Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345074
F. Gao, K. Ang
In HDDs, there are some notch filters which are used to compensate mechanical high frequency vibration from components. A range of error-rejection transfer function within the servo control loop is employed to depress such vibration. The advantage of such approach is to improve data rate performance. Two major factors associated with each frequency, that is, phase and gain. Due to many sub-components, such as HGA, carriage, pivot and VCM, etc., any condition change, such as dimension, young modulus, temperature, will change transfer function frequency and phase. In this paper, a specified error rejection gain induced failure drives are studied to analyze effect of mechanical component tolerance and damping effect on controller effectiveness
{"title":"Mechanical Component Dimension Tolerance and Damping Effect on Controller","authors":"F. Gao, K. Ang","doi":"10.1109/ICARCV.2006.345074","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345074","url":null,"abstract":"In HDDs, there are some notch filters which are used to compensate mechanical high frequency vibration from components. A range of error-rejection transfer function within the servo control loop is employed to depress such vibration. The advantage of such approach is to improve data rate performance. Two major factors associated with each frequency, that is, phase and gain. Due to many sub-components, such as HGA, carriage, pivot and VCM, etc., any condition change, such as dimension, young modulus, temperature, will change transfer function frequency and phase. In this paper, a specified error rejection gain induced failure drives are studied to analyze effect of mechanical component tolerance and damping effect on controller effectiveness","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115997196","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345416
M. Ismail, H. Fattah, A. Bahgat
The problem of controlling the induction motor pi-model with magnetic saturation is considered. An adaptive controller is developed under the assumption of measurable states but unknown rotor and stator resistances, and load torque. All the unknown parameters are assumed constant or slowly varying and are estimated online by the controller. Simulation results are provided for illustration
{"title":"Adaptive Control of Induction Motors with Magnetic Saturation and Uncertainity in Load Torque and Resistances","authors":"M. Ismail, H. Fattah, A. Bahgat","doi":"10.1109/ICARCV.2006.345416","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345416","url":null,"abstract":"The problem of controlling the induction motor pi-model with magnetic saturation is considered. An adaptive controller is developed under the assumption of measurable states but unknown rotor and stator resistances, and load torque. All the unknown parameters are assumed constant or slowly varying and are estimated online by the controller. Simulation results are provided for illustration","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116091715","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345249
Ü. Kotta, P. Kotta, S. Nõmm, M. Tõnso
The purpose of this paper is to present necessary and sufficient condition for irreducibility of continuous-time nonlinear multi-input multi-output system. The condition is presented in terms of the greatest common left divisor of two polynomial matrices related to the input-output equations of the system. The basic difference is that unlike the linear case the elements of the polynomial matrices belong to a non-commutative polynomial ring. This condition provides a basis for finding the equivalent minimal irreducible representation of the I/O equations which is a suitable starting point for constructing an observable and accessible state space realization
{"title":"Irreducibility Conditions for Continuous-time Multi-input Multi-output Nonlinear Systems","authors":"Ü. Kotta, P. Kotta, S. Nõmm, M. Tõnso","doi":"10.1109/ICARCV.2006.345249","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345249","url":null,"abstract":"The purpose of this paper is to present necessary and sufficient condition for irreducibility of continuous-time nonlinear multi-input multi-output system. The condition is presented in terms of the greatest common left divisor of two polynomial matrices related to the input-output equations of the system. The basic difference is that unlike the linear case the elements of the polynomial matrices belong to a non-commutative polynomial ring. This condition provides a basis for finding the equivalent minimal irreducible representation of the I/O equations which is a suitable starting point for constructing an observable and accessible state space realization","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116197506","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345463
Y. Qian
The aim of this paper is to adopt two-stage classification methods, and to apply fuzzy clustering analysis for mining data in the credit market in order to reflect the characteristic type knowledge of common nature of the similar things and different type characteristic knowledge of dissimilar things. First of all, the paper carries on attribute normalization of multi-factors which influence banks credit, computes fuzzy analogical relation coefficient, sets the threshold level to alpha by considering the competition and social credit risks state in the credit market, and selects borrowers through transfer closure algorithm. Second, it makes initial classification on samples according to the coefficient characteristic of fuzzy relation; third, it improves fuzzy clustering method which the fussy clustering itself has fuzzy nature and the algorithm. Finally the paper provides a case study about knowledge of credit mining in the financial market
{"title":"Two Stage Fuzzy Clustering Based on Latent Knowledge Discovery and Its Application in the Credit Market","authors":"Y. Qian","doi":"10.1109/ICARCV.2006.345463","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345463","url":null,"abstract":"The aim of this paper is to adopt two-stage classification methods, and to apply fuzzy clustering analysis for mining data in the credit market in order to reflect the characteristic type knowledge of common nature of the similar things and different type characteristic knowledge of dissimilar things. First of all, the paper carries on attribute normalization of multi-factors which influence banks credit, computes fuzzy analogical relation coefficient, sets the threshold level to alpha by considering the competition and social credit risks state in the credit market, and selects borrowers through transfer closure algorithm. Second, it makes initial classification on samples according to the coefficient characteristic of fuzzy relation; third, it improves fuzzy clustering method which the fussy clustering itself has fuzzy nature and the algorithm. Finally the paper provides a case study about knowledge of credit mining in the financial market","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116562007","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345320
