# ICINCO 2009 Abstracts

## Area 1 - Intelligent Control Systems and Optimization

Full Papers
Paper Nr: 27
Title:

### A Target Tracking Algorithm Based on Adaptive Multiple Feature Fusion

Authors:

#### Simon X. Yang, Hongpeng Yin, Yi Chai and David Chiu

Abstract: This paper presents an online adaptive multiple feature fusion and template update mechanism for kernel-based target tracking. According to the discrimination between the object and background, measured by two-class variance ratio, the multiple features are combined by linear weighting to realize kernel-based tracking. An adaptive model-updating mechanism based on the likelihood of the features between successive frames is addressed to alleviate the mode drifts. In this paper, RGB colour features, Prewitt edge feature and local binary pattern (LBP) texture feature are employed to implement the scheme. Experiments on several video sequences show the effectiveness of the proposed method.

Paper Nr: 54
Title:

### FROM BENDING TO LINEAR MOVEMENT: A Linear Actuation Mechanism Based on Conducting Polymer Actuators

Authors:

#### Elise Burriss, Gursel Alici, Geoff Spinks and Scott McGovern

Abstract: The objects of this study are (i) to establish a linear actuation system based on the bending movement of conducting polymer actuators, which operate in air, and (ii) to develop a model to predict the linear displacement and force output of the actuation system, and employ the model to characterise the optimum values of the system design parameters. The linear actuation system is based on a five bar parallel mechanism with equal link lengths and a zero-length ground link, which is articulated through two bending type polymer actuators. Kinematic and force analyses of the mechanism including numerical results are presented, and its payload handling ability was experimentally evaluated. Experimental results presented demonstrate that the linear actuation system can generate linear movement accurately and a rectilinear force as a result of two bending type polymer actuators. This mechanism is offered as a lightweight, low power consuming motion and force transmission system

Paper Nr: 92
Title:

### THE MULTISTART DROP-ADD-SWAP HEURISTIC FOR THE UNCAPACITATED FACILITY LOCATION PROBLEM

Authors:

#### Lin-Yu Tseng and Chih-Sheng Wu

Abstract: The uncapacitated facility location problem aims to select a subset of facilities to open, so that the demands of a given set of customers are satisfied at the minimum cost. In this study, we present a novel multistart Drop-Add-Swap heuristic for this problem. The proposed heuristic is multiple applications of the Drop-Add-Swap heuristic with randomly generated initial solutions. And the proposed Drop-Add-Swap heuristic begins its search with an initial solution, then iteratively applies the Drop operation, the Add operation or the Swap operation to the solution to search for a better one. Cost updating rather than recomputing is utilized, so the proposed heuristic is time efficient. With extensive experiments on most benchmarks in the literature, the proposed heuristic has been shown competitive to the state-of-the-art heuristics and metaheuristics.

Paper Nr: 117
Title:

### PROVIDING SPATIAL INTEGRITY FOR DISTRIBUTED UNMANNED SYSTEMS

Authors:

#### Peter S. Sapaty

Abstract: Due to increasing complexity of tasks delegated to unmanned vehicles, their collective use is becoming of paramount importance for performing any reasonable jobs. An approach is offered where group behaviors are accomplished automatically rather than set up manually, as usual. Missions in the Distributed Scenario Language (DSL) can be executed jointly by communicating interpreters in robotic units. Scenarios like reconnaissance, camp security, convoy, mule, and explosive ordnance disposal in DSL, oriented on different numbers of cooperating vehicles, are demonstrated. The approach allows us to effectively manage any robotic teams, both homogeneous and heterogeneous, regardless of the number of vehicles in them. It can also provide flexible and situation dependent watershed between strong hierarchical control and loose swarming in distributed unmanned system organizations, which can always preserve global goal orientation and high integrity as a whole, with increased capabilities for self-recovery after indiscriminate damages. A relation of this approach to the gestalt theory and first world computers is outlined too. Having the ability of grasping the whole of distributed dynamic systems by active spatial patterns, which self-spread and match them, orienting their behavior, the approach may be the first implementation of the notion of gestalt in system management and control. It may also be considered as the first programmable parallel world machine, covering any territories and operating with both information and matter, with communicating “processors” being both technical and human.

Paper Nr: 182
Title:

### ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDBACK-CONTROLLED SERVO SYSTEMS

Authors:

Abstract: An original control structure dedicated to a class of second-order state feedback control systems is presented in the paper. The controlled processes are accepted to be characterized by second-order servo systems with integral component. Optimal state feedback control systems are designed for those processes making use of the Iterative Feedback Tuning (IFT) approach. The state feedback control system structure is extended with an integral component to ensure the rejection of constant disturbances. A case study concerning the position control of a DC servo system with backlash is included. Real-time experimental results validate the theoretical part of the IFT approach.

Paper Nr: 185
Title:

### A HYBRID SET-UP OPTIMIZATION MODEL FOR TANDEM COLD ROLLING MILL

Authors:

Abstract: Set-up optimization of the rolling process involves several parameters that may lead to complex multi objective optimization problem. Also, it is well known that experience is playing a vital role in the selection of operating parameters in rolling mill. This paper presents a combination of two optimization procedure for a multi objective optimization problem. The first optimization phase is based on Nelder and Mead simplex method which focus on balance of power, force and reduction distribution in set-up planning. Then, a real-coded genetic algorithm based optimization procedure applies on the system as an outer loop to optimize energy consumption and productivity. An experimental result of application to five stand tandem cold rolling mill is presented.

Paper Nr: 217
Title:

### CONTACTLESS TORQUE SENSOR

Authors:

#### Franz Haas, Manfred Brandl and Reinhard Marik

Abstract: In this paper fundamentals and the prototype development of a new contactless torque sensor are presented. The whole device can be divided into a mechanical and an electromagnetic system. The prototype is designed for the torque range of an electric power assisted steering. The basic idea is the transformation of the shaft twist under torque load into a translational movement of the middle part of the sensor sleeve that is measured by an inductive measuring device. An additional aspect is the low cost manufacturing and assembling of the whole system. The interface electronics ensures high linearity and accuracy and is therefore very suitable for this application. This new sensor concept is very robust and self-compensating for all kinds of relative positioning tolerances ranging from temperature change to external forces.

Paper Nr: 232
Title:

### Inducing Cooperation in Fuzzy Classification Rules Using Iterative Rule Learning and Rule-Weighting

Authors:

#### Omid Dehzangi, Seyed H. Fard and Ehsan Younessian

Abstract: Fuzzy Rule-Based Classification Systems (FRBCSs) focus on generating a compact rule-base from numerical input data for classification purposes. Iterative Rule Learning (IRL) has been proposed to reduce the search space for learning a rule-set for a specific classification problem. In this approach, a rule-set is constructed by searching for an appropriate fuzzy rule and adding it to the rule-set in each iteration. A major element of this approach is the requirement of an evaluation metric to find the best rule in each iteration. The difficulty in choosing the best rule is that the evaluation metric should be able to measure the degree of cooperation of the candidate rule with the rules found so far. This poses a major difficulty when dealing with fuzzy rules; because unlike crisp rules, each pattern is compatible with a fuzzy rule only to a certain degree. In this paper, the cooperation degree of a candidate rule is divided into the following two components: I)- The cooperation degree of the rule with other rules of the same class, II)- The cooperation degree of the rule with rules of the other classes. An IRL scheme to generate fuzzy classification rules is proposed that induces cooperation among the rules of the same class. Cooperation between the rules of different classes is handled using our proposed rule-weighting mechanism. Through a set of experiments on some benchmark data sets from UCI-ML repository, the effectiveness of the proposed scheme is shown.

Paper Nr: 240
Title:

### A HYBRID METAHEURISTIC FOR SOLVING SINGLE MACHINE SCHEDULING PROBLEM

Authors:

Abstract: This paper proposes a metaheuristic for solving the Single Machine Scheduling Problem that is implemented by a hybrid system made up of an Ant Colony System and a stochastic descent algorithm called Kangaroo. The hybrid system is based on the collaboration between a social type multiagent system and an Iterated Solution Improvement method.

Paper Nr: 260
Title:

### SOLVING THE FEEDER ASSIGNMENT ON A REVOLVER-HEAD GANTRY MACHINE

Authors:

#### Sami Pyöttiälä, Timo Knuutila, Mika Johnsson and Olli S. Nevalainen

Abstract: Revolver-head gantry machines are nowadays very popular because of their flexibility, accuracy and high enough placement speed. In the optimization of this machine type the selection of nozzles into the placement head, the order of the component reels in feeder slots, and the pick-up and placement sequences have to be considered. In this article, it is assumed that the selection of nozzles and the pick-up and placement sequences are fixed and the feeder assigment is to be solved. The problem statement is formed by analysing the operation properties of a real placement machine. Contrarily to previous literature dealing with this problem, in this work each component can be picked up only by a certain type of nozzle. Finally, four algorithms for solving the problem are proposed and tested. In the experimental tests with realistic data the algorithms performed equally.

Paper Nr: 261
Title:

### PERFORMANCES IMPROVEMENT AND STABILITY ANALYSIS OF MULTIMODEL LQ CONTROLLED VARIABLE-SPEED WIND TURBINES

Authors:

Abstract: In this paper, a linear quadratic (LQ) control law combined with a multimodel approach is designed for variable-speed, variable-pitch wind turbines. The presented technique is based on an optimal control method in order to improve the system global dynamic. A set of linear local models (sub-models) is then defined for different operating points corresponding to high wind speeds. Thereafter, a global asymptotic stability analysis is developed by solving a bilinear matrix inequality (BMI) feasibility problem based on the local stability of the sub-models.

