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An Hausdorff distance based approach for evaluation of image moments in servoing applications

An Hausdorff distance based approach for evaluation of image...

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IEEE International Conference on Intelligent Computer Communication and Processing (ICCP)

作者： Adrian Burlacu Cosmin Copot Corneliu Lazar Dept. Automatic Control and Applied Informatics The “Gheorghe Asachi” Technical University of Iasi Iasi Romania

This paper presents a new criterion for the evaluation of visual features used in image based control laws. Due to their established performances in servoing applications, image moments derived from point features are evaluated. The proposed criterion analyses both the quantity and the quality of the information stored in an ensemble of point features used in controlling servoing systems. Using Hausdorff distance, new properties for point features ensemble are analyzed, for example the attached convex hull. In order to validate the proposed evaluation criterion, an environment composed from a six dof manipulator robot with an eye-in-hand configuration is used.

关键词： Feature extraction Stability criteria Visual servoing Image sequences Visualization Detectors

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A technology to simultaneously produce clean hydrogen and iron powder

A technology to simultaneously produce clean hydrogen and ir...

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作者： George, Stefanoiu Horatiu Octavian, Stanasila Corneliu, Stanasila Virgil Dan, Stefanoiu Bioterra University of Bucharest Dept. of Chemistry Romania Politehnica University of Bucharest Dept. of Applied Sciences Romania Technical University of Civil Engineering Bucharest Romania Politehnica University of Bucharest Dept. of Automatic Control and Computer Science Romania

ISBN: (纸本)9789604742271

The redox steam-iron process, which has been discovered in the early 1900's, was finally abandoned because the degradation of the iron oxide ores within a few cycles. Recently, this process has been reconsidered, due to the necessity to yield cheap and pure hydrogen. In this article, we introduce a related but improved technology. At the first stage, the inlet iron oxide for the steam-iron process is the hematite, which has to be reduced to metallic iron in a gasifier called HG, by using syngas from coke (or cellulose). The hydrogen is then produced in a cyclic process, based upon the reduction of metallic iron by means of steam. At the second stage, another hematite, at any granulation, is reduced to iron powder in a reactor called IPR, at about 570°C by using the hydrogen of HG.

关键词： Heat transfer

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A genetic approach to optimize the coverage performance of multiple random path-planning robots

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12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Habib, Ahsan Alam, M.S. Aldebrez, F.M. Siddique, N.H. Dept. of Applied Physics Electronics and Communication Engineering University of Dhaka Bangladesh Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom School of Computing and Intelligent Systems University of Ulster United Kingdom

ISBN: (纸本)9814291269

This paper presents a new approach to multi-agent coverage path planning problem. This algorithm enables multiple robots with limited sensor capabilities to perform coverage efficiently over a shared territory. Each robot is assigned with an exclusive route, which enables it to carry out its cleaning process simultaneously with minimal path overlapping. The objectives of this work are (i) Identify a path for each robot such that each robot is responsible for covering a different region. In this way, there will be minimal overlap between coverage of the robots, (ii) the methods and procedures must be applicable to a group of simple mobile robots with very few sensors to guarantee their industrial interest.

关键词： Motion planning

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A novel fiber CAN hub and its networking schemes

A novel fiber CAN hub and its networking schemes

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2010 International Conference on Optoelectronics and Image Processing, ICOIP 2010

作者： Wei, Feng Qian, Zhiwei Ding, Honglin Dept. Oi Automatic Control Science and Engineering Huazhong Univ. of Science and Technology Wuhan Hubei 430074 China AVIC the First Aircraft Institute Xian Shanxi 710089 China

ISBN: (纸本)9780769542522

The overall behavior of some twisted-pair CAN systems may be improved by use of optical fiber as physical medium. In this paper, a novel fiber CAN hub and the schemes of constructing CAN network based on it are proposed. The working principle of the hub is discussed in detail. WDM (Wavelength Division Multiplexing) technology is utilized to realize duplex signal transmission on one fiber link. By replacing the 'Wired-AND' in twisted-pair CAN bus with the logic 'AND' in CPLD (Complex Programmable Logic Device) and ensuring each node's bus monitoring function by sending the 'ANDed' signal back, the fiber CAN network thus formed is fully compatible with the CAN standard above physical layer. Methods of expanding fiber CAN network are also discussed. An eight-port prototype hub is implemented and tested to prove the feasibility and practicability of the proposed schemes. Features of the fiber CAN network are summarized and future works are pointed out. © 2010 IEEE.

