Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164664
E. Papadopoulos, G. Papadopoulos
In this work we show that an Acrobot can be made to behave as a robotic swing. This is achieved by contI'oIling the first joint, provided that a given condition is satisfied. When this condition is not satisfied, the system undergoes through singular points. Even when this happens, we are again able to make the system behave as a swing by controIling the second joint and employing a new Energy Pumping stmtegy. This stmtegy presents impOrtant advantages compared to previously Proposed stmtegies, as it is the only one that can start the system frOm rest and drive it to large heights. MOreover, it is fast and requires very small torques.
{"title":"A novel energy pumping strategy for robotic swinging","authors":"E. Papadopoulos, G. Papadopoulos","doi":"10.1109/MED.2009.5164664","DOIUrl":"https://doi.org/10.1109/MED.2009.5164664","url":null,"abstract":"In this work we show that an Acrobot can be made to behave as a robotic swing. This is achieved by contI'oIling the first joint, provided that a given condition is satisfied. When this condition is not satisfied, the system undergoes through singular points. Even when this happens, we are again able to make the system behave as a swing by controIling the second joint and employing a new Energy Pumping stmtegy. This stmtegy presents impOrtant advantages compared to previously Proposed stmtegies, as it is the only one that can start the system frOm rest and drive it to large heights. MOreover, it is fast and requires very small torques.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125754868","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 : 2009-06-24DOI: 10.1109/MED.2009.5164717
D. Katzourakis, Nikos I. Vitzilaios, N. Tsourveloudis
The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video from a camera. Our implementation involves real time object recognition, histogram matching for real time video streaming, pattern matching and object tracking. Software implemented in C++ interacts with Matlab in order to aid the autonomous navigation of the helicopter.
{"title":"Vision aided navigation for unmanned helicopters","authors":"D. Katzourakis, Nikos I. Vitzilaios, N. Tsourveloudis","doi":"10.1109/MED.2009.5164717","DOIUrl":"https://doi.org/10.1109/MED.2009.5164717","url":null,"abstract":"The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video from a camera. Our implementation involves real time object recognition, histogram matching for real time video streaming, pattern matching and object tracking. Software implemented in C++ interacts with Matlab in order to aid the autonomous navigation of the helicopter.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129244794","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 : 2009-06-24DOI: 10.1109/MED.2009.5164567
J. D. Covarrubias, H. Boussalis, C. P. Torres
Fault Detection and Isolation is one of the necessary requirements to guarantee the stability and performance of a control system under fault conditions. This scope of this paper will focus on the methods used to identify sensor and actuator failures. An observer based approach is used in conjunction with a sensor relationship on a segmented primary dish telescope testbed located at the NASA sponsored Structures Pointing And Control Engineering (SPACE) laboratory at California State University, Los Angeles. The use of a sensor relationship that is not dependent on the input of the system allows for a differentiation between actuator and sensor faults.
{"title":"Fault Detection and Isolation of a segmented telescope testbed","authors":"J. D. Covarrubias, H. Boussalis, C. P. Torres","doi":"10.1109/MED.2009.5164567","DOIUrl":"https://doi.org/10.1109/MED.2009.5164567","url":null,"abstract":"Fault Detection and Isolation is one of the necessary requirements to guarantee the stability and performance of a control system under fault conditions. This scope of this paper will focus on the methods used to identify sensor and actuator failures. An observer based approach is used in conjunction with a sensor relationship on a segmented primary dish telescope testbed located at the NASA sponsored Structures Pointing And Control Engineering (SPACE) laboratory at California State University, Los Angeles. The use of a sensor relationship that is not dependent on the input of the system allows for a differentiation between actuator and sensor faults.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131122872","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 : 2009-06-24DOI: 10.1109/MED.2009.5164553
F. Chaves, M. Abbas-Turki, H. Abou-Kandil, J. Romano
This paper proposes a distributed power control framework for wireless communication networks that is able to provide a flexible QoS with the introduction of a dynamic target QoS into a conventional (fixed) target tracking power control algorithm. The target QoS of individual terminals is automatically updated according to a given performance criterion. The distributed power control is formulated as a Linear Quadratic Regulator (LQR) problem, where system operating points are met according to channel quality and the choice of key parameters. Effectiveness of the LQR-based power control is analyzed and the influence of such parameters on the algorithm's performance is investigated with the help of computer experiments.