Paper Nr: 265
Title:

### MINIMIZING THE MAKESPAN IN TWO-MACHINE JOB SHOP SCHEDULING PROBLEMS WITH NO MACHINE IDLE TIME

Authors:

#### Fatma Hermès and Khaled Ghédira

Abstract: This paper deals with two-machine job shop scheduling problems working under the no-idle constraint, that is, machines must work continuously without idle intervals. The makespan (Cmax) has to be minimized. First, we study the problem where each job consists of at most two operations and we show that it can be solved polynomially using Jackson’s rule (Jackson, 1956). Second, we study the problem where the number of operations per job can be greater than two and all operations are of unit time and we extend the results of (Hefetz and Adiri, 1982). Finally, we discuss the possibility of getting feasible solutions and then optimal solutions in the general case where the number of operations per job can be greater than two and all operations do not have the same processing time.

Paper Nr: 279
Title:

### A LOW COST AND FLEXIBLE APPROACH TO CAN CONFORMANCE TESTING

Authors:

#### Imran Sheikh and Michael Short

Abstract: Since its introduction in the early 1980’s, CAN has become the de-facto communications protocol employed in vehicle and industrial control applications. Before any new product can claim to support CAN-connectivity, compliance with protocol at the physical, data link and application layers must be tested and verified. To help standardize the requirements for such testing, ISO has set a draft standard specifically for CAN conformance testing. Traditionally, CAN controllers and Transceivers have been implemented at the silicone level, either by dedicated IC’s or as on-chip peripherals of embedded devices. Practically, the implementation of CAN conformance testers has been done using dedicated hardware and specially written analysis software, which is a practical approach when testing and verifying conformance prior to high-volume IC manufacture. However, recent years have seen an increased interest in the employment of CAN-connected devices implemented by programmable logic devices such as FPGA’s. Such ‘soft core’ implementations are often in small-volume (or even one-off) batches. In such circumstances, for cost and availability reasons, it may not be practical for developers to use traditional CAN-conformance testing equipment. To help alleviate this problem, this paper proposes a low-cost and easily implemented method which will allow developers to test a CAN soft core implementation. Based around simple off-the-shelf development boards, general purpose software code and the simple analysis tool Chipscope, the method allows developers to verify a CAN core against the relevant ISO standards. Finally, we describe the use of the test bed in the verification of an open-source CAN soft core implementation.

Paper Nr: 291
Title:

### Fuzzy Logic Based Quadrotor Flight Controller

Authors:

#### Wail Gueaieb and Syed A. Raza

Abstract: Quadrotor unmanned aerial vehicles (UAVs) have gained a lot of research interest in the past few years, due to the clear advantages posed by their vertical take-off and landing (VTOL), hovering capability, and slow precise movements. These characteristics make quadrotors an ideal candidate for applications that require traversing through difficult environments with many obstacles. Belonging to the helicopter rotorcraft class, quadrotors are highly nonlinear systems that are difficult to stabilize. This paper proposes a fuzzy logic based flight controller for an autonomous quadrotor. Two types of fuzzy logic controllers are implemented. The developed flight controllers are tested in a quadrotor simulator and simulation results are presented to demonstrate the performance of each controller. The controllers performances are also benchmarked against conventional control based techniques such as input-output linearization, backstepping and sliding mode control. In comparison with other conventional control techniques mostly designed for indoor applications, the proposed fuzzy logic based controllers showed satisfactory control of the quadrotor in the presence of various disturbances such as sensor noise and high wind conditions.

Short Papers
Paper Nr: 33
Title:

### Riccati Solution for Discrete Stochastic Systems with State and Control Dependent Noise

Authors:

#### Randa Herzallah

Abstract: In this paper we present the Riccati solution of linear quadratic control problems with input and state dependent noise which is encountered during our previous study to the adaptive critic solution for systems characterized by functional uncertainty. Uncertainty of the system equations is quantified using a state and control dependent noise model. The derived optimal control law is shown to be of cautious type controllers. The derivation of the Riccati solution is via the principle of optimality. The Riccati solution is implemented to linear multi dimensional control problem and compared to the certainty equivalent Riccati solution.

Paper Nr: 50
Title:

### INTELLIGENT FAULT DIAGNOSIS USING SENSOR NETWORK

Authors:

#### Haris M. Khalid, Rajamani Doraiswami and Lahouari Cheded

Abstract: An intelligent diagnostic scheme using sensor network for incipient faults is proposed using a holistic approach which integrates model-, fuzzy logic-, neural network- based schemes. In case the system is highly non-linear and there are enough training data available, a neural network based scheme is preferred; where the rules relating the input and output can be derived, a Fuzzy-logic approach is chosen; and where a model is available, a linearized model is employed. These three schemes are integrated sequentially ensuring thereby that critical information about the presence or absence of a fault is monitored in the shortest possible time, and the complete status regarding the fault is unfolded in time. The proposed scheme is evaluated extensively on simulated examples and on a physical system exemplified by a benchmarked laboratory-scale two-tank system to detect and isolate faults including sensor, actuator and leakage ones.

Paper Nr: 58
Title:

### DESIGN OF A NOVEL HYBRID OPTIMIZATION ALGORITHM

Authors:

#### Dimitrios Koulocheris and Vasilis Dertimanis

Abstract: The interrelation of stochastic and deterministic optimization algorithms, as well as the exploitation of the advantages that each counterpart presents simultaneously, is studied in this paper. To this, a hybrid optimization algorithm, denoted as [μ=r (+=; ) l;n]–hES, is developed, which consists of a conventional Evolution Strategy that maintains its recombination and selection phases unaltered, while its mutation operator is replaced by well–known deterministic methods, such as line–search and/or trust–region. The alteration results in superior performance of the novel algorithm, compared to other instances of Evolutionary Algorithms, as exploited out in tests using Griewangk and Rastrigin functions. The proposed algorithm is further examined through its implementation to the structural optimization problem of a full–car suspension model, with satisfying results.

Paper Nr: 77
Title:

### Observer-based state feedback remote control with bounded time-varying delays

Authors:

#### Imane Dilaneh and Laurent Laval

Abstract: This paper investigates the problem of remote stabilization via communication networks with uncertain, non-small'', time-varying, non-symmetric transmission delays affecting both the control input and the measured output. More precisely, this paper focuses on a closed-loop Master-Slave setup with a TCP network as communication media, and an observer-based state-feedback control approach to deal with the stabilization objective. First, we establish some asymptotic stability criteria regarding to a Lyapunov--Krasovskii functional derived from a descriptor model transformation, in case of non-small'' delays (that are time-varying delays with non-zero lower bounds). Then, some stability conditions are given in terms of Linear Matrix Inequalities which are used, afterwards, to design the observer and controller gains. Finally, the proposed stabilizing approach is illustrated through numerical and simulation results, related to the remote control of a ball and beam'' system.

Paper Nr: 87
Title:

### Resampling based on Statistical Properties of Data Sets: Example of Daily Traffic Injuries Number

Authors:

#### Julia Bondarenko

Abstract: In imbalanced data sets, classes separated into majority (negative) and minority (positive) classes, are not approximately equally represented. That leads to impeding of accurate classification results. Well balanced data sets assume uniform distribution. The approach we present in the paper, is based on directed oversampling of minority class objects with simultaneous undersampling of majority class objects, to balance non-uniform data sets, and relies upon the certain statistical criteria. The resampling procedure is carried out for the daily traffic injuries data sets. The results obtained show the improving of rare cases (positive class objects) identification with accordance to several performance measures.

Paper Nr: 88
Title:

### MULTI-CORE COMPUTING UNIT FOR ARTIFICIAL NEURAL NETWORKS IN FPGA CHIP

Authors:

#### Marek Bohrn, Lukas Fujcik and Radimir Vrba

Abstract: This article describes a design and features of a multi-core unit for performing computing operations required for artificial neural network functioning. Its purpose is to speed up computing operations of the neural network. The number of computing cores can be altered as needed to achieve the required performance. VHDL language has been used to build this module. It has been optimized for the Spartan-3 family FPGA chips from Xilinx. These chips are favorable because of their low price and a high number of on-chip multipliers and block memory units. Spartan-3 chips facilitate parallel computing operations within neural networks to a very high level and thus help to achieve high computing power.

Paper Nr: 118
Title:

### A MULTI-OBJECTIVE APPROACH TO APPROXIMATE THE STABILIZING REGION FOR LINEAR CONTROL SYSTEMS

Authors:

#### Gustavo Sanchez, Miguel Strefezza and Orlando R. Díaz

Abstract: In this paper a new multi-objective approach to approximate the stabilizing region for linear control systems is proposed. The design method comprises two stages. In the first stage, a bi-objective sub-problem is solved: the vertices that maximize the volume of the decision space and the percent of stable individuals are found. In the second stage, the information gathered during the first stage is used to solve the actual multi-objective control design problem. To evaluate the proposed method a PID design problem is considered. Results show that in this case, our method is able to find better Pareto approximations than the classical approach.

Paper Nr: 123
Title:

### A min-plus approach for trafﬁc flow modeling

Authors:

#### Julien Rousseau, Sebastien Lahaye, Claude Martinez and Jean-Louis Boimond

Abstract: In this paper we propose a modeling method for traffic ﬂow phenomena based on the min-plus algebra. We adopt a modular approach by dividing roadways as elementary stretches which can be combined in order to get a model for a complex infrastructure. The approach is flexible in the sense that different scales can be considered for each elementary model. In fact, whatever its size, each roadway stretch is here studied as a min-plus linear system and is modeled by its impulse response in min-plus algebra. In this first step in studying traffic flow, we focus on modeling detailing the adopted methodology. We also present simulations to validate the approach.

Paper Nr: 126
Title:

### Generating High-Speed Three-Dimensional Dynamic Quadruped Walking Using an Evolutionary Search

Authors:

#### Di He, Qining Wang and Guangming Xie

Abstract: This paper presents an evolutionary computation approach to generate three-dimensional fast forward gaits for quadruped robots with three motor-driven joints on each limb. We use linear constraints to reduce the high-dimensional space of parameters in order to generate the speed effectively. Real robot experiments show that the evolutionary approach is effective in developing quadruped gaits. Satisfactory results are obtained in about an hour by the autonomous learning process, which starts with a set of hand-tuned parameters.

