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4th International Conference on Educational Data Mining, EDM 2011

作者： González, Carina Toledo, Pedroa Department of Systems Engineering Control and Computer Architecture Universidad de La Laguna Spain

ISBN: (纸本)9789038625379

This poster describes a challenging application field for EDM, in the context of collaborative learning open learner model frameworks. An open and challenging field arises from the situation lived by children suffering a serious illness. The responsibility of the government continuing their schooling process is harder to achieve, since different communities (family, school teachers, hospital teachers, medical doctors, psychologists...) have to be coordinated. An appropriate educational solution, designed for this situation should solve the specific issues that arise in the described situation: Motivation, Isolation, Heterogeneity, Spatial Dispersion, Dynamicity, etc. This poster tries to explain the reasons that makes this context specially interesting for EDM;It proposes a framework to support learning in the cited environment based on the use of Multi-user virtual environments (MUVEs);And it points out some Data Mining fields specially appropriate for the problem of analysis of educational data and interactions among students for the construction of an Open Learner Model (OLM), suitable to for decision support.

关键词： Hospitals

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Intelligent evaluation of social knowledge building using conceptual maps with MLN

Intelligent evaluation of social knowledge building using co...

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4th International Conference on Educational Data Mining, EDM 2011

作者： Moreno, L. González, C.S. Estévez, R. Popescu, B. Department of Systems Engineering and Control and Computer Architecture Universidad de La Laguna Spain

ISBN: (纸本)9789038625379

Students learning effectively in groups encourage each other to ask questions, explain and justify their opinions, articulate their reasoning, and elaborate and reflect upon their knowledge, and computer tools can help them producing these kind of collaborative learning situations. In this sense, we have developed several tools to support the collaborative learning-process for the computer architecture's subject in computers Science engineering. This paper present an intelligent tool called SIENA, composed by the open student model, a student conceptual map with multimedia learning nodes (MLN) and Bayesian tests.

关键词： computer architecture

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The Relationship between Diagnostic Coverage and Proof Test Interval for 1oo2 and 1oo2D architectures

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IFAC Proceedings Volumes 2012年第24期45卷 181-184页

作者： İlker üstoğlu özgür T. Kaymakçı Josef Börcsök Yıldız Technical University Davutpaşa Campus A209 34220 34220 Esenler İstanbul TURKEY (Tel: +90-535-418-22-64 ) Yıldız Technical University Davutpaşa Campus A210 34220 34220 Esenler İstanbul TURKEY University Kassel Faculty of Electrical Engineering/Computer Science Department of Computer Architecture and System Programming Wilhelmshöher Allee 71 34121 Kassel GERMANY

In order to measure the effectiveness of safety protection systems there are several design parameters. Diagnostic coverage factor is one of the most important parameter which influences all architectures. In this short paper the relationship between PFD avg , DC and T I are presented. 1oo2 and 1oo2D architectures are considered as examples.

关键词： Functional safety 1002 architecture

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control of robotic systems for safe interaction with human operators

Control of robotic systems for safe interaction with human o...

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22nd International Joint Conference on Artificial Intelligence, IJCAI 2011

作者： Ding, Hao Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9781577355120

Human Robot Interaction (HRI) is an active field of integrating and embedding different techniques in artificial intelligence. This paper describes my research topic on: control of Robotic systems for Safe Interaction with Human Operators. It consists of online motion generation for robotic manipulators interactingwith dynamic obstacles and humans using a moving horizon scheme, modeling and long term prediction of human motion using probabilistic models and reachability analysis, and development of an HRI demonstration platform.

关键词： Human robot interaction

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Comparing approximations of the value function for entry time optimal control

Comparing approximations of the value function for entry tim...

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作者： Rungger, Matthias Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9783902661937

A fundamental quantity of the solution of an optimal control problem is the value function, i.e., the optimal cost-to-go function. In the general case, the function is not known exactly, but need to be approximated numerically. Most approaches to numerical approximation of the value function follow a procedure of three steps: first, the original continuous problem formulation is fully discretized;second, the discretized finite optimal control problem is solved by a shortest-path algorithm, and as third step, the solution is projected back from the finite space onto the continuous state space by using an interpolating function. This paper investigates the differences of discretization schemes and interpolating functions in this context. The performance of the computed approximations is evaluated in terms of an a-posteriori error, which is obtained from the approximating value functions. The convergence of the approximations to the true value function is proved for all considered schemes for the case that the discretization parameters are decreased to zero. © 2011 IFAC.

关键词： Approximation algorithms

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Model-based adaptive frequency estimator for gear crack fault detection

Model-based adaptive frequency estimator for gear crack faul...

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作者： McDonald, Geoff Zhao, Qing Advanced Control System Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (纸本)9781457700804

Detection of gear cracks from vibration data is a difficult task. This paper investigates an alternative to the linear predictor residual fault detection based on the nonlinear adaptive control system concept of frequency estimators. The frequency estimator model takes advantage of the sinusoidal nature of vibration and adapts the system model during operation. The low-computational requirements, no-priori knowledge, sinusoidal-based prediction, and on-line model adaption makes this model ideal for on-line gear crack fault detection. Performance is evaluated through both synthetic and experimental data while comparing to the autoregressive linear predictor model. © 2011 AACC American Automatic control Council.

关键词： Fault detection

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Mixed-integer programming for optimal path planning of robotic manipulators

Mixed-integer programming for optimal path planning of robot...

