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7th IEEE International Conference on Industrial Informatics

作者： Strasser, T. Rooker, M. Hegny, I. Wenger, M. Zoitl, A. Ferrarini, L. Dede, A. Colla, M. Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute Vienna University of Technology Austria Dipartimento di Elettronica e Informazione of Politecnico di Milano Italy Institute of Computer Integrated Manufacturing for Sustainable Innovation University of Applied Sciences of Southern Switzerland Switzerland

ISBN: (纸本)9781424437597

The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control systems (IACS). The special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. This approach is currently being developed in the Framework Seven (FP7) Embedded systems Design project MEDEIA funded by the European Commission.

关键词： Embedded systems

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A probabilistic model for the performance analysis of a distributed task allocation algorithm

A probabilistic model for the performance analysis of a dist...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Antidio Viguria Ayanna M. Howard Human-Automation Systems Laboratory Georgia Institute of Technology Atlanta USA Human-Automation Systems Laboratory School of Electrical And Computer Engineering Georgia Institute of Technology Atlanta USA

In this paper we extend our previous work where the mean of the global cost was used as a performance metric for distributed task allocation algorithms. In this case, we move a step forward and calculate the variance of the global cost. This second parameter gives us a better understanding of the distributed algorithm performance, i.e., we can estimate how much the algorithm behavior diverts from its mean. The normal distribution, computed from the theoretical mean and variance, is shown to be suitable for modeling the global cost. This approximation enables us to compare our algorithm theoretically in different cases.

关键词： Performance analysis Robots Costs Distributed algorithms USA Councils Distributed computing Robotics and automation Aerospace engineering Measurement Gaussian distribution

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Yaw control via combined braking and steering 10

Yaw control via combined braking and steering

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2009 10th European control Conference, ECC 2009

作者： Vanek, B. Kulcsar, B. Falcone, P. Balas, G. Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Delft Center for System and Control Netherlands Department of Signals and Systems Chalmers University of Technology Sweden University of Minnesota Department of Aerospace Engineering and Mechanics United States

ISBN: (纸本)9783952417393

Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. control is provided via a cascade connection of scheduled inverse tyre characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tyre characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty. © 2009 EUCA.

关键词： Equations of motion

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Multi-object tracking via species based particle swarm optimization

Multi-object tracking via species based particle swarm optim...

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2009 IEEE 12th International Conference on computer Vision Workshops, ICCV Workshops 2009

作者： Zhang, Xiaoqin Hu, Weiming Li, Wei Qu, Wei Maybank, Steve National Laboratory of Pattern Recognition Institute of Automation Beijing China Siemens Medical Solutions USA Inc. IL United States School of Computer Science and Information Systems Birkbeck College London United Kingdom

ISBN: (纸本)9781424444427

Multiple object tracking is particularly challenging when many objects with similar appearances occlude one another. Most existing approaches concatenate the states of different objects, view the multi-object tracking as a joint motion estimation problem and search for the best state of the joint motion in a rather high dimensional space. However, this centralized framework suffers a great computational load. We brings a new view to the tracking problem from a swarm intelligence perspective. In analogy with the foraging behavior of the bird flocks, we propose a species based PSO (particle swarm optimization) algorithm for multiple object tracking, in which the global swarm is divided into many species according to the number of objects, and each species searches for its object and maintains it. The interaction between different objects is modeled as species competition and repulsion, and the occlusion relationship is implicitly deduced from the 'power' of each species, which is effectively evaluated by the image observations. Therefore, our approach decentralizes the joint tracker to a set of individual trackers, each of which tries to maximize its visual evidence. Experimental results demonstrate the efficiency and effectiveness of our method. ©2009 IEEE.

关键词： Particle swarm optimization (PSO)

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The analysis of adaptive system with reference model self-adjustment and control signal saturation

The analysis of adaptive system with reference model self-ad...

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IEEE International Conference on Mechatronics and automation

作者： Alexander Lebedev Vladimir Filaretov Alla Nesenchuk Institute of Automation and Control Processes Robotics Laboratory Vladivostok Russia Laboratory of Computer Networks United Institute of Informatics Problems Minsk Belarus

The application of systems with reference model self-adjustment and control signal saturation in a task of second-order dynamic object with uncertain or varied parameters is considered in this paper. The features of system behaviour at different values of the control object and model coefficients are analyzed. The condition of a self-adjustment process stability are formulated containing the system and model parameters only. The best quality criteria of a control processes are determined. The method of a system error and time constant reduction by the increase of self-adjustment signal amplitude is offered.

关键词： Signal analysis Adaptive systems Programmable control Adaptive control Signal processing Process control control system synthesis Vehicle dynamics Stability Signal synthesis

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode 10

Robust model predictive control of continuous-time sampled-d...

