Pub Date : 2008-09-30DOI: 10.1109/ISIC.2008.4635971
V. Djapic, J. Farrell, Wenjie Dong
This article describes the design and simulation implementation of a behavior-based control system that can be used for maneuvering of nonholonomic vehicles. As opposed to a single controller approach which treats tracking a curve with discontinuous yaw, we apply a behavior-based control approach with switching among different controllers for tracking smooth trajectories and yaw control. We use the results from hybrid system control where multiple Lyapunov functions are used in order to prove overall controller stability. The controllers are designed using a command filtered, vector backstepping (CFBS) approach where each controller's objective is to force a specified output to track a desired ideal output. The article includes design of the control law and simulation based analysis of the performance. The simulation confirms the theoretical result.
{"title":"Hybrid Control Design Applied in Land Vehicle Behavior-Based Switching Controller","authors":"V. Djapic, J. Farrell, Wenjie Dong","doi":"10.1109/ISIC.2008.4635971","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635971","url":null,"abstract":"This article describes the design and simulation implementation of a behavior-based control system that can be used for maneuvering of nonholonomic vehicles. As opposed to a single controller approach which treats tracking a curve with discontinuous yaw, we apply a behavior-based control approach with switching among different controllers for tracking smooth trajectories and yaw control. We use the results from hybrid system control where multiple Lyapunov functions are used in order to prove overall controller stability. The controllers are designed using a command filtered, vector backstepping (CFBS) approach where each controller's objective is to force a specified output to track a desired ideal output. The article includes design of the control law and simulation based analysis of the performance. The simulation confirms the theoretical result.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132550807","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 : 2008-09-30DOI: 10.1109/ISIC.2008.4635955
A. M. Neto, L. Rittner, D. Zampieri, A. Victorino
Navigation of a mobile robot is based on its interaction with the environment through information acquired by sensors. Particularly for mobile robot navigation in unknown environment, the type and number of sensors determines the data volume necessary to process and compose the image from the environment. Nevertheless, the excess of information imposes a great computational cost in data processing. Based on the fact that real-time navigation systems could have their performance compromised by the need of processing all this redundant information, in previous work we presented an automatic image discarding method. Our experiments showed that about 90% of the images can be discarded without loss of information. In this work we developed further this discarding process, proposing a nondeterministic discarding criteria, based on information generated by the TH Finder (threshold and horizon finder) method. The TH Finder is a machine vision segmentation algorithm capable of identifying the navigation area from an image captured by a single camera. Our algorithm is not based on previous knowledge of the environment neither from the image acquisition system and does not depend on information from signs or marks on the road, what makes it robust and well suitable also for nonstructured roads. As a dynamic threshold search method, it is not affected by illumination changes and does not need any contrast adjustments. Experiments showed that the nondeterministic discarding criteria assumed different values according to the amount of obstacles or details in images, thus adjusting the discarding rate of redundant information to each individual situation.
{"title":"Nondeterministic Criteria to Discard Redundant Information in Real Time Autonomous Navigation Systems based on Monocular Vision","authors":"A. M. Neto, L. Rittner, D. Zampieri, A. Victorino","doi":"10.1109/ISIC.2008.4635955","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635955","url":null,"abstract":"Navigation of a mobile robot is based on its interaction with the environment through information acquired by sensors. Particularly for mobile robot navigation in unknown environment, the type and number of sensors determines the data volume necessary to process and compose the image from the environment. Nevertheless, the excess of information imposes a great computational cost in data processing. Based on the fact that real-time navigation systems could have their performance compromised by the need of processing all this redundant information, in previous work we presented an automatic image discarding method. Our experiments showed that about 90% of the images can be discarded without loss of information. In this work we developed further this discarding process, proposing a nondeterministic discarding criteria, based on information generated by the TH Finder (threshold and horizon finder) method. The TH Finder is a machine vision segmentation algorithm capable of identifying the navigation area from an image captured by a single camera. Our algorithm is not based on previous knowledge of the environment neither from the image acquisition system and does not depend on information from signs or marks on the road, what makes it robust and well suitable also for nonstructured roads. As a dynamic threshold search method, it is not affected by illumination changes and does not need any contrast adjustments. Experiments showed that the nondeterministic discarding criteria assumed different values according to the amount of obstacles or details in images, thus adjusting the discarding rate of redundant information to each individual situation.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"168 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130764714","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 : 2008-09-30DOI: 10.1109/ISIC.2008.4635935
Yuzhen Xue, T. Runolfsson
A central issue in real time applications of particle filtering is high computational cost. This problem is particularly compounded when particle filters are used in hybrid system estimation and especially in algorithms based on the interacting multiple model (IMM) algorithm. In this paper a new method for nonlinear/non-Gaussian Markovian switching system state estimation is proposed. The new method combines IMMPF (IMM particle filtering) with ideas from OTPF (observation and transition-based most likely modes tracking particle filtering) in order to get high accuracy estimation with reduced computational load. Simulations are carried out to evaluate the performance of the proposed algorithm. It is shown that the proposed algorithm outperforms OTPF in both accuracy and computation complexity aspect. Compared with IMMPF, the new method performs almost as well as IMMPF but with much lower computational cost.
