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Research on asynchronous data fusion algorithm based on sampling of rational number times

Tien Tzu Hsueh Pao/Acta Electronica Sinica 2006年第3期34卷 543-548页

作者： Ge, Quan-Bo Wang, Guo-An Tang, Tian-Hao Wen, Cheng-Lin Dept. of Electrical Automation Shanghai Maritime University Shanghai 200135 China College of Automation Hangzhou Dianzi University Hangzhou 310018 China College of Computer and Information Engineering Henan University Kaifeng 475001 China

This paper explores data fusion of distributed multisensor dynamic systems, these sensors hold different sampling rates. For the proportion between them is usually rational, a new fusion algorithm based on asynchronous sampling data is proposed. Firstly, the new algorithm maps and unifies all measurements in the reference frame and clock with fusion centre. Secondly, using the difference between predict value to object state of next time and state estimate value of this time, we establish the dynamic model between object state vectors of every sampling point in the fusion period. Thirdly, combining the new established model with traditional Kalman filter, every state in this period can be estimated and updated by obtaining orderly measures. Finally, the next state estimate or predicted estimate may be got by global information after all state estimates relative to all observation point in this period have been obtained in turn. With introducing the basic idea of the new algorithm, the processes to win it are presented step by step. Using of computer simulation in terms of comparing the results utilizing the new algorithm with those based on time calibrated method via estimate accuracy, the good performance arising from this new approach has been effectively validated.

关键词： Sensor data fusion

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards automation Software tools Control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors.

关键词： Earthquake sliding mode control structural systems vibration control

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Dynamic visual servoing of robots in uncalibrated environments

Dynamic visual servoing of robots in uncalibrated environmen...

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作者： Liu, Yun-Hui Wang, Hesheng Lam, Kinkwan Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong

ISBN: (纸本)0780389123

This paper presents a new adaptive controller for dynamic image-based visual servoing of a robot manipulator when the intrinsic and extrinsic parameters of the camera are not calibrated. To cope with nonlinear dependence of the image Jacobian on the unknown parameters, this controller employs a matrix called nonscaled image Jacobian which does not depend on the scale factors determined by the dept.s of feature points. By removing the scale factors, the camera parameters appear linearly in the close-loop dynamics so that a new algorithm, different from Slotine and Li's, is developed to estimate their values on-line. In the parameter adaptation, in addition to the regressor term, our algorithm also uses the errors between the real and estimated projections of the feature points on the image plane so as to guarantee the convergence of the estimated parameters to the real values up to a scale. A new Lyapunov function is introduced to prove asymptotic convergence of the image errors based on the robot dynamics. Experiments have been conducted to demonstrate the performance of the proposed controller. © 2005 IEEE.

关键词： Controllers

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The development of high-accuracy microprocessor based thermocouple calibrator

The development of high-accuracy microprocessor based thermo...

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Hu, Chao Liu, Peter Xiaoping Meng, Max Q.-H. Cheng, Xiangguang Mandal, Mrinal Liang, Hua-Wei Dept. of Electrical and Computer Engineering University of Alberta Edmonton Canada Dept. of Electrical Engineering and Automation Ningbo University Ningbo Zhejiang China Dept. of Systems and Computer Engineering Carleton University Ottawa Canada Dept. of Electronic Engineering Chinese University of Hong Kong Shatin Hong Kong Institute of Intelligent Machines Chinese Academy of Sciences Hefei China

ISBN: (纸本)0780393031

A high-accuracy thermocouple calibrator is proposed in this paper. The calibrator is made up of 8031 single-chip microprocessor and can realize the measurement and calibration of 8 types of thermocouples. By outputting a signal simulating the thermocouple e.m.f., it can also calibrate the thermocouple transmitters, or instruments. To obtain high accuracy, some special designs are applied to the system hardware, including micro-voltage amplifiers, ADC and input unit, DAC circuits and output unit. In addition, some functions are achieved by the software that is written using MCS-51 assembling language, e.g., internal self-adjustment for the input and output signals, nonlinear correction of 8 types of thermocouples, data processing and cold junction compensation. All the relative messages are displayed using a LCD module. The instrument accuracy is better than ± 0.05% for simulant E.M.F output;± 0.08% for measuring input thermocouple E.M.F signal for the temperature range of 0°C-2000°C. © 2005 IEEE.

关键词： Microprocessor chips

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Efficient algorithms for intrusion detection

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1st International Conference on Distributed Computing and Internet Technology, ICDCIT 2004

作者： Boora, Niranjan K. Bhattacharyya, Chiranjib Gopinath, K. Dept. of Electrical Engineering Indian Institute of Science Bangalore India Dept. of Computer Science & Automation Indian Institute of Science Bangalore India

ISBN: (纸本)9783540240754

Detecting user to root attacks is an important intrusion detection task. This paper uses a mix of spectrum kernels and probabilistic suffix trees as a possible solution for detecting such intrusions efficiently. Experimental results on two real world datasets show that the proposed approach outperforms the state of the art Fisher kernel based methods in terms of speed with no loss of accuracy. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Intrusion detection

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Improving the operation efficiency of supermedia enhanced internet based teleoperation via an overlay network

Improving the operation efficiency of supermedia enhanced in...

