Ferrier / Filipe. / Filipe Informatics in Control, Automation and Robotics

Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2008
1. Auflage 2009
ISBN: 978-3-642-00271-7
Verlag: Springer
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 283 Seiten

The present book includes a set of selected papers from the Fifth International Conf- ence on Informatics in Control Automation and Robotics (ICINCO 2008), held in Funchal, Madeira - Portugal, from 11 to 15 May 2008. The conference was organized in three simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation, and Systems Modeling, Signal Processing and Control. The book is based on the same structure. ICINCO 2008 received 392 paper submissions, from more than 50 different co- tries in all continents. From these, after a blind review process, only 33 where - cepted as full papers, of which 18 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers reflect the interdisciplinary nature of the conference. The diversity of topics is an important feature of this conference, enabling an overall perception of several important sci- tific and technological trends. These high quality standards will be maintained and reinforced at ICINCO 2009, to be held in Milan, Italy, and in future editions of this conference.

Joaquim B. Filipe is a Coordinator Professor in the Department of Systems and Informatics of the School of Technology of the Polytechnic Institute of Setúbal (EST-Setúbal), currently Head of Department and also the President of the Institute for Systems and Technologies of Information, Control and Communications (INSTICC - http://www.insticc.org). He holds an M.Sc. degree awarded by the Technical University of Lisbon, Portugal, in 1984, an MBA degree, awarded by the New University of Lisbon in 1995, and a PhD degree, awarded by the School of Computing of Staffordshire University, UK, in 2001. His main areas of research are situated in the Informatics field, especially in Artificial Intelligence and Multi-Agent System applications with an emphasis on the study of social issues in activity coordination, including agent-based organizational modeling and simulation, where he has been actively involved in several national and international R&D projects. He is also interested in applying Organizational Semiotics to the analysis and development of Information Systems, having participated in several projects for developing e-learning systems and web-based information systems. Professor Filipe has published over 50 technical papers in the areas of Artificial Intelligence, Agents and Organizational Modeling. He has edited more than 20 books and he is a member of the editorial board of 7 journals. He has been an invited keynote speaker and also served as a member of the program committee, or as a member of the organizing committee, as conference chair or program chair, in more than 30 conferences.

Autoren/Hrsg.