{"title":"State Estimation and Mode Detection for Stochastic Hybrid System","authors":"Yuzhen Xue, T. Runolfsson","doi":"10.1109/ISIC.2008.4635935","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635935","url":null,"abstract":"A central issue in real time applications of particle filtering is high computational cost. This problem is particularly compounded when particle filters are used in hybrid system estimation and especially in algorithms based on the interacting multiple model (IMM) algorithm. In this paper a new method for nonlinear/non-Gaussian Markovian switching system state estimation is proposed. The new method combines IMMPF (IMM particle filtering) with ideas from OTPF (observation and transition-based most likely modes tracking particle filtering) in order to get high accuracy estimation with reduced computational load. Simulations are carried out to evaluate the performance of the proposed algorithm. It is shown that the proposed algorithm outperforms OTPF in both accuracy and computation complexity aspect. Compared with IMMPF, the new method performs almost as well as IMMPF but with much lower computational cost.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129407111","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 : 2008-09-19DOI: 10.1109/CCA.2008.4629564
J. Farrell
While a concise and universally accepted definition of intelligent control is elusive, the objective of enhancing the autonomous capabilities of vehicles can be practically considered along various fronts. Over recent decades, increasingly capable autonomous vehicles have been designed, developed, and demonstrated. Control theory and its application have played critical roles in these advancements. This talk will consider recent advances in the autonomous capabilities of vehicles, the role of control theory in achieving those advances, and potential directions for further enhancements in vehicle autonomy and intelligence.
{"title":"Vehicle Autonomy and Intelligent Control: Where are we and what lies ahead?","authors":"J. Farrell","doi":"10.1109/CCA.2008.4629564","DOIUrl":"https://doi.org/10.1109/CCA.2008.4629564","url":null,"abstract":"While a concise and universally accepted definition of intelligent control is elusive, the objective of enhancing the autonomous capabilities of vehicles can be practically considered along various fronts. Over recent decades, increasingly capable autonomous vehicles have been designed, developed, and demonstrated. Control theory and its application have played critical roles in these advancements. This talk will consider recent advances in the autonomous capabilities of vehicles, the role of control theory in achieving those advances, and potential directions for further enhancements in vehicle autonomy and intelligence.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128705525","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 : 2008-09-19DOI: 10.1109/CCA.2008.4629561
G. Stewart
This talk will cover several aspects of the emerging problems faced in diesel engine control development. In particular the interaction of three issues will be considered: (i) increasingly stringent regulation on diesel engine emissions is leading to the introduction of additional hardware subsystems and tighter control performance requirements, (ii) diesel engine powertrains are highly nonlinear plants, with significant multivariable interactions among subsystems, and many different engine layouts are encountered in practice, (iii) the computing environment in modern automotive electronic control units (ECUs) is very restricted with a processor speed is typically slower than 60MHz and only a few MB of flash memory.
