{"title":"Autonomous Runway Alignment of Fixed-Wing Unmanned Aerial Vehicles in Landing Phase","authors":"Soha Pouya, F. Saghafi","doi":"10.1109/ICAS.2009.8","DOIUrl":"https://doi.org/10.1109/ICAS.2009.8","url":null,"abstract":"In this paper, the development of a controller for autonomous lateral alignment of fixed-wing Unmanned Aerial Vehicles (UAVs) with runway centerline in landing phase is presented. Fuzzy Logic Control (FLC) is used in order to enable the vehicle to mimic the decision making procedure that a pilot follow in the same situation. Also, for longitudinal motion controller design for the UAV to follow a pre-defined trajectory, the pole-placement technique is used. It is assumed that the runway relative position and orientation are provided by a built in vision system and its associated image processing unit. The performance of the controller in the presence of the Gaussian noises is investigated by the 6DOF computer simulation for a known fixed-wing UAV. It is shown that the developed controller has an acceptable performance and can be considered as a generic option for the controller structure in autonomous vision-based landing phase of fixed-wing UAVs.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132219994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Method for Multi-project with Resource Constraints Based on Greedy Strategy","authors":"Haibin Liu, Yanbing Wang","doi":"10.1109/ICAS.2009.9","DOIUrl":"https://doi.org/10.1109/ICAS.2009.9","url":null,"abstract":"Resource conflict is an outstanding problem in concurrent multiple projects with sharing a common and limited resource pool, and it often results in lower performance of these projects. Therefore, it is important and urgent to find an effective method for scheduling multiple projects with limited resources. A mathematical model for the multi-project scheduling problem with resource-constrained is proposed, and a scheduling algorithm based on greedy strategy for the problem is analyzed. Its application in real projects and comparison with other scheduling schemes proves that the algorithm is feasible.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128718418","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Gait Synthesis for Legged Underwater Vehicles","authors":"A. German, M. Jenkin","doi":"10.1109/ICAS.2009.17","DOIUrl":"https://doi.org/10.1109/ICAS.2009.17","url":null,"abstract":"Legged autonomous vehicles move by executing patterns of leg-joint angles known as gaits. Synthesizing gaits by hand is a complex and time-consuming task which becomes even more challenging when the vehicle operates underwater. When operating underwater any motion of the limbs applies forces to the vehicle. Underwater gaits must therefore be constructed to mitigate these unwanted forces while meeting the desired gait properties. This paper presents an automatic gait synthesis system for underwater legged vehicles. The system utilizes a simulated annealing engine coupled with a black box hydrodynamic vehicle model to synthesize the desired gait. The resulting system is used to synthesize gaits for a simulated version of the AQUA amphibious hexapod although it is general enough to be applied to other legged vehicles.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"409 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123559365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Context-Aware Data Mining Methodology for Supply Chain Finance Cooperative Systems","authors":"L. Xiang","doi":"10.1109/ICAS.2009.48","DOIUrl":"https://doi.org/10.1109/ICAS.2009.48","url":null,"abstract":"Context-awareness computing work has been carried out by many researchers. However, little has been done in building a context-aware data mining methodology which supports decision-making based on an enterprise supply chain finance cooperative systems. An enterprise supply chain finance cooperative system that interacts with bank, buyer and supplier environment may not have sufficient knowledge of the environment, and it is the responsibility of the environment observation units to communicate the environment context parameters to the system. Context-aware data mining is an application able to sense and analyze the context from various sources and which takes actions suited to contexts for improving performance and efficacy of decision-making by identifying the unknown factors. This paper proposes a context-aware data mining methodology for enterprise supply chain finance cooperative system for manufacturing industry. It consists of three main components. The first component is the model for enterprise supply chain finance cooperative systems with cooperative agents serving as the representatives of bank, buyer, supplier communicating with each other over the company's network. In the second component, context-aware data mining framework is proposed based on the architecture for the enterprise supply chain finance cooperative systems. The third component is a system which has been designed and implemented for the context-aware data mining methodology.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"36 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116662930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Controlling the Event Streams to Become More Autonomous","authors":"C. Dousson, Pierre Le Maigat","doi":"10.1109/ICAS.2009.51","DOIUrl":"https://doi.org/10.1109/ICAS.2009.51","url":null,"abstract":"Autonomous systems should deal with many and various data coming from the environment. In order to be able to process efficient and quick on-line and real-time analysis, it is necessary to have the capability of control on the input event streams in order to focus the processing mainly on the relevant data. The protocol introduced in this paper is devoted to give control and focus capabilities to the analysis module, depending on its current needs. The reduction of the flow rate induced by this allows more efficient and less resource consuming processing.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128874516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
K. Twidle, Naranker Dulay, Emil C. Lupu, M. Sloman
{"title":"Ponder2: A Policy System for Autonomous Pervasive Environments","authors":"K. Twidle, Naranker Dulay, Emil C. Lupu, M. Sloman","doi":"10.1109/ICAS.2009.42","DOIUrl":"https://doi.org/10.1109/ICAS.2009.42","url":null,"abstract":"Policies form an important part of management and can be an effective means of implementing self-adaptation in pervasive systems. Most policy-based systems focus on large-scale networks and distributed systems. Consequently, they are often fragmented, dependent on infrastructure and lacking ¿exibility and extensibility. This paper presents Pon- der2, a novel policy system that is suitable for a wide range of environments and applications. The design and implementation of Ponder2 emphasises simplicity, ¿exibil- ity and extensibility and provides users with the ability to interact easily with the managed system. Ponder2 can interact with other software and hardware components and is being used in environments ranging from single devices, to personal area networks, ad-hoc networks and distributed systems. We also describe PonderTalk, a high-level object orientated language inspired by Smalltalk for con¿guring and controlling Ponder2 systems.large scale systems. It advocates a similar de-centralised model of autonomous agents co-operating with each other and composing into more complex con¿gurations. However, many existing policy-based frameworks have not been conceived for such environments. Their design is dependent on centralised infrastructure support such as LDAP directories and CIM repositories. Their deploy- ment model is often based on centralised provisioning and decision-making that does not offer the means for policy execution components to interact with each other, collabo- rate or federate into larger structure. Policy speci¿cation is seen as an off-line activity, and policy frameworks do not easily interact with the managed system. Consequently such frameworks are dif¿cult to install, run and experiment with. Additionally, they usually do not scale to smaller devices omnipresent in pervasive systems.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114420050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}