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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The systems and control laboratory of the computer and automation research institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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Robust LPV-[image omitted]∞ control for active suspensions with performance adaptation in view of global chassis control

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Vehicle System Dynamics 2008年第10期46卷 889-912页

作者： Zin, A. Sename, O. olivier.sename@inpg.fr Gaspar, P. Dugard, L. Bokor, J. GIPSA-Lab Department of Control Systems UMR CNRS-INPG-UJF 5216 ENSIEG-BP 46 Saint Martin d''Hères France. Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents a new methodology for suspension control in view of global chassis control, developed in particular to guarantee greater driving safety and comfort. The control of the suspension subsystem allows the vehicle road holding (safety) and passenger comfort to be improved, but not at the same time. In order to reach them for every driving situation, an 'adaptive' two-degrees-of-freedom controller for active suspensions is proposed. This control architecture is 'open' and could be linked and aggregated to many other controllers of vehicle dynamics. This control strategy ensures, on the one hand, the robustness in performances with respect to parameter uncertainties and, on the other hand, the trade-off between road holding and comfort. The proposed design is based on the LPV/[image omitted] ∞ theory. Robust stability and performances are analysed within the μ-analysis framework. [ABSTRACT FROM AUTHOR]

关键词： control H∞ H∞ control linear parameter varying system performance adaptation robustness suspension

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Stability of Hybrid Impulsive systems With Time Delays and Stochastic Effects

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IFAC Proceedings Volumes 2008年第2期41卷 5933-5938页

作者： Zhichun Yang Yiguang Hong Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing 100080 China Chongqing Key Lab of Operations Research and System Engineering Department of Mathematics and Computer Science Chongqing Normal University Chongqing 400047 China

In this paper, a class of hybrid impulsive systems with time delays and stochastic effects are considered. We obtain some criteria on the global exponential stability in mean square for the impulsive stochastic delayed systems. To do this, differential inequalities and ℒ-operator inequalities are developed. An example is given to illustrate the effectiveness of our results.

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Empirical Mode Decomposition of the stator start-up current for rotor fault diagnosis in asynchronous machines

Empirical Mode Decomposition of the stator start-up current ...

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International Conference on Electrical Machines, ICEM

作者： Ioannis Tsoumas George Georgoulas Athanasios Safacas George Vachtsevanos Electromechanical Energy Conversion Laboratory Elec. and Computer Engineering Department University of Patras Patras Greece Intelligent Control Systems Laboratory School of Elec. and Computer Engineering Georgia Technology Research Institute GA USA

This paper investigates a novel approach for rotor fault diagnosis in asynchronous machines. Empirical mode decomposition (EMD) is applied to the measured start-up current. More specifically, the space vector of the stator start-up current is decomposed into complex intrinsic mode functions (IMFs) in order to analyze the asynchronous machine's transient. It is shown that in the case of rotor fault a particular IMF arises which characterizes the presence of the fault. The instantaneous frequency and the amplitude of the IMF can be used for an efficient fault diagnosis.

关键词： Stators Fault diagnosis Frequency Fault detection Rotors Laboratories Transient analysis Steady-state Thermal stresses Energy conversion

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A general and scalable solution for heterogeneous workflow invocation and nesting

A general and scalable solution for heterogeneous workflow i...

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Workshop on Workflows in Support of Large-Scale Science, WORKS

作者： Tamas Kukla Tamas Kiss Gabor Terstyanszky Peter Kacsuk Centre for Parallel Computing School of Informatics University of Westminster London UK Laboratory of the Parallel and Distributed Systems Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Several widely utilized, grid workflow management systems emerged in the last decade. These systems were developed by different scientific communities for various purposes. Enhancing these systems with the capability of invoking and nesting the workflows of other systems within their native workflows makes these communities to be able to carry out cross-organizational experiments and share non-native workflows. The novel solution described in this paper allows the integration of different workflow engines and makes them accessible for workflow systems in order to achieve this goal. The solution is based on an application repository and submitter, which exposes different workflow engines and executes them using the computational resources of the grid. In contrast with other approaches, our solution is scalable in terms of both number of workflows and amount of data, easily extendable in the sense that the integration of a new workflow engine does not require code re-engineering, and general, since it can be adopted by numerous workflow systems.

关键词： Engines Workflow management software Risk management Petri nets Parallel processing Informatics Laboratories Concurrent computing Distributed computing automation

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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NichingEDA: Utilizing the diversity inside a population of EDAs for continuous optimization

NichingEDA: Utilizing the diversity inside a population of E...