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2009 10th European control Conference, ECC 2009

作者： Rubagotti, M. Raimondo, D.M. Ferrara, A. Magni, L. Dept. of Computer Engineering and Systems Science University of Pavia Via Ferrata 1 Pavia27100 Italy Automatic Control Laboratory Swiss Federal Institute of Technology Physikstrasse 3 Zürich8092 Switzerland

ISBN: (纸本)9783952417393

A hierarchical Nonlinear Model Predictive control (NMPC) scheme with guaranteed Input-to-State-practical-Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC one. The ISM, relying on the knowledge of the nominal continuous-time model of the system and of the piecewise constant control signal generated by the NMPC produces a control action aimed at reducing the difference between the dynamics of the nominal closed-loop system and the actual evolution of the state. The NMPC in this way can be designed based on a system with reduced uncertainty. In order to prove the stability of the overall control scheme, some general Regional ISpS results for continuous-time systems are proven. © 2009 EUCA.

关键词： Continuous time systems

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Estimating the State of Distributed Dynamical systems Based on Limited Measurements by means of Cooperative Filtering with Application to ad-hoc Vehicle Network

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IFAC Proceedings Volumes 2009年第8期42卷 929-934页

作者： A. Edelmayer M. Miranda Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Faculty of Engineering University of Los Andes Mérida Venezuela

In this paper a decentralized approach to state estimation of distributed dynamical systems over unreliable communication network subject to uncertain and limited measurements is addressed. Specifically, a distributed filtering concept for enhancing the estimation accuracy of vehicles state from uncertain position data in ad-hoc vehicle networks is presented. The filter relies on a variety of position measurements obtained from the on-board vehicle positioning system, from other nearby cooperating vehicles, as well as from the immediate roadside environment via communication. Direct distance measurements between vehicles as well as between vehicles and the static elements of the roadside infrastructure can be used, if available, as highly accurate reference measurements. The paper demonstrates how successfully the idea of cooperative filtering in addressing the demands of both sensor fault tolerance and enhanced estimation accuracy in distributed systems over ad-hoc communication networks can be used.

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Robust image modeling technique with a bioluminesence image segmentation application

Robust image modeling technique with a bioluminesence image ...

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Medical Imaging 2009: Biomedical Applications in Molecular, Structural, and Functional Imaging

作者： Zhong, Jianghong Wang, Ruiping Tian, Jie Department of Biomedical Engineering School of Computer and Information Technology Beijing Jiaotong University Beijing 100044 China Medical Image Processing Group Key Laboratory of Complex Systems and IntelligenceScience Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9780819475138

A robust pattern classifier algorithm for the variable symmetric plane model, where the driving noise is a mixture of a Gaussian and an outlier process, is developed. The veracity and high-speed performance of the pattern recognition algorithm is proved. Bioluminescence tomography (BLT) has recently gained wide acceptance in the field of in vivo small animal molecular imaging. So that it is very important for BLT to how to acquire the highprecision region of interest in a bioluminescence image (BLI) in order to decrease loss of the customers because of inaccuracy in quantitative analysis. An algorithm in the mode is developed to improve operation speed, which estimates parameters and original image intensity simultaneously from the noise corrupted image derived from the BLT optical hardware system. The focus pixel value is obtained from the symmetric plane according to a more realistic assumption for the noise sequence in the restored image. The size of neighborhood is adaptive and small. What's more, the classifier function is base on the statistic features. If the qualifications for the classifier are satisfied, the focus pixel intensity is setup as the largest value in the ***, it will be ***,pseudo-color is added up to the result of the bioluminescence segmented image. The whole process has been implemented in our 2D BLT optical system platform and the model is proved. © 2009 SPIE.

关键词： Bioluminescence

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General Distributed Protocols for Finite-Time Consensus of Multi-Agent systems

General Distributed Protocols for Finite-Time Consensus of M...

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

作者： Feng Xiao Long Wang Jie Chen School of Automation Beijing Institute of Technology Intelligent Control Laboratory Center for Systems and ControlCollege of Engineeringand Key Laboratory of Machine Perception (Ministry of Education)Peking University

This paper develops finite-time consensus theory for multi-agent systems and presents the design and analysis results of distributed consensus protocols,which are continuous state *** distributed algorithms are in general form and have their wide range of applications,including fast consensus,saturation control,and network connectivity *** employing the tools of finite-time Lyapunov theory and algebraic graph theory,we present the relaxable interaction-topology conditions that can guarantee the solvability of finite-time consensus *** examples are given to demonstrate the applications of our theoretical results.

关键词： agent Laplacian General Distributed Protocols for Finite-Time Consensus of Multi-Agent systems Agent

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