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Applying hyperbolic wavelet constructions in the identification of signals and systems

IFAC Proceedings Volumes 2009年第10期42卷 1334-1339页

作者： Alexandros Soumelidis József Bokor Ferenc Schipp Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary

This paper is devoted to the construction of wavelet-type transforms with the purpose to represent functions belonging to the Hardy-space H 2 . The concept of the affine wavelet-transform defined in the space L 2 is extended to the Hardy space H 2 on the basis of the Blaschke group. A discrete hyperbolic wavelet scheme is also constructed that results in computable forms. The wavelet construction obtained possesses good localization properties with respect to functions in H 2 , hence forms an adequate tool for signal and system identification purposes.

关键词： Signal analysis Transforms Discretization Nonparametric identification

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An alternative formulation of the interpolation based constrained H∞ control of discrete-time LPV systems 10

An alternative formulation of the interpolation based constr...

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2009 10th European control Conference, ECC 2009

作者： Peni, Tamas Kulcsar, Balazs Bokor, Jozsef Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences P.O.Box 63 BudapestH-1518 Hungary Delft Center for System and Control Faculty of Mech. Maritime and Materials Eng. Technical University of Delft Mekelweg 2 Delft2628CD Netherlands

ISBN: (纸本)9783952417393

The paper presents an alternative formulation of the interpolation based constrained H∞ control presented originally in [16], [12], [17]. The concept itself has not been changed: by interpolating among unconstrained state feedback gains both the H∞ performance and the satisfaction of the hard state, input and output constraints can be guaranteed. The novelty is in the computation of the region of applicability of the controller. It is now based on the d-invariant sets of the individual controllers and not on the high dimensional extended system comprising all of the closed loops generated by the controllers. © 2009 EUCA.

关键词： controllers

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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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Distributed state and unknown input estimation for freeway traffic flow models 10

Distributed state and unknown input estimation for freeway t...

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2009 10th European control Conference, ECC 2009

作者： Luspay, T. Kulcsar, B. Tettamanti, T. Varga, I. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute HAS Kende u. 13.-17 BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2 BudapestH-1111 Hungary

ISBN: (纸本)9783952417393

The paper presents a joint state and unmeasured input estimation technique for a special class of nonlinear second order macroscopic traffic model. The freeway traffic system is transformed into a quasi and affine approximate Lin- ear Parameter Varying (LPV) form. Observer design technique is formulated using off-line optimization problem subjected to Linear Matrix Inequality (LMI) conditions, considering uncertain scheduling parameters. Furthermore, locally designed state estimators are interconnected to cover multiple freeway sections. The elaborated method is validated using real traffic measurements. © 2009 EUCA.

关键词： Linear matrix inequalities

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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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Discrete time minimax tracking control with state and disturbance estimation II: Time-varying reference and disturbance signals

Discrete time minimax tracking control with state and distur...

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Mediterranean Conference on control and automation (MED)

作者： P. Bauer B. Kulcsar J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty 3ME Delft University of Technnology Delft Netherlands

The paper characterizes the properties of discrete time minimax tracking control problem in the case of time varying references and disturbances. Hereunder, a multi step tracking control synthesis is suggested for linear time invariant (LTI) plants when the reference signal could be time dependent. Moreover, instead of directly rejecting the effect of the (time varying) disturbance signal, an intermediate estimation and centering step is proposed. This step eliminates the main part of the disturbance by its unbiased estimate. The solution combines the state and disturbance estimation with linear quadratic and optimal minimax tracking design. The resulted unified control solution is LQ optimal on infinite horizon with constant references and disturbances and sub-optimal on large horizons with time-varying references and disturbances. The paper clarify the effect of the time varying signals on the stability and performance criteria. The multi step procedure is illustrated via an ascending spiral trajectory tracking simulation of a quadrotor helicopter.

关键词： Minimax techniques State estimation Automatic control control systems Optimal control Trajectory Helicopters Stochastic systems Fuzzy logic Noise measurement

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Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees Optimization for Weapon Network System

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Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

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Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator

Throwing motion generation using nonlinear optimization on a...

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International Conference on Mechatronics (ICM)

作者： Ferenc Lombai Gabor Szederkenyi Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A 6-degree-of-freedom rigid robot arm and its throwing motion generation is described in this paper. The trajectories for the joint variables are generated off-line as a cubic spline obtained using general constrained nonlinear optimization, taking into consideration limitations (position, speed, acceleration and jerk) of the joint actuators, and the current limit of the whole structure. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The trajectory tracking of the individual joint is done using a discrete-time constrained optimal control technique.

关键词： Robots Manipulators Constraint optimization Trajectory Motion planning Robotics and automation Humans Motion measurement Mechatronics Automatic control

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Incomplete pairwise comparison matrices in multi-attribute decision making

Incomplete pairwise comparison matrices in multi-attribute d...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： S. Bozóki J. Fülöp L. Rónyai Research Group of Operations Research and Decision Systems Laboratory on Engineering and Management Intelligence Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Informatics Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Institute of Mathematics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

An extension of the pairwise comparison matrix is considered when some comparisons are missing. A generalization of the eigenvector method for the incomplete case is introduced and discussed as well as the Logarithmic Least Squares Method. The uniqueness problem regarding both weighting methods is studied through the graph representation of pairwise comparison matrices. It is shown that the optimal completion/solution is unique if and only if the graph associated with the incomplete pairwise comparison matrix is connected. An algorithm is proposed for solving the eigenvalue minimization problem related to the generalization of the eigenvector method in the incomplete case. Numerical examples are presented for illustration of the methods discussed in the paper.

关键词： Decision making Eigenvalues and eigenfunctions Chromium Least squares methods Laboratories automation Least squares approximation Operations research systems engineering and theory Technology management

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Bioluminescence tomography based on Bayesian approach

Bioluminescence tomography based on Bayesian approach

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

作者： Feng, Jinchao Jia, Kebin Tian, Jie Yan, Guorui Qin, Chenghu The College of Electronic Information and Control Engineering Beijing University of Technology Beijing 100022 China Medical Image Processing Group Key Laboratory of Complex Systems and Intelligence Science Institute of Automation P. O. Box 2728 Beijing 100190 China Life Science Research Center Xidian University Xi'an 710071 China

ISBN: (纸本)9780819475138

As a new mode of molecular imaging, bioluminescence tomography (BLT) will have *** *** on revealing the molecular and cellular information in vivo at the whole-body small animal level because of its high sensitive detection and facile operation. However, BLT is an ill-posed problem, it is necessary to incorporate a priori knowledge into the tomographic algorithm. In this paper, a novel Bayesian reconstruction algorithm for BLT is firstly proposed. In the algorithm, a priori permissible source region strategy is incorporated into the Bayesian network to reduce the ill-posedness of BLT. Then a generalized adaptive Gaussian Markov random field (GAGMRF) prior model for unknown source density estimation is developed to further reduce the ill-posedness of BLT on the basis of adaptive finite element analysis. Finally, the algorithm maximizes the log posterior probability with respect to a noise parameter and the unknown source density, the distribution of bioluminescent source can be reconstructed. In addition, the novel tomography algorithm based adaptive finite element makes the method more appropriate for complex phantom such as real mouse. In the numerical simulation, a heterogeneous phantom is used to evaluate the performance of the proposed algorithm with the Monte Carlo based synthetic data. The accurate localization of bioluminescent source and quantitative results show the effectiveness and potential of the tomographic algorithm for BLT. © 2009 SPIE.

关键词： Monte Carlo methods

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