Pub Date : 2014-12-01DOI: 10.1109/CICA.2014.7013256
Prapa Rattadilok, Andrei V. Petrovski
An adaptive inferential measurement framework for control and automation systems has been proposed in the paper and tested on simulated traffic surveillance data. The use of the framework enables making inferences related to the presence of anomalies in the surveillance data with the help of statistical, computational and clustering analysis. Moreover, the performance of the ensemble of these tools can be dynamically tuned by a computational intelligence technique. The experimental results have demonstrated that the framework is generally applicable to various problem domains and reasonable performance is achieved in terms of inferential accuracy. Computational intelligence can also be effectively utilised for identifying the main contributing features in detecting anomalous data points within the surveillance data.
{"title":"Automated inferential measurement system for traffic surveillance: Enhancing situation awareness of UAVs by computational intelligence","authors":"Prapa Rattadilok, Andrei V. Petrovski","doi":"10.1109/CICA.2014.7013256","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013256","url":null,"abstract":"An adaptive inferential measurement framework for control and automation systems has been proposed in the paper and tested on simulated traffic surveillance data. The use of the framework enables making inferences related to the presence of anomalies in the surveillance data with the help of statistical, computational and clustering analysis. Moreover, the performance of the ensemble of these tools can be dynamically tuned by a computational intelligence technique. The experimental results have demonstrated that the framework is generally applicable to various problem domains and reasonable performance is achieved in terms of inferential accuracy. Computational intelligence can also be effectively utilised for identifying the main contributing features in detecting anomalous data points within the surveillance data.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125728819","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013225
Geritt Kampmann, O. Nelles
This paper extends the closed form calculation of the leave-one-out (LOO) error for least-squares support vector machines (LS-SVMs) from the two-class to the one-class case. Furthermore, it proposes a new algorithm for determining the hyperparameters of a one-class LS-SVM with Gaussian kernels which exploits the efficient LOO error calculation. The standard deviations are selected by prior knowledge while the regularization parameter is optimized in order to obtain a tight decision boundary under the constraint of a zero LOO error.
{"title":"One-class LS-SVM with zero leave-one-out error","authors":"Geritt Kampmann, O. Nelles","doi":"10.1109/CICA.2014.7013225","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013225","url":null,"abstract":"This paper extends the closed form calculation of the leave-one-out (LOO) error for least-squares support vector machines (LS-SVMs) from the two-class to the one-class case. Furthermore, it proposes a new algorithm for determining the hyperparameters of a one-class LS-SVM with Gaussian kernels which exploits the efficient LOO error calculation. The standard deviations are selected by prior knowledge while the regularization parameter is optimized in order to obtain a tight decision boundary under the constraint of a zero LOO error.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115390908","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013231
Balaje T. Thumati, A. Salour
Unlike in the literature, premise variables of the Takagi-Sugeno (TS) fuzzy system is assumed to be not measurable, and an adaptive output feedback control law is designed for the given system. Additionally, the system under investigation is considered to be subjected with both parameteric uncertainty and disturbance. Unlike other control designs, the bound on parameter uncertainty term is relaxed. Further, the adaptive control law utilizes estimated premise variables and online approximator. Note only one approximator is used to estimate both the parameter uncertainty and disturbance. Therefore, the proposed control design is simplified. This control design is guaranteed to render a stable closed loop TS fuzzy system. Detailed analytical results using Lyapunov theory are presented to guarantee stability. Finally, a simulation example is used to illustrate the performance of the proposed adaptive output feedback control law.
{"title":"Adaptive dynamic output feedback control of Takagi-Sugeno fuzzy systems with immeasurable premise variables and disturbance","authors":"Balaje T. Thumati, A. Salour","doi":"10.1109/CICA.2014.7013231","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013231","url":null,"abstract":"Unlike in the literature, premise variables of the Takagi-Sugeno (TS) fuzzy system is assumed to be not measurable, and an adaptive output feedback control law is designed for the given system. Additionally, the system under investigation is considered to be subjected with both parameteric uncertainty and disturbance. Unlike other control designs, the bound on parameter uncertainty term is relaxed. Further, the adaptive control law utilizes estimated premise variables and online approximator. Note only one approximator is used to estimate both the parameter uncertainty and disturbance. Therefore, the proposed control design is simplified. This control design is guaranteed to render a stable closed loop TS fuzzy system. Detailed analytical results using Lyapunov theory are presented to guarantee stability. Finally, a simulation example is used to illustrate the performance of the proposed adaptive output feedback control law.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131257799","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013242
Pei-Chi Huang, J. Lehman, A. Mok, R. Miikkulainen, L. Sentis
Robotic grasping of a target object without advance knowledge of its three-dimensional model is a challenging problem. Many studies indicate that robot learning from demonstration (LfD) is a promising way to improve grasping performance, but complete automation of the grasping task in unforeseen circumstances remains difficult. As an alternative to LfD, this paper leverages limited human supervision to achieve robotic grasping of unknown objects in unforeseen circumstances. The technical question is what form of human supervision best minimizes the effort of the human supervisor. The approach here applies a human-supplied bounding box to focus the robot's visual processing on the target object, thereby lessening the dimensionality of the robot's computer vision processing. After the human supervisor defines the bounding box through the man-machine interface, the rest of the grasping task is automated through a vision-based feature-extraction approach where the dexterous hand learns to grasp objects without relying on pre-computed object models through the NEAT neuroevolution algorithm. Given only low-level sensing data from a commercial depth sensor Kinect, our approach evolves neural networks to identify appropriate hand positions and orientations for grasping novel objects. Further, the machine learning results from simulation have been validated by transferring the training results to a physical robot called Dreamer made by the Meka Robotics company. The results demonstrate that grasping novel objects through exploiting neuroevolution from simulation to reality is possible.