Paper Nr: 133
Title:

### MODEL-ORDER REDUCTION OF SINGULARLY PERTURBED SYSTEMS BASED ON ARTIFICIAL NEURAL ESTIMATION AND LMI-BASED TRANSFORMATION

Authors:

Abstract: A new method for model order reduction with eigenvalue preservation is presented in this paper. The new technique is formulated based on the system state matrix transformation which preserves the system eigenvalues and is accomplished using an artificial neural network training. A linear matrix inequality (LMI) numerical algorithm technique is used to obtain the complete system transformation. Model order reduction is then obtained utilizing the singular perturbation method. Simulation results show that the LMI-based transformed reduced model order is superior to other reduction methods.

Paper Nr: 146
Title:

### THEORETICAL CALCULATION OF THERMAL CONTACT RESISTANCE OF BALL BEARING UNDER DIFFERENT LOADS

Authors:

#### Chao Jin, Youmin Hu and Bo Wu

Abstract: The thermal contact resistance between the balls and the inner and outer rings of an angular contact ball bearing is investigated. It is assumed that the bearing sustains thrust, radial, or combined loads under a steady-state temperature condition. The shapes and sizes of the contact areas are calculated using the Hertzian theory. The distribution of internal loading in the bearing is determined by the JHM method. The comparison between the experimental data and the calculated values confirms the validity of the prediction method for the thermal contact resistances between the elements of a bearing.

Paper Nr: 149
Title:

### A NEW APPROACH OF THE NEURAL PREDICTIVE CONTROL APPLIED IN A THERMOELECTRIC MODULE

Authors:

#### Marcio Garcia, Pablo Lima and Adhemar Fontes

Abstract: This article presents an efficient solution for predictive control based on neural networks with feedfoward multilayer, as a model for a thermoelectric module. It is shown the capability of a neural network to learn the entire nonlinear dynamics and the advantage of using these nonlinear models for the calculation of the predicted variables. It is also suggested a new control law capable of minimize the cost function using the Newton-Raphson and the descendent gradient optimization rules. For this application it is shown that a significant reduction in the number of iterations and application in real-time systems when compared to other optimization techniques.

Paper Nr: 163
Title:

### THE EXTRACTION OF KNOWLEDGE RULES FROM ARTIFICIAL NEURAL NETWORKS APPLIED IN THE ELECTRIC LOAD DEMAND FORECAST PROBLEM - How Artificial Neural Networks Retain Knowledge and Make Reliable Forecasts

Authors:

#### Tarcisio Steinmetz, Adelmo Cechin and José D. Santos

Abstract: We present a methodology for the extraction of rules from Artificial Neural Networks (ANN) trained to forecast the electric load demand. The rules have the ability to express the knowledge regarding the behavior of load demand acquired by the network during training process. The rules are presented to the user in an easy to read format, such as IF premise THEN consequence. Where premise relates to the input data submitted to the network (mapped as fuzzy sets), and consequence appears as a linear equation describing the output to be presented by the network, should the premise part holds true. Experimentation demonstrates the method’s capacity for acquiring and presenting high quality rules from neural networks trained to forecast electric load demand for several amounts of time in the future.

Paper Nr: 173
Title:

### NEURO-FUZZY CONTROL OF NONLINEAR SYSTEMS

Authors:

#### Marconi Rodrigues, Fábio D. Araújo and André Maitelli

Abstract: This study shows both the development and characteristics of some of the main techniques used to control nonlinear systems. Starting from a fuzzy controller, it was possible to apply similar learning techniques to those used in Artificial Neural Networks (ANNs), and evolve to ANFIS and NEFCON neuro-fuzzy models. These neuro-fuzzy models were applied to a real ball and beam plant and both their adaptations and their results were discussed. For each controller developed the input variables, the parameters used to adapt the variables and the algorithms applied in each one are specified. The tests were performed in a ball and beam plant and the results are directed toward obtaining a comparison between the initial and final evolution phase of the neuro-fuzzy controllers, as well as the applicability of each one according to their intrinsic characteristics.

Paper Nr: 183
Title:

### IFT-BASED PI-FUZZY CONTROLLERS: SIGNAL PROCESSING AND IMPLEMENTATION

Authors:

Abstract: New Takagi-Sugeno PI-fuzzy controllers (PI-FCs) are suggested in this paper. The PI-FC design is based on the optimization of PI controllers in terms of the Iterative Feedback Tuning (IFT) approach. Next the parameters of the PI controllers are mapped onto the parameters of the Takagi-Sugeno PI-FCs in terms of the modal equivalence principle. An attractive design method is derived to support the implementation of low-cost PI-FCs. The design is enabled by a stability analysis theorem based on Lyapunov’s theorem for time-varying systems. The theoretical approaches are validated by a case study corresponding to the position control of a servo system. Real-time experimental results are included.

Paper Nr: 209
Title:

### TRANSITION VELOCITY FUNCTION FOR IMPULSE CONTROL SYSTEMS

Authors:

#### Stephen van Duin, Matthias Ahlswede and Christopher Cook

Abstract: This paper presents a modified impulse controller that is used to improve the velocity tracking of a servomechanism having characteristics of high nonlinear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. This has previously been used to improve the position and velocity tracking of robot manipulators at very low velocities. Experiments show that at higher velocities the improved performance of the impulse part of the hybrid controller diminishes and can be counterproductive at these speeds when compared to conventional PID control alone. The modified hybrid impulse controller in this paper uses a mathematical function to transition the amount of torque from an impulse as a function of velocity to achieve more precise tracking across a range of velocities.

Paper Nr: 216
Title:

### ON THE WORK-IN-PROCESS CONTROL OF PRODUCTION NETWORKS

Authors:

#### Nikos Tsourveloudis

Abstract: The effectiveness of evolutionary optimized fuzzy controllers for production scheduling has been proven in the past. The objective of the control/scheduling task in this context, is to continuously adjust the production rate in a way that: 1) satisfies the demand for final products, 2) keeps the inventory as low as possible. The evolutionary optimization identifies fuzzy control solutions which simultaneously satisfy those restrictions. The important question here is: How robust and generic is the outcome of the evolutionary process? In this paper we face this question by testing the evolutionary tuned fuzzy controllers under several demand patterns, as the actual demand might be different from those used for evolution\optimization. Extensive simulations of a supervisory controller identify the performance of the evolutionary-fuzzy strategy in comparison to a pure knowledge based one.

Paper Nr: 236
Title:

### Batch Reinforcement Learning: an application to a controllable semi-active suspension system

Authors:

#### Simone Tognetti, Marcello Restelli, Sergio M. Savaresi and Cristiano Spelta

Abstract: The design problem of optimal comfort-oriented semi-active suspension has been addressed with different standard techniques which failed to come out with an optimal strategy because the system is hard non-linear and the solution is too complex to be found analytically. In this work, we aimed at solving such complex problem by applying Batch Reinforcement Learning (BRL), that is an artificial intelligence technique that approximates the solution of optimal control problems without knowing the system dynamics. Recently, a quasi optimal strategy for semi-active suspension has been designed and proposed: the Mixed SH-ADD algorithm, which the strategy designed in this paper is compared to. We show that an accurately tuned BRL provides a policy able to guarantee the overall best performance.

Paper Nr: 241
Title:

### POSITION CONTROL OF A SERVO-PNEUMATIC SYSTEM

Authors:

#### Marco Santos, Jorge Ferreira and José Simões

Abstract: This paper proposes a hybrid fuzzy P+I controller for a servo-pneumatic machine to perform and monitor tests on biomechanical devices, such as orthopaedic prosthesis. The methodology followed is based upon the CompactRIO®, a real-time platform, and the system was fully programmed using LabVIEW language. Separate algorithms of a PI, proportional fuzzy and hybrid fuzzy P+I controllers were developed and compared. The performance of the overall system has already been tested and the experimental results for position control show that the PI controller can reach 2 µm of accuracy but with a very slow rise time. However, the same accuracy can be achieved with Hybrid Fuzzy P+I controller, although with a fast rise time and neglected overshoot. The authors can conclude that this proposal can successfully overcome unknown nonlinear parameters of the pneumatic system and has high position control accuracy.

Paper Nr: 242
Title:

### A FUZZY-CONTROLLED INFLUENCE FUNCTION FOR THE CULTURAL ALGORITHMS WITH EVOLUTIONARY PROGRAMMING APPLIED TO REAL-VALUED FUNCTION OPTIMIZATION

Authors:

#### Mário Torres, Roberto Limão and Otávio Teixeira

Abstract: In this paper, we propose a fuzzy system to act as a control mechanism for the evolutionary process of search of a Cultural Algorithm with Evolutionary Programming (CAEP) applied to real-valued function optimization. The fuzzy system uses population knowledge to adjust the an Influence Factor that represents the intensity of the influence of the Variation operator of the CAEP model, therefore adjusting the search process. This paper also presents a comparative analysis of the proposed influence function using well-known benchmarking functions.

Paper Nr: 249
Title:

### DISTRIBUTED ARRIVAL TIME CONTROL FOR VEHICLE ROUTING PROBLEMS WITH TIME WINDOWS

Authors:

#### Seok G. Lee and Vittal Prabhu

Abstract: Competitiveness of a supply chains depends significantly on distribution center operations because it determines responsiveness and timeliness of deliveries to customers. This paper proposes a control algorithm for routing multiple out-bound trucks to customers spread over a wide geographical area, each occupying different volume in a truck, and having a different delivery time-window. Overall operations are also constrained by geographical locations of the customers in various zones and dissimilar truck capacities. Performance of the algorithm is tested using data from a distribution center located in Latin America.

Paper Nr: 272
Title:

### Collaborative Exploration in Grid Domains

Authors:

#### Yaniv Altshuler, Alfred Bruckstein and Israel A. Wagner

Abstract: This work discusses the problem of exploration of an unknown environment using a collaborative group of simple agents. While this problem was known to be of a non-polynomial time complexity, it was speculated in the past that in grid domain the completion time of this problem is much lower (although analytic proofs were not available hitherto). In this work we present a preliminary result concerning a constructive analytic proof that the time complexity of this problem in grid domains in indeed polynomial.

