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2009 10th European control Conference, ECC 2009

作者： Ding, Hao Kain, Sebastian Schiller, Frank Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel34109 Germany Institute of Information Technology in Mechanical Engineering Technische Universität München Garching bei München85748 Germany

ISBN: (纸本)9783952417393

In order to introduce cognition, i.e. perception and autonomously reconfigured control, into manufacturing systems for increasing the flexibility and adaptivity this paper proposes an architecture of a cognitive safety controller (CSC). The CSC consists of a strategic controller (SC) and an operational controller (OC): the SC iteratively computes (sub-)optimal control strategies taking dynamic models, safety specifications, and learned knowledge into account. The operational controller (OC) provides certified safety by safe realization of the strategy computed by the SC. The paper illustrates the application of the CSC to a cognitive manufacturing system (CMS) in which a robot and a human operator share a workspace. Important components of this application are a procedure to compute (sub)optimal strategies for varying control specifications online and a scheme for implementing the strategy on a programmable logic controller (PLC). © 2009 EUCA.

关键词： controllers

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Road traffic estimation with signal matching in mobile phone using large-size database

Road traffic estimation with signal matching in mobile phone...

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2009 12th International IEEE Conference on Intelligent Transportation systems, ITSC '09

作者： Promnoi, Sunisa Tangamchit, Poj Pattara-Atikom, Wasan Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand National Electronics and Computer Technology Center 112 Phahol Yothin Rd Klong Luang Pathumthani 12120 Thailand

ISBN: (纸本)9781424455218

This paper presents a road traffic estimation method using a GSM mobile phone as a probe. The technique relies on localization by signal strength matching. Our emphasis is on the unusual-large size of the database. We built a module that automatically collects location-signal with one second refresh rate and carried it along a test route to collect database. To handle big database, we additionally present a noise reduction algorithm, which eliminates bad data and compacts the database. For the localization algorithm, the fast nearest neighbor strategy is applied in the database matching to reduce computation time. The position estimations which formerly implemented noise reduction are compared with the ordinary results. Furthermore, we compared the computation time of the fast nearest neighbor algorithm to the normal method. The results show that the mobile phone positioning based on signal strength pattern matching can locate its location down to 63 meter accuracy. © 2009 IEEE.

关键词： Database systems

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Increasing reliability of intelligent manufacturing systems by adaptive optimization and safety supervision

Increasing reliability of intelligent manufacturing systems ...

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作者： Ding, Hao Kain, Sebastian Schiller, Frank Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel D-34109 Kassel Germany Institute of Information Technology in Mechanical Engineering Technische Universität München D-85748 Garching near Munich Germany

ISBN: (纸本)9783902661463

For concurrent consideration of reliability and safety of manufacturing systems on the one hand, and flexibility and performance on the other, a specialized control architecture was proposed recently. It consists of a strategic controller for online computing (sub-)optimal control strategies under consideration of dynamic models, safety specifications, and learned knowledge. The second building block is an operational controller for providing certified safety when dealing with behaviors that are not completely predictable, for instance in case of faults. This paper extends the architecture by a specific technique for the strategic controller: For the case of an intelligent manufacturing system which reacts adaptively to a human operator, control trajectories for a robot arm are computed online such that collision with the operator is excluded. The computation is based on solving a mixed-integer programming problem that takes a dynamic safety area around the operator into account as constraint. © 2009 IFAC.

关键词： Reliability

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Robotics-mechatronics design competition in Kyushu area, Japan

Robotics-mechatronics design competition in Kyushu area, Jap...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Sakaki, Taisuke Kiyota, Takanori Kino, Hitoshi Sagara, Shinichi Oguro, Ryuichi Moromugi, Shunji Imado, Keiji Ikeuchi, Hidetaka Fukushima, Manabu Ikeda, Takeshi Aoki, Kanta Ushimi, Nobuhiro Department of Engineering Kyushu Sangyo University Fukuoka Japan Department of Mechanical Systems Engineering University of Kitakyushu Kitakyushu Japan Department of Intelligent Mechanical Engineering Fukuoka Institute Technology Fukuoka Japan Department of Control Engineering Kyushu Institute of Technology Kitakyushu Japan Department of Computer Science and System Engineering Kyushu Institute of Technology Iizuka Japan Department of Mechanical Systems Engineering Nagasaki University Nagasaki Japan Department of Architecture and Mechatronics Oita University Oita Japan Department of Media Technology Nippon Bunri University Oita Japan Department of Mechanical Engineering Kyushu University Fukuoka Japan Department of Art Kyushu Sangyo University Fukuoka Japan

ISBN: (纸本)9784907764296

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Seventy-seven students of eleven teams from seven universities in the Kyushu area participated in the competition, whose subject was " Health care, life supporting and communication or other technical aids for the elderly or disabled." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design. © 2009 SICE.

