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International Carpathian control Conference (ICCC)

作者： J. Kokes N.B Nghien Dept. of Automatic control and Engineering Informatics Czech Technical University in Prague Prague Prague Czech Republic Czech Republic Dept. of Automatic control and Engineering Informatics Czech Technical University in Prague Prague Czech Republic

Forecasting the future time series values from the past values plays important role in daily life. There are some techniques support for time series analysis such as statistics, Neural Network (NN), Fuzzy Logic (FL) and fusion NN and FL. However, there is lack of easy, free and visual tools for users to analysis time series data. In this paper we try to use Java program language to implement of Fuzzy Logic system using table lookup scheme to predict time series data. The results of our experiments show that our tool can give a high accuracy of prediction results. Since program is written in Java language so it can run across hardware and software platform and easily embed into website for user run through Internet.

关键词： Time series analysis Training Fuzzy logic Testing Java Exchange rates Table lookup

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Integrated Time-Optimal Trajectory Planning and control Design for Industrial Robot Manipulator

Integrated Time-Optimal Trajectory Planning and Control Desi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stepan S. Pchelkin Anton S. Shiriaev Anders Robertsson Leonid B. Freidovich Department of Engineering Cybernetics Norwegian University of Science and Technology NO-7491 Trondheim Norway. Department of Applied Physics and Electronics Ume? University SE-901 87 Ume? Sweden. Dept. of Automatic Control Lund University SE-221 00 Lund Sweden and is member of the LCCC Linnaeus Center and the ELLIIT Excellence Center at Lund University.

ISBN: (纸本)9781467363563

We consider planning and implementation of fast motions for industrial manipulators constrained to a given geometric path. With such a problem formulation, which is quite reasonable for many standard operation scenarios, it is intuitively clear that a feedback controller should be designed to achieve orbital stabilization of a time-optimal trajectory instead asymptotic. We propose an algorithm to convert an asymptotically stabilizing controller into an orbitally stabilizing one and check achievable performance in simulations and, more importantly, in experiments performed on a standard industrial robot ABB IRB 140 with the IRC5-system extended with an open control interface. It is verified that the proposed re-design allows significantly reduced deviations of the actual trajectories from the desired one at high speeds not only for a chosen base feedback design but also outperforming the state-of-the-art commercial implementation offered by ABB Robotics.

关键词： Motion and trajectory planning with constraints Orbital stabilization Time optimal control Industrial manipulators

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Using constrained cubic spline instead of natural cubic spline to eliminate overshoot and undershoot in Hilbert Huang Transform

Using constrained cubic spline instead of natural cubic spli...

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International Carpathian control Conference (ICCC)

作者： J. Kokes N.B Nghien Dept. of Automatic control and Engineering Informatics Czech Technical University in Prague Prague Czech Republic

Hilbert-Huang Transform (HHT), proposed by N. E. Huang in 1998, is a novel algorithm for nonlinear and non-stationary signal processing. The key part of this method is decomposition the signal into finite number of Intrinsic Mode Functions (IMF) which will meet the requirements of Hilbert Transform. In this part, the algorithm uses natural cubic spline to connect all local maxima and local minima to produce upper and lower envelope of the signal. However natural cubic spline which may lead overshoot and undershoot at intermediate point. In this paper we propose to apply constrained cubic spline into first part of the HHT to eliminate overshoot in upper and lower envelope. We also propose an improvement on Improved Slope Base Method (ISBM) to limit swing at the end points. The experiments showed that our proposals get better result than original proposal and speed up Empirical Mode Decomposition (EMD) process.

关键词： Splines (mathematics) Proposals Equations Mathematical model Oscillators Transforms Complexity theory

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Online Petri Net Based Algorithm for Planning and controlling Mobile Robots

Online Petri Net Based Algorithm for Planning and Controllin...