Paper Nr: 280
Title:

### APPLICATION OF REACTIVE AGENTS CONCEPTS IN AUTOMATIC BINDINGS OF LONWORKS NETWORKS DEVICES

Authors:

#### Miguel A. Filho, Rafael A. Cunha and Carlos E. Cugnasca

Abstract: This paper aims to propose and test a new method to implement dynamic bindings in LonWorks® technology, allowing a new Distributed System of Private Telephone Switching (DSPTS), also developed with LonWorks® technology, to make their telephone links. In order to do this, a method for developing embedded systems and the reactive agent view was applied for each different device in this new system, offering a unique, practical and innovative solution for both, LonWorks® and PBX systems. This view allowed the implementation of intelligent and autonomous devices, specially in their internal process, providing satisfactory and more efficient results based on the DSPTS requirements. This work is the kick-off and the basis for developing new functions for telephone systems and control networks.

Paper Nr: 289
Title:

### FAULT DETECTION AND DIAGNOSIS IN A HEAT EXCHANGER

Authors:

#### Juan T. Martínez, Luis G. Castañón and Ruben Morales-Menendez

Abstract: A comparison between the Dynamic Principal Component Analysis (DPCA) method and a bank of Diagnostic Observers (DO) under the same experimental data from a shell and tube industrial heat exchanger is presented. The comparative analysis shows the performance of both methods when sensors and/or actuators fail. Different metrics are discussed (i.e. robustness, quick detection, isolability capacity, explanation facility, false alarm rates and multiple faults identifiability). DO showed quicker detection for sensor and actuator faults with lower false alarm rate. Also, DO can isolate multiple faults. DPCA required a minor training effort; however, it cannot identify two or more sequential faults.

Paper Nr: 299
Title:

### SEMANTIC SUPPORT FOR RESOURCE-CONSTRAINED ROBOT SWARM

Authors:

#### Xiang Su, Jukka Riekki and Janne Haverinen

Abstract: Semantic Web technology could offer lots of intelligent functionality to multi-robot systems. But limited processing power and storage capability of unsophisticated robots do not necessary allow them to support and process Semantic Web technology. In this paper, we propose a novel solution to provide semantic support for resource-constrained robots. Entity Notation is a lightweight data representation which can be employed to transfer data between resource-constrained robots and intelligent applications at server side. Resources-constrained robots only need to handle the lightweight Entity Notation while intelligent applications handle the more advanced knowledge representation. When the Entity Notation is used, the transfer between the robots and applications is unambiguous and lossless. In this way, an ontology and ontology-based inference at server side can improve the capabilities of the robot swarm. We present a simulator and discuss the future work.

Paper Nr: 303
Title:

### Tuning of Industrial Controllers over Public IP Networks

Authors:

#### Nunzio Torrisi, Renato Fernandes and Dennis Brandão

Abstract: Tuning of industrial systems is executed in the initial phase of the system and mainly during the maintenance phase, providing characteristics of the performance of the industrial process during production life cycle. Remote tuning supports several practical applications, such as specialized companies outsourcing services or companies distributed in different areas centralizing optimization. This paper proposes a software tool for remote tuning of open or closed PID control loops in an industrial environment that fulfils the requirements described above, in a single platform. The software tool could be used in control loops tuning in industrial systems, as well as in an academic environment simulating control applications and industrial networks.

Paper Nr: 329
Title:

### DYNAMIC CONTROL OF NETWORK PROTOCOLS - A new vision for future self-organising networks

Authors:

#### Sven Tomforde, Jörg Hähner and Emre Cakar

Abstract: In recent years communication protocols have shown an increasing complexity, in particular in terms of the number of variable parameters. Data communication networks like, e. g., the Internet reach the limits of their extensibility which leads to initiatives coping with the future of the Internet and data communication in general. A first step towards creating a sustainable solution without exchanging the whole system is to make the static character of network protocols more flexible. An adaptive behaviour of nodes within a network and an autonomous, self-organising concept for their control strategies leads to a possible increase in performance accompanied by an increase of extensibility. This paper presents a new vision of how to establish these new control strategies mostly independent of the particular protocol by using the concepts of Organic and Autonomic Computing. We introduce an adaptive and automated network control system for the dynamic and self-organised control of protocol parameters. This system consists of two sub-systems: an on-line adaptation mechanism and an off-line learning component. The current status is introduced in combination with the definition of further challenges and fields of research.

Paper Nr: 333
Title:

### VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS

Authors:

#### Jaime C. Monjaraz and Fernando R. Cortes

Abstract: This paper presents a new family of fixed-camera visual servoing for planar robot manipulators. The methodology is based on energy-shaping framework in order to derive regulators for position-image visual servoing. The control laws have been composed by the gradient of an artificial potential energy plus a nonlinear velocity feedback. For a static target we characterize the global closed loop attractor using the dynamic robot and vision model, and prove global asymptotic stability of position error for the control scheme, the so called positionbased visual servoing. Inverse kinematics is used to obtain the angles of the desired joint, and those of the position joint from computed centroid. Experimental results on a two degrees of freedom direct drive manipulator are presented.

Paper Nr: 338
Title:

### The development of a brake based torque vectoring system for a sport vehicle performance improvement

Authors:

#### Leonidas Kakalis, Edoardo Sabbioni and Federico Cheli

Abstract: In every driving condition powertrain and vehicle dynamics deeply influence each other. The main role of powertrain influence is played by the differential, which transmit the driving torque mainly with respect to wheel kinematics. Semi-active controlled versions of this device have been recently conceived to improve vehicle handling basing their function on the wheels kinematical conditions. On the other hand, active differentials allow to generate the most appropriate yaw moment controlling both the amount of transferred torque and its direction. The application presented in this the paper aims at enhancing the dynamic behavior of a rear-driven sport vehicle by creating the required yaw moment through brakes actuation and throttle control; the examined car is equipped with free differential, thus the proposed system does not require the introduction of additional devices. Performance measures relate to both open-loop and closed-loop driving demands, and include limit handling maneuvers.

Paper Nr: 339
Title:

### CoP3D: Context-aware Overlay Tree for Content-based Control Systems

Authors:

#### Alfredo Navarra and Mauro Caporuscio

Abstract: Publish/Subscribe systems are nowadays largely accepted for coordinating applications over wide-area networks, whereas they still suffer when applied to mobile environments. In fact, the typical tree overlay network implementation of the event service, which provides scalability in the context of wide-area networks, fails when a run-time reconfiguration is needed. This might happen when dealing with the dynamic and mobility characteristics inherent to the pervasive environments. In this proposal, we address such an issue by envisioning a context-aware approach in order to build and maintain the dispatching tree overlay with respect to the context sensed through the environment. The resulting distributed control system optimizes on the energy consumption aspect, which is the key cost measure for a mobile environment such as sensor networks.

Paper Nr: 349
Title:

### OPTIMAL CONTROL OF HAZARDOUS MATERIALS TRAFFIC FLOW The case of transport through a critical infrastructure

Authors:

#### Chiara Bersani, Riccardo Minciardi, Michela Robba, Roberto Sacile and Angela M. Tomasoni

Abstract: In this work, a preliminary study as regards the possibility to define optimal control strategies for the hazmat (hazardous material) traffic flowing towards one critical road infrastructure (e.g. as in the case study a tunnel) at the macroscopic level is introduced. Specifically, the simplified model that is studied is related to part of a highway, on which the hazmat traffic can flow from one entrance. The control variables are represented by the number of vehicles that are allowed to enter the highway during a specific time interval, while the state variables are the queue of vehicles before the entrance, the number of vehicles in the various tracts of the highway, and the number of vehicles that enter the tunnel. The objective function to be minimized is characterized by three main terms: the queue, the hazard over the road, and the hazard related to the tunnel.

Paper Nr: 29
Title:

### An Application of the Spectral Kurtosis to Monitor Container Gantry Cranes' Machinery

Authors:

#### Juan-Jose Gonzalez De La Rosa, Jose Maria Sierra, Antonio Illana Martos, Juan Antoio Carmona, L. Miguel Calvente and Antonio Moreno-Munoz

Abstract: The Spectral Kurtosis (SK) enhances non-Gaussian behavior associated to deviations from the nominal operation of the crane's machinery. This fact easies fault detection, with the subsequent prevention of dramatic malfunction. In this paper the rotor of a container gantry crane is monitored to get the kurtosis of its normal operation. Then, two types of rolling bearings' faults are modeled, according to the design of the rotor's crane. These signals are added to the real normal operation recordings, and processed under an estimator of the SK. The experience allows the conformation of a higher-order statistical fault-pattern data base, without the need of stopping huge machinery, and with the subsequent saving, settling the basis of an automatic surveillance system.

Paper Nr: 61
Title:

### A PARAMETERIZABLE HANDEL-C NEURAL NETWORK IMPLEMENTATION FOR FPGA

Authors:

#### Benbouchama Cherrad and Bouridane Ahmed

Abstract: This paper shows the design possibility of a parameterizable implementation of neural multi-layer network on FPGA circuits (Field Programmable Gate Array) through the use of Handel-C language. The algorithm used for the training is the back-propagation. The tools of implementation and synthesis are the DK 4 of Celoxica and the ISE 6.3 of Xilinx. The targeted components are XCV2000 on Celoxica RC1000 board and XC2V1000 on RC200. The representation of the real numbers in fixed point was used for the data processing. The realization of the activation function is made with the approximate polynomial. A high level environment was designed in order to specify and introduce architecture parameters.