关键词： Optical fibers

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3D object measurement by shadow Moiré

3D object measurement by shadow Moiré

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作者： Lay, Yun-Long Yang, Hui-Jen Lin, Chern-Sheng Chen, Wei-Yu Dept. of Electronic Engineering National Chin-Yi University of Technology Taichung Taiwan Dept. of Information Management National Chin-Yi University of Technology Taichung Taiwan Institute of Automatic Control Engineering Feng Chia University Taichung Taiwan

ISBN: (纸本)9789898425256

In order to get the 3 dimensional data of an object, this research applied a shadow Moiré method to build an optical measurement system without touching the object to measure the contour for getting a 3D data. A digital camera was used to capture the Moiré images through an image processing to get the texture of each contour line. After calculated the texture of each contour line, the correspondence values are then filled. Each correspondence value will make smooth contour interpolation and then three-dimensional image of the object was plotted. This method for 3D measurement is simple and does not need an expensive measurement device to get precisely image information for a 3D rebuilt implementation.

关键词： Optical data processing

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Parameter estimation of thrust models of uninhabited airborne systems

Parameter estimation of thrust models of uninhabited airborn...

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作者： Perez, Tristan De Lamberterie, Pierre Donaire, Alejandro Herrero, Elias Revestido School of Engineering Discipline of Mechanics and Mechatronics University of Newcastle Callaghan NSW 2308 Australia University of Newcastle Callaghan NSW 2308 Australia Dept. of Electronic Technology Systems Engineering and Automatic Control University of Cantabria Spain

ISBN: (纸本)9783902661876

This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify the estimation. The proposed estimation method is based on three steps. The first step uses a regression model in which the thrust is assumed constant. This allows us to obtain biased initial estimates of the aerodynamic coefficients of the surge model. In the second step, a robust nonlinear state estimator is implemented using the initial parameter estimates, and the model is augmented by considering the thrust as random walk. In the third step, the estimate of the thrust obtained by the observer is used to fit a polynomial model in terms of the propeller advanced ratio. We consider a numerical example based on Monte-Carlo simulations to quantify the sampling properties of the proposed estimator given realistic flight conditions.

关键词： Parameter estimation

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control switching in high performance and fault tolerant control

Control switching in high performance and fault tolerant con...

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作者： Niemann, Henrik Poulsen, Niels Kjølstad Dept. of Electrical Engineering Automation and Control Technical University of Denmark DK-2800 Kgs. Lyngby Denmark Dept. of Informatics and Math. Modeling Technical University of Denmark DK-2800 Kgs. Lyngby Denmark

ISBN: (纸本)9781424474264

The problem of reliability in high performance control and in fault tolerant control is considered in this paper. A feedback controller architecture for high performance and fault tolerance is considered. The architecture is based on the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization. By using the nominal controller in the architecture as a simple and robust controller, it is possible to use the YJBK transfer function for optimization of the closed-loop performance. This can be done both in connections with normal operation of the system as well as in connection with faults in the system. The architecture will also allow changing the applied sensors and/or actuators when switching between different controllers. This switching get particular simple for open-loop stable systems. © 2010 AACC.

关键词： Fault tolerance

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A nonlinear model predictive control scheme with multirate integral sliding mode

A nonlinear model predictive control scheme with multirate i...

