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14th AIAA/AHI International Space Planes and Hypersonics systems Technologies Conference

作者： Fidan, Bariş Kuipers, Matthew Ioannou, Petros A. Mirmirani, Maj National ICT Australia Ltd. Australian National University Canberra ACT 2601 Australia University of Southern California Los Angeles CA 90089 United States California State University Los Angeles CA 90032 United States Systems Engineering and Complex Systems Program Australia AIAA United States Electrical Engineering Department Mechanical Engineering Department

ISBN: (纸本)1563478269

The non-standard dynamic characteristics of air-breathing hypersonic flight vehicles together with the aerodynamic effects of hypersonic flight make the flight control of such systems highly challenging. Moreover the wide range of speed during operation and the lack of a broad flight dynamics database add significant plant parameter variations and uncertainties to the problem of controlling air-breathing hypersonic flight. In this paper, we present a general approach to this challenging problem based on linear time-varying plant models. This approach lets employment of some recent techniques developed for adaptive and non-adaptive control of systems with fast varying parameters via exploitation of a priori information about parameter variations. We discuss application of this approach to a generic analytical hypersonic flight vehicle model that is widely used in the literature as well as a detailed generic hypersonic vehicle concept model developed at the California State University - Los Angeles. The paper is concluded with some remarks on validations and extensions of the presented approach.

关键词： Spacecraft

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Smooth interpolation of orientation by rolling and wrapping for robot motion planning

Smooth interpolation of orientation by rolling and wrapping ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yueshi Shen K. Huper F.S. Leite Department of Information Engineering Australian National University Canberra Australia Systems Engineering and Complex Systems Program NICTA Canberra Australia Department of Mathematics and Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper investigates a novel procedure to calculate smooth interpolation curves of the rotation group SO 3 , which is commonly considered as the standard representation of rigid-body's orientations. The algorithm is a combination of rolling and wrapping with the pull back/push forward technique. One remarkable advantage of this approach is that interpolation curves are given in closed form, which brings convenience for implementations on real-time control systems. A numerical example along with some visualization results is presented as well

关键词： Interpolation Wrapping Robot motion Motion planning Robot kinematics Orbital robotics Australia Council Forward contracts systems engineering and theory Mathematics

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An Urban Traffic Control System Based on Mobile Multi-Agents

An Urban Traffic Control System Based on Mobile Multi-Agents

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Zhenjiang Li Fei-Yue Wang Qinghai Miao Feng He Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Chinese Academy and Sciences Beijing China

This paper presents an urban traffic control system using the multi-agent technology, called aDAPTS for agent-based Distributed and Adaptive Platform for Transportation systems. Based on the proposed system architecture, we divide an urban traffic system into five different functional modules and define five types of agents correspondingly. The composition and structure of each agent is discussed in detail and the correlation among them is addressed. Methods for verification and validation in artificial transportation systems are also studied in this paper.

关键词： Traffic control Control systems Distributed control Transportation Intelligent agent Automatic control Hardware Environmental management Artificial intelligence Helium

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Modeling interactions in artificial transportation systems using petri net

Modeling interactions in artificial transportation systems u...

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International Conference on Intelligent Transportation

作者： Fenghua Zhu Zhixue Wang Fei-Yue Wang Shuming Tang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Program for Advanced Research Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Chinese Academy and Sciences Beijing China Institute of Automation Shandong Academy of Sciences Jinan China

Agents and interactions between them are two key roles in modeling artificial transportation systems. This paper presents a formal theory to describe interactions between agents, which, together with the well developed models to describe components as agents, completes the first step towards establishing the formal structure for artificial transportation systems. By describing individual agents and the interactions between them as independent simple sequence processes and directive communication channels respectively, we models the whole system as one sequential communications system, which is one special type of Petri net. The theory is flexible enough to model diversified interactions between agents, and the resultant model possesses favorable properties. A case study of modeling road network has been conducted for the purpose of illustration

关键词： Transportation Intelligent systems Automation Traffic control System testing Communication channels Communication systems Roads Electronic mail Costs

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VARIANTS OF THE KULLBACK-LEIBLER DIVERGENCE AND THEIR ROLE IN MODEL SELECTION

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IFAC Proceedings Volumes 2006年第1期39卷 826-831页

作者： Abd-Krim Seghouane Shun-ichi Amari National ICT Australia Systems Engineering and Complex Systems Program Locked Bag 8001 Canberra ACT 2601 Australia RIKEN Brain Science Institute Laboratory for Mathematical Neuroscience Hirosawa 2-1 Wako-shi Saitama 351-0198 Japan

The Akaike information criterion, AIC , is a widely used tool for model selection. AIC is derived as an asymptotically unbiased estimator of a function used for ranking candidate models which is a variant of the Kullback-Leibler divergence between the true model and the approximating candidate model. Despite the Kullback-Leibler's computational and theoretical advantages, what can become a nuisance in model selection applications is its lack of symmetry. Simple examples can show that reversing the role of the arguments in the Kullback-Leibler divergence can yield substantially different results. In this paper, three new functions for ranking candidate models are proposed. These functions are constructed by symmetrizing the Kullback-Leibler divergence between the true model and the approximating candidate model. The operations used for symmetrizing are the average, geometric and harmonic means. It is found that the original AIC criterion is an asymptotically unbiased estimator of these three different functions. A simulation study based on polynomial regression is also provided to compare the different proposed ranking functions with the AIC asymptotic estimation.