Ferrier, Jean-Louis

Filipe., Joaquim

Filipe, Joaquim

Inhaltsverzeichnis

1;Title page;2
2;Preface;5
3;Organization;6
4;Contents;11
5;Invited Papers;14
5.1;Distributed Technology for Global Control;15
5.1.1;Introduction;15
5.1.2;The World Processing Paradigm;15
5.1.3;The World Processing Language (WPL);17
5.1.4;Elementary Examples;19
5.1.4.1;Setting Global Dominance;19
5.1.4.2;Creating Infrastructures in the Distributed Space;20
5.1.4.3;Finding Patterns in the Infrastructure;21
5.1.5;WPL Interpreter;22
5.1.6;Emergency Management;23
5.1.7;Sensor Networks;24
5.1.8;Directed Energy Systems;26
5.1.9;Electronic Warfare;28
5.1.10;Avionics;29
5.1.11;Distributed Objects Tracking;30
5.1.12;Collective Behavior;31
5.1.13;Conclusions;35
5.1.14;References;35
5.2;Dealing with Uncertainty in the Hybrid World;37
5.2.1;Introduction;37
5.2.2;System Description;39
5.2.3;Interacting Multiple Model Estimation;43
5.2.3.1;Unconstrained Filter Bank;44
5.2.3.2;Constrained Filter Bank;44
5.2.3.3;Discrete Mode Sequence Estimator;46
5.2.3.4;Computational Issues;47
5.2.3.5;Uncertainty Analysis;49
5.2.4;Experimental Application;50
5.2.4.1;Estimation of the Fault in Valve V$_{13}$;52
5.2.5;Conclusions;56
5.2.6;References;57
6;Part I Intelligent Control Systems and Optimization;58
6.1;Adaptive Fuzzy Controller for Output Power Maximization of Induction Generators;59
6.1.1;Introduction;59
6.1.2;Efficiency Optimization;62
6.1.2.1;Search Control;62
6.1.2.2;The Rosenbrock Method;63
6.1.3;The Proposed System;63
6.1.3.1;The Fuzzy Efficiency Controller;65
6.1.4;Simulation Results;67
6.1.5;Conclusions;69
6.1.6;References;69
6.2;Architectural Approach for the Implementation of a Position Control System for a Boat-Like Inspection Robot;71
6.2.1;Introduction;71
6.2.2;Related Work;73
6.2.3;Data Acquisition and Processing;73
6.2.3.1;Data Processing and Data Flow;73
6.2.3.2;Implementation of Position Determination;75
6.2.4;Self-tuning Controller;75
6.2.4.1;Controller Design;75
6.2.4.2;Implementation;79
6.2.5;Dynamic Quality of Service;79
6.2.6;System Behavior under Real-World Conditions;81
6.2.7;Conclusions;82
6.2.8;References;82
6.3;Fast and Compact Encoding of Numerical Controllers Using OBDDs;84
6.3.1;Introduction;84
6.3.2;Ordered Binary Decision Diagrams;86
6.3.3;Boolean Encoding of Numerical Controllers;87
6.3.3.1;Boolean Encoding of the Controller Table;88
6.3.3.2;Algorithm for the Logic Encoding of Numerical Controllers;89
6.3.3.3;Querying the Encoded Controller;89
6.3.3.4;BDD into C Code Translation;90
6.3.4;Experimental Results;91
6.3.4.1;Inverted Pendulum Controller;92
6.3.4.2;Truck and Trailer Obstacles Avoiding Controller;93
6.3.4.3;Inverted Pendulum on a Cart Controller;94
6.3.5;Conclusions;94
6.3.6;References;95
7;Part II Robotics and Automation ;97
7.1;Dynamic-Based Simulation for Humanoid Robot Walking Using Walking Support System;98
7.1.1;Introduction;98
7.1.2;Dynamic Simulation;100
7.1.2.1;Modeling;101
7.1.2.2;Controlling;101
7.1.2.3;Running;101
7.1.3;Walking with Walking Assist Machine;102
7.1.3.1;Force Sensor;102
7.1.3.2;Velocity Control;103
7.1.4;Simulation Result;104
7.1.5;Conclusions and Future Work;106
7.1.6;References;107
7.2;People Tracking and Identification Using Laser Features and Colour Distributions;108
7.2.1;Introduction;108
7.2.2;TheMethod;110
