actions in order to complete a task at hand. Thus, autonomous guidance can be regarded as the mechanism that brings self-reliance to the whole system. The strategy here is based on way-point guidance by line-of-sight coupled with a manual biasing scheme. Simulation results demonstrate the functioning of the proposed approach for multiple stationary as well as dynamic obstacles.

关键词： Unmanned surface vehicles, obstacle detection and avoidance, navigation, guidance and control.

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Comparison of voxel-based morphometry (VBM) and tractography of diffusion tensor MRI (DT-MRI) in temporal lobe epilepsy

Comparison of voxel-based morphometry (VBM) and tractography...

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2010 18th Iranian Conference on electrical engineering, ICEE 2010

作者： Afzali, Maryam Soltanian-Zadeh, Hamid Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395-515 Iran Image Analysis Laboratory Radiology Department Henry Ford Health System Detroit MI 48202 United States

ISBN: (纸本)9781424467600

Temporal lobe epilepsy (TLE) is a neurological disease that affects millions of individuals in the world. Majority of TLE patients suffer from refractory seizures. Determining abnormal/damaged regions of the brain that harbor seizure focus is a critical step towards treatment of TLE patients. Diffusion tensor imaging (DTI) is a non-invasive method that we use in this work to determine damaged regions of white matter in the brain. To this end, we apply two methods, voxel based morphometry (VBM) and fiber tracking. We use these methods along with two anisotropy maps (EAR and FA) extracted from the DTI data. We use DTI data of 31 subjects (12 normal subjects and 19 TLE patients) for testing and evaluation studies. The VBM method shows that TLE is associated with reduction of both of FA and EAR values in several regions within the temporal lobes. The tractography method shows abnormal diffusion characteristics in three fiber bundles (fornix, uncinate fasciculus, and cingulum). The results show that the EAR maps are less sensitive to noise than the FA maps and the EAR values change more than the FA values in TLE. ©2010 IEEE.

关键词： Diffusion tensor imaging

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An efficient algorithm for grid-based robotic path planning based on priority sorting of direction vectors

An efficient algorithm for grid-based robotic path planning ...

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2010 International Conference on Life System Modeling and Simulation & 2010 International Conference on intelligent Computing for Sustainable Energy and Environment

作者： George W.Irwin Intelligent Systems and Control Group School of Electronics Electrical Engineering and Computer Science Queen's University of Belfast

This paper presents an efficient grid-based robotic path planning algorithm. This method is motivated by the engineering requirement in practical embedded systems where the hardware resource is always limited. The main target of this algorithm is to reduce the searching time and to achieve the minimum number of movements. In order to assess the performance, the classical A* algorithm is also developed as a reference point to verify the effectiveness and determine the performance of the proposed algorithm. The comparison results confirm that the proposed approach considerably shortens the searching time by nearly half and produces smoother paths with less jagged segments than A* algorithm.

关键词： path planning, grid-based map, priority sorting, time-efficient algorithm

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Event-based sampling for wireless network control systems with QoS

Event-based sampling for wireless network control systems wi...

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American control Conference

作者： Adrian D. McKernan George W. Irwin Intelligent Systems and Control group School of Electronics Electrical Engineering and Computer Science Queens University Belfast UK

ISBN: (纸本)9781424474264

Communications load in a wireless channel can saturate the network when the wireless link between stations is weak. This paper shows that, by using a state-differential event based sampling scheme with QoS, this load can be reduced such that a control loop closed over that network can remain stable for much worse wireless channel conditions. By varying the event threshold, systems with high state variance will have higher sampling rates than those without, while the overall throughput of the system is reduced to a level which does not saturate the network.

关键词： wireless channels Quality of service control ring Event-based Communication Research Wireless networks control systems STATIONS Throughput

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Dynamic system eigenvalue extraction using a linear echo state network for small-signal stability analysis - A novel application

Dynamic system eigenvalue extraction using a linear echo sta...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Liang, Jiaqi Dai, Jing Venayagamoorthy, Ganesh K. Harley, Ronald G. School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States University of KwaZulu-Natal Durban South Africa Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO 65409 United States

ISBN: (纸本)9781424469178

A large nonlinear dynamic system usually has complex dynamic modes corresponding to the system's eigenvalues. These eigenvalues govern the system's local behavior and thus are critical information for designing system operation and control strategies. Without the availability of the system's analytical model, which is often the case for large nonlinear systems, the system's eigenvalues need to be estimated. A linear echo state network (ESN) based method for extracting observable eigenvalues of a dynamic system together with the participation factors of these eigenvalues in the accessible system states is presented in this paper. A linear ESN is first trained to track the dynamic system's local responses under injected small perturbation signals. The dynamic system's eigenvalues are then extracted from the ESN's weight matrices. Given the merit of fast training of ESNs, the ESN can be quickly retrained once the system operating point changes, and the system eigenvalues can be reestimated. Application of the proposed eigenvalue extraction method in the power system small-signal analysis is presented to demonstrate the effectiveness of the proposed method. © 2010 IEEE.

