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Special Issue on Variable Structure System control — New Designs and Applications

Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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A Brief Overview of the Complex Biological and engineering Networks

A Brief Overview of the Complex Biological and Engineering N...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Jinhu Lu Derong Liu Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Illinois Chicago Chicago IL USA

Over the last few decades, complex networks have been intensively studied throughout many fields of science, especially in biological and engineering sciences. This paper briefly reviews the main advances in the complex biological and engineering networks, aiming to bridge the gap between the complex biological and engineering networks. Biologists pay more attention to the mechanisms and local dynamics of individuals, however, engineers are more interesting in the global dynamical behaviors. It is the time for the biologists and engineers to work together for better understanding the complex networks.

关键词： Biological system modeling Complex networks Mathematical model Biology Genetics Power system modeling Bridge circuits Evolution (biology) computer networks Power engineering computing

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Fast Computation of Orthogonal Fourier-Mellin Moments Using Modified Direct Method

Fast Computation of Orthogonal Fourier-Mellin Moments Using ...

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International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell Thessaloniki Institute of Technology Thessaloniki Greece

A novel, modified direct method for Orthogonal Fourier-Mellin Moments (OFMMs) computation, which lacks of any factorial terms, is presented. The proposed algorithm is based on the substitution of the factorial terms by their approximate values, according to Stirling's Approximation formula. In this way, a new set of orthogonal moments, which are approximate versions of the original ones, are extracted. The approximation error introduced by the Stirling's Approximation formula is of low order and thus the resulted moments do not significantly differ from their original values. The resulted formulas are factorial free and therefore the time needed to compute the OFMMs is less than this of the conventional direct method.

关键词： Polynomials Automation Pattern recognition Kernel Laboratories Automatic control control systems Feature extraction Approximation algorithms Approximation error

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Highly Compressed Zernike Moments by Smoothing

Highly Compressed Zernike Moments by Smoothing

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International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell. Thessaloniki Institute of Technology Thessaloniki Greece

A novel methodology that improves the discrimination capabilities of the compressed feature vectors, used in pattern recognition tasks, is presented in this paper. The Zernike moment signals of some patterns are extracted and are compressed by using a typical wavelet compression technique. In order to increase the compression ratio without loosing a great amount of significant information, the moment signals are smoothed appropriately before the compression. As a result, highly compressed feature vectors that include enough classification information are derived. The resulted improved features are studied for their discriminative power through appropriate experiments.

关键词： Smoothing methods Image coding Polynomials Automation Feature extraction Pattern classification Digital images Image reconstruction Laboratories Automatic control

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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Design and control of a four steered wheeled mobile robot

Design and control of a four steered wheeled mobile robot

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Lauria, Michel Nadeau, Isabelle Lepage, Pierre Morin, Yan Giguère, Patrick Gagnon, Fréderic Létourneau, Dominic Michaud, François Department of Electrical Engineering and Computer Engineering Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrooke Sherbrooke QC J1K 2R1 Canada

ISBN: (纸本)1424401364

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hypermotorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot. © 2006 IEEE.

关键词： Wheels

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P1A-3 Real-Time Estimation of Lateral Displacement Using Time Domain Cross Correlation with Prior Estimates

P1A-3 Real-Time Estimation of Lateral Displacement Using Tim...

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IEEE Symposium (IUS) Ultrasonics

作者： R. Zahiri-Azar S. E. Salcudean Robotics and Control Laboratory Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada

Time domain cross correlation with prior estimates (TDPE) has been recently introduced for high frame rate real-time speckle tracking. TDPE uses prior displacement estimates of neighboring windows to speed up computation. A correlation monitoring technique is then used to verify the estimated displacement and if needed a recovery search is triggered to find the correct displacement. In this paper we extend the idea of TDPE to 2D motion tracking to estimate both the axial and the lateral component of the motion in real-time

关键词： Motion estimation Ultrasonic imaging Capacitive sensors Radio frequency Monitoring Tracking Frequency estimation State estimation Decorrelation Computational efficiency

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Adaptive Dual High-Gain Output Feedback Global in Unknown Parameters for a Class of Nonlinear systems

Adaptive Dual High-Gain Output Feedback Global in Unknown Pa...

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Chinese control Conference (CCC)

作者： P. Krishnamurthy F. Khorrami Control Robotics Research Laboratory CRRL Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

In a recent result, we proposed a dynamic dual high-gain observer/controller architecture for nonlinear systems of the generalized output-feedback canonical form. The designed output-feedback controller was shown to be robust to functional and parametric uncertainties coupled with all states. However, a magnitude bound on the unknown parameters was required. In this paper, we propose two output-feedback controllers, one time-varying and the other time-invariant that can handle time-varying nonlinear parametric uncertainty coupled with all states without requiring any a priori magnitude bounds on the unknown parameters. The proposed dynamic controller designs provide globally asymptotically stabilizing output-feedback solutions for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary.

关键词： Output feedback Nonlinear systems control systems Nonlinear control systems Uncertainty Adaptive control Riccati equations Programmable control Robot control Laboratories

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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Yu Chen B.R. Abidi D.L. Page M.A. Abidi Electrical and Computer Engineering Department Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise Intelligent robots Image processing Helium robotics and automation Intelligent systems Laboratories Electronic mail

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems Intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms Intelligent systems

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