2016 UKACC 11th International Conference on Control (CONTROL)最新文献_第10页

Cooperative obstacle avoidance using bidirectional artificial potential fields 基于双向人工势场的协同避障

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737540

David McIntyre, W. Naeem, Xiandong Xu

{"title":"Cooperative obstacle avoidance using bidirectional artificial potential fields","authors":"David McIntyre, W. Naeem, Xiandong Xu","doi":"10.1109/CONTROL.2016.7737540","DOIUrl":"https://doi.org/10.1109/CONTROL.2016.7737540","url":null,"abstract":"This paper presents a novel technique for obstacle avoidance and target location using autonomous underwater vehicles. The proposed method uses the concept of bidirectional artificial potential fields in order to cooperatively avoid obstacles whilst travelling to a desired location. A fluid-like formation is presented whereby the vehicles are assigned a separation distance, which they adhere to when not in the process of obstacle avoidance. This distance is free of angular constraints, which allows a more flexible formation than traditional approaches. Although cooperative in nature, the proposed strategy allows all the vehicles to be independently guided by the overall potential field. This technique is useful even when other vehicles fail. Both clockwise and anticlockwise fields are simultaneously created around obstacles, and used by the vehicles to ensure cooperative avoidance around the obstacles. The proposed technique could be used for a number of applications such as mapping/exploration/surface inspection to name a few. Simulation results have been conducted for various scenarios and show the method to be effective.","PeriodicalId":403252,"journal":{"name":"2016 UKACC 11th International Conference on Control (CONTROL)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130899653","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: 9

Modeling and design of quasi-Z-source inverter for PMSM drive system 永磁同步电机驱动系统准z源逆变器的建模与设计

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737524

Tuopu Na, Qianfan Zhang, Chaowei Zhou

引用次数: 2

Optimal adaptive compensation control for a class of MIMO nonlinear systems with actuator failures 一类具有执行器失效的MIMO非线性系统的最优自适应补偿控制

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737628

Xue Wu, Shaojie Zhang, Weifang Shuang, E. van Kampen, Q. Chu

引用次数: 1

Intelligent foresight for UAV routing problems 无人机航路问题的智能预见

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737644

Theopisti Zaza, Arthur G. Richards

引用次数: 1

Fixed-time spacecraft attitude stabilization using homogeneous method 基于齐次方法的航天器定时姿态稳定

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737656

Li Yuan, Chuanjiang Li, Boyan Jiang, G. Ma

引用次数: 3

Model-based design for rapid controller prototyping of Furuta pendulum: A case study using low-cost hardware 古田摆快速控制器原型的基于模型设计:使用低成本硬件的案例研究

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737641

Kameswarie Nunna, N. Gautier, Sebastian Malack, Mischa Kim

引用次数: 1

Time-varying observer based discrete control for 2-link robot manipulator 基于时变观测器的二连杆机器人离散控制

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737636

Y. Mutoh, M. Kemmotsu, Wataru Akutsu

引用次数: 1

Convergence rate controllable event-triggered robust load frequency control for multi-area power systems 多区域电力系统收敛速率可控事件触发鲁棒负荷频率控制

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737566

Yanliang Cui, M. Fei, D. Du

{"title":"Convergence rate controllable event-triggered robust load frequency control for multi-area power systems","authors":"Yanliang Cui, M. Fei, D. Du","doi":"10.1109/CONTROL.2016.7737566","DOIUrl":"https://doi.org/10.1109/CONTROL.2016.7737566","url":null,"abstract":"This paper investigates the load frequency control (LFC) for multi-area power systems with modeling uncertainties and communication topology changes. A group of convex polytopes is firstly employed to model the uncertainty of power systems. Since the topology variant events are barely impossible to be explicitly detected in reality, the dynamic topology scenario is described as a finite switching set with two kinds of time-varying switching signals, i.e., a random sequence, and a transition probability unknown Markov chain. Based on the above descriptions, a distributed robust control law is proposed to reduce the frequency deviation of each sub-power system. For further alleviating the controller burden, an event-triggered command updating scheme is designed. The proposed LFC strategies not only guarantee the exponential stability of each subsystem but also coordination with the overall power grid. Moreover, only seldom necessary control commands are updated while the rest commands are suspended, meanwhile, the convergent rate of overall power system is also specifiable. Numerical examples are provided to demonstrate the effectiveness of the proposed methods.","PeriodicalId":403252,"journal":{"name":"2016 UKACC 11th International Conference on Control (CONTROL)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121363022","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: 2

Two-pass region growing combined morphology algorithm for segmenting airway tree from CT chest scans CT胸片气道树分割的两步区域生长联合形态学算法

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737635

H. Duan, Jing Gong, S. Nie

{"title":"Two-pass region growing combined morphology algorithm for segmenting airway tree from CT chest scans","authors":"H. Duan, Jing Gong, S. Nie","doi":"10.1109/CONTROL.2016.7737635","DOIUrl":"https://doi.org/10.1109/CONTROL.2016.7737635","url":null,"abstract":"A method based on two passes of 3D region growing and morphological reconstruction for segmenting pulmonary airway tree from computed tomography (CT) chest scans is presented to solve the problem of leakage and under-segmentation caused by the partial volume effect and motion artifact. Firstly, the first pass of 3D region growing with optimal threshold range is used to extract the rough airway. Then, three location maps of possible distal bronchi are located by using the grayscale morphological reconstruction on axial, coronal and sagittal slices respectively. Finally, on basis of rough airway extracted in first pass of 3D region growing, the second pass of 3D region growing constrained by the three location maps is implemented to obtain the completed airway. 25 clinical CT scans with thickness between 0.75 mm and 2 mm were used to test the proposed method by recording the number of tracheal branches of each order, the total number of tracheal branches and the average number of branches. Up to 12 generations of bronchi and average 156 branches were detected in the experiment which proves that our adaptive and automated method can segment the pulmonary airway with a better performance.","PeriodicalId":403252,"journal":{"name":"2016 UKACC 11th International Conference on Control (CONTROL)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121453785","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: 4

Identification of solenoid valve dynamics in a variable valve timing system 可变配气正时系统电磁阀动力学辨识

2016 UKACC 11th International Conference on Control (CONTROL) Pub Date : 2016-08-01 DOI: 10.1109/CONTROL.2016.7737570

P. Lino, G. Maione, Fabrizio Saponaro, Jing Deng, Kang Li

引用次数: 4