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IEEE Conference on Decision and control

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the problem of state estimation for a class of dynamic system with multiple nonlinear-linear (NL) mixing state constraints. A computational algorithm was developed by C. Yang and E. Blasch to incorporate a positive definite quadratic form equality constraint into the Kalman filtering for the ground vehicle tracking. However, when the target tracked in multidimensional space, a single positive definite quadratic form constraint is not enough due to the involvement of other surface such as hyperboloid, paraboloid, or even plane. A analytic method of incorporating multiple nonlinear-linear mixing state constraints into the Kalman filter is presented here, and a sufficient condition is obtained that guarantee the existence of solution. The constraints may be time varying. At each time step the unconstrained Kalman filter solution is projected onto the state constraints surface. This significantly improves the prediction accuracy of the filter. The use of this algorithm is demonstrated on a nonlinear-linear mixing spacecraft positioning problem.

关键词： Kalman filters Symmetric matrices State estimation Optimization Covariance matrix Noise

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An integrated control of shading blinds, natural ventilation, and HVAC systems for energy saving and human comfort

An integrated control of shading blinds, natural ventilation...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Biao Sun Peter B. Luh Qing-Shan Jia Ziyan Jiang Fulin Wang Chen Song Center of Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory of Information Science and Technology Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs CT USA Department of Building Science Tsinghua University Beijing China Safety and Control Systems China and the Tsinghu-UTC Research Institute of Integrated Building Energy United Technologies Research Center Inc. Beijing China

Improving the control of shading blinds, lights, natural ventilation, and HVAC systems while satisfying human comfort requirements can result in significant energy cost savings with time-of-day electricity pricing. Traditionally, the above-mentioned devices are controlled separately. In this paper, a novel formulation for the integrated control and the corresponding solution methodology are presented. The problem is to minimize daily energy costs of lights and HVAC systems while satisfying equipment capacities, system dynamics, and human comfort. The problem is complicated since 1) individual rooms are coupled as they compete for the HVAC with limited capacity and nonlinear characteristics, and 2) the problem is believed to be NP-hard in view that decision variables are all discrete. A solution methodology that combines Lagrangian relaxation and stochastic dynamic programming is developed within the surrogate optimization framework to obtain near-optimal strategies. These strategies are further refined to become novel control rules for easy practical implementation. Numerical simulation results show that both of the above strategies can effectively reduce the total energy cost, and that the integrated control works better than selected traditional control strategies.

关键词： Ventilation Humidity Equations Optimization Heating Humans

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Describing fuzzy sets using a new concept:fuzzify functor

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Optoelectronics Letters 2009年第1期5卷 69-72页

作者：魏克新王兆霞王权 Tianjin Key Laboratory of Control Theory & Applications in Complicated Systems Tianjin University of Technology Department of Electrical and Computer Engineering National University of Singapore

This paper proposed a fuzzify functor as an extension of the concept of fuzzy *** fuzzify functor and the first-order operated fuzzy set are *** the theory analysis,it can be observed that when the fuzzify functor acts on a simple crisp set,we get the first order fuzzy set or type-1 fuzzy *** operating the fuzzify functor on fuzzy sets,we get the higher order fuzzy sets or higher type fuzzy sets and their membership *** the fuzzify functor we can exactly describe the type-1 fuzz...

关键词： Membership functions

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Asymptotically stable walking of a five-link underactuated 3-D bipedal robot

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IEEE Transactions on robotics 2009年第1期25卷 37-50页

作者： Chevallereau, Christine Grizzle, J.W. Shih, Ching-Long 44321 Nantes France Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2122 United States Department of Electrical Engineering National Taiwan University of Science and Technology 106 Taipei Taiwan

