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7th International Conference on Integrated Modeling and Analysis in Applied control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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A New Approach for Simultaneous Localization of UAV and RF Sources (SLUS)

A New Approach for Simultaneous Localization of UAV and RF S...

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International Conference on Unmanned Aircraft systems

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran

ISBN: (纸本)9781479923779

In this paper, a new approach for Simultaneous Localization of UAV and RF Sources (SLUS) is proposed. In the UAV-based localization of RF sources, such as a cell phone in a search and rescue mission, the UAV navigation errors are a significant source of localization error. Although the use of GPS can reduce UAV localization error significantly resulting in more accurate RF source localization, however, if the GPS is not available temporarily or permanently, the accuracy of UAV-based localization decreases rapidly. The proposed approach solves these two connected problems, i.e. UAV localization and RF source localization, simultaneously to decrease the error of UAV position estimation and the error of RF sources localization. The prediction of UAV pose is done in parallel to RF source position prediction first. Then the predicted states are augmented and the augmented predicted state information is corrected in SLUS using the range and bearing observations. The simulation results show that this method can reduce RF source's position estimation error and prevent the divergence of UAV navigation in latitude and longitude channels. In the other words, the RF features available in the environment can be used to improve the UAV navigation.

关键词： RF source localization UA V navigation SLAM Kalman filter RSSI AOA

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems control Laws Formation control Station Keeping Triangular Formations

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ANN-based DTC scheme to improve the dynamic performance of an IM drive

ANN-based DTC scheme to improve the dynamic performance of a...

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7th IET International Conference on Power Electronics, Machines and Drives (PEMD 2014)

作者： K Bouhoune K Yazid M S Boucherit Power and Industrial Systems Laboratory Faculty of Electronics and Computer Science University of Science Algeria Process Control Laboratory Department of Electrical Engineering Polytechnic National School PO Box 182 10 Hassan Badi El-Harrach 16200 Algiers Algeria

In addition to simplicity, the DTC of the IM allows a good torque control in steady-state and transient operating conditions. However, high torque ripple is produced, which is reflected in speed estimation responses. It also increases acoustical noise and makes the voltage source inverter operated in high and variable switching frequency, requiring a high sampling frequency. In this paper, a simple effective ANN-based DTC of the induction machine is proposed. Neural networks with a simple architecture are designed and implemented in influential points of the direct torque control block of the three phase induction machine in order to improve its dynamic performance while preserving the DTC structure simplicity as much as possible. In particular, this paper proposes to reduce, on the one hand, the torque ripple and commutation frequency. Neural comparators are used to select the appropriate bandwidth for the torque and flux hysteresis controllers. Their aim is to optimize the ripple level in the developed torque and flux. On the other hand, a neural speed controller is designed in order to improve the system ability to respond rapidly to changes in process variables and mitigate the effects of external perturbations. The performance of the proposed control are tested in simulation and highlighted by comparing to the conventional DTC control based on conventional hysteresis comparators and conventional PI speed controller. The obtained results show the feasibility and good performances of the proposed control.

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Evolution and maintenance of cooperation via inheritance of neighborhood relationship

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Chinese Science Bulletin 2013年第28期58卷 3491-3498页

作者： TAN ShaoLin Lü JinHu YU XingHuo HILL David John The Key Laboratory of System and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences School of Electrical and Computer Engineering RMIT University Department of Electrical and Electronic Engineering The University of Hong Kong School of Electrical and Information Engineering University of Sydney

Cooperative behaviors are ubiquitous in nature and human *** is very important to understand the internal mechanism of emergence and maintenance of *** we know now,the offsprings inherit not only the phenotype but also the neighborhood relationship of their *** recent research results show that the interactions among individuals facilitate survival of cooperation through network reciprocity of clustering *** paper aims at introducing an inheritance mechanism of neighborhood relationship to explore the evolution of *** detail,a mathematical model is proposed to characterize the evolutionary process with the above inheritance *** analysis and numerical simulations indicate that high-level cooperation can emerge and be maintained for a wide variety of cost-to-benefit ratios,even if mutation happens during the evolving process.

