Message delay is one of the main issues in a real-time fieldbus-based distributed control system (DCS). Serious delay will degrade the performance of a control system and even invalidate it. Industry-used fieldbuses try to improve their real-time capacity using different algorithms. In this paper, we investigate the real-time performance of the fieldbus-based network. We take LonWork as our model. The media access control (MAC) algorithm, which mainly determines the performance of a network, is described. On the basis of a mathematical model, we analyze the throughput of the system. Finally, the message delay is presented.
{"title":"Real-time performance analysis of a fieldbus-based network","authors":"Chen Xiaoming, Hong Geok-Soon","doi":"10.1109/IDC.2002.995375","DOIUrl":"https://doi.org/10.1109/IDC.2002.995375","url":null,"abstract":"Message delay is one of the main issues in a real-time fieldbus-based distributed control system (DCS). Serious delay will degrade the performance of a control system and even invalidate it. Industry-used fieldbuses try to improve their real-time capacity using different algorithms. In this paper, we investigate the real-time performance of the fieldbus-based network. We take LonWork as our model. The media access control (MAC) algorithm, which mainly determines the performance of a network, is described. On the basis of a mathematical model, we analyze the throughput of the system. Finally, the message delay is presented.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125944383","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}
This paper presents a new approach to multi-target tracking. Rather than forming complex hypotheses based on all possible combinations of measurement origins, we attempt to decouple individual tracks based on the probabilities of measurement origins. Two such algorithms, both based on the IPDA algorithm, are presented in this paper. One, which we call linear joint IPDA (LJIPDA), recalculates IPDA using the probabilities of measurement origin. The other, which we call multitarget linear IPDA (MLIPDA), uses the probabilities of measurement origin to modify IPDA results. Both algorithms are recursive and yield formulae for both data association and probability of track existence. Simulations were carried out to compare these algorithms with IPDA in a dense and non-homogenous clutter situation.
{"title":"Track decoupling: linear joint IPDA (LJIPDA) and multi-target linear IPDA (MLIPDA)","authors":"D. Musicki, R. Evans","doi":"10.1109/IDC.2002.995427","DOIUrl":"https://doi.org/10.1109/IDC.2002.995427","url":null,"abstract":"This paper presents a new approach to multi-target tracking. Rather than forming complex hypotheses based on all possible combinations of measurement origins, we attempt to decouple individual tracks based on the probabilities of measurement origins. Two such algorithms, both based on the IPDA algorithm, are presented in this paper. One, which we call linear joint IPDA (LJIPDA), recalculates IPDA using the probabilities of measurement origin. The other, which we call multitarget linear IPDA (MLIPDA), uses the probabilities of measurement origin to modify IPDA results. Both algorithms are recursive and yield formulae for both data association and probability of track existence. Simulations were carried out to compare these algorithms with IPDA in a dense and non-homogenous clutter situation.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"436 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123421576","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}
The constructive modeling procedure of a nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in the differential geometry field, and their geometrical properties are also analyzed. A new trajectory controller is suggested to guarantee its convergence to a reference trajectory. The design procedure of the suggested trajectory controller is the back-stepping scheme. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to a differentially driven mobile robot system on the assumption that the trajectory planner is given.
{"title":"Trajectory controller design of mobile robot based on back-stepping procedure","authors":"K. Jaewon, L. Kicheol, P. Mignon","doi":"10.1109/IDC.2002.995431","DOIUrl":"https://doi.org/10.1109/IDC.2002.995431","url":null,"abstract":"The constructive modeling procedure of a nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in the differential geometry field, and their geometrical properties are also analyzed. A new trajectory controller is suggested to guarantee its convergence to a reference trajectory. The design procedure of the suggested trajectory controller is the back-stepping scheme. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to a differentially driven mobile robot system on the assumption that the trajectory planner is given.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131346859","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}
Network dynamics has become a popular area of study because of the evolutionary and adaptive nature of networks over time. Therefore, abnormal change detection is critical to the understanding and control of network dynamics. This paper presents differences in graph diameter as a method for detecting abnormal changes in a network time series. A formal definition of graph diameter is presented, as are theoretical implications, examples and computational results. An apparent means for characterization of network state without dependence on other networks in the time series is presented, which is also based on the network diameter. This leads directly to the ability to identify anomalous change and to characterize the effects on the network communications. The power law distribution of this diameter characterization demonstrates network susceptibility and leads to a better understanding of the network behavior.
