| 1. |
- Altaf, Faisal, et al.
(författare)
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Wireless event-triggered controller for a 3D tower crane lab process
- 2011
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Ingår i: 2011 19th Mediterranean Conference on Control and Automation, MED 2011. - 9781457701252 - 9781457701245 ; , s. 994-1001
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Konferensbidrag (refereegranskat)abstract
- This paper studies the design and real-time implementation of an event-triggered controller for a nonlinear 3D tower crane where the communication between the controller and the actuators is performed over a low-power wireless network. A flexible Event-Generation Circuit (EGC) is proposed in order to implement event-driven controllers for Networked Control Systems. Furthermore, a detailed experimental analysis on the performance of the event-triggered controller and the influence of packet losses on the transmitted actuation messages are presented. The results show that the event-triggered controllers in networked control systems are able to maintain the same level of performance as compared to periodic controllers, while increasing the sensors/actuators lifetime by reducing network bandwidth utilization.
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| 2. |
- Andrikopoulos, Georgios, et al.
(författare)
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A Survey on applications of pneumatic artificial muscles
- 2011
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Ingår i: 19th Mediterranean Conference on Control and Automation, MED 2011. - Piscataway, NJ : IEEE Communications Society. - 9781457701252 ; , s. 1439-1446
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Konferensbidrag (refereegranskat)abstract
- The aim of this article is to present a survey on applications of Pneumatic Artificial Muscles (PAMs). PAMs are highly non–linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been a significant increase in the industrial and scientific utilization of PAMs due to their advantages such as high strength and small weight, while various types of PAMs with different technical characteristics have been appeared in the relative scientific literature. This article will summarize the key enabling applications in PAMs that are focusing in the following areas: a) Biorobotic, b) Medical, c) Industrial, and d) Aerospace applications
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| 3. |
- Fakharian, Ahmad, et al.
(författare)
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Precise hybrid motion detection and tracking in dynamic background
- 2011
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Ingår i: The 19th Mediterranean Conference on Control and Automation (MED2011). - Piscataway, NJ : IEEE Communications Society. - 9781457701245 ; , s. 1398-1402
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Konferensbidrag (refereegranskat)abstract
- This paper presents a novel and robust algorithm, for multiple motion detection and tracking in dynamic and complex scenes. The algorithm consists of two steps: at first, we use a robust algorithm for human detection. Then, Gaussian mixture model (GMM), Neighborhood-based difference and Overlapping-based classification are applied to improve human detection performance .The conventional mixture Gaussian method suffers from false motion detection in complex backgrounds and slow convergence. We combine three above mentioned methods to obtain detection. The second step of the proposed algorithm is object tracking framework based on Kalman filtering which works well in dynamic scenes. Experimental results show the high performance of the proposed method for multiple object tracking in complex and noisy backgrounds.
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| 4. |
- Farokhi, Farhad, et al.
(författare)
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A Robust Control-Design Method Using Bode’s Ideal Transfer Function
- 2011
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Ingår i: Proceedings of the 19th Mediterranean Conference on Control and Automation. - : IEEE conference proceedings. - 9781457701245 ; , s. 712-717
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Konferensbidrag (refereegranskat)abstract
- We propose a method for designing loop-shaping controllers using Bode's ideal transfer function. Bode's ideal transfer function is introduced using fractional calculus. The ideal loop transfer function is approximated using the first generation CRONE approximation, and then implemented by means of Hinfinity-optimization followed by closed-loop controller order reduction of the resulting controller. The design method is confirmed to be powerful and robust by simulating on a flexible transmission system.
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| 5. |
- Ilic, N., et al.
(författare)
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Consensus based distributed change detection using generalized likelihood ratio methodology
- 2011
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Ingår i: 19th Mediterranean Conference on Control and Automation, MED 2011. - 9781457701252 ; , s. 1170-1175
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Konferensbidrag (refereegranskat)abstract
- In this paper a novel distributed recursive algorithm based on the Generalized Likelihood Ratio methodology is proposed for real time change detection using sensor networks. The algorithm is based on a combination of recursively generated local statistics and a global consensus strategy, and does not require any fusion center, so that the state of any node can be tested w.r.t. a given common threshold. Two different problems are discussed: detection of an unknown change in the mean and in the variance of an observed random process. Performance of the algorithm for change detection in the mean is analyzed in the sense of a measure of the error with respect to the corresponding centralized algorithm. The analysis encompasses constant and randomly time varying matrices describing communications in the network. Simulation results illustrate characteristic properties of the algorithms.
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| 6. |
- Karayiannidis, Yiannis, 1980-, et al.
(författare)
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Robot joint position tracking with an approximator-free prescribed performance controller
- 2011
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Ingår i: 2011 19th Mediterranean Conference on Control and Automation, MED 2011. - 9781457701252 ; , s. 564-569
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Konferensbidrag (refereegranskat)abstract
- This work addresses the problem of joint position tracking with prescribed performance guarantees and proposes a novel controller able to guarantee i) predefined minimum speed of convergence, maximum steady state error and over shoot concerning the position tracking error and ii) uniformly ultimate boundedness of the system state. Neither the robot dynamic model nor any approximation structures are utilized in the control law. Control gain lower bounds are dependent on some prior robot knowledge but gain tuning is simplified since the only concern is to adopt those values that lead to reasonable input torques. Simulation results of a 3 dof spatial robotic manipulator are given to confirm the theoretical findings.
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| 7. |
- Tsitsipis, Dimitris, et al.
(författare)
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A dual scheme for secured multimedia wireless sensor network
- 2011
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Ingår i: 19th Mediterranean Conference on Control and Automation, MED 2011. - Piscataway, NJ : IEEE Communications Society. - 9781457701245 ; , s. 1160-1165
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Konferensbidrag (refereegranskat)abstract
- In this article a dual scheme for secured Multimedia Wireless Sensor Networks (MWSN) is being presented. The dual scheme is based on: a) the Quad Tree Decomposition algorithm that it is able to compress the images before transmission, while providing significant robustness in retaining the image quality, against packet losses, and b) the Secure and Scalable Rekeying Protocol (S2RP), which encrypts all the data transmissions and is also responsible for the rekeying process in case of a node failure. In the proposed MWSN, a trade off is being made among retaining secured and faster transmission rates against the quality of the transmitted images. Multiple experimental results are presented that prove the efficacy of the proposed scheme.
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