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2012 First International Conference on Innovative Engineering Systems最新文献

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Accuracy preserving interpretability by a hierarchical fuzzy multiagent design for mobile robot controller 基于层次模糊多智能体的移动机器人控制器精度保持可解释性
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530868
H. M. Kammoun, I. Kallel, A. Alimi
{"title":"Accuracy preserving interpretability by a hierarchical fuzzy multiagent design for mobile robot controller","authors":"H. M. Kammoun, I. Kallel, A. Alimi","doi":"10.1109/ICIES.2012.6530868","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530868","url":null,"abstract":"This paper proposes an innovative multiagent design for fuzzy controller of a multisensory Khepera II mobile robot. Undeniably, the reactions' speed, the precision in motion and how easy to understand these reactions are the main criteria for such a fuzzy controller. Indeed, an agentification of sensors and distribution of control over several cooperative fuzzy-agents are the strategic points for the proposed model. An implementation followed by a series of simulations of the Khepera navigational behavior, allowed us to test and discuss the efficiency of the fuzzy-multiagent design on the accuracy preserving the interpretability for the problem of obstacle avoidance in unknown and dynamic environment.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"47 15","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131722307","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
Potential risk-based Safe Global Path Planning 基于潜在风险的安全全局路径规划
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530865
Jonghun Park, U. Huh
{"title":"Potential risk-based Safe Global Path Planning","authors":"Jonghun Park, U. Huh","doi":"10.1109/ICIES.2012.6530865","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530865","url":null,"abstract":"We present a Safe Global Path Planning (SGPP) method for mobile robots which takes potemobile robot navigationntial risks into account. The places in which mobile robot navigation is performed can contain numerous potential hazards. The majority of path planning algorithms, however, put a priority on the minimization of time and distance rather than ensuring a safe performance. Robot can encounter difficulties in reaching its target point, as it can be place in which the robot cannot obtain environment information due to limited fields of view and dynamic environments. This paper presents a Modified A* algorithm in order to reduce collision risk through the consideration of occluded dynamic environments. Simulation results show that the proposed algorithm has better performance (safety cost and navigation time) than original A* algorithm.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123560555","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
Development of a sensing device for detecting refractive index changes by using a plasmonic resonator 一种利用等离子体谐振器检测折射率变化的传感装置的研制
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530841
S. E. El-Zohary, H. Okamoto, M. Haraguchi, T. Okamoto
{"title":"Development of a sensing device for detecting refractive index changes by using a plasmonic resonator","authors":"S. E. El-Zohary, H. Okamoto, M. Haraguchi, T. Okamoto","doi":"10.1109/ICIES.2012.6530841","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530841","url":null,"abstract":"The authors present a sensing device for detecting refractive index changes by using a plasmonic resonator. The detection performance of the device has been numerically evaluated by the finite-difference time-domain method. The device can detect refractive index changes of 10 to the negative sixth power if a light with the wavelength of 633 nm is used as excitation source, theoretically. We have fabricated the plasmonic square resonator and evaluated it.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121583143","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
Dynamic view of Product Development Process 产品开发过程的动态视图
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530872
H. el-Haddad, S. Backar, R. A. El-Kadeem, M. El-Dardiry
{"title":"Dynamic view of Product Development Process","authors":"H. el-Haddad, S. Backar, R. A. El-Kadeem, M. El-Dardiry","doi":"10.1109/ICIES.2012.6530872","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530872","url":null,"abstract":"Product Development Processes (PDPs) are essential to competitiveness and survival in several industries. The PDP comprised of multifunctional activities each one of them influenced by many internal and external factors that small changes during the process progress can lead to unexpected or even unstable behavior. Hence, the PDPs are highly complex and dynamic processes in nature. Many models such as Concurrent Engineering (CE), simultaneous Engineering (SE) and Integrated Product Development (IPD) are developed by the aim of managing the PDP successfully. There is a gap between the developed models using these traditional approaches and the real dynamic external land internal environment. This paper discusses the dynamic mindset in managing the PDP problem versus the static mindset and their impact on PDP yield.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"14 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122590676","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
Stabilization of uncertain negative-imaginary systems using a Riccati equation approach 不确定负虚系统的Riccati方程镇定
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530879
M. Mabrok, A. Kallapur, I. Petersen, A. Lanzon
{"title":"Stabilization of uncertain negative-imaginary systems using a Riccati equation approach","authors":"M. Mabrok, A. Kallapur, I. Petersen, A. Lanzon","doi":"10.1109/ICIES.2012.6530879","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530879","url":null,"abstract":"In this paper, a stabilization procedure that forces an uncertain system to be stable and satisfy the negative imaginary property is presented. The controller synthesis procedure is based on the negative imaginary lemma. As a result, the closed-loop system can be guaranteed to be robustly stable against any strict negative imaginary uncertainty, such as in the case of unmodeled spill-over dynamics in a lightly damped flexible structure. A numerical example is presented to illustrate the usefulness of the proposed results.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126560315","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: 7
Associative memory for modified Petri-net based monitoring of mobile robot navigation 基于联想记忆的改进petri网移动机器人导航监测
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530863