{"title":"Distributed power control for QoS-flexible services in wireless communication networks","authors":"F. Chaves, M. Abbas-Turki, H. Abou-Kandil, J. Romano","doi":"10.1109/MED.2009.5164553","DOIUrl":"https://doi.org/10.1109/MED.2009.5164553","url":null,"abstract":"This paper proposes a distributed power control framework for wireless communication networks that is able to provide a flexible QoS with the introduction of a dynamic target QoS into a conventional (fixed) target tracking power control algorithm. The target QoS of individual terminals is automatically updated according to a given performance criterion. The distributed power control is formulated as a Linear Quadratic Regulator (LQR) problem, where system operating points are met according to channel quality and the choice of key parameters. Effectiveness of the LQR-based power control is analyzed and the influence of such parameters on the algorithm's performance is investigated with the help of computer experiments.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125318401","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 : 2009-06-24DOI: 10.1109/MED.2009.5164618
J. Novák, V. Bobál
The paper deals with the problem of modeling and control of nonlinear processes using the Local Model Network (LMN). The idea is based on development of the local linear models for the whole operating range of the controlled process. The nonlinear plant is then approximated by a set of locally valid sub-models, which are smoothly connected using the validity function. For saving the computational load, linear model is obtained by interpolating these linear models at each sample instant and then used in Model Predictive Control (MPC) framework to calculate the future behavior of the process. The approach is verified in a real-time control of Multifunction Process Control Teaching System (MPCTS) - the Armfield PCT 40.
{"title":"Predictive control of the heat exchanger using Local Model Network","authors":"J. Novák, V. Bobál","doi":"10.1109/MED.2009.5164618","DOIUrl":"https://doi.org/10.1109/MED.2009.5164618","url":null,"abstract":"The paper deals with the problem of modeling and control of nonlinear processes using the Local Model Network (LMN). The idea is based on development of the local linear models for the whole operating range of the controlled process. The nonlinear plant is then approximated by a set of locally valid sub-models, which are smoothly connected using the validity function. For saving the computational load, linear model is obtained by interpolating these linear models at each sample instant and then used in Model Predictive Control (MPC) framework to calculate the future behavior of the process. The approach is verified in a real-time control of Multifunction Process Control Teaching System (MPCTS) - the Armfield PCT 40.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125419776","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 : 2009-06-24DOI: 10.1109/MED.2009.5164729
Nick Karamolegkos, G. Stathopoulos, A. Tzes
The development of an adaptive controller for a flexible link manipulator is the subject of this article. The system's measurements are assumed to be corrupted with noise of a priori known bounds. A Set Membership Identifier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope's vertices provide the parameter-vector's bounds, which are used to compute the predicted system-output uncertainty. The controller tunes its gains through an on-line minimization of a cost that penalizes the control effort, the induced uncertainty on the system output, and the tracking error. The scheme is applied in simulation studies on a planar single flexible-link manipulator.
{"title":"Adaptive minimum uncertainty control for a flexible link manipulator","authors":"Nick Karamolegkos, G. Stathopoulos, A. Tzes","doi":"10.1109/MED.2009.5164729","DOIUrl":"https://doi.org/10.1109/MED.2009.5164729","url":null,"abstract":"The development of an adaptive controller for a flexible link manipulator is the subject of this article. The system's measurements are assumed to be corrupted with noise of a priori known bounds. A Set Membership Identifier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope's vertices provide the parameter-vector's bounds, which are used to compute the predicted system-output uncertainty. The controller tunes its gains through an on-line minimization of a cost that penalizes the control effort, the induced uncertainty on the system output, and the tracking error. The scheme is applied in simulation studies on a planar single flexible-link manipulator.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121518306","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 : 2009-06-24DOI: 10.1109/MED.2009.5164603
J. Levin, Petros A. Ioannou
This paper presents an adaptive disturbance rejection scheme which makes use of a neural model of the disturbance. Unknown disturbances may account for the reduction in the performance of a control system where precise tracking is required. These disturbances may be nonlinear and dynamic making the rejection problem difficult for traditional methods. Also the plant being controlled may be unknown, as the model may be inaccurate or the parameters may vary over time. Classical controllers may not be able to stabilize the system and meet performance requirements under these conditions. For this purpose, the scheme presented employs an adaptive controller in conjunction with an adaptive disturbance rejector which is based on a neural model of the unknown disturbance. Numerical simulations are included to show the benefit of the scheme in terms of tracking performance.