{"title":"How Many Angels Can Dance on the Head of a Pin? Development of Next Generation Turbodiesel Controls","authors":"G. Stewart","doi":"10.1109/CCA.2008.4629561","DOIUrl":"https://doi.org/10.1109/CCA.2008.4629561","url":null,"abstract":"This talk will cover several aspects of the emerging problems faced in diesel engine control development. In particular the interaction of three issues will be considered: (i) increasingly stringent regulation on diesel engine emissions is leading to the introduction of additional hardware subsystems and tighter control performance requirements, (ii) diesel engine powertrains are highly nonlinear plants, with significant multivariable interactions among subsystems, and many different engine layouts are encountered in practice, (iii) the computing environment in modern automotive electronic control units (ECUs) is very restricted with a processor speed is typically slower than 60MHz and only a few MB of flash memory.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115231104","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 : 2008-09-19DOI: 10.1109/CCA.2008.4629560
K. Poolla
Summary form only given. We begin by reviewing the design and manufacturing flow for modern integrated circuits. We then describe the vital role played by modeling, control, and optimization technologies in this design/manufacturing flow. Next, we present our efforts in developing metrology for lithography and plasma etching applications. These include temperature, etch-rate, and thermal flux sensors. Our sensors are fully self-contained with on board power, communications, and signal processing electronics. They externally resemble standard silicon wafers compatible with standard cassette-to-cassette robotics, and thus require no equipment modification for deployment. The sensors we have developed offer very fine spatial and time resolution, making them suitable for process optimization and control. We describe our efforts in using these sensors for feedback control of the photolithography process. We then discuss our efforts at commercializing this technology. We close with an overview of our most recent work on modeling, optimization, and control for a variety of problems including inverse lithography, proximity correction, double patterning, and design rule checking.
{"title":"Modeling, Control, and Optimization: Critical technologies in Semiconductor Manufacturing","authors":"K. Poolla","doi":"10.1109/CCA.2008.4629560","DOIUrl":"https://doi.org/10.1109/CCA.2008.4629560","url":null,"abstract":"Summary form only given. We begin by reviewing the design and manufacturing flow for modern integrated circuits. We then describe the vital role played by modeling, control, and optimization technologies in this design/manufacturing flow. Next, we present our efforts in developing metrology for lithography and plasma etching applications. These include temperature, etch-rate, and thermal flux sensors. Our sensors are fully self-contained with on board power, communications, and signal processing electronics. They externally resemble standard silicon wafers compatible with standard cassette-to-cassette robotics, and thus require no equipment modification for deployment. The sensors we have developed offer very fine spatial and time resolution, making them suitable for process optimization and control. We describe our efforts in using these sensors for feedback control of the photolithography process. We then discuss our efforts at commercializing this technology. We close with an overview of our most recent work on modeling, optimization, and control for a variety of problems including inverse lithography, proximity correction, double patterning, and design rule checking.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129444471","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 : 2008-09-01DOI: 10.1109/CCA.2008.4629562
A. Varga
Summary form only given. There is a continuing and growing need in the control community for good algorithms and robust numerical software for increasingly challenging applications. Consequently, during the past several decades, the control field has been a rich source of computational problems for applied mathematicians and numerical analysts alike. This has led to the development of several control design software packages, both as commercial and free software. In view of this positive situation, the question arises: is numerical awareness in control an issue of pressing importance? The proposed talk addresses, from both user and algorithm developer perspectives, the following ideas: (1) general strategies to solve control problems (role of coordinate transformations, using orthogonal canonical forms, computational building blocks based approaches, checking via alternative methods, etc.) (2) principles for algorithm development (exploiting/preserving problem structure, avoiding unstable computations, favouring blocking, etc.) (3) "never do" issues (4) choosing the right system representation (e.g., no polynomials) (5) good algorithms (classes of problems, perspectives, challenges); most algorithms are bad! (6) well formulated problems (solution does not lies on a manifold, robustification issues, genericity) (7) role of problem sensitivity (e.g., how scaling can help, but also can destroy any hope to solve a problem) (8) roles of tolerances (types, caveat in software, relation to scaling, epsilon-canonical forms, robustification of structural algorithms using adaptive tolerances, etc.) (9) implementing algorithms as robust numerical software (not only using good algorithms is an issue but also handling of bad data, employing safe computations, handling of trivial solutions, etc.).