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Institute of Electrical and Electronics Engineers International Conference on Emerging Technologies & Factory Automation

作者： Cristian Mahulea Marius Kloetzer University of Zaragoza Dept. of Automatic Control and Applied Informatics Technical University

ISBN: (纸本)9781467347358

The paper presents a procedure for planning and controlling a team of identical mobile robots such that a set of target regions are reached. We consider a partitioned environment cluttered with a set of obstacles that randomly change their positions. Our approach abstracts both the control capabilities of robots and the information on obstacle locations into probabilistic discrete Petri net models, and it uses an online algorithm for planning and adjusting the sequences of regions the robots should traverse. At each iteration of the online algorithm we solve a linear programming problem that optimizes the robot paths by weighting the probabilities of following a sequence of partition regions and the steady-state probabilities of encountering obstacles along the resulted sequences. The approach is implemented as a fully automated Matlab package.

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Fault tolerant component management platform over Data Distribution Service

Fault tolerant component management platform over Data Distr...

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1st IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in control, CESCIT 2012

作者： Agirre, Aitor Estévez, Elisabet Marcos, Marga Ikerlan-IK4 Research Alliance Arizmendiarrieta 2 20500 Arrasate Spain Dept. of Electronics and Automatic Engineering EPS Jaén Universidad de Jaén Jaén Spain Dept. of Automatic Control and Systems Engineering ETSI Bilbao UPV/EHU Bilbao Spain

ISBN: (纸本)9783902661975

Distributed Real Time Systems (DRTS) are evolving to a higher level of complexity in terms of heterogeneity, dynamism and QoS constraints, as they must interact with an increasingly demanding environment. In an scenario with distributed applications running over different hardware platforms and networks, middleware technologies that provide real-time or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes a component based applications management platform built on top of DDS that provides an easy way to deploy, configure and manage component based distributed applications, while ensuring the fulfillment of certain QoS aspects. © 2012 IFAC.

关键词： Fault tolerance

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Biomimetic sensing by the photoreceptor membrane protein bacteriorhodopsin

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Journal of the National Institute of Information and Communications Technology 2013年第1期60卷 75-83页

作者： Kasai, Katsuyuki Haruyama, Yoshihiro Yamada, Toshiki Akiba, Makoto Tominari, Yukihiro Kaji, Takahiro Terui, Toshifumi Peper, Ferdinand Katagiri, Yoshitada Tanaka, Shukichi Kikuchi, Hiroshi Okada-Shudo, Yoshiko Otomo, Akira Nano ICT Laboratory Department of Quantum Optics Nonlinear Optics Laser Control Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Bio-Materials Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Organic Materials Material Physics Optical Measurement Nano Materials Advanced ICT Research Institute Japan Planning Office Department of Photodetection Technology Semiconductor Device Low-Noise Technology Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Superconductor Organic Electronics Terahertz Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Laser Photochemistry Single-Molecule Spectroscopy Nanophotonics Advanced ICT Research Institute Japan Strategic Planning Office Strategic Planning Department Japan Brain Networks and Communication Laboratory Department of Nanocomputer Architectures Cellular Automata Neural Networks Natural Computing Center for Information and Neural Networks Japan Brain Networks and Communication Laboratory Department of Health Science and Informatics Human Informatics Center for Information and Neural Networks Japan Nano ICT Laboratory Terahertz Technology Research Center Advanced ICT Research Institute Japan Japan Graduate School of Informatics and Engineering Dept. of Engneering Science Japan Nano ICT Laboratory Depatment of Nanophotonics Nonlinear Optics Advanced ICT Research Institute Japan

Bacteriorhodopsin (bR) is a light-sensitive protein which has a proton-pump function, and is found in the cell membrane of Halobacterium salinarum inhabiting the salt lake. Optical excitation of bR at an electrode-electrolyte interface generates differential photocurrents while an incident light is turned on and off. This unique functional response is similar to that seen in retinal neurons. This paper describes the fabrication and evaluation of the dip-coated bR thin films, photocurrent characteristics, and biomimetic artificial retinas with the bR thin films.

