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Control, Automation and Robotics (CAR 2011)

Academic Conferences - Control, Automation and Robotics (CAR 2011)
Academic Conferences

By : Global Science & Technology Forum

Date : 2011

Location : Singapore / Singapore

PDF 51p
Description :

Leading edge topics in the theoretical and applied engineering and computer science subjects such as Intelligent Control Systems, Automation, Signal Processing, Optimization, Robotics Systems.

Keywords :

BP neural network, Clustering neural network,image geometry, Neural learning, Aerial image, Adaptive Routing Protocol, Autonomous Transport Vehicles, Intelligent Traffic Management, Heterogeneous Communication Network, GUIADE, optimization, large-scale energy management, matheuristics algorithms; mixed integer linear programming; robotics conference proceedings

Keywords inside documents :

robot ,robots ,control ,model ,image ,diagnoser ,network ,plant ,region ,matching ,destination ,plants ,production ,systems ,remote ,neural ,outage ,algorithm ,power ,proposed

Product/ documentation details
Tuning image stylization parameters using interactive genetic algorithm

Company Description : Problem: Filtering based image stylization. That require parameter setting for filter. It is unfamiliar to non-expert user.

Product Type : Academic Conferences

Author : Sun-Young Lee, Min Joon Yoo, *Jong Chul Yoon

PDF 1p

Languages : English

Proceedings from the Control, Automation and Robotics (CAR 2011) conference.

 

The CAR conference is a symposium for researchers, engineers and practitioners to showcase the latest technology for efficiency and quality based on control, robotics and automation. The conference focused on the leading edge topics in the theoretical and applied engineering and computer science subjects such as Intelligent Control Systems, Automation, Signal Processing, Optimization, Robotics Systems.

 

Some of the scientific equipments, products and accessories based on advance technology featured in the conference. We also welcomed authors to highlight the benefits of applying information technology to these areas and ideas on how to solve challenges involved in relevant engineering processes.

 

 

Abstracts of papers included in the Control, Automation and Robotics (CAR 2011) conference proceedings

 

  1. Applying a Neural Network Framework for Stereo Matching

Thabit Sultan Mohammed, PhD, ECE Department, Dhofar University. Engineering College, P.O.Box 2509, 211 Salalah, Oman & Nedhal Ibrahim Al-Taie, MSc., IT Department, Salalah College of Technology, P.O.Box 608 , 211 Salalah, Oman.

 

Approaches for image matching can be broadly classified into two categories: the intensity-based matching and the feature-based matching techniques. A technique from the second category is adopted in this work, where a neural framework is applied for region matching of stereo photographs. Two different types of neural networks are used in this framework, the radial basis network, (RB) for learning clustering, and the back propagation (BP) network for learning image matching. The (RB) neural network is to cluster the regions according to the locations of their centered points. The BP network uses differential features of each region as input training data. Rather than using a single algorithm for feature extraction, the model here follows the paradigm of quality from quantity by implementing multiple feature extraction. Features include (compactness, Euler number, and invariant moments) for each region. Results obtained from the neural networks (namely; clustering and initial matching list) are used to select the best matching pair. Lastly, a refinement step is then applied.

 

 

  1. Modeling and Fault Detecting for Hybrid Industrial Systems

Eid M. Al-Hajri & Dr. J.A. Rossiter, Department of Automatic Control and Systems, Engineering University of Sheffield, Sheffield, S1 3JD UK.

 

Continuous and discrete activities interact with each other in a hybrid system. This paper employs particle swarm algorithms and adaptive fuzzy systems to model and control the former that is represented with few places inside the Petri net model of such systems. It also addresses multi fault detection and isolation problem that is overcome using a new distributed interpreted Petri net based diagnoser. This diagnoser comprises a set of distributed diagnosers that are linked with multi sessions of the process to be monitored. The idea is randomly decomposing the incidence matrix of the central diagnoser into a set of matrices with only one condition that no sub local incidence matrix has repeatable values. Unlike, central and distributed diagnosers, the proposed diagnoser is event detectable and has the ability to detect and isolate multiple faults. A real industrial oil producing station is used for testing the soundness of the proposed schemes.