Paper Nr: 73
Title:

### HIERARCHICAL PERFORMANCE-ORIENTED CONTROL OF FLEXIBLE MANUFACTURING CELLS

Authors:

#### Tarek ElMekkawy, Sherif Fahmy and Subramaniam Balakrishnan

Abstract: In a job shop, each product may have a different processing route through the system. Automated Flexible Manufacturing Cells (FMC) that adopt this flow pattern are highly prone to deadlocks. A supervisor is a controller that uses available data via feedback loops to characterize the current behavior of the cell, and modify the equipment controllers to achieve the desired operational specifications in a deadlock-free manner. This paper proposes a hierarchical control system divided into an upper level scheduler and a lower level supervisor to control FMCs. The scheduler is responsible for determining a deadlock-free allocation of the resources that optimizes some performance measure, based on the current production requirements, and the supervisor guarantees that the flow plan (behavior) determined by the scheduler is realized on the shop floor. For that purpose, a formal method that can transform a production schedule into a supervisor, in real time, is also proposed. The supervisor is an augmented Marked Graph (MG) that captures all the events that can take place in the cell. The proposed approach is validated by simulating the generated supervisors for two benchmarked problems in literature.

Paper Nr: 83
Title:

### INTELLIGENT HIERARCHICAL CONTROL SYSTEM FOR COMPLEX PROCESSES

Authors:

#### Yuri Mitrishkin and Rodolfo Haber

Abstract: The paper presents a concept of intelligent hierarchical control for complex dynamical processes and suggests architecture of control system consisting of robust, adaptive, and self-organizing levels. Intelligent features of the proposed system are mostly concentrated at self-organizing level incorporated into self-learning, self-configuring, self-optimizing, and decision making algorithms. State-of-the-art at each level is described. Case studies have been chosen from the area of plasma control in tokamak-reactors.

Paper Nr: 85
Title:

### A Novel Potential Field Algorithm and an Intelligent Multi-classifier for the Automated Control and Guidance System (ACOS)

Authors:

#### Gareth Howells, Pierre Lorrentz, Thomas Statheros and Klaus McDonald-Maier

Abstract: The ACOS project seeks to improve and develop novel robot guidance and control systems integrating Novel Potential Field autonomous navigation techniques, multi-classifier design with direct hardware implementation. The project development brings together a number of complementary technologies to form an overall enhanced system. The work is aimed at guidance and collision avoidance control systems for applications in air, land and water based vehicles for passengers and freight. Specifically, the paper addresses the generic nature of the previously presented novel Potential Field Algorithm based on the combination of the associated rule based mathematical algorithm and the concept of potential field. The generic nature of the algorithm allows it to be efficient, not only when applied to multi-autonomous robots, but also when applied to collision avoidance between a single autonomous agent and an obstacle displaying random velocity. In addition, the mathematical complexity, which is inherent when a large number of autonomous vehicles and dynamic obstacles are present, is reduced via the incorporation of an intelligent weightless mylti-classifier system which is also presented.

Paper Nr: 90
Title:

### A Practical Approach for Combinatorial Fuzzy Logic Controller Design

Authors:

#### Arturo Tellez, Romeo Urbieta, Heron Molina, Oscar Camacho and Luis Villa

Abstract: This paper presents the architecture development of a Fuzzy Logic Controller (FLC), using combinatorial design implemented on a Field Programmable Gate Array (FPGA). This architecture is based on VHDL programmed combinatorial basic modules that enable to increase and improve the entire system performance, by means of replication technique, which is widely used in computer architecture, and help to fit the particular application needs. There have been so many FLC implementations since the first hardware one appeared, but everyone used complex designs with sequential circuits because of the high hardware resource and delay time costs about combinatorial design. But recent FPGA technology let us use fast combinatorial circuits for complex designs with parallelism for increasing the FLC performance and let us take it up again as a practical way to build FLC for any process, approaching the fast prototyping advantages and easing the scaling to increase the control accuracy.

Paper Nr: 106
Title:

### SOME COMPLEXITY RESULTS CONCERNING THE NON-PREEMPTIVE ‘THRIFT’ CYCLIC SCHEDULER

Authors:

#### Michael Short

Abstract: Non-preemptive schedulers, despite their many perceived drawbacks, remain a very popular choice for practitioners of real-time and embedded systems. Although feasibility conditions for non-preemptive scheduling models have previously been considered in the literature, to date little attention has been paid to the non-preemptive ‘thrift’ (or ‘TTC’) cyclic scheduler. This type of scheduler differs from a standard ‘cyclic executive’ in that it does not allow the use of inserted idle-time, and it does not require a lookup table of task executions over the major cycle of the schedule; a feasible schedule is effectively created by assigning release times (‘offsets’) to the tasks. To this end, this paper seeks to address the complexity of generating a feasible cyclic schedule for such a scheduler. It will be shown that when a single set of release times is assigned to the tasks, deciding feasibility of the resulting schedule is coNP-Complete (in the strong sense); and the release time assignment problem for such a scheduler is complete for ∑2p.

Paper Nr: 107
Title:

### FUZZY CONTROL FOR CIRCULAR INVERTED PENDULUM

Authors:

#### Umut Avci and Alan Hood

Abstract: This paper offers alternative solutions to existing problems in inverted pendulum designs. Three main problems can be listed as limited track length, hardware complexity and inappropriate control algorithm usage. Circularly moving cart was proposed to provide unlimited track length. In order to reduce the hardware complexity, the system was controlled by a microcontroller. Finally, fuzzy control was used for the control algorithm because of its efficiency, robustness and simplicity. Efficiency of the system is presented by carrying out experiments on developed inverted pendulum control system.

Paper Nr: 143
Title:

### A Multiobjective Constraint Optimization Model for Multimode Repair Plans

Authors:

#### Irene Barba Rodriguez, Carmelo Del Valle and Diana Borrego

Abstract: This work presents a constraint based model for the planning and scheduling of disconnection and connection tasks when repairing faulty parts. The problem involves the ordering and the selection of tasks from a set of alternatives. The goal of the plan is the minimization of the repair duration and cost. The model considers, apart from the durations, costs and resources for the tasks, the necessary delays and costs due to auxiliary tasks. The tasks can be executed in several operating modes, each one using a different machine or configuration and possibly different duration and cost. The set of all feasible plans are represented by an extended And/Or graph.

Paper Nr: 166
Title:

### Fuzzy Trajectory Tracking for an Autonomous Mobile Robot

Authors:

#### Carlos Fernández, Vidal Moreno Rodilla, Belén Curto Diego and Jose A. Vicente Lober

Abstract: This paper proposes a fuzzy controller embedded in a closed-loop control system designed to make a robot track a straight line. The system uses a heading sensor to measure the error in the orientation of the robot. A real robot is simulated in Matlab so as to test and accelerate the development process of the fuzzy controller. Finally, experimental results of the simulated and the real robot are presented, showing the effectiveness of our approach under strong disturbances such as unexpected robot rotations.

Paper Nr: 169
Title:

### A NEW NEURAL SYSTEM FOR LOAD FORECAST IN ELECTRICAL POWER SYSTEMS

Authors:

#### Rodrigo Figueiredo, José D. Santos and Adelmo Cechin

Abstract: This work presents a new integrated neural model approach for two horizons of load forecasting. First of all is presented a justification about the design of a computational neural forecasting model, explaining the importance of the load forecast for the electrical power systems. Here is presented the design of the two neural models, one for short and other for long term forecasting. Also is showed how these models are integrated in the topological level. A neural model that could integrate two forecasting horizons is very useful for electrical system enterprises. The computational system, here presented, was tested in three different scenarios, where each scenario has specific electrical load behaviour. At last the results is commented and explained.

Paper Nr: 172
Title:

### HYBRID DCA-PCA MULTIPLE FAULTS DIAGNOSIS METHOD

Authors:

#### Funa Zhou, Tianhao Tang, Chenglin Wen and Zhiguo Chen

Abstract: As it can avoid the pattern compounding problem of PCA, designated component analysis (DCA) can be used to implement multiple fault diagnosis for a multivariate process. But designated fault pattern must be defined in advance, which limited its application in unknown fault diagnosis. In this paper, a hybrid DCA-PCA method for multiple fault diagnosis is developed, the main idea is: Implement DCA in the first step. Removing the designated fault pattern from the observation data, then implement PCA to the residual, and use the first loading vector as the new fault pattern to extend the fault pattern base. In the third step, implement DCA for the new fault pattern and compute the significance of the new fault pattern. Simulation for data involved 4 faults shows the efficiency of the progressive DCA fault diagnosis method.

Paper Nr: 176
Title:

### DETECTION OF A FAULT BY SPC AND IDENTIFICATION

Authors:

#### Massimo Donnoli

Abstract: A method for detecting the nature of a fault of a process controlled by SPC ( Statistical Process Control) is presented. The method use the integration of SPC , traditional APC (Automatic Process Control) and the System Identification technique . By a statistical on line control of the parameters of a transfer function and the identification of the transfer function itself, the case of a fault due to a change in the system is recognised. An algorithm called ‘batch control’ for the implementation of the method in a real plant is proposed.

Paper Nr: 220
Title:

### APPLYING SUB-POPULATION MEMETIC ALGORITHM FOR MULTI-OBJECTIVE SCHEDULING PROBLEMS

Authors:

#### Yen-Wen Wang, Chin-Yuan Fan and Chen-Hao Liu

Abstract: Memetic Algorithm is a population-based approach for heuristic search in optimization problems. It has shown that this mechanic performs better than traditional Genetic Algorithms for some problem. In order to apply in the multi-objective problem, the basic local search heuristics are combined with crossover operator in the sub-population in this research. This approach proposed is named as Sub-population with Memetic Algorithm, which is applied to deal with multi-objective Flowshop Scheduling Problems. Besides, the Artificial Chromosome with probability matrix will be introduced when the algorithm evolves to certain iteration for injecting to individual to search better combination of chromosomes, this mechanism will make faster convergent time for evolving. Compares with other three algorithms which are MGISPGA, NSGA-II and SPEA2, the experiments result show that this algorithm possess fast convergence and average scatter of Pareto solutions simultaneously for solving multi-objective Flowshop Scheduling Problems in test instances.