关键词：合作机制邻里关系维护演变进化过程人类社会遗传机制数学模型

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Predicting the Speed of a Wave Glider Autonomous Surface Vehicle from Wave Model Data

Predicting the Speed of a Wave Glider Autonomous Surface Veh...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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Continuous-variable measurement-device-independent quantum key distribution

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Physical Review A 2014年第5期89卷 052301-052301页

作者： Zhengyu Li Yi-Chen Zhang Feihu Xu Xiang Peng Hong Guo State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science and Center for Quantum Information Technology Peking University Beijing 100871 China Center for Computational Science and Engineering Peking University Beijing 100871 China State Key Laboratory of Information Photonics and Optical Communications Beijing University of Posts and Telecommunications Beijing 100876 China Centre for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto Ontario Canada M5S 3G4

We propose a continuous-variable measurement-device-independent quantum key distribution (CV-MDI QKD) protocol, in which detection is conducted by an untrusted third party. Our protocol can defend all detector side channels, which seriously threaten the security of a practical CV QKD system. Its security analysis against arbitrary collective attacks is derived based on the fact that the entanglement-based scheme of CV-MDI QKD is equivalent to the conventional CV QKD with coherent states and heterodyne detection. We find that the maximal total transmission distance is achieved by setting the untrusted third party close to one of the legitimate users. Furthermore, an alternate detection scheme, a special application of CV-MDI QKD, is proposed to enhance the security of the standard CV QKD system.

关键词： QUANTUM theory QUANTUM mechanics QUANTUM entanglement QUANTUM coherence HETERODYNE detection QUANTUM fluctuations

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Index modulated OFDM with ICI self-cancellation in underwater acoustic communications

Index modulated OFDM with ICI self-cancellation in underwate...

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Asilomar Conference on Signals, systems & computers

作者： Miaowen Wen Yuke Li Xiang Cheng Liuqing Yang School of Electronic and Information Engineering South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

ISBN: (纸本)9781479982981

OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interference (ICI) caused by the transmitter/receiver motion and ocean waves. In this paper, we propose a novel ICI countermeasure. The key idea is to inactivate partial subcarriers according to index modulation and meanwhile transmit signals with opposite polarity on two adjacent active subcarriers for ICI self cancellation. Simulation results validate that the proposed scheme achieves much better bit error rate (BER) performance than many existing schemes in UWA communications.

关键词： OFDM Modulation Bit error rate Indexes Receivers Transmitters Sonar equipment

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Highlights from the 11th ISCB Student Council Symposium 2015. Dublin, Ireland. 10 July 2015

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BMC bioinformatics 2016年第3期17 Suppl 3卷 95页