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Congress on Evolutionary Computation

作者： Weishan Dong Xin Yao Key Laboratory for Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Centre of Excellence for Research Computational Intelligence and Applications (CERCIA) School of Computer Science University of Binningham Birmingham UK

Since the estimation of distribution algorithms (EDAs) have been introduced, several single model based EDAs and mixture model based EDAs have been developed. Take Gaussian models as an example, EDAs based on single Gaussian distribution have good performance on solving simple unimodal functions and multimodal functions whose landscape has an obvious trend towards the global optimum. But they have difficulties in solving multimodal functions with irregular landscapes, such as wide basins, flat plateaus and deep valleys. Gaussian mixture model based EDAs have been developed to remedy this disadvantage of single Gaussian based EDAs. A general framework NichingEDA is presented in this paper from a new perspective to boost single model based EDAspsila performance. Through adopting a niching method and recombination operators in a population of EDAs, NichingEDA significantly boosts the traditional single model based EDAspsila performance by making use of the diversity inside the EDA population on hard problems without estimating a precise distribution. Our experimental studies have shown that NichingEDA is very effective for some hard global optimization problems, although its scalability to high dimensional functions needs improving. Analyses and discussions are presented to explain why NichingEDA performed well/poorly on certain benchmark functions.

关键词： Evolution (biology) Distance measurement Probabilistic logic Probability density function Computational modeling Gallium Optimization

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Packet-loss dependent controller design for networked control systems via switched system approach

Packet-loss dependent controller design for networked contro...

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IEEE Conference on Decision and control

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Zhuxinzhuang Beijing China The Seventh Research Division Beihang University Beijing China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9781424431236

The stabilization problem of networked control systems with bounded packet loss is addressed. We model such networked control systems as a class of switched systems, and present sufficient conditions for the stabilization by using a packet-loss dependent Lyapunov function. Moreover, different from existing results, we propose the design for packet-loss dependent stabilizing controllers for two types of packet-loss processes: one is a arbitrary packet-loss process, and the other is a Markovian packet-loss process. Several numerical examples and simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： control systems Networked control systems Switched systems Sufficient conditions Optimal control Delay effects Communication system control Communication system traffic control Feedback control Electrical equipment industry

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Development and control of dolphin-like underwater vehicle

Development and control of dolphin-like underwater vehicle

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American control Conference (ACC)

作者： Yonghui Hu Long Wang Junzhi Yu Jiyan Huo Yingmin Jia Languages Informatics Systems and Software Engineering Department Faculty of Computer Science Peking University Beijing China Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China Seventh Research Division Beihang University Beijing China

This paper is concerned with prototype development and motion control of a dolphin-like underwater robot. The propulsion and maneuvering of the robotic dolphin are realized with the flapping motion of the mechanical flippers and the combined heaving and pitching motions of the fluke. Mechanical design and control of the flipper apparatus and the flexible tail mechanism are presented. Through coordinated control of the propulsors, several swimming movements are designed. Preliminary experimental results verify the effectiveness of the proposed design scheme.

关键词： Underwater vehicles Dolphins Robot kinematics Propulsion Marine animals Motion control Tail Robot sensing systems control systems Automotive engineering

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Attitude and Handling Improvements Through Gain-scheduled Suspensions and Brakes control

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IFAC Proceedings Volumes 2008年第2期41卷 2075-2080页

作者： C. Poussot-Vassal O. Sename L. Dugard P. Gáspár Z. Szabó J. Bokor GIPSA-lab Control Systems Department (former LAG) INPG-CNRS-ENSIEG - Domaine Universitaire BP46 38402 Saint Martin d'Hères - Cedex FRANCE Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest HUNGARY

In this paper, the problem of comfort and handling improvements of a ground vehicle is treated through the control of the suspension and braking systems. Two gain-scheduled controllers are synthesized (in the H ∞ framework) to achieve, in the frequency domain, comfort and yaw performances according to the driving situation, observed by the mean of a monitor. The proposed strategy tackles the nonlinear tire braking force in an original way and meets the situation dependent objectives of the vehicle in a unified synthesis. Simulation tests on a complex nonlinear full vehicle model shows improvements of the proposed approach.

关键词： H ∞ Linear Parameter Varying Suspensions Brakes Global Chassis control Anti-locking Braking System Electronic Stability control

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