{"title":"An observation of power law distribution in dynamic networks","authors":"L. Diamond, M. Gaston, M. Kraetzl","doi":"10.1109/IDC.2002.995373","DOIUrl":"https://doi.org/10.1109/IDC.2002.995373","url":null,"abstract":"Network dynamics has become a popular area of study because of the evolutionary and adaptive nature of networks over time. Therefore, abnormal change detection is critical to the understanding and control of network dynamics. This paper presents differences in graph diameter as a method for detecting abnormal changes in a network time series. A formal definition of graph diameter is presented, as are theoretical implications, examples and computational results. An apparent means for characterization of network state without dependence on other networks in the time series is presented, which is also based on the network diameter. This leads directly to the ability to identify anomalous change and to characterize the effects on the network communications. The power law distribution of this diameter characterization demonstrates network susceptibility and leads to a better understanding of the network behavior.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124507087","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}
We propose a statistical definition of reduct and develop a feature selection algorithm based upon it. It shows that the features found by this algorithm get the largest coverage of the objects, and is most resistant to noise compared with the results found by genetic and dynamic reduct searching algorithm when they are applied to a water-pollution monitoring multisensor fusion system, which is described by the causal network model. Comparative tests show that with the selected features, the efficiency of the causal network based searching algorithm is greatly improved, at the same time the classification accuracy is maintained.
{"title":"Data fusion using feature selection based causal network algorithm","authors":"B. Han, Tie-Jun Wu","doi":"10.1109/IDC.2002.995446","DOIUrl":"https://doi.org/10.1109/IDC.2002.995446","url":null,"abstract":"We propose a statistical definition of reduct and develop a feature selection algorithm based upon it. It shows that the features found by this algorithm get the largest coverage of the objects, and is most resistant to noise compared with the results found by genetic and dynamic reduct searching algorithm when they are applied to a water-pollution monitoring multisensor fusion system, which is described by the causal network model. Comparative tests show that with the selected features, the efficiency of the causal network based searching algorithm is greatly improved, at the same time the classification accuracy is maintained.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124730581","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}
A morphological edge detection technique using successive segmentation is presented. This method is based on the fact that an existing edge must lie within one or more threshold levels of a grayscale image. The detection of the desired edge is achieved by applying a perimeter function criterion so that the corresponding threshold level is included. The detection of fine edges can be controlled by the number of stages in the process of successive segmentation. It has been shown that our proposed technique performs favourably in terrain-type images when compared with many other well known edge detection algorithms.
{"title":"Morphological edge detection by successive segmentation for thermal images","authors":"J.S.J. Li, S. Randhawa","doi":"10.1109/IDC.2002.995433","DOIUrl":"https://doi.org/10.1109/IDC.2002.995433","url":null,"abstract":"A morphological edge detection technique using successive segmentation is presented. This method is based on the fact that an existing edge must lie within one or more threshold levels of a grayscale image. The detection of the desired edge is achieved by applying a perimeter function criterion so that the corresponding threshold level is included. The detection of fine edges can be controlled by the number of stages in the process of successive segmentation. It has been shown that our proposed technique performs favourably in terrain-type images when compared with many other well known edge detection algorithms.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131736463","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}
This research involves a solution to the control problem for autonomous launching of unmanned air vehicles from maritime platforms in extreme conditions. A controller is developed utilising both linear robust modern control theory (/spl Hscr//sub /spl infin// methods) and a new approach involving trajectory optimisation and system identification. The resulting controller is found to allow the aircraft to fly to its physical limits. This controller has been found to have very good robustness properties through extensive simulation.
{"title":"Autonomous shipboard launching of unmanned air vehicles (UAVs) in extreme conditions","authors":"M. Crump, C. Bil, P. Riseborough","doi":"10.1109/IDC.2002.995372","DOIUrl":"https://doi.org/10.1109/IDC.2002.995372","url":null,"abstract":"This research involves a solution to the control problem for autonomous launching of unmanned air vehicles from maritime platforms in extreme conditions. A controller is developed utilising both linear robust modern control theory (/spl Hscr//sub /spl infin// methods) and a new approach involving trajectory optimisation and system identification. The resulting controller is found to allow the aircraft to fly to its physical limits. This controller has been found to have very good robustness properties through extensive simulation.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131177089","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}
D. Swihart, F. Barfield, E. Griffin, B. Brannstrom, R. Rosengren, P. Doane
The design of an automatic air collision avoidance system (Auto ACAS) is intended to prevent air-to-air collisions between air vehicles. The Auto ACAS is not to replace existing designs such as the Traffic Alert and Collision Avoidance System (TCAS) but to accomplish a recovery at the last instant to prevent a collision. TCAS and other systems in use today provide situational awareness and traffic advisories to enable pilots to perform de-confliction and manual avoidance maneuvers and remain several miles apart. In contrast Auto ACAS assumes such de-confliction and manual avoidance attempts have not succeeded and operates in a time span that does not allow for manual pilot reactions, thus it must be highly integrated and automated. Automatic collision avoidance is necessary if UAVs are to "blacken the sky" in massed attacks, accompany manned fighters on combat missions, and transition civil airspace. An automated air collision avoidance system will fulfill a part of this need. It will automatically maneuver an aircraft, at the last instant, to avoid an air-to-air collision. It will function in a manner similar to a pilot avoiding a collision. It is a system that must be reliable, verifiable, and partially redundant, forming the last line of defense against collisions. It must provide nuisance free operation and allow safe interoperability.
