Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983083
L. Nehaoua, Hichem Arioui, S. Mammar
In this paper, we present a review of the existent two-wheeled vehicle simulators. A description of a motorcycle simulator, designed at INRETS-IBISC laboratory is given. Mechatronics aspects and the various consideration to built such a simulation tool will be discussed.
{"title":"Review on single track vehicle and motorcycle simulators","authors":"L. Nehaoua, Hichem Arioui, S. Mammar","doi":"10.1109/MED.2011.5983083","DOIUrl":"https://doi.org/10.1109/MED.2011.5983083","url":null,"abstract":"In this paper, we present a review of the existent two-wheeled vehicle simulators. A description of a motorcycle simulator, designed at INRETS-IBISC laboratory is given. Mechatronics aspects and the various consideration to built such a simulation tool will be discussed.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129552551","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983206
J. M. Lemos, João Gomes, B. Costa, T. Mendonça, A. Coito
This work addresses the problem of identifying neuromuscular blockade models of patients undergoing general surgery. First, a sensitivity analysis is made, exploring the Wiener structure of the system. The outcomes of this analysis are twofold: First, it provides information about the time periods in which data is more informative for parameter estimation. Second, it is the basis of a local identifiability analysis that allows to decide which parameters are to be estimated from data and which are the ones whose values should be a priori selected based on previous insight. The time dependency of sensitivity is then used to adjust the weight of output errors in a Bayesian cost function whose minimization yields parameter estimates: Whenever the sensitivity is low, the weight is reduced. The contribution of the paper consists in the demonstration of this procedure using actual clinical data.
{"title":"Batch identification of neuromuscular blockade models","authors":"J. M. Lemos, João Gomes, B. Costa, T. Mendonça, A. Coito","doi":"10.1109/MED.2011.5983206","DOIUrl":"https://doi.org/10.1109/MED.2011.5983206","url":null,"abstract":"This work addresses the problem of identifying neuromuscular blockade models of patients undergoing general surgery. First, a sensitivity analysis is made, exploring the Wiener structure of the system. The outcomes of this analysis are twofold: First, it provides information about the time periods in which data is more informative for parameter estimation. Second, it is the basis of a local identifiability analysis that allows to decide which parameters are to be estimated from data and which are the ones whose values should be a priori selected based on previous insight. The time dependency of sensitivity is then used to adjust the weight of output errors in a Bayesian cost function whose minimization yields parameter estimates: Whenever the sensitivity is low, the weight is reduced. The contribution of the paper consists in the demonstration of this procedure using actual clinical data.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127075745","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983128
Dani E. Pinkovich, N. Shimkin
Clock synchronization in a network is a crucial problem due to the wide use of networks with simple nodes, such as the internet, wireless sensor networks and Ad Hoc networks. We present novel algorithms for synchronization of pairs of clocks based on Maximum Margin Estimation of the offset and skew between pairs of clocks. Our algorithms are inspired by the well known Support Vector Machines algorithm from the Machine Learning literature and have sound geometrical intuition for our model. In addition, we provide a modification to our algorithms (also relevant for the existing LP algorithm) to enhance their robustness to measurement outliers. Finally, we analytically derive the Mean Square Error for the estimation of offset, in the special case when the skew is given. Simulation experiments demonstrate that our algorithms have significantly better performance than state of the art synchronization algorithms.
{"title":"Clock synchronization using maximal margin estimation","authors":"Dani E. Pinkovich, N. Shimkin","doi":"10.1109/MED.2011.5983128","DOIUrl":"https://doi.org/10.1109/MED.2011.5983128","url":null,"abstract":"Clock synchronization in a network is a crucial problem due to the wide use of networks with simple nodes, such as the internet, wireless sensor networks and Ad Hoc networks. We present novel algorithms for synchronization of pairs of clocks based on Maximum Margin Estimation of the offset and skew between pairs of clocks. Our algorithms are inspired by the well known Support Vector Machines algorithm from the Machine Learning literature and have sound geometrical intuition for our model. In addition, we provide a modification to our algorithms (also relevant for the existing LP algorithm) to enhance their robustness to measurement outliers. Finally, we analytically derive the Mean Square Error for the estimation of offset, in the special case when the skew is given. Simulation experiments demonstrate that our algorithms have significantly better performance than state of the art synchronization algorithms.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127194153","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983170
R. Comasolivas, T. Escobet, J. Quevedo
This paper presents a methodology to design automatically a QFT (Quantitative Feedback Theory) robust controller for plants with model uncertainty. The method proposed has as objective to find a QFT robust controller that fulfills the control specifications for the whole set of plant models, without including parameter controller restrictions. The methodology is based on a global optimization and has been solved using a global mixed-integer nonlinear programming. The design of an active control for vibration attenuation in optical interferometers is used to validate the technique.