{"title":"Grasping novel objects with a dexterous robotic hand through neuroevolution","authors":"Pei-Chi Huang, J. Lehman, A. Mok, R. Miikkulainen, L. Sentis","doi":"10.1109/CICA.2014.7013242","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013242","url":null,"abstract":"Robotic grasping of a target object without advance knowledge of its three-dimensional model is a challenging problem. Many studies indicate that robot learning from demonstration (LfD) is a promising way to improve grasping performance, but complete automation of the grasping task in unforeseen circumstances remains difficult. As an alternative to LfD, this paper leverages limited human supervision to achieve robotic grasping of unknown objects in unforeseen circumstances. The technical question is what form of human supervision best minimizes the effort of the human supervisor. The approach here applies a human-supplied bounding box to focus the robot's visual processing on the target object, thereby lessening the dimensionality of the robot's computer vision processing. After the human supervisor defines the bounding box through the man-machine interface, the rest of the grasping task is automated through a vision-based feature-extraction approach where the dexterous hand learns to grasp objects without relying on pre-computed object models through the NEAT neuroevolution algorithm. Given only low-level sensing data from a commercial depth sensor Kinect, our approach evolves neural networks to identify appropriate hand positions and orientations for grasping novel objects. Further, the machine learning results from simulation have been validated by transferring the training results to a physical robot called Dreamer made by the Meka Robotics company. The results demonstrate that grasping novel objects through exploiting neuroevolution from simulation to reality is possible.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133055296","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013252
Thomas Timm Andersen, N. Andersen, Ole Ravn
In this paper we present a method for finding the transformation between a laser scanner and a robot manipulator. We present the design of a flat calibration target that can easily fit between a laser scanner and a conveyor belt, making the method easily implementable in a manufacturing line. We prove that the method works by simulating a range of different orientations of the target, and performs an extensive numerical evaluation of the targets design parameters to establish the optimal values as well as the worst-case accuracy of the method.
{"title":"Calibration between a laser range scanner and an industrial robot manipulator","authors":"Thomas Timm Andersen, N. Andersen, Ole Ravn","doi":"10.1109/CICA.2014.7013252","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013252","url":null,"abstract":"In this paper we present a method for finding the transformation between a laser scanner and a robot manipulator. We present the design of a flat calibration target that can easily fit between a laser scanner and a conveyor belt, making the method easily implementable in a manufacturing line. We prove that the method works by simulating a range of different orientations of the target, and performs an extensive numerical evaluation of the targets design parameters to establish the optimal values as well as the worst-case accuracy of the method.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134623021","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013255
Juliano Pierezan, H. V. Ayala, L. F. D. Cruz, R. Z. Freire, L. Coelho
In order to improve equipment efficiency in terms of performance, energy consumption and degradation for example, the industry has increased the use of control systems as the PID (proportional-integral-derivative) to a new baseline. This structure has few parameters to adjust and it is easy to implement practically. However, there are some requirements often included on multivariable systems that cannot be solved concurrently by classical methods. To solve this problem, the current paper approaches the application of Multiobjective Differential Evolution (MODE), Multiobjective Harmony Search (MOHS) and Multiobjective Particle Swarm Optimization (MOPSO) on multivariable PID controllers tuning. Moreover, an improved version of MOPSO (I-MOPSO) is proposed and its performance is compared with the other algorithms. In order to validate it under control systems, the optimization technique is applied on a two degree of freedom robotic manipulator. Finally, a detailed analysis is made on the I-MOPSO achievements.
{"title":"Improved multiobjective particle swarm optimization for designing PID controllers applied to robotic manipulator","authors":"Juliano Pierezan, H. V. Ayala, L. F. D. Cruz, R. Z. Freire, L. Coelho","doi":"10.1109/CICA.2014.7013255","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013255","url":null,"abstract":"In order to improve equipment efficiency in terms of performance, energy consumption and degradation for example, the industry has increased the use of control systems as the PID (proportional-integral-derivative) to a new baseline. This structure has few parameters to adjust and it is easy to implement practically. However, there are some requirements often included on multivariable systems that cannot be solved concurrently by classical methods. To solve this problem, the current paper approaches the application of Multiobjective Differential Evolution (MODE), Multiobjective Harmony Search (MOHS) and Multiobjective Particle Swarm Optimization (MOPSO) on multivariable PID controllers tuning. Moreover, an improved version of MOPSO (I-MOPSO) is proposed and its performance is compared with the other algorithms. In order to validate it under control systems, the optimization technique is applied on a two degree of freedom robotic manipulator. Finally, a detailed analysis is made on the I-MOPSO achievements.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125340400","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013240
P. Feyel, G. Duc, G. Sandou
This paper proposes to shed a new light on the μ-synthesis problem using the differential evolution algorithm. This algorithm allows optimizing simultaneously the structured controller and the dynamic (or static) D-scalings, which leads to robust performance controllers. This method has been applied successfully to a classical flexible plant control problem. A comparison between the evolutionary approach and the non-smooth optimization one has been envisaged proving the high potential of the proposed method.