作者： Katie Wilkins Mehedi Hassan Margherita Francescatto Jakob Jespersen R. Gonzalo Parra Bart Cuypers Dan DeBlasio Alexander Junge Anupama Jigisha Farzana Rahman Griet Laenen Sander Willems Lieven Thorrez Yves Moreau Nagarajan Raju Sonia Pankaj Chothani C. Ramakrishnan Masakazu Sekijima M. Michael Gromiha Paddy J Slator Nigel J Burroughs Przemysław Szałaj Zhonghui Tang Paul Michalski Oskar Luo Xingwang Li Yijun Ruan Dariusz Plewczynski Giulia Fiscon Emanuel Weitschek Massimo Ciccozzi Paola Bertolazzi Giovanni Felici Pieter Meysman Manu Vanaerschot Maya Berg Hideo Imamura Jean-Claude Dujardin Kris Laukens Westa Domanova James R. Krycer Rima Chaudhuri Pengyi Yang Fatemeh Vafaee Daniel J. Fazakerley Sean J. Humphrey David E. James Zdenka Kuncic Plant Pathology and Plant-Microbe Biology Section School of Integrative Plant Science Cornell University Ithaca USA Graduate Field of Computational Biology Cornell University Ithaca USA School of Computing & Mathematics University of South Wales Cardiff UK Department of Genome Biology for Neurodegenerative Diseases German Center for Neurodegenerative Diseases (DZNE) within the Helmholtz Association ᅟ Germany Department of Surgery Massachusetts General Hospital The Broad Institute of MIT and Harvard Boston USA Department of Systems Biology Technical University of Denmark Kemitorvet Denmark Protein Physiology Lab Facultad de Ciencias Exactas y Naturales Universidad de Buenos Aires Buenos Aires Argentina Molecular Parasitology Unit (MPU) Institute of Tropical Medicine Antwerp Belgium Advanced Database Research and Modeling (ADReM) research group University of Antwerp Antwerpen Belgium Department of Computer Science University of Arizona Tucson USA Department of Veterinary Clinical and Animal Sciences Center for non-coding RNA in Technology and Health University of Copenhagen Copenhagen Denmark University College Dublin Dublin Ireland Department of Electrical Engineering (ESAT) STADIUS Center for Dynamical Systems Signal Processing and Data Analytics KU Leuven Leuven Belgium Minds Medical IT Department Leuven Belgium Scientific Institute of Public Health (WIV-ISP) Platform of Biotechnology and Molecular Biology (PBB) Brussels Belgium Department of Development and Regeneration @ Kulak KU Leuven Kortrijk Belgium Department of Biotechnology Bhupat and Jyoti Metha School of Biosciences Indian Institute of Technology Madras Chennai India Philips Research North America Briarcliff Manor USA Global Scientific Information and Computing Center (GSIC) Tokyo Institute of Technology Tokyo Japan Systems Biology Centre University of Warwick Senate House Coventry UK Systems Biology Doctoral Training Centre University of Warwick Senate House Coventry UK Center for B

A1 Highlights from the eleventh ISCB Student Council Symposium 2015 Katie Wilkins, Mehedi Hassan, Margherita Francescatto, Jakob Jespersen, R. Gonzalo Parra, Bart Cuypers, Dan DeBlasio, Alexander Junge, Anupama Jigisha, Farzana Rahman O1 Prioritizing a drug’s targets using both gene expression and structural similarity Griet Laenen, Sander Willems, Lieven Thorrez, Yves Moreau O2 Organism specific protein-RNA recognition: A computational analysis of protein-RNA complex structures from different organisms Nagarajan Raju, Sonia Pankaj Chothani, C. Ramakrishnan, Masakazu Sekijima; M. Michael Gromiha O3 Detection of Heterogeneity in Single Particle Tracking Trajectories Paddy J Slator, Nigel J Burroughs O4 3D-NOME: 3D NucleOme Multiscale Engine for data-driven modeling of three-dimensional genome architecture Przemysław Szałaj, Zhonghui Tang, Paul Michalski, Oskar Luo, Xingwang Li, Yijun Ruan, Dariusz Plewczynski O5 A novel feature selection method to extract multiple adjacent solutions for viral genomic sequences classification Giulia Fiscon, Emanuel Weitschek, Massimo Ciccozzi, Paola Bertolazzi, Giovanni Felici O6 A systems Biology Compendium for Leishmania donovani Bart Cuypers, Pieter Meysman, Manu Vanaerschot, Maya Berg, Hideo Imamura, Jean-Claude Dujardin, Kris Laukens O7 Unravelling signal coordination from large scale phosphorylation kinetic data Westa Domanova, James R. Krycer, Rima Chaudhuri, Pengyi Yang, Fatemeh Vafaee, Daniel J. Fazakerley, Sean J. Humphrey, David E. James, Zdenka Kuncic

关键词： Visceral Leishmaniasis Feature Selection Method Frequent Itemset Mining Leishmania Donovani Student Council

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