7.2.2.1;The Cluster Sorting Algorithm;110
7.2.2.2;Colour-Based Identity Assignment;113
7.2.3;Experiments;115
7.2.4;Conclusions;118
7.2.5;References;118
7.3;Robotic Wheelchair Trajectory Control Considering User Comfort;120
7.3.1;Introduction;120
7.3.2;Control of Wheeled Mobile Robots;121
7.3.2.1;Kinematic Model of a Unicycle-TypeMobile Robot;121
7.3.2.2;Trajectory Tracking Model;122
7.3.2.3;Trajectory Planner;122
7.3.2.4;Sliding-Mode Controller;123
7.3.3;Human Head-Neck Complex Model and Evaluation of Comfort;125
7.3.3.1;Model of Head-Neck Complex;125
7.3.3.2;Time-Domain Calculations;126
7.3.3.3;Frequency-Domain Calculations;127
7.3.4;Experimental Results;127
7.3.5;Conclusions;131
7.3.6;References;132
7.4;Calibration and Comparison of Visual Tracking on the Ground for Multi Camera Tracking;133
7.4.1;Introduction;133
7.4.2;From Image to the Ground;134
7.4.2.1;Computing the Transformation to Calibrate the Camera;134
7.4.2.2;Automatic Camera Re-calibration;135
7.4.3;Tracking on the Ground;136
7.4.3.1;Detection and Tracking;136
7.4.3.2;Uncertainty Transformation;137
7.4.3.3;Tuning in Practice;138
7.4.4;Experiments;138
7.4.4.1;Description;138
7.4.4.2;Comparative Analysis;139
7.4.4.3;Using in Practice;141
7.4.5;Conclusions;143
7.4.6;References;144
7.5;Mobile Robot Teleoperation via Wireless Multihop Networks - Parameter Tuning of Protocols and Real World Application Scenarios;145
7.5.1;Introduction;145
7.5.2;Hardware and Test Setup;147
7.5.2.1;Hardware;147
7.5.2.2;Test Setup;148
7.5.3;Ad-Hoc Routing and Teleoperation;148
7.5.3.1;Investigated Protocols;148
7.5.3.2;Rerouting Time and Packet Loss with Standard Parameter Settings;150
7.5.4;Parameter Tuning;152
7.5.4.1;Variable Protocol Parameters;152
7.5.4.2;OLSR;152
7.5.4.3;BATMAN;153
7.5.4.4;AODV;154
7.5.5;Application Layer;155
7.5.6;Conclusions;156
7.5.7;References;157
7.6;Safe Test Flights for Small Rotorcrafts;159
7.6.1;Introduction;159
7.6.2;Experimental Test Bed;160
7.6.2.1;Helicopter Flying Stand;161
7.6.2.2;Helicopter and Avionics;162
7.6.2.3;Ground Control Station;164
7.6.2.4;Safety;164
7.6.3;Altitude and Hovering Control;165
7.6.3.1;Fuzzy Controller;165
7.6.3.2;Control Rules;168
7.6.4;Experimental Results;169
7.6.5;Conclusions;171
7.6.6;References;172
7.7;Particle Filter with Temporal Smoothing for Mobile Robot Vision-Based Localization;173
7.7.1;Introduction;173
7.7.1.1;The Platform;173
7.7.1.2;RelatedWork;174
7.7.2;Particle Filters;174
7.7.2.1;Sampling from Observations: The Kidnapped Robot Problem;176
7.7.3;Temporal Smoothing Particle Filter;176
7.7.3.1;Sensor Smoothing;177
7.7.3.2;Reducing Incorrect Correlations;178
7.7.3.3;“Lazy” Resampling;179
7.7.4;Experiments and Results;181
7.7.4.1;Test Environment;181
7.7.4.2;Experiments;184
7.7.5;Future Work;186
7.7.6;References;186
7.8;Oscillatory Controllers with Recurrent Neural Networks;187
7.8.1;Introduction;187
7.8.2;Vehicle Model;188
7.8.3;Design of the Oscillatory Controller;189
7.8.3.1;The Oscillatory Recurrent Neural Network Torque Controller;189
7.8.3.2;Feedback Design of the System;191
7.8.3.3;Results;193
7.8.4;Conclusions and Discussion;195
7.8.5;References;196
7.9;Concept and Design of the Intellwheels Platform for Developing Intelligent Wheelchairs;197
7.9.1;Introduction;197
7.9.2;Related Work;198
7.9.3;Hardware Design;199