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2011 7th IEEE International Conference on Automation Science and engineering, CASE 2011

作者： Ding, Hao Reißig, Gunther Groß, Dominic Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Germany

ISBN: (纸本)9781457717307

One of the fundamental problems in the field of robotic motion planning is to safely and efficiently drive the end effector of a robotic manipulator to a specified goal position. Here, safety refers to the requirement that the robotic manipulator must have no collision with surrounding obstacles, and efficiency requires that some predefined cost function is minimized. In addition, kinematic and dynamic constraints have to be satisfied. These requirements lead to non-convex optimization problems, which may be approximated by mixed-integer linear programs (MILPs). The solution of the latter, however, is often intolerably complex due to a huge number of binary decision variables. In the present paper, we consider motion planning scenarios with polyhedral obstacles and velocity constraints for the joint positions of the robotic manipulator. We provide a geometric result whose application leads to MILPs with drastically reduced numbers of binary decision variables. Computational efficiency is demonstrated for two- and three-link manipulators interacting with obstacles, where the number of simplex steps during the MILP solution is reduced by a factor of roughly 200 over previous methods. We also demonstrate the application of the proposed method to an industrial robot. © 2011 IEEE.

关键词： Cost functions

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Piecewise quadratic functions for finite-time stability analysis

Piecewise quadratic functions for finite-time stability anal...

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IEEE Conference on Decision and control

作者： R. Ambrosino E. Garone M. Ariola F. Amato Dipartimento per le Tecnologie Università degli Studi di Napoli Parthenope Napoli Italy Department of Control and System Theory Ecole Polytechnique de Bruxelles Université Libre de Bruxelles Brussels Belgium School of Computer and Biomedical Engineering Università degli Studi Magna Græcia di Catanzaro Catanzaro Italy

ISBN: (纸本)9781467320658

In this paper we consider the finite-time stability (FTS) problem for linear time varying systems. In most of the previous literature, the definition of FTS exploits the standard weighted quadratic norm to define the initial and trajectory domains, which, therefore, turn out to be ellipsoidal; this is consistent with the fact that quadratic Lyapunov functions are used to derive the FTS conditions. Conversely, the recent paper [1], considers the case where the above domains are polytopic and, consequently, the analysis is performed with the aid of polyhedral Lyapunov functions. In the current work, the class of Piecewise Quadratic Lyapunov functions is considered. First, it is shown that such class of functions recovers as particular cases both quadratic and polyhedral Lyapunov functions; then a novel sufficient condition for FTS of linear time-varying systems is provided. A procedure is proposed to convert such condition into a computationally tractable problem. The examples illustrated at the end of the paper show the benefits of the proposed technique with respect to the methodologies available in the literature.

关键词： Silicon Lyapunov methods Trajectory Stability analysis Asymptotic stability Time varying systems Linear matrix inequalities

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Data transmission via erasure type channels protected by linear codes

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Journal of Physics: Conference Series 2012年第1期364卷

作者： H D Wacker P Pendli J Börcsök To whom any correspondence should be addressed University Kassel Faculty of Electrical Engineering/Computer Science Department of Computer Architecture and System Programming Wilhelmshöher Allee 71 34121 Kassel

The paper is concerned with data transmission via channels composed of a memoryless binary symmetric channel and the erasure channel of Peter Elias. Channels of this type play an important role in modelling different types of networks especially wireless networks, and have been investigated using, amongst others, the theory of Markov chains. Channel Capacities and network flows have been determined. The authors focus their interest on some aspects of coding theory. They assume the data transmission to be protected by a linear code, a CRC for example, and determine the probability of undetected error of the code. They then consider redundant transmission via two or more channels with bit inversion, and calculate the probability of undetected error. They prove some inequalities that are useful instruments to estimate the rate of transmission errors and to determine safety integrity levels according to the standards. Finally the authors apply their results to Bluetooth channels suffering from different types of noise.

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Optimized fuzzy PDC controller for nonlinear systems with T-S model mismatch

Optimized fuzzy PDC controller for nonlinear systems with T-...

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： A. Zeiaee H. Kharrati S. Khanmohammadi Electrical and Computer Engineering department Control Engineering Electrical and Computer Engineering department Tabriz University Electrical and Computer Engineering department System and Control Engineering

In this paper, a heuristic method based on Genetic Algorithms (GA) is proposed to improve the performance of Fuzzy Logic controllers (FLCs) designed for Takagi-Sugeno (T-S) model of nonlinear plants by Parallel Distributed Compensation (PDC) technique. Generally, T-S models might not represent the dynamics of nonlinear plants accurately. Due to this mismatch, sometimes the response of the controlled nonlinear plant is not as desirable as the response of the corresponding T-S model controlled by the same FLC. Despite the fact that there is a flurry of research on the stability of FLCs applied to T-S model of nonlinear systems, the stability matters of FLCs applied to nonlinear systems is still a challenge. It is obvious that the performance of FLCs is entirely affected by the characteristics of membership functions. Thus, by tuning the type or parameters of fuzzy controller's membership functions using GA, the drawbacks caused by model mismatch can be decreased. In fact, the proposed method concerns the applicability of fuzzy PDC controllers to nonlinear plants and does not confide itself to dealing with T-S models. Thus, the improved fuzzy PDC controller is a fine-tuned PDC controller that can compensate the nonlinear plant as well as the corresponding T-S model. In order to verify the introduced strategy, the problem of balancing and swing up of an inverted pendulum on a cart is considered as a nonlinear case study. The simulation results demonstrate the effectiveness of the improved PDC.

关键词： Nonlinear systems Analytical models PD control Mathematical model Cost function Tuning

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