 

 

  1. An Algorithm for Painting an Area by Swarm of Mobile Robots

Deepanwita Das, Department of Information Technology, National Institute of Technology, Durgapur Burdwan, West Bengal – 713209, & Srabani Mukhopadhyaya, Birla Institute of Technology, Mesra, Kolkata Extension Centre, Kolkata, West Bengal

 

This paper presents a distributed algorithm for painting a priori known rectangular region by swarm of mobile robots. We assume that there is no obstacle inside the region. Our approach is to divide the region into some cells, and to let each robot to paint one of these cells, assigned to it. Assignment of different cells is done by ranking the robots according to their relative positions. In this algorithm, the robots follow the basic Wait-Observe-Compute-Move model together with the Asynchronous timing model.

 

 

  1. Tuning image stylization parameters using interactive genetic algorithm

Sun-Young Lee, Min Joon Yoo, *Jong Chul Yoon, Yonsei University, *Kangwon National University

 

Problem:

Filtering based image stylization. That require parameter setting for filter. It is unfamiliar to non-expert user

 

  1. Adaptive Routing Protocol in a communications Platform for Autonomous Public Transport Vehicles and Intelligent Traffic Management

F.J. Atero, J.J. Vinagre, F.J. Sim´o, M.R. Wilby, School of Telecommunications Engineering, Rey Juan Carlos University, Madrid, Spain.

 

GUIADE is a national Spanish project whose aim is to improve efficiency in the public transport system through autonomous public transport vehicles and intelligent traffic management. It does this by monitoring data obtained from sensors in public vehicles and infrastructure. The data is then merged with data mined from other sources and processed, using both centralized and distributed techniques, to provide control and management information back to the transport system. This requires a complex movement of data both upstream and downstream. To this end we built a heterogeneous network that distributes data between the traffic management center and the infrastructure, vehicles, and users. Such a network posses significant problems for the routing protocol. We propose HARP, a hierarchical, adaptive, and reliable routing protocol able to optimize both the upstream and the downstream traffic. It includes a local recovery algorithm and is robust in the presence of link failure. Analysis of the protocol demonstrates that it outperforms traditional single path routing protocols such as AODV in extending the lifetime of the routes while imposing limited overhead and end-to-end delay.

 

 

  1. An optimization model for a large-scale energy management problem

D. Anghinolfi, C. Nattero, M. Paolucci, Dipartimento di Informatica, Sistemistica e Telematica (DIST), University of Genova, Via Opera Pia 13, 16145 Genova, Italy & L.M. Gambardella, R. Montemanni, N.E. Toklu, Istituto Dalle Molle di Studi sull’Intelligenza Artificiale (IDSIA), University of Lugano, Galleria 2, 6928 Manno, Switzerland

 

With the growth in the demand for electrical energy globally, optimization of power plant productions and power plant maintenance scheduling have become important research topics. In this paper a Large Scale Energy Management (LSEM) problem is studied, where two types of power plants are considered. Power plants of the first type can be refueled while still operating. Power plants of the second type are nuclear plants, which need to be shut down from time to time, for refueling and maintenance. Considering these two types of power plants, LSEM is the problem of optimizing production plans and scheduling of maintenances of nuclear plants, with the objective of keeping the production cost as low as possible. In this article, a matheuristic optimization approach based on the successive solutions of simplified sub-problems guided by a local search exploration is proposed to solve LSEM. The approach involves mixed integer linear programming and simulated annealing optimization methods. Computational results on some realistic instances are presented.

 

  1. Dynamic Multi-Robot Remote Control

Luis A. Mateos and Markus Vincze, Automation and Control Institute (ACIN), Vienna University of Technology, Gusshausstrasse 27 - 29 / E376, A - 1040 Vienna, Austria

 

This paper describe the design of a remote control able to dynamically manage three water polo robots for the IEEE mini-robotic contest. In the contest, two teams participate, each team consist of 3 aquatic robots, one person control one robot independently with a remote control. The dynamic multi-robot remote control (DMRRC) enables a single person to control the entire team, by selecting which robot to be used and which action to be executed, one at a time. Moreover, the slave robots contain IR sensors which in conjunction with a tracking algorithm, enables the robots to play in such a way like a human player. The robots are executing such a task while the remote control is managing one of the three robots. Therefore the remote control is able to perform dynamic orders, the robots are always performing a task, either a pre-defined or a direct order from the remote control; and not only static order, where a robot is in standby waiting for the controller to set a task.