{"title":"Automation and integration to prevent UAV collisions","authors":"D. Swihart, F. Barfield, E. Griffin, B. Brannstrom, R. Rosengren, P. Doane","doi":"10.1109/IDC.2002.995371","DOIUrl":"https://doi.org/10.1109/IDC.2002.995371","url":null,"abstract":"The design of an automatic air collision avoidance system (Auto ACAS) is intended to prevent air-to-air collisions between air vehicles. The Auto ACAS is not to replace existing designs such as the Traffic Alert and Collision Avoidance System (TCAS) but to accomplish a recovery at the last instant to prevent a collision. TCAS and other systems in use today provide situational awareness and traffic advisories to enable pilots to perform de-confliction and manual avoidance maneuvers and remain several miles apart. In contrast Auto ACAS assumes such de-confliction and manual avoidance attempts have not succeeded and operates in a time span that does not allow for manual pilot reactions, thus it must be highly integrated and automated. Automatic collision avoidance is necessary if UAVs are to \"blacken the sky\" in massed attacks, accompany manned fighters on combat missions, and transition civil airspace. An automated air collision avoidance system will fulfill a part of this need. It will automatically maneuver an aircraft, at the last instant, to avoid an air-to-air collision. It will function in a manner similar to a pilot avoiding a collision. It is a system that must be reliable, verifiable, and partially redundant, forming the last line of defense against collisions. It must provide nuisance free operation and allow safe interoperability.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134551719","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}
The relentless pursuit of ever greater efficiency is resulting in an increasingly interconnected world in which complex systems-of-systems, of both commercial and military natures, are becoming common-place. The achievement of high quality solutions to systems-of-systems problems requires decision support aids that can take account of the interests of multiple stakeholders, while also handling complex solution constraints. The paper proposes a general mathematical formulation of the problem using Bayesian methods, and suggests a possible solution technique.
{"title":"Bayesian decision-theoretic planning for complex systems-of-systems","authors":"R. Staker","doi":"10.1109/IDC.2002.995449","DOIUrl":"https://doi.org/10.1109/IDC.2002.995449","url":null,"abstract":"The relentless pursuit of ever greater efficiency is resulting in an increasingly interconnected world in which complex systems-of-systems, of both commercial and military natures, are becoming common-place. The achievement of high quality solutions to systems-of-systems problems requires decision support aids that can take account of the interests of multiple stakeholders, while also handling complex solution constraints. The paper proposes a general mathematical formulation of the problem using Bayesian methods, and suggests a possible solution technique.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134097351","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}
Introduces a concept of data deterioration and discusses concepts of on-line dynamic calibration and data fusion in process automation, mainly in the area of pulp and paper. A few cases are presented after theoretical discussion. In dynamic calibration the laboratory analysis is used as a calibration reference to the online measurement. Also data fusion can be used to combine the measurements. Fuzzy methods can be used for this data fusion. Measurements are the most important thing when designing control and monitoring methods. If measurements are unreliable the intelligent and complex methods are futile.
{"title":"Data deterioration: using laboratory measurements for dynamic calibration","authors":"K. Latva-Kayra","doi":"10.1109/IDC.2002.995380","DOIUrl":"https://doi.org/10.1109/IDC.2002.995380","url":null,"abstract":"Introduces a concept of data deterioration and discusses concepts of on-line dynamic calibration and data fusion in process automation, mainly in the area of pulp and paper. A few cases are presented after theoretical discussion. In dynamic calibration the laboratory analysis is used as a calibration reference to the online measurement. Also data fusion can be used to combine the measurements. Fuzzy methods can be used for this data fusion. Measurements are the most important thing when designing control and monitoring methods. If measurements are unreliable the intelligent and complex methods are futile.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114214996","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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