关键词： Akaike information criterion Kullback-Leibler divergence model selection geometric and harmonic means

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Geometric Splines and Interpolation on S2: Numerical Experiments

Geometric Splines and Interpolation on S2: Numerical Experim...

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IEEE Conference on Decision and Control

作者： K. Huper Y. Shen F. Silva Leite National ICT Australia Canberra Research Laboratory Systems Engineering and Complex Systems Program Canberra Australia Department of Information Engineering Research School of Information Sciences and Engineering Australian National University Canberra Australia Department of Mathematics and the Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)1424401704;9781424401703

Several different procedures are presented to produce smooth interpolating curves on the two-sphere S 2 . The first class of methods is a combination of the pull back/push forward technique with unrolling data from S 2 into a tangent plane, solving there the interpolation problem, and then wrapping the resulting interpolation curve back to the manifold. The second method results from converting a variational problem into a finite dimensional optimisation problem by a proper discretisation process. It turns out that the resulting curves look very similar. The main difference though is that the first approach gives closed form solutions to the interpolation problem, whereas the second method results in a finite number of points. These points then require further treatment, e.g., one could connect them by geodesic arcs, i.e., by great circle segments, to get an approximate solution to the variational problem. Although the result would not be smooth, it seems to be the best that one can get if the discretisation process is combined with a sufficiently cheap interpolation procedure

关键词： Interpolation Manifolds USA Councils Wrapping Optimization methods Closed-form solution Optimal control Robot kinematics Orbital robotics Path planning

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Local Convergence Properties of Fastica and Some Generalisations

Local Convergence Properties of Fastica and Some Generalisat...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： K. Huper Hao Shen A.-K. Seghouane Systems Engineering and Complex Systems Research Program National ICT Australia Cambridge Research Laboratory Canberra ACT Australia Department of Information Engineering Research School of Information Sciences and Engineering Australian National University Canberra ACT Australia

In recent years, algorithms to perform independent component analysis in blind identification, localisation of sources or more general in data analysis have been developed. Prominent example certainly is the socalled FastICA algorithms from the Finnish school. In this paper we will generalise the FastICA algorithm considered as a discrete dynamical system on the unit sphere to the case where all units converge simultaneously, i.e., we consider some kind of parallel FastICA algorithm living on the orthogonal group. In addition we present a local convergence analysis for the algorithms proposed in this paper building on earlier work. It turns out that one can treat these type of algorithms in a similar manner as the Rayleigh quotient iteration, well known in numerical linear algebra, i.e. considering the algorithm as a discrete dynamical system on a suitable manifold. The algorithms presented here are compared by several numerical experiments and simulations

关键词： Convergence Signal processing algorithms Independent component analysis Data engineering Educational institutions Source separation Australia Council systems engineering and theory Laboratories Data analysis

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Multivariate regression model selection with KIC for extrapolation cases

Multivariate regression model selection with KIC for extrapo...

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International Joint Conference on Neural Networks, IJCNN 2005

作者： Seghouane, Abd-Krim National ICT Australia Limited Systems Engineering and Complex Systems Program Locked Bag 8001 Canberra ACT 2601 Australia

ISBN: (纸本)0780390482

The Kullback Information Criterion, KIC and its multivariate bias-corrected version, KICVC are two alternatively developed criteria for model selection. The two criteria can be viewed as estimators of the expected Kullback symmetric divergence. In this paper, a new criterion is proposed in order to select a well fitted model for an extrapolation case. The proposed criterion is named, PKIC, where "P" stands for prediction, and is derived as an exact unbiased estimator of an adapted cost function that is based on the Kullback symmetric divergence and the future design matrix. PKIC is an unbiased estimator of its cost function assuming that the true model is correctly specified or overfilled. A simulation study illustrating that model selection with PKIC performs well for some extrapolation cases is presented. © 2005 IEEE.

关键词： Regression analysis

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A watch in developments of intelligent tire inspection and monitoring

A watch in developments of intelligent tire inspection and m...

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2005 IEEE International Conference on Vehicular Electronics and Safety

作者： Li, Li Wang, Fei-Yue Zhou, Qunzhi IEEE Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States

ISBN: (纸本)0780394356

The comfort and safety of driving tightly depends on good working condition of the vehicle tires. However, it is not easy for people to estimate tire pressure, temperature and tire/road friction force etc. correctly, especially when driving on road. As a result, numerous novel tire sensors and inspection devices were developed in the last two decades to make driving more safe and comfortable. In addition, these approaches also related to scrap tire pollution and highway noise reduction. This paper presents a brief survey of the recent advances in this field with a special focus on SAW tire sensors. © 2005 IEEE.

关键词： Intelligent vehicle highway systems

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A robust observer designed for vehicle lateral motion estimation

A robust observer designed for vehicle lateral motion estima...

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2005 IEEE Intelligent Vehicles Symposium

ISBN: (纸本)0780389611

Lateral control of vehicles on automated highways often requires accurate estimation of sideslip angle, yaw rate and lateral velocity, which are difficult to measure directly. Thus, several observers (virtual sensors) were developed in the last decade. In order to solve the unhandled estimation inaccuracy problem caused by system parameter variation and/or model uncertainty, a robust observer has been proposed in this paper. It maintains the good disturbance rejection property that derived form previous research, and simultaneously provides acceptable tolerance to model variance and uncertainty. Specially, effects of displacements of sensory, dynamics variance caused by mass/vclocity/friction-coefficients change or nonlinear characteristics are studied. Simulations demonstrate the usefulness of the proposed observer. © 2005 IEEE.

关键词： Intelligent vehicle highway systems

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