 

 

  1. Analytical Modeling ,Trajectory Simulation and Control of Guided Projectiles

SADERLA SUBRAHMANYAM & SUNIL SHARMA & GHOSH A.K., PhD Student, Department of Aerospace Engineering, Indian Institute of Technology Kanpur, Kanpur, India.

 

Guided projectile is one which is usually directed approximately towards the target and subsequently receives steering command from the guidance and control system to improve its accuracy. Exhaustive wind tunnel tests were conducted for various projectiles, at different angles of attack as well as Mach number. The data procured from the experiments about the balance center was processed to wind axes about center of gravity of the projectiles. A comparative study of different projectile configurations was carried out which helps in selecting the optimal configuration. The aerodynamic behavior of various projectile models were analytically modeled and compared with experimental results. The rigid body equations of motion of the projectile were developed and solved in the time domain to estimate the trajectories of various projectile configurations.

 

 

Applying a Neural Network Framework for Stereo Matching

Company Description : Approaches for image matching can be broadly classified into two categories: the intensity-based matching and the feature-based matching techniques. A technique from the second category is adopted in this work, where a neural framework is applied for region matching of stereo photographs. Two different types of neural networks are used in this framework, the radial basis network, (RB) for learning clustering, and the back propagation (BP) network for learning image matching. The (RB) neural network is to cluster the regions according to the locations of their centered points. The BP network uses differential features of each region as input training data. Rather than using a single algorithm for feature extraction, the model here follows the paradigm of quality from quantity by implementing multiple feature extraction. Features include (compactness, Euler number, and invariant moments) for each region. Results obtained from the neural networks (namely; clustering and initial matching list) are used to select the best matching pair. Lastly, a refinement step is then applied.

Product Type : Academic Conferences

Author : Thabit Sultan Mohammed, PhD

PDF 8p

Languages : English

Modeling and Fault Detecting for Hybrid Industrial Systems

Company Description : Continuous and discrete activities interact with each other in a hybrid system. This paper employs particle swarm algorithms and adaptive fuzzy systems to model and control the former that is represented with few places inside the Petri net model of such systems. It also addresses multi fault detection and isolation problem that is overcome using a new distributed interpreted Petri net based diagnoser. This diagnoser comprises a set of distributed diagnosers that are linked with multi sessions of the process to be monitored. The idea is randomly decomposing the incidence matrix of the central diagnoser into a set of matrices with only one condition that no sub local incidence matrix has repeatable values. Unlike, central and distributed diagnosers, the proposed diagnoser is event detectable and has the ability to detect and isolate multiple faults. A real industrial oil producing station is used for testing the soundness of the proposed schemes.

Product Type : Academic Conferences

Author : Eid M. Al-Hajri & Dr. J.A. Rossiter

PDF 9p

Languages : English

An Algorithm for Painting an Area by Swarm of Mobile Robots

Company Description : This paper presents a distributed algorithm for painting a priori known rectangular region by swarm of mobile robots. We assume that there is no obstacle inside the region. Our approach is to divide the region into some cells, and to let each robot to paint one of these cells, assigned to it. Assignment of different cells is done by ranking the robots according to their relative positions. In this algorithm, the robots follow the basic Wait-Observe-Compute-Move model together with the Asynchronous timing model.

Product Type : Academic Conferences

Author : Deepanwita Das, Srabani Mukhopadhyaya

PDF 6p

Languages : English

Tuning image stylization parameters using interactive genetic algorithm

Company Description : Problem: Filtering based image stylization. That require parameter setting for filter. It is unfamiliar to non-expert user.

Product Type : Academic Conferences

Author : Sun-Young Lee, Min Joon Yoo, *Jong Chul Yoon

PDF 1p

Languages : English

Adaptive Routing Protocol in a communications Platform for Autonomous Public Transport Vehicl...