7.9.3.1;User Inputs;200
7.9.3.2;Sensors;201
7.9.3.3;Hardware Devices;201
7.9.4;Software Design;202
7.9.5;Control Architecture;203
7.9.6;Experiments and Results;205
7.9.7;Discussion and Conclusions;208
7.9.8;References;208
8;Part III Signal Processing, Systems Modeling and Control;210
8.1;Hybrid Controller for Tracking Systems;211
8.1.1;Introduction;211
8.1.2;System Components;212
8.1.2.1;Magnetic Actuator;213
8.1.2.2;Quadrant Diode;213
8.1.3;Modeling of the Plant;213
8.1.3.1;Modeling of the Block Actuator;214
8.1.3.2;Modeling of the Block Diode;215
8.1.3.3;Modeling of the Block Light Path;216
8.1.4;Controller Design;217
8.1.5;Practical Considerations;221
8.1.6;Conclusions;223
8.1.7;References;224
8.2;Modeling the Buoyancy System of a Wave Energy Power Plant;225
8.2.1;Introduction;225
8.2.2;Dynamic Model of the Buoyancy System;226
8.2.3;One Chamber Dynamic Model;228
8.2.4;Five-Chamber Dynamic Model;230
8.2.5;Simulation;232
8.2.6;Conclusions;234
8.2.7;References;234
8.3;Outbreaks Detection at the Beginning of Monitoring Process: The CUSUM Test Modification;235
8.3.1;Introduction;235
8.3.2;Standard BDE CUSUM Test;236
8.3.3;Modified CUSUM Test;237
8.3.3.1;“Penalized” CUSUM Test (PCUSUM);237
8.3.3.2;PCUSUM Test Boundaries;239
8.3.4;Monte Carlo Study;240
8.3.5;Conclusions;242
8.3.6;References;243
8.4;A NovelWearable Instrumentation System for Bomb Disposal Suits;244
8.4.1;Introduction;244
8.4.2;Related Work;245
8.4.2.1;Body Sensor Networks—Platforms;246
8.4.2.2;Instrumenting First Responders;247
8.4.2.3;OtherWork on EOD Suits;247
8.4.3;System Design and Architecture;248
8.4.3.1;Sensor Packages and Sensor Positioning;249
8.4.3.2;Processing and Actuation Nodes;250
8.4.3.3;Remote Monitoring;250
8.4.4;Prototype Evaluation;251
8.4.4.1;Experimental Setup;251
8.4.4.2;Evaluation Results;252
8.4.4.3;Data Analysis;254
8.4.5;Conclusions and Future Work;255
8.4.6;References;256
8.5;Hybrid Modeling for Set-Membership State Estimation with Uncertain Nonlinear Continuous-Time Systems;257
8.5.1;Introduction;257
8.5.2;Problem Statement;258
8.5.2.1;Some Definitions of Interval Analysis;258
8.5.2.2;Context of Set-Membership State Estimation;259
8.5.2.3;Principle: Prediction-CorrectionMethod;259
8.5.3;M\"{u}ller’s Theorem;261
8.5.4;Hybrid Bracketing System;262
8.5.5;Application;263
8.5.5.1;Model;263
8.5.5.2;Building Hybrid Bracketing System;264
8.5.5.3;Results of Simulation;266
8.5.6;Conclusions;267
8.5.7;References;268
8.6;An Embedded Attitude and Heading Reference System Based on a Nonlinear Filter;269
8.6.1;Introduction;269
8.6.2;The Physical System;270
8.6.2.1;Motion Equations;270
8.6.2.2;Measurements;270
8.6.2.3;The Model;271
8.6.3;The Nonlinear Observer;271
8.6.3.1;Invariance of the System Equations;271
8.6.3.2;The General Invariant Observer;272
8.6.3.3;The Invariant Error System;273
8.6.4;Design of $L,M,N,O$;274
8.6.4.1;Local Design;274
8.6.4.2;Global Design;276
8.6.5;Effects of Disturbances;277
8.6.6;Experimental Validation;278
8.6.6.1;Comparison with a Commercial Device (Fig. 1(a)–1(d));279
8.6.6.2;Influence of the Observer Correction Terms (Fig. 1(e));279
8.6.6.3;Acceleration Disturbance: $\ V \neq$ (Fig. 1(f));281
8.6.7;Implementation on an 8-Bit Microcontroller;281
8.6.8;Appendix: Quaternions;281
8.6.9;References;283
9;Author Index;284