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2005 IEEE International Conference on Robotics and automation

作者： Cent, Zhiwei Goradia, Amit Mutka, Matt Xi, Ning Fung, Wai-Keung Liu, Yun-Hui Dept. of Computer Science and Engineering Michigan State University East Lansing MI 48824 United States Dept. of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatim N.T. Hong Kong

ISBN: (纸本)078038914X

For Internet based real-time teleoperation systems, random time delay can cause instability in the closed loop control system and hence hinder task accomplishment. Event based control systems have been proposed to overcome the instability caused by the random time delay. High latency at the transport layer can still impede effective and reliable execution of tasks with high dexterity requirements. Network QoS based dynamic resource allocation has been proposed to increase the efficiency and reliability of task execution. However, these approaches only try to mitigate or overcome the effects of random time delay and do not address the cause of latency issues in the communication channel. This paper addresses the efficiency and reliability requirements for supermedia enhanced teleoperated systems by reducing the end-to-end transmission latency through the use of overlay networks. The proposed system reduces the transmission latency by using multiple, disjoint paths in overlay networks. The proposed system facilitates reliable and efficient task completion for tasks with high dexterity requirements. Experimental validation of the proposed teleoperated system using the PlanetLab Network is provided for the task of teleoperating a mobile manipulator system. © 2005 IEEE.

关键词： Internet

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Diagnosis of sheet metal stamping processes based on thermal energy distribution

Diagnosis of sheet metal stamping processes based on thermal...

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2005 IEEE Conference on automation Science and engineering, IEEE-CASE 2005

作者： Ng, Yiu-Ming Harry Yu, Maolin Huang, Y. Du, R. E-manufacturing Laboratory Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatín NT Hong Kong

ISBN: (纸本)0780394267

computer-Aid Design (CAD) and Finite Element Analysis (FEA) have been widely used in sheet metal stamping nowadays, especially in automotive and aerospace industries. However, die tryout and fault diagnosis still heavily rely on the experiences of the machinists on the shop floor. In this paper, a novel approach is proposed using the thermal energy distribution of the part. The new approach is based on the fact that during the stamping process, the part absorbs energy to deform. Since most of the (plastic) deformation energy would convert to heat energy, it is therefore possible to detect possible defects by means of analyzing its thermal energy distribution. In practice, the thermal energy distribution can be acquired using an infrared camera. Furthermore, it is possible to compute the thermal energy distribution through a simple FEA. A practical example of cup drawing is discussed in details together with the experiment validation. © 2005 IEEE.

关键词： Stamping

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Integrated FDI and control for transport aircraft

Integrated FDI and control for transport aircraft

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AIAA Guidance, Navigation, and Control Conference 2005

作者： Marcos, Andrés Balas, Gary J. Bokor, József University of Leicester Dept. of Engineering University of Minnesota Department of Aerospace Eng. and Mechanics Hungarian Academy of Sciences Computer and Automation Research Institute

ISBN: (纸本)1563477378

It is known that the robust integrated design of the controller and the diagnosis filter for a system has several advantages with respect to their independent designs. In this paper an integrated controller / diagnosis filter is synthesized using .∞-optimization techniques for the longitudinal axis of a Boeing 747-100/200 aircraft, is presented. The integrated design formulation (interconnection and weight selection) is carried out for five LTI plants obtained through out the Up-and-Away flight envelope. Closed-loop time simulations are carried out using the LTI plants and the full nonlinear equations of motion of the aircraft, longitudinal and lateral, under a realistic turbulence and noise environment.

关键词： Transport aircraft

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The tie-zone watershed: Definition, algorithm and applications

The tie-zone watershed: Definition, algorithm and applicatio...

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IEEE International Conference on Image Processing 2005, ICIP 2005

作者： Audigier, Romaric Lotufo, Roberto De A. Couprie, Michel Dept. of Computer Engineering and Industrial Automation FEEC - State University of Campinas SP Brazil Laboratoire A2SI - ESIEE Noisy-Le-Grand France

ISBN: (纸本)0780391349

In this work, a new type of watershed transform is introduced: the Tie-Zone Watershed (TZWS). This region-based watershed transform does not depend on arbitrary implementation and provides a unique and optimal solution. Indeed, many solutions are sometimes possible when segmenting an image with a watershed algorithm. In this case, the TZWS assigns each pixel to a catchment basin (CB) if in all solutions it belongs to this CB. Otherwise, the pixel is said to belong to a tie-zone (TZ). We propose an efficient algorithm based on Image Foresting Transform (IFT) which computes the TZWS transform as a shortest-path forest. Finally, two applications of this TZWS are presented: bounding intervals for segmented objects' extensions and a progressive segmentation procedure. © 2005 IEEE.

关键词： Image segmentation

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