Paper Nr: 230
Title:

### RELATIONSHIPS BETWEEN BATCH SIZES, SEQUENCING AND LEAD-TIMES

Authors:

#### Vladimír Modrák and Ján Modrák

Abstract: This paper treats the optimization of production batches by computer simulation in a manufacturing company producing electric and pneumatic actuators. In its introduction part the article deals about a wider context of batch production optimization. Subsequently, the paper presents a procedure for creation of a simulation model in SIMPLE ++ software environment. Based on simulation of a manufacturing process, selected dependences of lead manufacturing time on changes of production sizes was studied. As a result of optimization has been determined optimal minimal value of production sizes, by which minimal lead-time can be achieved.

Paper Nr: 234
Title:

### MULTIOBJECTIVE GA-FUZZY LOGIC CONTROLLER

Authors:

#### Orlando R. Díaz, Gustavo Sanchez and Miguel Strefezza

Abstract: A Multiobjective Evolutionary Algorithm (MOEA) is used in control tuning. A Takagi-Sugeno (T-S) Fuzzy Logic Controller (FLC) tuned by MOEA eliminates laborious design steps such as manual tuning membership functions and conclusion table parameters. An object approach representation is used to build an adequate FLC representation. Object is an individual abstraction in order to improve crossover a mutation operators. The Genetic Algorithm optimization is carry out over signal response performance parameters, in this work: settling time, rise time, overshoot and steady state error. Experiments show how the algorithm reached good response of some individuals in solution set, typically called Pareto frontier.

Paper Nr: 254
Title:

### A General Model for Job Shop Problems Using Imune-Genetic Algorithm and Multiobjective Optimization Techniques

Authors:

#### Qiao Zhang, Hervé Manier and Marie-Ange Manier

Abstract: We define a global model to simulate the characteristics of three kinds of the manufacturing systems with transport resource. Based on this general model, we use an immune-based genetic algorithm to solve the associated scheduling problems with considering the constraints (such as the capacity of the machines and transports, the required processing time for each operation of the jobs, the operation sequence constraint, etc.). We take the makespan and minimum storage as the two objectives and use modified pareto ranking method to solve this problem. We show that how to chose the best solutions among the obtained solutions for the studied manufacturing systems. Though not all the constraints of the real systems are considered until now, the computational results show that our proposed model and algorithm have efficiencies in solving scheduling problems.

Paper Nr: 327
Title:

### Where We Stand at Probabilistic Reasoning

Authors:

#### Elmar Reucher, Wilhelm Roedder and Friedhelm Kulmann

Abstract: Bayes-Nets are a suitable means for probabilistic inference. Such nets are very restricted concerning the communication language with the user, however. MinREnt-inference in a conditional environment is a powerful counterpart to this concept. Here conditional expressions of high complexity instead of mere potential tables in a directed acyclic graph, permit rich communication between system and user. This is true as well for knowledge acquisition as for query and response. For any such step of probabilistic reasoning, processed information is measurable in the information theoretical unit [bit]. The expert-system-shell SPIRIT is a professional tool for such inference and allows realworld (decision-)models with umpteen variables and hundreds of rules.

## Area 2 - Robotics and Automation

Full Papers
Paper Nr: 66
Title:

### A practical stereo system based on texture projection and regularization

Authors:

#### Federico Tombari and Kurt Konolige

Abstract: In this paper we investigate the suitability of stereo vision for robot manipulation tasks, which require high-fidelity real-time 3D information in the presence of motion. We compare spatial regularization methods for stereo and spacetime stereo, the latter relying on integration of information over time as well as space. In both cases we augment the scene with textured projection, to alleviate the well-known problem of noise in low-textured areas. We also propose a new spatial regularization method, local smoothing, that is more efficient than current methods, and produces almost equivalent results. We show that in scenes with moving objects spatial regularization methods are more accurate than spacetime stereo, while remaining computationally simpler. Finally, we propose an extension of regularization-based algorithms to the temporal domain, so to further improve the performance of regularization methods within dynamic scenes.

Paper Nr: 89
Title:

### LMI-Based Trajectory Planning for Closed-Loop Control of Robotic Systems with Visual Feedback

Authors:

#### Graziano Chesi

Abstract: Closed-loop robot control based on visual feedback is an important research area, with useful applications in various fields. Planning the trajectory to be followed by the robot allows one to take into account multiple constraints during the motion, such as limited field of view of the camera and limited workspace of the robot. This paper proposes a strategy for path-planning from an estimate of the point correspondences between the initial view and the desired one, and an estimate of the camera intrinsic parameters. This strategy consists of generating a parametrization of the trajectories connecting the initial location to the desired one via polynomials. The trajectory constraints are then imposed by using suitable relaxations and LMIs (linear matrix inequalities). Some examples illustrate the proposed approach.

Paper Nr: 121
Title:

### Variable Geometry Tracked Unmanned Grounded Vehicle: model, stability and experiments

Authors:

#### Jean-Luc Paillat, Laurent Hardouin and Philippe Lucidarme

Abstract: This paper introduces an originally designed tracked robot. This robot belongs to the VGSTV (Variable Geometry Single Tracked Vehicle) category. It is equipped with two tracks mounted on an actuated chassis. The first joint is used to articulate the chassis and the second one to keep the tracks tightened. By controlling the chassis joint it becomes possible to adapt the shape of the tracks to the ground and even to release the tracks in order to pass through specific obstacles. A prototype has been build ; technical specifications and dynamic model are presented in this paper. Tele-operated experiments have been conducted and have shown that the stability of the robot have to be addressed. We experimented and compared two classical criterions based on the center of mass and on the zero moment point technique. Experimental results are discussed in the case of a staircase clearing.

Paper Nr: 125
Title:

### Passivity-Based Dynamic Bipedal Walking with Terrain Adaptability: Dynamics, Control and Robotic Applications

Authors:

#### Qining Wang, Long Wang, Jinying Zhu, Yan Huang and Guangming Xie

Abstract: This paper presents an approach for passivity-based bipedal robots to achieve stable walking on uneven terrain. A powered two-dimensional seven-link walking model with flat feet and compliant ankles has been proposed to analyze and simulate the walking dynamics. We further describe an optimization based control method, which uses optimized hip actuation and ankle compliance as control parameters of bipedal walking. Satisfactory results of simulations and real robot experiments show that the passivity-based walker can achieve stable bipedal walking with larger ground disturbance by the proposed method in view of stability and efficiency.

Paper Nr: 141
Title:

### AUTOMATIC APPROACH FOR RECTIFYING BUILDING FACADES FROM A SINGLE UNCALIBRATED IMAGE

Authors:

#### Wenting Duan and Nigel Allinson

Abstract: We describe a robust method for automatically rectifying the main facades of buildings from single images taken from short to medium distances. This utility is an important step in building recognition, photogrammetry and other 3D reconstruction applications. Our main contribution lies in a refinement technique for vanishing point estimation and building line grouping, since both significantly affect the location and warping of building facades. The method has been shown to work successfully on 96% of images from the Zubud-Zurich building database where images frequently contain occlusions, different illumination conditions and wide variations in viewpoint.

Paper Nr: 154
Title:

### A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION

Authors:

#### Defoort Michael, Noury Bouraqadi and Doniec Arnaud

Abstract: This paper presents a distributed strategy for the navigation of multiple autonomous robots. The proposed planning scheme combines a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory locally, with a fast navigation controller based on artificial potential fields and sliding mode control technique. This algorithm solves the collision avoidance problem. It explicitly accounts for computation time and is decentralized, making it suited for real time applications. Simulation studies are provided in order to show the effectiveness of the proposed approach.

Paper Nr: 156
Title:

### Interference reduction through task partitioning in a robotic swarm

Authors:

#### Giovanni Pini, Arne Brutschy, Mauro Birattari and Marco Dorigo

Abstract: This article studies the use of task partitioning as a way to reduce interference in a spatially con strained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. The method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. The results are analyzed and compared to the case in which task partitioning is not employed.

Paper Nr: 193
Title:

### Hierarchical probabilistic estimation of robot reachable workspace

Authors:

#### Jing Yang, Michael Jenkin and Patrick Dymond

Abstract: Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.

Paper Nr: 198
Title:

### An Adaptive Classifier Design for Accurate Speech Data Classification

Authors:

#### Omid Dehzangi, Seyed H. Fard and Ehsan Younessian

Abstract: In this paper, an adaptive approach to designing accurate classifiers using Linear Discriminant Analysis (LDA) and Nearest Neighbor (NN) is proposed. A novel NN rule with an adaptive distance measure is proposed to classify input patterns. An iterative learning algorithm is employed to incorporate a local weight to the Euclidean distance measure that attempts to minimize the number of misclassified patterns in the training set. In case of data sets with highly overlapped classes, this may cause the classifier to increase its complexity and overfit. As a solution, LDA is considered as a popular feature extraction technique that aims at creating a feature space that best discriminates the data distributions and reduces overlaps between different classes of data. In this paper, an improved variation of LDA (im-LDA) is investigated which aims to moderate the effect of outlier classes. The proposed classifier design is evaluated by 6 standard data sets from UCI ML repository and eventually by TIMIT data set for framewise classification of speech data. The results show the effectiveness of the designed classifier using im-LDA with the proposed ad-NN method.

Paper Nr: 226
Title:

### Threedimensional Tracking using Object Defocus

Authors:

#### Christian Dahmen

Abstract: This paper proposes a tracking algorithm for the extraction of threedimensional position data from SEM images. An algorithm based on active contours with region-based minimization is chosen as basis for twodimensional tracking. This algorithm is then augmented by the incorporation of defocus analysis to estimate the out-of-focus displacement of the object. To solve the ambiguity of the out-of-focus displacement, the astigmatism of the SEM images is used. The separate calculation of variances for the rows and columns of the image enables a successful direction estimation. With the information on the direction, the out-of-focus displacement and the working distance of the acquired image, the distance of the object to the electron gun can be calculated. In combination with the twodimensional part of the tracking, a full threedimensional coordinate set is generated. The approach is tested and evaluated using a positioning setup and the principal feasibility is shown.