{"title":"Automatic loop shaping of QFT applied to an active control design","authors":"R. Comasolivas, T. Escobet, J. Quevedo","doi":"10.1109/MED.2011.5983170","DOIUrl":"https://doi.org/10.1109/MED.2011.5983170","url":null,"abstract":"This paper presents a methodology to design automatically a QFT (Quantitative Feedback Theory) robust controller for plants with model uncertainty. The method proposed has as objective to find a QFT robust controller that fulfills the control specifications for the whole set of plant models, without including parameter controller restrictions. The methodology is based on a global optimization and has been solved using a global mixed-integer nonlinear programming. The design of an active control for vibration attenuation in optical interferometers is used to validate the technique.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130290804","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983112
M. Hulea, S. Folea, T. Letia, G. Mois
The evolution of mobile communication devices and communication technologies has fostered a growing interest in location-aware systems and services. One of the key features of these new emerging technologies is collaborative driving as a subcomponent of Intelligent Transportation Systems (ITS). The paper proposes a system for controlling the traffic in an intersection using a collaborative technique. Each vehicle is equipped with Wi-Fi and a data acquisition (DAQ) system. The vehicle localization problem is solved using a triangulation algorithm and the received signal strength indicator (RSSI). The crossroad is modeled as a wireless sensor network with one coordinator node and three access points which will allow the vehicle to communicate with the infrastructure nodes and to compute its location. The paper also proposes a solution for device installation on vehicles for allowing them to act as active participants in the collaborative system.
{"title":"A collaborative approach to autonomous single intersection control","authors":"M. Hulea, S. Folea, T. Letia, G. Mois","doi":"10.1109/MED.2011.5983112","DOIUrl":"https://doi.org/10.1109/MED.2011.5983112","url":null,"abstract":"The evolution of mobile communication devices and communication technologies has fostered a growing interest in location-aware systems and services. One of the key features of these new emerging technologies is collaborative driving as a subcomponent of Intelligent Transportation Systems (ITS). The paper proposes a system for controlling the traffic in an intersection using a collaborative technique. Each vehicle is equipped with Wi-Fi and a data acquisition (DAQ) system. The vehicle localization problem is solved using a triangulation algorithm and the received signal strength indicator (RSSI). The crossroad is modeled as a wireless sensor network with one coordinator node and three access points which will allow the vehicle to communicate with the infrastructure nodes and to compute its location. The paper also proposes a solution for device installation on vehicles for allowing them to act as active participants in the collaborative system.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130399891","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5982991
A. Fakharian, Saman Hosseini, T. Gustafsson
This paper presents a novel and robust algorithm, for multiple motion detection and tracking in dynamic and complex scenes. The algorithm consists of two steps: at first, we use a robust algorithm for human detection. Then, Gaussian mixture model (GMM), Neighborhood-based difference and Overlapping-based classification are applied to improve human detection performance. The conventional mixture Gaussian method suffers from false motion detection in complex backgrounds and slow convergence. We combine three above mentioned methods to obtain detection. The second step of the proposed algorithm is object tracking framework based on Kalman filtering which works well in dynamic scenes. Experimental results show the high performance of the proposed method for multiple object tracking in complex and noisy backgrounds.
{"title":"Precise hybrid motion detection and tracking in dynamic background","authors":"A. Fakharian, Saman Hosseini, T. Gustafsson","doi":"10.1109/MED.2011.5982991","DOIUrl":"https://doi.org/10.1109/MED.2011.5982991","url":null,"abstract":"This paper presents a novel and robust algorithm, for multiple motion detection and tracking in dynamic and complex scenes. The algorithm consists of two steps: at first, we use a robust algorithm for human detection. Then, Gaussian mixture model (GMM), Neighborhood-based difference and Overlapping-based classification are applied to improve human detection performance. The conventional mixture Gaussian method suffers from false motion detection in complex backgrounds and slow convergence. We combine three above mentioned methods to obtain detection. The second step of the proposed algorithm is object tracking framework based on Kalman filtering which works well in dynamic scenes. Experimental results show the high performance of the proposed method for multiple object tracking in complex and noisy backgrounds.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126416979","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983044
M. Ruderman, T. Bertram
This paper describes and compares different observer-based control strategies for compensating the dynamic friction in controlled motion systems. The once identified system with friction requires usually an observer due to unknown disturbances and time variant friction behavior. The recently developed two-state dynamic friction model with elasto-plasticity is applied within three different types of observer, all involved in the control loop. Each of the observer-based compensation schemes as well as the friction model in feed-forwarding augments a standard linear feedback velocity control which serves for evaluation as the reference one. The performance of the realized control approaches is evaluated on an ordinary electro-mechanical actuator system with multiple coupled sources of friction without its direct measurement.
{"title":"Observer-based control strategies for compensation of dynamic friction","authors":"M. Ruderman, T. Bertram","doi":"10.1109/MED.2011.5983044","DOIUrl":"https://doi.org/10.1109/MED.2011.5983044","url":null,"abstract":"This paper describes and compares different observer-based control strategies for compensating the dynamic friction in controlled motion systems. The once identified system with friction requires usually an observer due to unknown disturbances and time variant friction behavior. The recently developed two-state dynamic friction model with elasto-plasticity is applied within three different types of observer, all involved in the control loop. Each of the observer-based compensation schemes as well as the friction model in feed-forwarding augments a standard linear feedback velocity control which serves for evaluation as the reference one. The performance of the realized control approaches is evaluated on an ordinary electro-mechanical actuator system with multiple coupled sources of friction without its direct measurement.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126468585","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983068
A. Savkin, Michael Hoy
We determine the optimal (shortest) path on a unicycle-like mobile robot in a known environment with smooth (possibly non-convex) obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.