关键词： Biomimetics

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Observer-based strictly positive real (SPR) variable structure output feedback control

Observer-based strictly positive real (SPR) variable structu...

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2012 12th International Workshop on Variable Structure Systems, VSS 2012

作者： Johansson, Rolf Robertsson, Anders Shiriaev, Anton Department of Automatic Control Lund University P. O. Box 118 SE-221 00 Lund Sweden Dept. Engineering Cybernetics NTNU NO-7491 Trondheim Norway

ISBN: (纸本)9781457720666

This paper considers switching output feedback control of linear systems and variable-structure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. A circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is relevant for variable structure system design with preservation of stability when switching feedback control or sliding mode control is introduced in the feedback loop. It is shown that there exists a Lyapunov function valid over the total operating range and this Lyapunov function has also interpretation as a storage function of passivity-based control. The Lyapunov function can be found by solving a Lyapunov equation, which also generates variable structure switching surfaces. Important applications are to be found in variable structure systems with high robustness requirements. © 2012 IEEE.

关键词： Lyapunov functions

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Least-squares design of 2-D sparse nonseparable filter banks using transformation of variables: A greedy approach

Least-squares design of 2-D sparse nonseparable filter banks...

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20th European Signal Processing Conference, EUSIPCO 2012

作者： Şicleru, Bogdan C. Dumitrescu, Bogdan Dept. of Automatic Control and Systems Engineering Faculty of Automatic Control and Computers Politehnica University of Bucharest 313 Spl. Independenei 060042 Bucharest Romania Tampere Int. Center for Signal Processing Tampere University of Technology P.O. Box 553 SF-33101 Tampere Finland

ISBN: (纸本)9781467310680

We present in this paper a design method for two-dimensional two-channel sparse nonseparable FIR filter banks using transformation of variables. In a first phase the transformation function is designed in a least-squares fashion. The second stage of the algorithm introduces the sparseness in a greedy manner by removing at each step the minimum coefficient of the filter in absolute value. The obtained results show that the sparse filter banks offer the possibility of choosing the complexity of the filters and have also better stopband energy. © 2012 EURASIP.

关键词： Filter banks

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LTL Planning in Dynamic Environments

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IFAC Proceedings Volumes 2012年第29期45卷 294-300页

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University “Gh. Asachi” of Iasi Romania Aragón Institute of Engineering Research (I3A) University of Zaragoza Spain

This paper addresses the path planning problem of a mobile robot based on linear temporal logic formulae over a set of regions of interest in the environment. The regions have fixed and known locations but have some dynamic observations that can appear and disappear based on exponential probability density functions. The robot movement capabilities are modeled by a finite-state transition system. By drawing inspiration from temporal logic control for static environments, we find a run that has the greatest chance of satisfying the temporal logic specification. Then, we devise a supervising strategy for the robot motion along this run, which updates the execution based on the currently observed regions. The approach is supported by two simulations.

关键词： Temporal logic mobile robots transition systems probabilistic models formal languages

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Masking effects for damping JND

Masking effects for damping JND

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International Conference on Haptics: Perception, Devices, Mobility, and Communication, EuroHaptics 2012

作者： Rank, Markus Schauß, Thomas Peer, Angelika Hirche, Sandra Klatzky, Roberta L. Institute of Automatic Control Engineering Technische Universität München Munich Germany Psychology Dept. Center for the Neural Basis of Cognition Carnegie Mellon University Pittsburgh PA United States

Two psychophysical experiments are conducted to identify masking effects for the perception of damping. The results indicate that the just noticeable difference for damping increases with the magnitude of additional masking stimuli. This is the case for environments consisting of a damping/stiffness and environments consisting of a damping/inertia. This has implications for the design and evaluation of haptic human-system interfaces, telepresence systems and haptic rendering algorithms. © 2012 Springer-Verlag.

关键词： Damping

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