2009 17th Mediterranean Conference on Control and Automation最新文献

{"title":"Coverage path planning for multiple robotic agent-based inspection of an unknown 2D environment","authors":"Xudong Wang, V. Syrmos","doi":"10.1109/MED.2009.5164725","DOIUrl":"https://doi.org/10.1109/MED.2009.5164725","url":null,"abstract":"This paper describes a coverage-based path planning algorithm for multiple robotic agents with the application on the automated inspection of an unknown 2D environment. The proposed path planning algorithm determines a motion path that a robotic agent will follow to sweep and survey all areas of the unknown environment, which is enclosed by the known boundary. The 2D unknown environment is decomposed into a union of simplices using the principle of Delaunay triangulation. The area coverage is equivalent to design a path for a robotic agent to follow and visit all simplices subject to certain mission constraints. A hierarchical mission planner is designed to allocate mission tasks among multiple agents in each level and pass information down to the next level along the hierarchy. The proposed path planning algorithm has been tested and evaluated on the problem of planning path for two types of robotic agents - flying agents and crawling agents in a two-tier hierarchical mission planner to cover various unknown 2D environments.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128451778","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":"Path planning using a lazy spatial network PRM","authors":"A. Gasparri, G. Oliva, S. Panzieri","doi":"10.1109/MED.2009.5164666","DOIUrl":"https://doi.org/10.1109/MED.2009.5164666","url":null,"abstract":"Motion planning is an important step in any complex robotic motion task. Many algorithms deal with this problem and a lot of effective approaches makes use of random generation of roadmaps or motion commands. In this paper, a novel algorithm for random roadmap generation is proposed. This approach, which addresses the planning problem with a resilience philosophy, relies on a network model with some particular topological properties. These properties of robustness against random faults and intentional attacks are functional to devising a suitable solution for the planning problem. Comparative simulations against several algorithms have been performed to show the effectiveness of the proposed approach.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127430932","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":"An application of the RMMAC methodology to an unstable plant","authors":"V. Hassani, M. Athans, A. Pascoal","doi":"10.1109/MED.2009.5164511","DOIUrl":"https://doi.org/10.1109/MED.2009.5164511","url":null,"abstract":"In this paper we extend and generalize previous work on Robust Adaptive Control of uncertain plants using Multiple Models (the RMMAC methodology) [1]. We formulate and study the problem of robust adaptive control of open-loop unstable plants with structured and unstructured uncertainty in the presence of external disturbances, an issue that poses considerable theoretical and practical challenges. In particular, we show how a slight modification of the technique introduced in previous work on the RMMAC for stable plants yields a methodology that can deal with unstable plants. A design example and computer simulations are presented and discussed.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"493 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113997656","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 novel energy pumping strategy for robotic swinging","authors":"E. Papadopoulos, G. Papadopoulos","doi":"10.1109/MED.2009.5164664","DOIUrl":"https://doi.org/10.1109/MED.2009.5164664","url":null,"abstract":"In this work we show that an Acrobot can be made to behave as a robotic swing. This is achieved by contI'oIling the first joint, provided that a given condition is satisfied. When this condition is not satisfied, the system undergoes through singular points. Even when this happens, we are again able to make the system behave as a swing by controIling the second joint and employing a new Energy Pumping stmtegy. This stmtegy presents impOrtant advantages compared to previously Proposed stmtegies, as it is the only one that can start the system frOm rest and drive it to large heights. MOreover, it is fast and requires very small torques.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125754868","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":"Application of optimal impulsive control method to advertising","authors":"J. Ding, S. Balakrishnan, M. Mantrala","doi":"10.1109/MED.2009.5164742","DOIUrl":"https://doi.org/10.1109/MED.2009.5164742","url":null,"abstract":"Advertising departments in companies face hard choices when have to decide how much and when to spend on advertising over the year in order to maximize the customer goodwill and minimize the advertising expenditure. To address these issues, this paper proposes an optimal impulsive control method, in which the control is discrete and only applied when the goodwill is below some pre-specified level. Optimality conditions for impulse driven systems are derived first. Simulation results based on optimal impulsive control method and an existing technique are presented. Analysis of the results shows that integrated goodwill is greater with the optimal impulsive control method. Furthermore, this paper describes how to find a feasible suboptimal solution when an optimal solution does not exist.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122910452","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":"Modeling and analysis of an integrated power system based on methanol autothermal reforming","authors":"D. Ipsakis, S. Voutetakis, P. Seferlis, S. Papadopoulou, M. Stoukides","doi":"10.1109/MED.2009.5164746","DOIUrl":"https://doi.org/10.1109/MED.2009.5164746","url":null,"abstract":"The integrated power system under consideration, consists of the fuel processor (reformer and preferential oxidation reactors), the fuel cell and the heat management system. In the reformer reactor, methanol, air and water are co-fed to produce hydrogen under autothermal conditions. The produced hydrogen due to the high content of CO (≫5000ppm), is treated in the preferential oxidation reactor (PROX) for the CO minimization at acceptable levels (≪50ppm). After the oxidation clean-up step, the anode of the polymer electrolyte membrane (PEM) fuel cell is fed with the reformate gas (∼60–65% H2, ∼15–25% CO2, ∼15–20% N2, ∼1–3%CH3OH and traces of CO). The present paper is focused on the mathematical analysis of the main subsystems of the integrated power unit. The two reactors are modeled via a system of partial differential equations (PDE's) and the species flowrates and reactor temperature are analyzed along the length of each reactor. Moreover, the PEM