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2015 23rd Mediterranean Conference on Control and Automation (MED)最新文献

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Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation 一种用于空中操作的五自由度轻型机械臂的设计、建模和控制
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158852
Dario Bellicoso, L. Buonocore, V. Lippiello, B. Siciliano
{"title":"Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation","authors":"Dario Bellicoso, L. Buonocore, V. Lippiello, B. Siciliano","doi":"10.1109/MED.2015.7158852","DOIUrl":"https://doi.org/10.1109/MED.2015.7158852","url":null,"abstract":"The design, modeling and control of a 5 degrees-of-freedom light-weight robot manipulator is presented in this paper. The proposed robot arm, named Prisma Ultra-Lightweight 5 ARm (PUL5AR), is employed to execute manipulation tasks equipped on board of a vertical take-off and landing unmanned aerial vehicle. The arm is compact and light-weight. Its mechanics is designed such that it can fold on itself during landing manoeuvres. Moreover, the design is conceived to constrain the center of gravity of the arm as close as possible to vehicle base, thus reducing the total inertia and static unbalancing of the system. Experimental tests have been carried out in order to validate the dynamic model, the communication library, the developed electronics, and the control schemes implemented for the designed robot arm.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129954685","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}
引用次数: 97
Throughput optimality of extended back-pressure traffic signal control algorithm 扩展背压交通信号控制算法的吞吐量最优性
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158897
Nan Xiao, Emilio Frazzoli, Yiwen Luo, Yitong Li, Yu Wang, Danwei W. Wang
{"title":"Throughput optimality of extended back-pressure traffic signal control algorithm","authors":"Nan Xiao, Emilio Frazzoli, Yiwen Luo, Yitong Li, Yu Wang, Danwei W. Wang","doi":"10.1109/MED.2015.7158897","DOIUrl":"https://doi.org/10.1109/MED.2015.7158897","url":null,"abstract":"The back-pressure/max-pressure traffic signal control algorithm proposed in the existing literature is distributed, maximizes network throughput, and can be implemented without knowing traffic arrival rates. In this paper, we present an extended back-pressure traffic signal control algorithm, which can further handle bounded measurement/estimation noises in queue lengths and incorporate online estimation of turning ratios and saturated flow rates. Therefore, the extended back-pressure algorithm forms an important step towards the real application of distributed traffic signal control. We prove that under certain conditions, the extended back-pressure algorithm still achieves maximum throughput, i.e, the expected long-term average of total queues is bounded from above under the extended back-pressure algorithm for largest possible set of arrival vectors.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129733400","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}
引用次数: 15
Fast 3D object matching with Projection Density Energy 快速3D对象匹配与投影密度能量
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158836
O. Kechagias-Stamatis, N. Aouf
{"title":"Fast 3D object matching with Projection Density Energy","authors":"O. Kechagias-Stamatis, N. Aouf","doi":"10.1109/MED.2015.7158836","DOIUrl":"https://doi.org/10.1109/MED.2015.7158836","url":null,"abstract":"We present a novel real time 3D Automatic Target Recognition algorithm appropriate for LIDAR based time critical applications. Its main contribution is the Constant False Alarm Rate adaptive threshold combined with the Projection Density Energy and the transformation of the 3D problem into multiple 2Ds. Our approach is invariant to 3D rotations combined with scale change, Gaussian noise and uniform sparse representation of the target. Applied on real targets from the UWA dataset and on military targets from the Princeton shape benchmark, we obtained 90% recognition in 77ms and 97% in 106ms respectively (in Matlab). Our approach could be considered by the Defence Community as an initial step towards LIDAR based missile seekers where data is inversely proportional to the available time to perform recognition.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124426886","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}
引用次数: 5
A packet address driven test strategy for stuck-at faults in networks-on-chip interconnects 片上网络互连中卡在故障的包地址驱动测试策略
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158747
B. Bhowmik, S. Biswas, J. Deka