Paper Nr: 228
Title:

### Automatic Extraction of Distance Information from Stereo Images using Tracking Data

Authors:

#### Christian Dahmen, Robert Tunnell, Sergej Fatikow and Tim Wortmann

Abstract: This paper describes an approach to depth detection in scanning electron microscope images which aims at the automation of nanohandling procedures. It incorporates simultaneous tracking of an object in a stereo image pair, generated using a self-built magnetic lens for tilting the electron beam. Object depth is concluded from the object displacement. The tracking procedure is based on the active contours method, adjusted by a region based energy function. An automatic contour initialization is presented that makes use of edge detection. All methods described have been implemented and tested extensively in the designated automation environment. The approach is found to provide very accurate depth estimates even at a small level of magnification.

Paper Nr: 237
Title:

### REAL TIME OBJECT DELIMITERS EXTRACTION FOR ENVIRONMENT REPRESENTATION IN DRIVING SCENARIOS

Authors:

#### Andrei Vatavu, Sergiu Nedevschi and Florin Oniga

Abstract: The environment representation is essential for driving assistance. However, the performances achieved in complex environments are still unsatisfactory regarding the accuracy, confidence and real time capabilities. This paper presents a real-time 2.5D environment representation model, for driving scenarios, based on object delimiters extraction from a 3D occupancy grid obtained from dense stereo. We propose two approaches to extract the polyline delimiters: an improved contour tracing called 3A Tracing and a polyline extraction method through the occupancy grid radial scanning. The advantages and drawbacks for each of these methods have been discussed.

Paper Nr: 259
Title:

### VISION-BASED AUTONOMOUS APPROACH AND LANDING FOR AN AIRCRAFT USING A DIRECT VISUAL TRACKING METHOD

Authors:

#### Tiago Gonçalves, José Raul Azinheira and Patrick Rives

Abstract: This paper presents a feasibility study of a vision-based autonomous approach and landing for an aircraft using a direct visual tracking method. Auto-landing systems based on the Instrument Landing System (ILS) have already proven their importance through decades but general aviation stills without cost-effective solutions for such conditions. However, vision-based systems have shown to have the adequate characteristics for the positioning relatively to the landing runway. In the present paper, rather than points, lines or other features susceptible of extraction and matching errors, dense information is tracked in the sequence of captured images using an Efficient Second-Order Minimization (ESM) method. Robust under arbitrary illumination changes and with real-time capability, the proposed visual tracker suits all conditions to use images from standard CCD/CMOS to Infrared (IR) and radar image sensors. An optimal control design is then proposed using the homography matrix as visual information in two distinct approaches: reconstructing the position and attitude (pose) of the aircraft from the visual signals and applying the visual signals directly into the control loop. To demonstrate the proposed concept, simulation results under realistic atmospheric disturbances are presented.

Paper Nr: 287
Title:

### Limits of Human Interaction in Dynamically Similar Teleoperation, Systems under Unknown Constant Time Delay with Impedance Control

Authors:

#### Ernesto O. Díaz, Vicente G. Alvizo, Vicente Parra-vega and Luis G. Valdovinos

Abstract: Bilateral teleoperation system are prone to instability coming out from the time-delay introduced by the indeterministic communication channel. This problem has been subject of intensive research under the assumption of non-equal master-slave teleoperators, however, what are the implications of dynamically similar teleoperation system (DSTS), is there simpler stability relationship and trade offs among several involved system and feedback parameters? When we consider a \textit{linear} DSTS system, there arises the question whether there is analytically any advantage, as it was observed heuristically in several experiments In this paper, the stability analysis of such system is reported under an impedance control scheme when the delay is considered constant but unknown. by applying the Llewellyn's and Raisbeck's criteria, it is found and explicit and straightforward relationships between the dynamic and kinematic scaling and the stability of the system. This result explicitly suggests clearly guidelines among key factors, such as time delay, desired velocities and feedback gains in terms of the scaling parameters, arises a clear advantage when dealing with dynamically similar systems. This explains why the transparency of the teleoperation system is improved by augmenting/reducing the dynamic/kinematic scaling factor, for given desired frequency, time delay and feedback gains. Simulations and preliminary experimental results illustrate different cases subject to a number of conditions, which can be very useful to design a physical teleoperation system. A preliminary mechatronics design is presented.

Short Papers
Paper Nr: 38
Title:

### MOBILE PLATFORM SELF-LOCALIZATION IN PARTIALLY UNKNOWN DYNAMIC ENVIRONMENTS

Authors:

#### Patrice Boucher, Sousso Kelouwani and Paul Cohen

Abstract: Localization methods for mobile platforms are commonly based on an observation model that matches onboard sensors measures and environmental a priori knowledge. However, their effectiveness relies on the reliability of the observation model, which is usually very sensitive to the presence of unmodelled elements in the environment. Mismatches between the navigation map, itself an imperfect representation of the environment, and actual robot's observations introduce errors that can seriously affect positioning. This article proposes a 2D point-based model for range measurements that works with a new method for 2D point matching and registration. The extended Kalman filter is used in the localization process since it is of the most efficient tool for tracking a robotic platform's configuration in real time. The method minimizes the impact of measurement noise, mismodelling and skidding on the matching procedure and allows the extended Kalman filter observation model to be robust against skidding and unmodelled obstacles. Its O(nm) complexity enables real-time optimal points matching. Simulation and experiments demonstrate the effectiveness and robustness of the proposed algorithm in dynamic and partially unknown environments.

Paper Nr: 49
Title:

### Teleoperation of a Mobile Robot via UMTS Link

Authors:

#### Florian Zeiger, Markus Sauer, Lothar Stolz and Klaus Schilling

Abstract: Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. This work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. Thereby, the mobile robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. The focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. The results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.

Paper Nr: 74
Title:

### NEW METHODS FOR DISHWARE IDENTIFICATION AND INSPECTION

Authors:

#### Trung Duong and Larry Hoberock

Abstract: We propose automatically identifying dishes in mixed batches by using statistics of shape descriptors of dish pieces. Experiments were conducted on 725 images of ceramic and plastic dishes taken in different lighting conditions using different positions of 84 separate dishes of 5 different styles and shapes. In order to find the minimum set of descriptors to produce fast, adaptable and efficient automatic dish recognition, we employed several shape-based properties, including area, perimeter, ratio of length to width, extension, and minimum bounding box, together with some properties based on gray level and color. For dish inspection, we propose a new technique using partitioning and adaptive thresholding, combined with global thresholding. For practical purposes, the algorithm should be fast, simple, and produce results invariant with lighting conditions and dish rotation about the camera-dish axis. Such an algorithm is described in this work. Matlab R14 and Image Processing Toolbox V5.0 were used.

Paper Nr: 84
Title:

### MODEL AND APPROACHES FOR TENSION OF PARALLEL STRUCTURES WITH ELASTIC JOINTS FOR MICRO AND NANO MANIPULATORS

Authors:

#### Dimitar Chakarov and Tihomir Tiankov

Abstract: In this paper are considered piezo actuated micromanipulators with serial-parallel structure including elastic joints. This structure allows a preliminary tension of the mechanical system in order to eliminate backlashes and to improve the performance of the piezo-actuators. A kinematics model of a serial-parallel structure for local micro manipulators is build here. Here a pseudo rigid body approach is used, where elastic joints are modelled as revolute joints. A stiffness model is created to estimate the output stiffness of the manipulator by means of reduction the stiffness of all elastic joints. Two approaches are presented here for preliminary tension of parallel manipulator structure: - deflection from the initial manipulator state by means of a driving joints motion implemented in the assembly; - preliminary tensioning of the separate elastic joints. The approaches considered are experimented on the manipulator for sell injection. Calculated values of the mechanical parameters by preliminary tension of the manipulator are pointed out

Paper Nr: 86
Title:

### A novel Vision-Based Reactive Navigation Strategy Based on Inverse Perspective Transformation

Authors:

#### Francisco J. Bonin-Font, Gabriel Oliver and Alberto Ortiz

Abstract: This paper describes a new vision-based reactive navigation strategy addressed to mobile robots, comprising obstacle detection and avoidance. Most of the reactive vision-based systems base their strength uniquely on the computation and analysis of quantitative information. The proposed algorithm combines a quantitative process with a set of qualitative rules to converge in a robust technique to safely explore unknown environments. The process includes a feature detector/tracker, a new feature classifier based on the Inverse Perspective Transformation which discriminates between object and floor points, and a qualitative method to determine the obstacle contour, their location in the image, and the course that the robot must take. The new strategy has been implemented on mobile robots with a single camera showing promising results.

Paper Nr: 95
Title:

### VEHICLE ACCELERATION PREDICTION USING SPECIFIC ROAD CURVATURE POINTS

Authors:

#### Aušra Vidugiriene, Andriejus Demčenko and Minija Tamošiūnaitė

Abstract: In the work vehicle acceleration prediction issue is discussed. Three types of parameters are used for prediction system input: CAN-bus parameters – speed and curvature, derived speed parameters and newly offered specific curve point parameters, denoting changes in a curve. The real road data was used for predictions. Road curvature segments were divided into single and S-type curves. Acceleration was predicted using artificial neural networks and look-up table. The look-up table method showed the best results with newly offered specific curve parameters.

Paper Nr: 97
Title:

### REAL-TIME BIOMETRIC EMOTION ASSESSMENT IN AN IMMERSIVE ENVIRONMENT

Authors:

#### Vasco Vinhas, Eugénio Oliveira, Luís Paulo Reis and Daniel C. Silva

Abstract: Both the academic and industrial worlds have increased investment and dedication to the affective computing area in the past years. At the same time, immersive environments have become more and more a reliable domain, with progressively cheaper hardware and software solutions. With this in mind, the authors used biometric readings to perform real-time user emotion assessment in an immersive environment. In the example used in this paper, the environment consisted in a flight simulation, and biometric readings were based on galvanic skin response, respiration rate and amplitude, and phalanx temperature. The detected user emotional states were also used to modify some simulation variables, such as flight plan, weather and maneuver smoothness. The emotion assessment results were consistent with user-described emotions, achieving an overall success rate of 78%.