{"title":"Adaptive control with neuro-adaptive disturbance rejection","authors":"J. Levin, Petros A. Ioannou","doi":"10.1109/MED.2009.5164603","DOIUrl":"https://doi.org/10.1109/MED.2009.5164603","url":null,"abstract":"This paper presents an adaptive disturbance rejection scheme which makes use of a neural model of the disturbance. Unknown disturbances may account for the reduction in the performance of a control system where precise tracking is required. These disturbances may be nonlinear and dynamic making the rejection problem difficult for traditional methods. Also the plant being controlled may be unknown, as the model may be inaccurate or the parameters may vary over time. Classical controllers may not be able to stabilize the system and meet performance requirements under these conditions. For this purpose, the scheme presented employs an adaptive controller in conjunction with an adaptive disturbance rejector which is based on a neural model of the unknown disturbance. Numerical simulations are included to show the benefit of the scheme in terms of tracking performance.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128806055","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 : 2009-06-24DOI: 10.1109/MED.2009.5164666
A. Gasparri, G. Oliva, S. Panzieri
Motion planning is an important step in any complex robotic motion task. Many algorithms deal with this problem and a lot of effective approaches makes use of random generation of roadmaps or motion commands. In this paper, a novel algorithm for random roadmap generation is proposed. This approach, which addresses the planning problem with a resilience philosophy, relies on a network model with some particular topological properties. These properties of robustness against random faults and intentional attacks are functional to devising a suitable solution for the planning problem. Comparative simulations against several algorithms have been performed to show the effectiveness of the proposed approach.
{"title":"Path planning using a lazy spatial network PRM","authors":"A. Gasparri, G. Oliva, S. Panzieri","doi":"10.1109/MED.2009.5164666","DOIUrl":"https://doi.org/10.1109/MED.2009.5164666","url":null,"abstract":"Motion planning is an important step in any complex robotic motion task. Many algorithms deal with this problem and a lot of effective approaches makes use of random generation of roadmaps or motion commands. In this paper, a novel algorithm for random roadmap generation is proposed. This approach, which addresses the planning problem with a resilience philosophy, relies on a network model with some particular topological properties. These properties of robustness against random faults and intentional attacks are functional to devising a suitable solution for the planning problem. Comparative simulations against several algorithms have been performed to show the effectiveness of the proposed approach.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127430932","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 : 2009-06-24DOI: 10.1109/MED.2009.5164518
S. Koceski, N. Koceska, P. B. Zobel, F. Durante
In this paper an accurate physics-based simulation model of the 3D laser scanner, based on 2D range sensor (SICK LD-OEM1000) is presented. The model of the 2D sensor derives from the characteristics of the physical one and includes the uncertainty of the measurement, the dependency of the beam incidence angle and the target surface properties. Some experiments aimed to characterize the effects of the operation time, time autocorrection, different object surface properties and orrientations are also presented in this paper. 3D scanner virtual model, developed in rigid body dynamics environment, was verified experimentally and the resultss are reported.
{"title":"Characterization and modeling of a 3D scanner for mobile robot navigation","authors":"S. Koceski, N. Koceska, P. B. Zobel, F. Durante","doi":"10.1109/MED.2009.5164518","DOIUrl":"https://doi.org/10.1109/MED.2009.5164518","url":null,"abstract":"In this paper an accurate physics-based simulation model of the 3D laser scanner, based on 2D range sensor (SICK LD-OEM1000) is presented. The model of the 2D sensor derives from the characteristics of the physical one and includes the uncertainty of the measurement, the dependency of the beam incidence angle and the target surface properties. Some experiments aimed to characterize the effects of the operation time, time autocorrection, different object surface properties and orrientations are also presented in this paper. 3D scanner virtual model, developed in rigid body dynamics environment, was verified experimentally and the resultss are reported.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129079420","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 : 2009-06-24DOI: 10.1109/MED.2009.5164525
Theofanis P. Lambrou, C. Panayiotou
This paper presents an efficient distributed collaboration scheme for a team of autonomous mobile sensor nodes which enables them to navigate through a sparse sensor network with stationary nodes searching for events and improving area coverage. The mobile sensor nodes have limited communication and sensing ranges and autonomously plan their trajectories in order to enhance the probability of event detection. The main objective of this work is to investigate collaboration schemes between the sensor nodes such that each mobile samples areas not covered by the stationary or other mobile nodes. The aim is to reduce the amount of information that needs to be exchanged between nodes without significant loss of performance (in terms of area coverage).
{"title":"Distributed collaborative path planning in sensor networks with multiple mobile sensor nodes","authors":"Theofanis P. Lambrou, C. Panayiotou","doi":"10.1109/MED.2009.5164525","DOIUrl":"https://doi.org/10.1109/MED.2009.5164525","url":null,"abstract":"This paper presents an efficient distributed collaboration scheme for a team of autonomous mobile sensor nodes which enables them to navigate through a sparse sensor network with stationary nodes searching for events and improving area coverage. The mobile sensor nodes have limited communication and sensing ranges and autonomously plan their trajectories in order to enhance the probability of event detection. The main objective of this work is to investigate collaboration schemes between the sensor nodes such that each mobile samples areas not covered by the stationary or other mobile nodes. The aim is to reduce the amount of information that needs to be exchanged between nodes without significant loss of performance (in terms of area coverage).","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130502647","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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