Jong Chern Lim, Kuok-Shoong Daniel Wong
Careful control of power transmission levels can play an important role in prolonging the lifetime of a node in a wireless sensor network. Thus in designing efficient wireless sensor networks protocols serious consideration should be given to this factor. This paper investigates the relationship between power transmission levels and received signal strength and packet reception rates, when MICA2 motes are used. The measurement-based approach obtains real-world performance data of MICA2 mote communications as power transmission levels are varied. The results presented here may therefore be of use in the design of power control algorithms in new communication protocols for the MICA2
{"title":"Exploring Possibilities for RSS-Adaptive Power Control in MICA2-based Wireless Sensor Networks","authors":"Jong Chern Lim, Kuok-Shoong Daniel Wong","doi":"10.1109/ICARCV.2006.345320","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345320","url":null,"abstract":"Careful control of power transmission levels can play an important role in prolonging the lifetime of a node in a wireless sensor network. Thus in designing efficient wireless sensor networks protocols serious consideration should be given to this factor. This paper investigates the relationship between power transmission levels and received signal strength and packet reception rates, when MICA2 motes are used. The measurement-based approach obtains real-world performance data of MICA2 mote communications as power transmission levels are varied. The results presented here may therefore be of use in the design of power control algorithms in new communication protocols for the MICA2","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122896635","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345377
Y. He, G. N. Wang
An efficient search algorithm for scheduling flexible manufacturing systems modeled by timed Petri nets is presented in this paper. The algorithm is based on the application of the A* algorithm and combines the structure theory of Petri nets. The proposed heuristic function can guarantee the optimal deadlock-free schedule can be obtained by applying the algorithm. Structural analysis of Petri nets is used as an truncation technique for the proposed algorithm. The efficiency of the proposed method is illustrated using an example of FMS scheduling problem
{"title":"Petri Nets based Deadlock-free Scheduling for Flexible Manufacturing Systems","authors":"Y. He, G. N. Wang","doi":"10.1109/ICARCV.2006.345377","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345377","url":null,"abstract":"An efficient search algorithm for scheduling flexible manufacturing systems modeled by timed Petri nets is presented in this paper. The algorithm is based on the application of the A* algorithm and combines the structure theory of Petri nets. The proposed heuristic function can guarantee the optimal deadlock-free schedule can be obtained by applying the algorithm. Structural analysis of Petri nets is used as an truncation technique for the proposed algorithm. The efficiency of the proposed method is illustrated using an example of FMS scheduling problem","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122614796","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345363
T. Onoda, H. Murata, S. Yamada
This paper describes an application of SVM (support vector machines) to interactive document retrieval using active document showing. Some works have been done to apply classification learning like SVM to relevance feedback and obtained successful results. However they did not fully utilize characteristic of example distribution in document retrieval. We propose heuristics to bias document showing according to distribution of examples in document retrieval. This heuristic is executed by selecting examples to show a user in neighbors of positive support vectors, and it improves learning efficiency. We implemented a SVM-based interactive document retrieval system using our proposed heuristic, and compare it with conventional systems like Rocchio-based system and a SVM-based system without the heuristic. We conducted systematic experiments using large data sets including over 500,000 paper articles and confirmed our system outperformed other ones
{"title":"Active Learning with Support Vector Machines in the Relevance Feedback Document Retrieval","authors":"T. Onoda, H. Murata, S. Yamada","doi":"10.1109/ICARCV.2006.345363","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345363","url":null,"abstract":"This paper describes an application of SVM (support vector machines) to interactive document retrieval using active document showing. Some works have been done to apply classification learning like SVM to relevance feedback and obtained successful results. However they did not fully utilize characteristic of example distribution in document retrieval. We propose heuristics to bias document showing according to distribution of examples in document retrieval. This heuristic is executed by selecting examples to show a user in neighbors of positive support vectors, and it improves learning efficiency. We implemented a SVM-based interactive document retrieval system using our proposed heuristic, and compare it with conventional systems like Rocchio-based system and a SVM-based system without the heuristic. We conducted systematic experiments using large data sets including over 500,000 paper articles and confirmed our system outperformed other ones","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122833483","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345346
C. Yin, Qingmin Zhou, Le Xiao