{"title":"A packet address driven test strategy for stuck-at faults in networks-on-chip interconnects","authors":"B. Bhowmik, S. Biswas, J. Deka","doi":"10.1109/MED.2015.7158747","DOIUrl":"https://doi.org/10.1109/MED.2015.7158747","url":null,"abstract":"With the rapid advancements of deep submicron and nano technologies the dimension of a chip is ever shrinking. With continuous shrinking of chip dimensions, immense interconnects are associated on a die to satisfy high bandwidth requirements and make a network-on-chip (NoC) architecture prone to large number of interconnect faults. Therefore the reliability becomes a crucial issue for the communicating parties in a NoC communication fabric. This paper presents a packet address driven test strategy that diagnoses NoC interconnects experiencing stuck-at (stuck-at-0 and stuck-at-1) faults. The proposed strategy is scalable to all sizes and types of mesh NoCs and can be extended to other NoCs. The simulation is done on a number of mesh NoCs to establish the scalability. The simulation results show the performance measured in terms of test and fault coverages that can reach to 100% at the expense of few CPU clocks.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121279426","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}
引用次数: 22
Solar membrane distillation: A control perspective 太阳膜蒸馏:控制视角
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158843
J. D. Gil, A. Ruiz-Aguirre, L. Roca, G. Zaragoza, M. Berenguel
{"title":"Solar membrane distillation: A control perspective","authors":"J. D. Gil, A. Ruiz-Aguirre, L. Roca, G. Zaragoza, M. Berenguel","doi":"10.1109/MED.2015.7158843","DOIUrl":"https://doi.org/10.1109/MED.2015.7158843","url":null,"abstract":"This paper presents a preliminary architecture for controlling solar membrane distillation facilities. Membrane distillation (MD) is a desalination technology under investigation, without industrial applications and with only few pilot systems. There is a general lack of information on how these systems perform during real solar-powered operation and how distillate quality deteriorates under intermittent conditions. One of the few systems that have been fully described in literature is the MD-solar pilot plant in Plataforma Solar de Almería (PSA), Spain. This paper presents a first step towards an optimal automatic operation of this system through the definition of operation modes and basic control loops. A discussion of control schemes to be implemented in the near future is also included in this work.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121412606","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}
引用次数: 3
State estimator synthesis for position dependent flexible systems with position independent error convergence 具有位置无关误差收敛的位置依赖柔性系统的状态估计综合
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158898
K. W. Verkerk, Yanin Kasemsinsup, H. Butler, S. Weiland
{"title":"State estimator synthesis for position dependent flexible systems with position independent error convergence","authors":"K. W. Verkerk, Yanin Kasemsinsup, H. Butler, S. Weiland","doi":"10.1109/MED.2015.7158898","DOIUrl":"https://doi.org/10.1109/MED.2015.7158898","url":null,"abstract":"In this paper a state estimator for high tech flexible systems with an inherent nonlinearity in the output dynamics is proposed. We consider an application in which sensor measurements of the flexible system become parameter (position) dependent. An LPV setting is proposed for the design of estimators that estimate flexible modes of the system. The possibility of pole placement for the error dynamics is investigated and characterized. In particular, necessary and sufficient conditions are derived for the estimator convergence to be parameter independent. In addition, an eigenvalue-shifting technique that improves the convergence of the estimated flexible modes is presented. Simulation results on a basic example and a full flexible system model are used to demonstrate the merits of the proposed estimation algorithms.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123218399","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}
引用次数: 1
State of charge estimation based on extened Kalman filter algorithm for Lithium-Ion battery 基于扩展卡尔曼滤波算法的锂离子电池充电状态估计
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158833
E. Kamal, A. Hajjaji, A. M. Mabwe
{"title":"State of charge estimation based on extened Kalman filter algorithm for Lithium-Ion battery","authors":"E. Kamal, A. Hajjaji, A. M. Mabwe","doi":"10.1109/MED.2015.7158833","DOIUrl":"https://doi.org/10.1109/MED.2015.7158833","url":null,"abstract":"Estimation of the state of charge (SOC) is a critical parameter for the control of propulsion systems in plug-in hybrid electric vehicles (PHEV) and the electric vehicles (EVs). This paper proposes the SOC estimator of a Lithium-Ion battery using the adaptive extended Kalman filter (EKF). This method uses an optimization algorithm to update the EKF model parameters during a charge period. Accurate knowledge of the nonlinear relationship between the open circuit voltage (OCV) and the SOC is required for adaptive SOC tracking during battery usage. EKF is employed to estimate the SOC by considering it as one of the states of the battery system. The dynamic model structure adopted is based on an equivalent circuit model whose parameters are scheduled on the SOC, temperature, and current direction. The validity of the procedure is demonstrated experimentally for an A123 systems' APR18650m1 LiFePO4 battery.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"269 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123292204","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}