A. Alexopoulos, L. Zouaghi, E. Badreddin
{"title":"Associative memory for modified Petri-net based monitoring of mobile robot navigation","authors":"A. Alexopoulos, L. Zouaghi, E. Badreddin","doi":"10.1109/ICIES.2012.6530863","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530863","url":null,"abstract":"This paper presents an extension of a generic hybrid online monitoring approach for the navigation of autonomous mobile robots through an associative memory. Due to this extension, when a fault occurs the navigation process does not have to stop running in order to keep the system in a safe state and to ensure a high dependability. The associative memory enables the robot to remember the previously traversed paths inside a known environment and to learn new, unknown paths on-line. This long-term memory makes the monitor more dependable and more robust with respect to the fault detection, diagnosis and handling. To show the feasibility of the approach we apply it on an example of a mobile robot application.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128682551","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
Tip-over avoidance algorithm for modular mobile manipulator 模块化移动机械臂翻转避免算法
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530855
Liang He
{"title":"Tip-over avoidance algorithm for modular mobile manipulator","authors":"Liang He","doi":"10.1109/ICIES.2012.6530855","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530855","url":null,"abstract":"In this paper, a tip-over avoidance algorithm is proposed for a modular mobile manipulator. The primary application of the modular mobile manipulator is to assist urban search and rescue in unstructured environments. The modular mobile manipulator has five Degree of Freedom (DoF) on the manipulator and six DoF on the mobile base. A dynamic model of the modular mobile manipulator for real-time simulation is constructed in MapleSimTM. A frequently occurring problem associated with the mobile manipulator moving on uneven terrain is the tip-over. The tip-over phenomena is due to the fact that the torque created by the center of mass of the mobile manipulator is toward the outside of the supporting boundary. The tip-over avoidance algorithm is developed such that the center of mass of the mobile manipulator is controlled actively to balance the forces acting on the supporting boundary of the mobile manipulator. The algorithm not only provides tip-over avoidance but also balances the ground forces. The effectiveness of the proposed tip-over avoidance algorithm has been evaluated through simulations, and the results are reported in this paper.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125654355","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
Evaluation of strain gauge factors of graphene ribbon models based on first-principles electronic-state calculations 基于第一性原理电子态计算的石墨烯带状模型应变测量因子评估
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530844
M. Gamil, K. Nakamura, A. F. El-Bab, O. Tabata, M. Serry, A. Abd, El-Moneim
{"title":"Evaluation of strain gauge factors of graphene ribbon models based on first-principles electronic-state calculations","authors":"M. Gamil, K. Nakamura, A. F. El-Bab, O. Tabata, M. Serry, A. Abd, El-Moneim","doi":"10.1109/ICIES.2012.6530844","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530844","url":null,"abstract":"The present work has simulated the piezoresistivity coefficient in graphene ribbon based on the first-principles electronic-state calculation method. The carrier conductivity along the graphene ribbon models have been calculated using band carrier densities and their corresponding effective masses derived from the one-dimensional band diagram. The longitudinal and transverse gauge factors are large in our calculation, and the zigzag graphene ribbon is a high potential material with high piezoresistivity.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131826468","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
DC motor position control using discrete-time fixed-order H∞ controllers 直流电动机位置控制采用离散定阶H∞控制器
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530880
M. Darwish, H. S. Abbas
{"title":"DC motor position control using discrete-time fixed-order H∞ controllers","authors":"M. Darwish, H. S. Abbas","doi":"10.1109/ICIES.2012.6530880","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530880","url":null,"abstract":"This paper describes the design and experimental implementation of a discrete-time fixed-order H∞ controller for a DC motor position control. Based on grey box modeling, a model of the DC motor is identified. An extension of HIFOO toolbox to discrete-time controller design developed recently is used to synthesize the controller. The performance of the designed controller in comparison with various control strategies is demonstrated. The paper aims at demonstrating simple modeling and control synthesis techniques with the help of available software tools to design low-complexity controllers in terms of design and implementation. Consequently, cheap hardware can be utilized for several applications.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"46 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132836016","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
Trust-region algorithm based local search for multi-objective optimization 基于信任域算法的局部搜索多目标优化
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530871
A. El-sawy, Z. M. Hendawy, M. El-Shorbagy
{"title":"Trust-region algorithm based local search for multi-objective optimization","authors":"A. El-sawy, Z. M. Hendawy, M. El-Shorbagy","doi":"10.1109/ICIES.2012.6530871","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530871","url":null,"abstract":"In this paper, a new algorithm is proposed to solve multi-objective optimization problems (MOOPs) through applying the trust-region (TR) method based local search (LS) techniques; where the MOOP converting to a single objective optimization problem (SOOP) by using reference point method. In the proposed algorithm, for each reference point the TR algorithm for solving a SOOP is used to obtain a point on the Pareto frontier. In addition a LS method is used, in order to find more points on the Pareto frontier. The algorithm is coded in MATLAB 7.2 and the simulations are run on a Pentium 4 CPU 900 MHz with 512 MB memory capacity. The numerical results show that the proposed method is feasible, and illustrate the ability of finding an approximation of Pareto optimal set.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132911698","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
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