{"title":"Tangent graph based navigation of a non-holonomic mobile robot in cluttered environments","authors":"A. Savkin, Michael Hoy","doi":"10.1109/MED.2011.5983068","DOIUrl":"https://doi.org/10.1109/MED.2011.5983068","url":null,"abstract":"We determine the optimal (shortest) path on a unicycle-like mobile robot in a known environment with smooth (possibly non-convex) obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126682448","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983093
G. Conte, D. Scaradozzi, R. Donnini, A. Pedale
The growing interest for developing intelligent and user-friendly systems that take care of various tasks in home management has forested, in the last years, the study of architectures and behavioral strategies for home automation systems. From a theoretical point of view, home automation systems present great complexity, due to their hybrid, distributed and heterogeneous structure, which makes the problem of allocating limited resources - like electricity, gas and water - very difficult. In this paper, we propose a general methodology for modeling, in a Multi Agent System fashion, home automation systems and for constructing an efficient simulation/emulation environment. Our approach employ an UML point of view for constructing models of individual appliances and domotic devices, called agents, whose structure replicates the coupling between real appliances and real actuated/monitored plugs. Generic models consist of a switched dynamics governed by a Petri net, which provides the interface between agents and with the environment. Glowing together, in a suitable way, the Petri net components of agents sharing a common resource, it is possible to define the structure of an overall system that describes concurrent use of that resource. In order to cope with constrains and limitation of resources, the overall system can be endowed with a suitable controller, giving rise to what we call an Home Automation System. Thank to their structures, abstract models and real appliances can be combined into emulation environment where the performances of controllers and related control strategies can be easily investigated. Our approach provide therefore a general methodology for supporting design and validation of control strategies for home automation systems.
{"title":"Building simulation/emulation environments for home automation systems","authors":"G. Conte, D. Scaradozzi, R. Donnini, A. Pedale","doi":"10.1109/MED.2011.5983093","DOIUrl":"https://doi.org/10.1109/MED.2011.5983093","url":null,"abstract":"The growing interest for developing intelligent and user-friendly systems that take care of various tasks in home management has forested, in the last years, the study of architectures and behavioral strategies for home automation systems. From a theoretical point of view, home automation systems present great complexity, due to their hybrid, distributed and heterogeneous structure, which makes the problem of allocating limited resources - like electricity, gas and water - very difficult. In this paper, we propose a general methodology for modeling, in a Multi Agent System fashion, home automation systems and for constructing an efficient simulation/emulation environment. Our approach employ an UML point of view for constructing models of individual appliances and domotic devices, called agents, whose structure replicates the coupling between real appliances and real actuated/monitored plugs. Generic models consist of a switched dynamics governed by a Petri net, which provides the interface between agents and with the environment. Glowing together, in a suitable way, the Petri net components of agents sharing a common resource, it is possible to define the structure of an overall system that describes concurrent use of that resource. In order to cope with constrains and limitation of resources, the overall system can be endowed with a suitable controller, giving rise to what we call an Home Automation System. Thank to their structures, abstract models and real appliances can be combined into emulation environment where the performances of controllers and related control strategies can be easily investigated. Our approach provide therefore a general methodology for supporting design and validation of control strategies for home automation systems.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114106807","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}
Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983078
I. Raptis, G. Vachtsevanos
Maintenance of critical or/complex systems has recently moved from traditional preventive maintenance to Condition Based Maintenance (CBM) exploiting the advances both in hardware (sensors / DAQ cards, etc) and in software (sophisticated algorithms blending together the state of the art in signal processing and pattern analysis). Along this path, Environmental Control Systems and other critical systems/processes can be improved based on concepts of anomaly detection and fault diagnosis are presented in this paper. The enabling technologies borrow from the fields of modeling, data processing, Bayesian estimation theory and in particular a technique called particle filtering. The efficiency of the diagnostic approach is demonstrated via simulation results.
{"title":"A health management framework for Environmental Control Systems","authors":"I. Raptis, G. Vachtsevanos","doi":"10.1109/MED.2011.5983078","DOIUrl":"https://doi.org/10.1109/MED.2011.5983078","url":null,"abstract":"Maintenance of critical or/complex systems has recently moved from traditional preventive maintenance to Condition Based Maintenance (CBM) exploiting the advances both in hardware (sensors / DAQ cards, etc) and in software (sophisticated algorithms blending together the state of the art in signal processing and pattern analysis). Along this path, Environmental Control Systems and other critical systems/processes can be improved based on concepts of anomaly detection and fault diagnosis are presented in this paper. The enabling technologies borrow from the fields of modeling, data processing, Bayesian estimation theory and in particular a technique called particle filtering. The efficiency of the diagnostic approach is demonstrated via simulation results.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114112349","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}
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