Company Description : GUIADE is a national Spanish project whose aim is to improve efficiency in the public transport system through autonomous public transport vehicles and intelligent traffic management. It does this by monitoring data obtained from sensors in public vehicles and infrastructure. The data is then merged with data mined from other sources and processed, using both centralized and distributed techniques, to provide control and management information back to the transport system. This requires a complex movement of data both upstream and downstream. To this end we built a heterogeneous network that distributes data between the traffic management center and the infrastructure, vehicles, and users. Such a network posses significant problems for the routing protocol. We propose HARP, a hierarchical, adaptive, and reliable routing protocol able to optimize both the upstream and the downstream traffic. It includes a local recovery algorithm and is robust in the presence of link failure. Analysis of the protocol demonstrates that it outperforms traditional single path routing protocols such as AODV in extending the lifetime of the routes while imposing limited overhead and end-to-end delay.

Product Type : Academic Conferences

Author : F.J. Atero, J.J. Vinagre, F.J. Sim´o, M.R. Wilby,

PDF 5p

Languages : English

An optimization model for a large-scale energy management problem

Company Description : With the growth in the demand for electrical energy globally, optimization of power plant productions and power plant maintenance scheduling have become important research topics. In this paper a Large Scale Energy Management (LSEM) problem is studied, where two types of power plants are considered. Power plants of the first type can be refueled while still operating. Power plants of the second type are nuclear plants, which need to be shut down from time to time, for refueling and maintenance. Considering these two types of power plants, LSEM is the problem of optimizing production plans and scheduling of maintenances of nuclear plants, with the objective of keeping the production cost as low as possible. In this article, a matheuristic optimization approach based on the successive solutions of simplified sub-problems guided by a local search exploration is proposed to solve LSEM. The approach involves mixed integer linear programming and simulated annealing optimization methods. Computational results on some realistic instances are presented.

Product Type : Academic Conferences

Author : D. Anghinolfi, C. Nattero, M. Paolucci, L.M. Gambardella, R. Mon

PDF 9p

Languages : English

Dynamic Multi-Robot Remote Control

Company Description : This paper describe the design of a remote control able to dynamically manage three water polo robots for the IEEE mini-robotic contest. In the contest, two teams participate, each team consist of 3 aquatic robots, one person control one robot independently with a remote control. The dynamic multi-robot remote control (DMRRC) enables a single person to control the entire team, by selecting which robot to be used and which action to be executed, one at a time. Moreover, the slave robots contain IR sensors which in conjunction with a tracking algorithm, enables the robots to play in such a way like a human player. The robots are executing such a task while the remote control is managing one of the three robots. Therefore the remote control is able to perform dynamic orders, the robots are always performing a task, either a pre-defined or a direct order from the remote control; and not only static order, where a robot is in standby waiting for the controller to set a task.

Product Type : Academic Conferences

Author : Luis A. Mateos and Markus Vincze

PDF 7p

Languages : English

Analytical Modeling ,Trajectory Simulation and Control of Guided Projectiles

Company Description : Guided projectile is one which is usually directed approximately towards the target and subsequently receives steering command from the guidance and control system to improve its accuracy. Exhaustive wind tunnel tests were conducted for various projectiles, at different angles of attack as well as Mach number. The data procured from the experiments about the balance center was processed to wind axes about center of gravity of the projectiles. A comparative study of different projectile configurations was carried out which helps in selecting the optimal configuration. The aerodynamic behavior of various projectile models were analytically modeled and compared with experimental results. The rigid body equations of motion of the projectile were developed and solved in the time domain to estimate the trajectories of various projectile configurations.

Product Type : Academic Conferences

Author : SADERLA SUBRAHMANYAM & SUNIL SHARMA & GHOSH A.K., PhD Student

PDF 6p

Languages : English

Organizer : Global Science & Technology Forum

GSTF provides a global intellectual platform for top notch academics and industry professionals to actively interact and share their groundbreaking research achievements. GSTF is dedicated to promoting research and development and offers an inter-disciplinary intellectual platform for leading scientists, researchers, academics and industry professionals across Asia Pacific to actively consult, network and collaborate with their counterparts across the globe.