{"title":"Solving Control Problems - A Numerical Perspective","authors":"A. Varga","doi":"10.1109/CCA.2008.4629562","DOIUrl":"https://doi.org/10.1109/CCA.2008.4629562","url":null,"abstract":"Summary form only given. There is a continuing and growing need in the control community for good algorithms and robust numerical software for increasingly challenging applications. Consequently, during the past several decades, the control field has been a rich source of computational problems for applied mathematicians and numerical analysts alike. This has led to the development of several control design software packages, both as commercial and free software. In view of this positive situation, the question arises: is numerical awareness in control an issue of pressing importance? The proposed talk addresses, from both user and algorithm developer perspectives, the following ideas: (1) general strategies to solve control problems (role of coordinate transformations, using orthogonal canonical forms, computational building blocks based approaches, checking via alternative methods, etc.) (2) principles for algorithm development (exploiting/preserving problem structure, avoiding unstable computations, favouring blocking, etc.) (3) \"never do\" issues (4) choosing the right system representation (e.g., no polynomials) (5) good algorithms (classes of problems, perspectives, challenges); most algorithms are bad! (6) well formulated problems (solution does not lies on a manifold, robustification issues, genericity) (7) role of problem sensitivity (e.g., how scaling can help, but also can destroy any hope to solve a problem) (8) roles of tolerances (types, caveat in software, relation to scaling, epsilon-canonical forms, robustification of structural algorithms using adaptive tolerances, etc.) (9) implementing algorithms as robust numerical software (not only using good algorithms is an issue but also handling of bad data, employing safe computations, handling of trivial solutions, etc.).","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123819552","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 : 2008-06-02DOI: 10.1109/ISIC.2008.4635948
D. Dalalah
In this paper, an optimization approach to flow control in data networks is proposed. The model objective is to maximize the aggregate utilities of the data sources over soft bounds and delay constraints. The network links and data sources are considered as processors of a distributed computation system with a global objective function. The presented model works with different shapes of utility curves under the proposition of elastic data traffic. The approach relies on the observed delay as a measure of the network congestion at the routers. A primal-dual algorithm carried out by the data sources is used to solve the optimization problem in a decentralized manner. The algorithm solves for the rates without the access to any global information. The calculated rates conform to queue proportional fairness. Later, we present a simple approach for estimating the minimum roundtrip delay followed by simulation experiments.
{"title":"Optimization Flow Control: A Queue Proportional Algorithm","authors":"D. Dalalah","doi":"10.1109/ISIC.2008.4635948","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635948","url":null,"abstract":"In this paper, an optimization approach to flow control in data networks is proposed. The model objective is to maximize the aggregate utilities of the data sources over soft bounds and delay constraints. The network links and data sources are considered as processors of a distributed computation system with a global objective function. The presented model works with different shapes of utility curves under the proposition of elastic data traffic. The approach relies on the observed delay as a measure of the network congestion at the routers. A primal-dual algorithm carried out by the data sources is used to solve the optimization problem in a decentralized manner. The algorithm solves for the rates without the access to any global information. The calculated rates conform to queue proportional fairness. Later, we present a simple approach for estimating the minimum roundtrip delay followed by simulation experiments.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121405584","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 : 1900-01-01DOI: 10.1109/ISIC.2008.4635956
Zhuo Wang, Chenghong Wang, Su Song
Combining the concept of sampling control with free weight matrix method, two delay-dependent asymptotic stability criteria are presented for the equilibrium point of a class of recurrent neural networks with time varying delay. The obtained results can be suitable for fast or slowly time-varying delayed recurrent neural networks, and larger upper bound of time delay can be admitted. Comparisons are made by a numerical example to show the effectiveness of the obtained results.
{"title":"An Improved Delay-dependent Stability Criteria for Recurrent Neural Networks with Time-varying Delay","authors":"Zhuo Wang, Chenghong Wang, Su Song","doi":"10.1109/ISIC.2008.4635956","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635956","url":null,"abstract":"Combining the concept of sampling control with free weight matrix method, two delay-dependent asymptotic stability criteria are presented for the equilibrium point of a class of recurrent neural networks with time varying delay. The obtained results can be suitable for fast or slowly time-varying delayed recurrent neural networks, and larger upper bound of time delay can be admitted. Comparisons are made by a numerical example to show the effectiveness of the obtained results.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"493 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122106113","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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