{"title":"Evolutionary fixed-structure μ-synthesis","authors":"P. Feyel, G. Duc, G. Sandou","doi":"10.1109/CICA.2014.7013240","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013240","url":null,"abstract":"This paper proposes to shed a new light on the μ-synthesis problem using the differential evolution algorithm. This algorithm allows optimizing simultaneously the structured controller and the dynamic (or static) D-scalings, which leads to robust performance controllers. This method has been applied successfully to a classical flexible plant control problem. A comparison between the evolutionary approach and the non-smooth optimization one has been envisaged proving the high potential of the proposed method.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124376425","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013244
D. Chao, T. Yu
Earlier, Chao pioneered the very first closed-form solution of the number of reachable and other states for marked graphs (MG) and kth order system which is the simplest class of S3PR (Systems of Simple Sequential Processes with Resources). This paper progresses one step further on enumerating reachable (forbidden, live, and deadlock) states for general k-net systems (one non-sharing resource place in the general position of the Left-side process) with a formula depending on parameter k for a subclass of nets with k sharing resources. The results are also verified by Top-Left-k-net, Bottom-Left-k-net and Middle-Left-k-net system.
在此之前，Chao率先提出了标记图(MG)和k阶系统(S3PR (Systems of Simple Sequential Processes with Resources)中最简单的一类)的可达状态数和其他状态数的第一个封闭解。本文进一步对一般k-net系统(一个非共享资源位于左侧进程的一般位置)的可达状态(禁止状态、活动状态和死锁状态)进行了枚举，并对具有k个共享资源的网的子类给出了一个依赖于参数k的公式。结果还通过Top-Left-k-net、Bottom-Left-k-net和Middle-Left-k-net系统进行了验证。
{"title":"Enumeration of reachable, forbidden, live states of gen-left k-net system (with a non-sharing resource place) of Petri Nets","authors":"D. Chao, T. Yu","doi":"10.1109/CICA.2014.7013244","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013244","url":null,"abstract":"Earlier, Chao pioneered the very first closed-form solution of the number of reachable and other states for marked graphs (MG) and kth order system which is the simplest class of S3PR (Systems of Simple Sequential Processes with Resources). This paper progresses one step further on enumerating reachable (forbidden, live, and deadlock) states for general k-net systems (one non-sharing resource place in the general position of the Left-side process) with a formula depending on parameter k for a subclass of nets with k sharing resources. The results are also verified by Top-Left-k-net, Bottom-Left-k-net and Middle-Left-k-net system.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115534366","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013234
T. Taniguchi, Luka Eciolaza, M. Sugeno
This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.
{"title":"Quadrotor control using dynamic feedback linearization based on piecewise bilinear models","authors":"T. Taniguchi, Luka Eciolaza, M. Sugeno","doi":"10.1109/CICA.2014.7013234","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013234","url":null,"abstract":"This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132551465","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 : 2014-12-01DOI: 10.1109/CICA.2014.7013250
Sébastien Guillet, B. Bouchard, A. Bouzouane
Smart homes dedicated to people with disabilities, specially those with dementia, are critical systems which need to remain safe and adapted to the user. However the control part of such systems - ensuring their safety - is both difficult to design and verify without appropriate tools. Formal techniques have been used to cope with the verification problem, but this paper proposes a new way to specify smart home safety which also eases the design aspect. It enables the use of a correct by construction technique - Discrete Controller Synthesis - to automatically build from constraints a maximally permissive safety controller that can also reconfigure itself as the disabilities of the associated user evolve.
{"title":"Ensuring safe prevention and reaction in smart home systems dedicated to people becoming disabled","authors":"Sébastien Guillet, B. Bouchard, A. Bouzouane","doi":"10.1109/CICA.2014.7013250","DOIUrl":"https://doi.org/10.1109/CICA.2014.7013250","url":null,"abstract":"Smart homes dedicated to people with disabilities, specially those with dementia, are critical systems which need to remain safe and adapted to the user. However the control part of such systems - ensuring their safety - is both difficult to design and verify without appropriate tools. Formal techniques have been used to cope with the verification problem, but this paper proposes a new way to specify smart home safety which also eases the design aspect. It enables the use of a correct by construction technique - Discrete Controller Synthesis - to automatically build from constraints a maximally permissive safety controller that can also reconfigure itself as the disabilities of the associated user evolve.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124419380","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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