引用次数: 8
Effects of permanent bounded cyber-attacks on networked control systems 永久有界网络攻击对网络化控制系统的影响
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158856
B. Gerard, H. Voos, Yumei Li, M. Darouach
{"title":"Effects of permanent bounded cyber-attacks on networked control systems","authors":"B. Gerard, H. Voos, Yumei Li, M. Darouach","doi":"10.1109/MED.2015.7158856","DOIUrl":"https://doi.org/10.1109/MED.2015.7158856","url":null,"abstract":"In this paper, the problem of permanent bounded cyber-attacks on networked control systems is treated. After a characterisation of malicious cyber attacks, the danger of permanent bounded cyber-attacks of two types is proved, the step attacks on system with invariant zero with zero real part and the free attacks. Simulation examples demonstrate the obtained results.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"87 3-4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123432797","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}
引用次数: 3
Disturbance attenuation problem for overactuated systems with actuator saturation: A control allocation based approach 具有执行器饱和的过驱动系统的扰动衰减问题:一种基于控制分配的方法
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158814
A. K. Naskar, S. Patra, S. Sen
{"title":"Disturbance attenuation problem for overactuated systems with actuator saturation: A control allocation based approach","authors":"A. K. Naskar, S. Patra, S. Sen","doi":"10.1109/MED.2015.7158814","DOIUrl":"https://doi.org/10.1109/MED.2015.7158814","url":null,"abstract":"In this paper, a two-stage control allocation based covariance controller design method is proposed to ensure a certain level of disturbance attenuation property for a class of overactuated systems. The proposed method is equally efficient as existing single-stage design technique for assigning a state or output covariance matrix. A set of sufficient conditions has been derived for which the actuator displacements in single-stage technique and in the proposed allocation based method become same. The design steps are formulated in the linear matrix inequality framework. In the presence of actuator saturation, the allocation based method yields better closed-loop performance compared to the single-stage design technique until the level of actuator saturation remains under the attainable range of the allocator. To elucidate the effectiveness of the proposed method, two flight control design examples have been presented.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128145965","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}
引用次数: 0
Profiled QoE based network controller 基于QoE的网络控制器
2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI: 10.1109/MED.2015.7158901
S. Canale, Federico Cimorelli, F. Facchinei, Raffaele Gambuti, L. Palagi, V. Suraci
{"title":"Profiled QoE based network controller","authors":"S. Canale, Federico Cimorelli, F. Facchinei, Raffaele Gambuti, L. Palagi, V. Suraci","doi":"10.1109/MED.2015.7158901","DOIUrl":"https://doi.org/10.1109/MED.2015.7158901","url":null,"abstract":"Internet evolution follows the customer needs, each algorithm, protocol, architecture, equipment, functionality succeeded when the users perceived a real benefit in using it. Taking into account the impact of customer experience when designing promising and future proof technologies is essential. In this paper we investigate how it is possible to control network resources on the base of the Quality of Experience (QoE), defined as the quality of service perceived by a user when using a specific service. QoE is a subjective measure and typically differs from objective and structured measures of quality of service that are under the service provider's control. We consider the problem of identifying a set of QoE profiles that describes the user behavior when enjoying specific class of services, by analyzing the data related to the users' feedback in different contextual scenarios. We formulated the mathematical model and performed a validation on the base of preliminary field trials.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130710317","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}
引用次数: 6
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