关键词： Robotics

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Distributed Predictive control of Communicating and Platooning Vehicles

Distributed Predictive Control of Communicating and Platooni...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Johannes Dold Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer ScienceUniversity of Kassel (Germany)

This paper proposes an approach to robust model predictive control for distributed systems with chain *** by the application of a platoon of autonomous vehicles in linear motion, we consider a system structure in which the dynamics of each subsystem is specified in relative error coordinates and in affine form, considering the input of the preceding subsystem as disturbance(since locally not known a-priori). Employing principles of RMPC suggested before by Kerrigan et al. for the case of non-distributed systems, we first show how robust strong feasibility can be guaranteed for the distributed case. The drawback of this approach is that the zone of robustness is obtained in a relatively conservative form, and that the control error, in general, cannot be forced to zero. Thus,in the second part, we include a scheme for communicating predicted control trajectories between the subsystems in order to improve the control performance and to render the solution less conservative.

关键词： agent Distributed Predictive control of Communicating and Platooning Vehicles

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Function Approximation for the Deterministic Hamilton-Jacobi-Bellman Equation

Function Approximation for the Deterministic Hamilton-Jacobi...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Matthias Rungger Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer ScienceUniversity of Kassel (Germany)

Based on Gaussian basis functions, a new method for calculating the Hamilton-Jacobi-Bellman equation for deterministic continuous-time and continuous-valued optimal control problems is proposed. A semi-Lagrangian discretization scheme is used to obtain a discrete-time finite-state approximation of the continuous dynamics. The value function of the discretized system is approximated by a Gaussian network. Limit behavior analysis provides a proof of convergence for the scheme. The performance of the presented approach is demonstrated for an underpowered inverted pendulum as numerical ***, a comparison to the approximation by continuous piecewise affine functions(the current state of the art) shows the benefits of the approximation technique proposed here.

关键词： Gaussian Function Approximation for the Deterministic Hamilton-Jacobi-Bellman Equation Hamilton Jacobi

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Digital controller Design Based on Logic Neural Networks

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IFAC Proceedings Volumes 2009年第21期42卷 154-159页

作者： Emil Pop Monica Leba System Control Applied Informatics and Computer Engineering Department University of Petrosani Str.Universitatii nr.20 332006 Romania

In this paper a new approach on digital controller design based on logic neural networks is presented. In the first part of the paper the logic neuron and its logic function are introduced. Based on this, there is written the general equation for a logic neural network, which allows the easy design of any digital controller directly from the truth table. This solution is validated through MatLab Simulink modeling and simulation and then is implemented in a VLSI chip using PALASM HDL language and also in a ladder diagram PLC device. This method has the advantages of simplicity and flexibility and represents an easy to design modern solution.

关键词： logic neuron VLSI HDL PLC neural network controller design

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Optimal path planning in the workspace for articulated robots using mixed integer programming

Optimal path planning in the workspace for articulated robot...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hao Ding Mingxiang Zhou Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Institute of Automatic Control Engineering Munchen Germany

This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to path planning in the configuration space, approaches in the workspace save the computationally expensive step of mapping obstacles from the workspace into the configuration space. The method presented here builds on a problem formulation as a mixed-integer program considering time-varying constraints resulting from moving obstacles, as well as state and input constraints depending on the region of the work space. The method is applied to a two-link robot with static and moving obstacles and is evaluated for different situations.

关键词： Path planning Linear programming Orbital robotics Intelligent robots Dynamic programming Trajectory Collision avoidance Motion planning Robotics and automation Automatic control

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Feature extraction of electroencephalogram of photic evoked spikes with slow burst and its automatic detection

Feature extraction of electroencephalogram of photic evoked ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Nishida, Shigeto Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Neurology Kyoto University School of Medicine Kyoto Japan Department of System Neuroscience Sapporo Medical University Sapporo Japan Takeda General Hospital Kyoto Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

A method for detecting spikes and slow burst in photic evoked electroencephalogram (EEG) was proposed. The spikes were detected by combining methods of the morphological filter and the similarity coefficient in the time domain. The slow burst was detected by using pole of AR model in the frequency domain. The proposed method was applied for the photic evoked EEG data containing spikes and slow burst, and brought satisfactory coincidence with the results interpreted by a qualified electroencephalographer. © 2009 SICE.

关键词： Electroencephalography

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A self-repairable microprocessor

A self-repairable microprocessor

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ISTC/CSTIC 2009 (CISTC)

作者： Xie, Yuanjiang Fu, Xiang He, Zijian Zhao, Yang Hu, Yu Li, Xiaowei Key Laboratory of Computer System and Architecture Chinese Academy of Sciences Beijing 100190 China Institute of Computing Technology Chinese Academy of Sciences Beijing China Graduate School of Chinese Academy of Sciences Beijing 100049 China Department of Computer Science and Engineering University of California Riverside 92521 United States

ISBN: (纸本)9781615676460

With increasing defect density, microprocessors, especially the embedded caches, will encounter more faults. Adding spare resources to replace defective components is a widely accepted method for yield enhancement. In this work, a repair method using content addressable memory combined with spare bits, as well as a novel fault injection method is proposed. With the proposed fault injection technique, various numbers and types of faults can be flexibly injected into the silicon. A wireless sensor network system using our self-repairable microprocessor (SRP) is developed to prove the effectiveness of the proposed technique. ©The Electrochemical Society.

关键词： Wireless sensor networks

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