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作者： Rubagotti, Matteo Raimondo, Davide M. Jones, Colin N. Magni, Lalo Ferrara, Antonella Morari, Manfred Dept. of Mechanical and Structural Engineering University of Trento Via Mesiano 77 38123 Trento Italy Automatic Control Laboratory ETH Zürich Physikstrasse 3 8092 Zürich Switzerland Dept. of Computer Engineering and Systems Science University of Pavia Via Ferrata 1 27100 Pavia Italy

ISBN: (纸本)9783902661807

In this paper, a hierarchical multirate control scheme for nonlinear discrete-time systems is proposed, composed of a robust model predictive controller (MPC) and a multirate integral sliding mode (MISM) controller. In particular, the MISM controller acts at a faster sampling time than the MPC controller, and reduces the effect of model uncertainties and external disturbances, in order to obtain, at the next sampling instant of the MPC controller, a value of the system state that is as close as possible to the nominal one. To obtain this result, the control variable is composed of two parts: one generated by the MPC controller, and the other by the MISM controller. The a-priori reduction of the disturbance terms turns out to be very useful in order to improve the convergence properties of the MPC controller. © 2010 IFAC.

关键词： controllers

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Ride through of OWC-based wave power generation plant with air flow control under symmetrical voltage dips

Ride through of OWC-based wave power generation plant with a...

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Mediterranean Conference on control and Automation (MED)

作者： M. Alberdi M. Amundarain AJ. Garrido I. Garrido Department Automatic Control and Systems Engineering University of Basque Country (UPV-EHU) Bilbao Spain Dept. Automatic Control and Systems Engineering University of the Basque Country Bilbao SPAIN

The suitability of distributed power generation systems working at medium and high capacity as it is the case of wave power generation plants, requires a reliable Fault-Ride-Through capability. When a grid fault occurs on the transmission system, the speed of the turbo-generator group increases uncontrolled, the induction generator injects large peak currents that can potentially damage the rotor converters and the plant tends to increase the reactive power consumption, so that it might intensify the voltage dip and contribute to the collapse of the power network. A simple solution would be the automatic disconnection of the plant from the grid in response to the power fault, but this policy could lead to a series of chain disconnections that would produce a massive power network failure. This is why new Grid Codes oblige the distributed power generation systems to remain connected to the power network, even in case of balanced voltage dips. In this paper, an Oscillating Water Column (OWC)-based wave power generation plant equipped with a Doubly Fed Induction Generator is modeled and controlled to overcome these balanced grid faults. The improvement relays on the implementation of a control scheme that suitably coordinates the air flow control, the crowbar, the rotor and the grid side converters to allow the plant to remain in service during the grid fault, and to contribute to its attenuation by supplying reactive power to the network. The simulated results show how it is obtained a great reduction in the rotor currents, improving the transient power stability and avoiding the rotor acceleration, complying with new Grid Codes requirements.

关键词： Rotors Reactive power Stators Circuit faults Wind turbines Valves

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A method for testing AQM controllers with probability guaranteed properties

A method for testing AQM controllers with probability guaran...

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作者： Maestre, José M. Alvarez, Teresa Salim, Anuar Álamo, Teodoro Department of Engineering Science and Automatic Control School of Industrial Engineering University of Valladolid Valladolid Spain Dept. de Ingeniería de Sistemas y Automática Escuela Superior de Ingenieros University of Seville Spain

ISBN: (纸本)9789881821089

Internet users rely on the good capabilities of TCP/IP networks for dealing with congestion. The network delay and the number of users change constantly, which might lead to transmission problems. Usually, these problems are solved following a data communication approach such as drop tail or random early detection (RED) algorithms. Recently, more involved techniques based on an active queue management (AQM) control system have been proposed. This paper presents a probabilistic methodology to test whether a given AQM feedback controller satisfies a predefined set of requirements when dealing with control congestion under a variety of network configurations with a certain degree of confidence. The proposed technique is demonstrated through simulation in NS-2.

关键词： controllers

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