fuel cell voltage-current characteristic is modeled via a non-linear equation that depends on the mass & energy balances (ordinary differential equations) of the concerned species. Finally, the heat management system is analyzed in order to provide insights for future control studies that will depend on the developed mathematical model (model-based control).","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126513164","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 recommender system for detection of leukemia based on cooperative game","authors":"A. Torkaman, N. M. Charkari, M. Aghaeipour, Esmerdis Hajati","doi":"10.1109/MED.2009.5164697","DOIUrl":"https://doi.org/10.1109/MED.2009.5164697","url":null,"abstract":"Cancer is a term used for diseases in which abnormal cells divide without control and invade other tissues. Cancer types can be grouped into broader categories including Leukemia, Carcinoma, Sarcoma, Lymphoma and Myeloma, Central nervous system cancers among them, Leukemia is a form of serious cancers that starts in blood tissue such as the bone marrow where all the blood is made. It is one of the leading causes of death in the world. So, the importance of diagnostic techniques is manifested. Application of these techniques would be able to decrease the mortality rate from leukemia. In this paper, an automatic system for classifying leukemia based on game theory is presented. The aim of this research is to apply game theory in order to classify leukemia into eight classes. In other words, cooperative game is used for classification according to different weights assigned to the markers. Through out this paper, we work on real data (304 samples) taken from different types of leukemia that have been collected at Iran Blood Transfusion Organization (IBTO). The modeling system can be used to model and classify a population according to their contributions. In the other words, it applies equally to other groups of data. The results show that the highest classification accuracy (98.44%) is obtained for the proposed model. So, it is hoped that game theory can be directly used for classification in the other cases.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128689518","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 multi-variable disturbance observer for model predictive control","authors":"Yoshio Tange, C. Nakazawa, T. Matsui","doi":"10.1109/MED.2009.5164652","DOIUrl":"https://doi.org/10.1109/MED.2009.5164652","url":null,"abstract":"In this paper, a new method for disturbance rejection suitable for dynamic matrix control (DMC) is proposed. DMC has been widely used in many practical engineering fields as a very useful control method. Despite its usefulness and achievements, it has been pointed out that DMC gives poor performance with respect to disturbance rejection for some kinds of disturbances such as ramp-like disturbances. To overcome this weakness, we developed an easy-to-implement disturbance observer, which only requires step response models of plants. Illustrative examples are provided to show its effectiveness for the case where a ramp-like disturbance is acting on a plant.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128714620","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":"Improved drive-train and blade fatigue mitigation in flexible wind turbines using disturbance utilization control","authors":"Glenn A. Parker, C. Johnson","doi":"10.1109/MED.2009.5164723","DOIUrl":"https://doi.org/10.1109/MED.2009.5164723","url":null,"abstract":"Modern wind turbines are experiencing rapid growth in both physical size and rated capacity. As wind turbines grow larger with necessarily lighter construction materials, dampening flexible modes with active control becomes more critical. In this paper we apply the theory of “disturbance utilization control” (DUC) to a 600 kW upwind machine to dampen drive-train torsion and blade flap while regulating generator speed. We show that positive “utility” exists in turbulent wind inflow, and we demonstrate that the optimal DUC controller achieves decreased pitch actuator demand and improved drive-train and blade fatigue life through dampening of torsion oscillation and blade flap.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"119 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116701850","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":"Asynchronous distributed algorithms for optimal coverage control with sensor networks","authors":"Minyi Zhong, C. Cassandras","doi":"10.1109/MED.2009.5164522","DOIUrl":"https://doi.org/10.1109/MED.2009.5164522","url":null,"abstract":"A sensor network consists of a collection of (possibly mobile) sensing devices that can coordinate their actions through wireless communication and aim at performing various tasks (e.g., surveillance, environmental monitoring) over a region sometimes referred to as the “mission space”. The performance of a sensor network is sensitive to the location of its nodes in the mission space. This leads to the basic “coverage control” problem of properly, and possibly optimally, deploying sensors in order to meet the overall system's objectives [1],[2],[3],[4],[5]. Clearly, to achieve such a goal, the nodes must share, at least partially, their state information. However, this may require a large amount of information exchange. Moreover, sensor nodes are frequently small, inexpensive devices with limited resources. Aside from energy required to move (if nodes are mobile), communication is known to be by far the largest consumer of the limited energy of a node [6], compared to other functions such as sensing and computation. Therefore, it is crucial to reduce communication between nodes to the minimum possible. This in turn imposes a constraint on the optimization task performed by each node, since it requires that actions be taken without full knowledge of other nodes' states. Standard synchronization schemes require that nodes periodically exchange state information which is clearly inefficient and, in fact, unnecessary since often the state of a node may not have changed much or may have only changed in a predictable way. This motivates us to seek not only distributed but also asynchronous optimization mechanisms in which a node communicates with others only when it considers it indispensable; in other words, each node tries to minimize the cost of communication by transmitting state information only under certain conditions and only as a last resort. This poses questions such as “what should the conditions be for a node to take such communication actions?” and “under what conditions, if any, can we guarantee that the resulting optimization scheme possesses desirable properties such as convergence to an optimum?”","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116934102","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}