A model of walking stability analysis of a humanoid robot is given, in which the different environments are considered. By applying the concept of fictitious zero-moment point (FZMP), a method to maintain the walking stability of humanoid robot under external disturbance is presented. The support polygon and the rotation edge in the case of losing balance in single and double foot support phase are determined in computerized form. A new control strategy is proposed to maintain stability in different environments. The measures to keep stable walking are the adjustment of the support polygon, the push or pull support of hand with environment and the movement modification of upper robot body. The relative position between the FZMP and the rotation edge represents the strength and direction of losing the stability. The optimization gait of humanoid robot was determined by using genetic algorithms. The feasibility of the proposed method is demonstrated by the simulation
{"title":"Walking Stability of a Humanoid Robot Based on Fictitious Zero-Moment Point","authors":"C. Yin, Qingmin Zhou, Le Xiao","doi":"10.1109/ICARCV.2006.345346","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345346","url":null,"abstract":"A model of walking stability analysis of a humanoid robot is given, in which the different environments are considered. By applying the concept of fictitious zero-moment point (FZMP), a method to maintain the walking stability of humanoid robot under external disturbance is presented. The support polygon and the rotation edge in the case of losing balance in single and double foot support phase are determined in computerized form. A new control strategy is proposed to maintain stability in different environments. The measures to keep stable walking are the adjustment of the support polygon, the push or pull support of hand with environment and the movement modification of upper robot body. The relative position between the FZMP and the rotation edge represents the strength and direction of losing the stability. The optimization gait of humanoid robot was determined by using genetic algorithms. The feasibility of the proposed method is demonstrated by the simulation","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122157533","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345112
X. Tong, Dongxu Li
A decentralized cooperative robust H∞ controller was proposed for a linear time invariant (LTI) system via a multilevel control approach. This system was modeled as interconnection of subsystems with parameter uncertainty. The multilevel control approach was a two-stage controller design in which the first stage involved constructing a decentralized robust controller using only its states for every uncertain subsystem via linear matrix inequality (LMI) approach to ensure the subsystem stability and achieve a given H∞ performance level and the second stage carried out a cooperative controller design to reduce the effect of other subsystems and improve the overall system performance. The controller, obtained applying this idea, not only makes the overall system inner stabilized and achieves the H∞ performance requirements, but also is easy to realize.
{"title":"Decentralized Cooperative H∞ Robust Control for Linear Large-Scale System","authors":"X. Tong, Dongxu Li","doi":"10.1109/ICARCV.2006.345112","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345112","url":null,"abstract":"A decentralized cooperative robust H∞ controller was proposed for a linear time invariant (LTI) system via a multilevel control approach. This system was modeled as interconnection of subsystems with parameter uncertainty. The multilevel control approach was a two-stage controller design in which the first stage involved constructing a decentralized robust controller using only its states for every uncertain subsystem via linear matrix inequality (LMI) approach to ensure the subsystem stability and achieve a given H∞ performance level and the second stage carried out a cooperative controller design to reduce the effect of other subsystems and improve the overall system performance. The controller, obtained applying this idea, not only makes the overall system inner stabilized and achieves the H∞ performance requirements, but also is easy to realize.","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117008760","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345280
Bo Yang, G. Feng, X. Guan
We consider the distributed random access algorithms for wireless ad hoc networks in which each node needs to tune its persistent probability so as to optimize its own the total throughput. First, we present an asynchronous algorithm for updating persistent probabilities and prices to avoid collision using local coordination. By casting this algorithm as a best response in a cooperative game, we characterize its convergence analytically. We further model that each node attempts to maximize a selfish local payoff function. We characterize the Nash equilibrium (NE) of the non-cooperative game and prove the convergence of a best response algorithm to the unique NE. Then we study the energy efficient throughput maximization problem when the wireless nodes are constrained by their battery power. Despite the inherent difficulty of non-separability of the constraint set, we propose a distributed primal-based algorithm. Its convergence is studied numerically
{"title":"Random Access in Wireless Ad Hoc Networks for Throughput Maximization","authors":"Bo Yang, G. Feng, X. Guan","doi":"10.1109/ICARCV.2006.345280","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345280","url":null,"abstract":"We consider the distributed random access algorithms for wireless ad hoc networks in which each node needs to tune its persistent probability so as to optimize its own the total throughput. First, we present an asynchronous algorithm for updating persistent probabilities and prices to avoid collision using local coordination. By casting this algorithm as a best response in a cooperative game, we characterize its convergence analytically. We further model that each node attempts to maximize a selfish local payoff function. We characterize the Nash equilibrium (NE) of the non-cooperative game and prove the convergence of a best response algorithm to the unique NE. Then we study the energy efficient throughput maximization problem when the wireless nodes are constrained by their battery power. Despite the inherent difficulty of non-separability of the constraint set, we propose a distributed primal-based algorithm. Its convergence is studied numerically","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129618881","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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