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3-D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat;the contact between the robot and the walking surface is assumed to inhibit yaw rotation. The studied robot has 8 DOF in the single support phase and six actuators. In addition to the reduced number of actuators, the interest of studying robots with point feet is that the feedback control solution must explicitly account for the robot's natural dynamics in order to achieve balance while walking. We use an extension of the method of virtual constraints and hybrid zero dynamics (HZD), a very successful method for planar bipeds, in order to simultaneously compute a periodic orbit and an autonomous feedback controller that realizes the orbit, for a 3-D (spatial) bipedal walking robot. This method allows the computations for the controller design and the periodic orbit to be carried out on a 2-DOF subsystem of the 8-DOF robot model. The stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. Most periodic walking gaits for this robot are unstable when the controlled outputs are selected to be the actuated coordinates. Three strategies are explored to produce stable walking. The first strategy consists of imposing a stability condition during the search of a periodic gait by optimization. The second strategy uses an event-based controller to modify the eigenvalues of the (linearized) Poincaré map. In the third approach, the effect of output selection on the zero dynamics is discussed and a pertinent choice of outputs is proposed, leading to stabilization without the use of a supplemental event-based controller. © 2009 IEEE.

关键词： Anthropomorphic robots

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EW-PESQ: A quality assessment method for speech signals sampled at 48 kHz

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AES: Journal of the Audio engineering Society 2010年第4期58卷 251-268页

作者： Bispo, Bruno C. Esquef, Paulo A.A. Biscainho, Luiz W.P. De Lima, Amaro A. Freeland, Fabio P. De Jesus, Rafael A. Said, Amir Lee, Bowon Schafer, Ronald W. Kalker, Ton Department of Electrical and Computer Engineering University of Porto Porto Portugal Coordination of Systems and Control National Laboratory for Scientific Computing LNCC/MCT Petrópolis RJ Brazil LPS-PEE/COPPE Federal University of Rio de Janeiro Rio de Janeiro RJ Brazil Nova Iguaçu RJ Brazil Rio de Janeiro RJ Brazil PETROBRAS/E and P Rio de Janeiro RJ Brazil Multimedia Communications and Networking Lab Hewlett-Packard Laboratories Palo Alto CA United States

Extended models of the W-PESQ method are presented which are capable of assessing the subjective quality of noisy speech signals sampled at 48 kHz. Two methods are proposed: a version backward compatible with the W-PESQ standard, called EW-PESQ(E), and another, called EW-PESQ(R), in which the original psychoacoustic models are entirely replaced with alternative formulations available in the literature. Performance figures of both the EW-PESQ(E) and the EW-PESQ(R) in predicting the subjective quality of extrawide-band speech (sampled at 48 kHz) corrupted with broad-band and environmental noise are reported. In both cases the results obtained reveal a strong correlation (approximately 97%) with mean opinion scores.

关键词： Speech communication

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Determination of circular waits in multiple-reentrant flowlines based on machine-job incidence matrix 10

Determination of circular waits in multiple-reentrant flowli...

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2009 10th European control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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Notes on Data-driven System Approaches

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自动化学报 2009年第6期35卷 668-675页

作者： XU Jian-Xin HOU Zhong-Sheng Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 P.R. China

In this paper, we present several considerations centered around the data-driven system approaches. We briefly explore three main issues: the evolving relationship between off-line and on-line data processing methods, the complementary relationship between the data-driven and model-based methods, and the perspectives of data-driven system approaches. Instead of offering solutions to data-driven system problems, which is impossible at the present level of knowledge and research, in this article we aim at categorizing and classifying open problems, exploring possible directions that may offer alternatives or potentials for the four key fields of interests: control, decision making, scheduling, and fault diagnosis.

关键词：数据驱动数据分析自动化系统分析方法

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Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity Intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Modeling and control of the monopedal robot Thumper

Modeling and control of the monopedal robot Thumper

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ioannis Poulakakis J. W. Grizzle Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of mass located far from the hip. The torso houses a novel powertrain that provides series compliance in the compression direction of the leg. The proposed control law is developed within the hybrid zero dynamics framework and it acts on two levels. On the first level, continuous within-stride control asymptotically imposes (virtual) holonomic constraints reducing the dynamics of the robot to a lower-dimensional hybrid subsystem. On the second level, event-based control stabilizes the resulting hybrid subsystem. The controller achieves the dual objectives of working harmoniously with the system's natural dynamics and inducing provably exponentially stable running motions, while all relevant physical constraints are respected.

关键词： Robots Torso Leg Hip Legged locomotion robotics and automation Knee Mechanical power transmission Thigh Automatic control

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