关键词： Dynamical systems

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Improved learning in grid-to-grid neural network via clustering

Improved learning in grid-to-grid neural network via cluster...

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International Joint Conference on Neural Networks (IJCNN)

作者： W. White K. Iftekharuddin A. Bouzerdoum Intelligent Systems and Image Processing Laboratory Department of Electrical and Computer Engineering University of Memphis TN USA Department of Electrical and Computer Engineering University of Memphis TN USA School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong NSW Australia

The maze traversal problem involves finding the shortest distance to the goal from any position in a maze. Such maze solving problems have been an interesting challenge in computational intelligence. Previous work has shown that grid-to-grid neural networks such as the cellular simultaneous recurrent neural network (CSRN) can effectively solve simple maze traversing problems better than other iterative algorithms such as the feedforward multi layer perceptron (MLP). In this work, we investigate improved learning for the CSRN maze solving problem by exploiting relevant information about the maze. We cluster parts of the maze using relevant state information and show an improvement in learning performance. We also study the effect of the number of clusters on the learning rate for the maze solving problem. Furthermore, we investigate a few code optimization techniques to improve the run time efficiency. The outcome of this research may have direct implication in rapid search and recovery, disaster planning and autonomous navigation among others.

关键词： Euclidean distance Kalman filters Training Navigation Artificial neural networks Testing

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Adaptive and impulsive cluster synchronization of a general complex dynamical network

Adaptive and impulsive cluster synchronization of a general ...

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IEEE International Conference on Networking, Sensing and control

作者： Bingxiong Shi Junan Lu Jinhu Lu Xinghuo Yu College of Mathematics and Statistics and State Key Laboratory of Software Engineering Wuhan University of China Wuhan China School of Electrical and Computer Engineering RMIT University Melbourne Australia Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy and Sciences Beijing China School of Electrical and Computer Engineering RMIT University Melbourne VIC Australia

ISBN: (纸本)9781424464500;9781424464531

Recently, cluster synchronization has attracted an increasing interest in various disciplines, including mathematics, physics, and engineering sciences. This paper further investigates the cluster synchronization of a complex dynamical network by using adaptive and impulsive control techniques, respectively. Based on a complex dynamical network with two different clusters, several adaptive and impulsive cluster synchronization criteria are then proposed. It should be especially pointed out that the dynamics and its dimensions of the individual dynamical systems are different in the two different clusters. Also, some numerical simulations are given to verify the effectiveness of the above theoretical results.

关键词： Complex networks Mathematics Numerical simulation Physics Adaptive systems Programmable control Adaptive control Biology History Technological innovation

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Effects of variable solar irradiance on the reactive power compensation for large solar farm

Effects of variable solar irradiance on the reactive power c...

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iREP Symposium on Bulk Power System Dynamics and control

作者： Dustin F. Howard Ronald G. Harley Jiaqi Liang Ganesh K. Venayagamoorthy School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO USA

Dish-Stirling systems are a form of concentrating solar power (CSP) emerging as an efficient and reliable source of renewable energy. Various technical hurdles are involved in the grid interconnection of dish-Stirling systems, particularly with issues related to power factor correction, low voltage ride-through capability, and reactive power planning. While there are no grid-interconnection requirements specific to dish-Stirling technology, the requirements currently established for wind farms are used as a starting point due to the similar design and operating characteristics between wind farms and dish-Stirling solar farms. A dish-Stirling solar farm requires external reactive power compensation to meet the power factor requirements presently set for wind farms. The following paper provides a brief overview of dish-Stirling technology, along with an analysis of methods for meeting power factor grid interconnection requirements and maintaining necessary voltage levels under varying irradiance conditions due to cloud cover. Simulation results for voltage and power factor of the solar farm are provided for both steady state and cloud transient conditions within a 12-bus network.

关键词： Reactive power Stirling engines Generators Induction machines Space heating

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Sensitivity function of LTI fractional order dynamic systems with respect to the orders

Sensitivity function of LTI fractional order dynamic systems...

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American control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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