Paper Nr: 115
Title:

### NEW TYPE OF MULTI-DEGREE-OF-FREEDOM PIEZOELECTRIC ACTUATORS, BASED ON ACTIVE KINEMATIC PAIRS

Authors:

#### Ramutis Bansevicius, Ramutis Bansevicius and Minvydas Ragulskis

Abstract: New type of multi-degree-of-freedom piezoelectric actuators based on active kinematic pairs is presented. The contact zone of this type of actuator is formed by two oscillating transducers in a form of rod, plate, disk or cylinder. Depending on a phase of both transducers in a contact zone and their amplitudes, either high frequency oblique impacts or periodic change of normal reaction in the contact zone are generated, leading to continuous motion of one of the links. Schematics of piezoelectric motors, using two active elements in the contact zone and comprising the number of degrees-of-freedom up to 5 are presented. Several applications for laser beam deflection and positioning devices in the plane are considered. The concept of active bearing is introduced; this type of support has no processing datum surface errors.

Paper Nr: 128
Title:

### TWO-STAGE ALGORITHM FOR PATH PLANNING PROBLEM WITH OBSTACLE AVOIDANCE

Authors:

#### Mustafa Dogan and Nizami A. Gasilov

Abstract: The path-planning problem is considered for mobile robot inside environment with motionless circular obstacles in different sizes. The robot is expected to reach a given target by following the shortest path and avoiding the obstacles. The two-stage algorithm is proposed to solve the problem numerically. In the first stage a line-arc based path is found by using geometric techniques. This path cannot be minimal. However, its length can be used to restrict search space to an ellipse, which contains the minimal path. Thus, the reduced search space makes the next stage more efficient and endurable for real-time applications. In the second stage of the algorithm, by discretization of the restricted elliptic region the problem results in finding the shortest path in a graph and is solved by using the Dijkstra’s algorithm. The proposed two-stage algorithm is verified with numerical simulations. The results show that the proposed algorithm is successful for obtaining an optimal solution. The applicability of the proposed algorithm is validated by practical experiment.

Paper Nr: 138
Title:

### Differential-Drive Steering System using Planetary Gearing for Omnidirectional Mobile Robot

Authors:

#### Hideo Kitagawa, Takashi Ohno, Yuki Ueno and Kazuhiko Terashima

Abstract: Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.

Paper Nr: 147
Title:

### EVALUATION OF SUN POSITION USING THE PHOTOVOLTAIC GENERATION: An Application for Attitude Estimation in Box-Shape Satellites

Authors:

#### Ronilson Rocha, Caio Gouveia, Alexandre Ferreira and Talita Barbosa

Abstract: It is necessary at least two or more independent known vectors for attitude determination of an artificial satellite. One of these vectors can be the Earth Magnetic Field, which is used as reference in navigation for centuries. Other reference can be the sun, which is easily distinguished of other astronomical objects in the proximities of the Earth. While the Earth Magnetic Field can be measured by a small solid-state three-axis magneto-resistive transducer, the own photovoltaic system of the artificial satellite can provide a evaluation of the azimuthal position of the sun. This paper presents a way to estimate the sun position from the own satellite power system. This information is used for attitude determination, allowing the integration of two important subsystems of an artificial satellite.

Paper Nr: 153
Title:

### EXHIBITING PLANAR STRUCTURES FROM EGOMOTION

Authors:

#### Samia Bouchafa, Bertrand Zavidovique and Antoine Patri

Abstract: This paper deals with plane extraction from a single moving camera through a new optical-flow cumulative process. We show how this c-velocity defined by analogy to the v-disparity in stereovision, could serve exhibiting any plane whatever their orientation. We focus on 3D-planar structures like obstacles, road or buildings. A translational camera motion being assumed, the c-velocity space is then a velocity cumulative frame in which planar surfaces are transformed into lines, straight or parabolic. We show in the paper how this representation makes plane extraction robust and efficient despite the poor quality of classical optical flow.

Paper Nr: 165
Title:

Authors:

#### Christopher Armbrust, Helge Schäfer and Karsten Berns

Abstract: In this paper an approach for the detection of passages and their use in autonomous off-road robot navigation is presented. The authors argue that many two-layered architectures of robot navigation systems suffer from the gap between the typically coarse-grained high-level path-planning and the basically reactive low-level collision avoidance. In this context, passages shall be defined as paths leading through obstacles. The proposed approach is based on the idea that passages in the proximity to the robot should be evaluated with respect to their relevance for reaching the target area in order to avoid local detours by following suitable passages. The detection and assessment of passages is based on virtual sensors, a standardized data representation offering a unified, straightforward, and flexible retrieval mechanism for accessing the data provided by different sensor systems. For the evaluation of passages the authors introduce the concept of virtual sensor probes which can move independently from the robot. That way the point of view on the environment information can be tailored to support the detection and evaluation strategy. The proposed approach was deployed on the mobile off-road platform ravon which serves as a testbed for the experiments carried out in the context of this work.

Paper Nr: 175
Title:

### PROMOTION IN RESCUE ROBOT : According to the Experience Gained by Participating in Bam Earthquake Rescue Operation

Authors:

#### Aboozar Aghajani

Abstract: Nowadays rescue robots are used in some rescue operations. Increasing the speed and accuracy of victim detection with sensors and equipment which are installed on the robot and yet increasing human safety factor of rescuers are among the advantages of using rescue robots. By the experience of rescue operation in Bam earthquake and participating in some robocup competitions, a new four-wheeled robot has been designed which has highly operational capability. In initial part of this article, robot locomotion and controlling in different situations and the method of connection operator with robot are surveyed; then, sensors which are used in for navigation and victim detection are explained. At the end, the method of generating the map of robot’s movement route, which is very important for identifying the trapped victim's location in a rapid rescue operation, was studied.

Paper Nr: 192
Title:

### FATIGUE RECOGNITION USING EMG SIGNALS AND STOCHASTIC SWITCHED ARX MODEL

Authors:

#### Hiroyuki Okuda, Fumio Kometani, Shinkichi Inagaki and Tatsuya Suzuki

Abstract: The man-machine cooperative system is attracting great attention in many fields, such as industry, welfare and so on. The assisting system must be designed so as to accommodate the operator’s skill, which might be strongly affected by the fatigue. This paper presents a new fatigue recognizer based on the Electro Myo-Gram (EMG) signals and the Stochastic Switched ARX (SS-ARX) model which is one of the extended model of the standard Hidden Markov Model (HMM). Since the SS-ARX model can represent complex dynamical relationship which involves switching and stochastic variance, it is expected to show higher performance as the fatigue recognizer than using simple statistical characteristics of the EMG signal and/or standard HMM. The usefulness of the proposed strategy is demonstrated by applying to a peg-in-hole task.

Paper Nr: 194
Title:

### An Experimental Comparison of Nonholonomic Control Methods

Authors:

#### Kang-Zhi Liu

Abstract: This paper presents several experimental results for typical nonholonomic control methods. Although numerous nonholonomic control methods have been proposed, few is known about the advantages and disadvantages of each method. So in this paper an automatic parking system is used as a benchmark to test several typical nonholonomic control approaches experimentally. The emphasis is put on the applicability and control performance.

Paper Nr: 205
Title:

### COMPARISON BETWEEN MEXICAN HAT AND HAAR WAVELET DESCRIPTORS FOR SHAPE REPRESENTATION

Authors:

Abstract: The wavelet transformation is a well known method in several engineering fields. In image processing and pattern recognition the wavelet transformation is used for the recognition of object shapes by deriving so called wavelet descriptors. In this context the Mexican Hat as well as the Haar function were used as mother wavelets. To derive wavelet descriptors the methods use a periodical angle function derived from the contour polygon. The angle function describes an object shape by calculating the angle changes along the object contour beginning from a given starting point. Since object shapes are described by polygons, the angle function is step-shaped and therefore it includes discontinuity at the existing polygon corners. This causes big changes of the Haar wavelet descriptors if the positions of the polygon corners change due to small changes of the object shape. Such changes can be caused at least by digitalization or binarization errors. The Mexican Hat wavelet descriptors are more adapted and suffer however from small changes. In this paper we present the results of the comparison between both methods in there accurateness of describing object shapes

Paper Nr: 222
Title:

### A Novel Haptic Interface for Extended Range Telepresence: Control and Evaluation

Authors:

#### Antonia P. Arias and Uwe D. Hanebeck

Abstract: A novel haptic interface for extended range telepresence is presented that allows the user simultaneous wide area motion and haptic interaction in remote environments. To achieve an extended workspace, the haptic interface consists of a haptic manipulator for precise haptic rendering and a large portal carrier system that enlarges the workspace by prepositioning the end-effector. As the prepositioning unit is grounded and driven by three linear drives, our approach has the advantages of high force capability, and an accurate positioning of the haptic interface. The use of this haptic interface with Motion Compression permits to explore large remote environments even from small user environments. As a result, not only has the user visual, acoustic, and haptic feedback but can also control the teleoperator or avatar by natural walking, which considerably increases the sense of immersion. A prototype system for haptic extended range telepresence was designed, implemented, and tested.

Paper Nr: 223
Title:

Authors:

#### Aron Pujana-Arrese, Kepa Bastegieta, Anjel Mendizabal, Ramon Prestamero and Joseba Landaluze

Abstract: A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. This paper describes the control of this mechatronic system’s interaction with its environment, controlling both its position and the force exerted against it. The classic position/force control techniques - hybrid control and impedance control - have been adapted to pneumatic muscles and applied to the experimental set-up developed. An alternative solution is also proposed whereby force or torque control is based on the calculation made by an estimator instead of on direct measurement by a sensor. The article presents a detailed analysis of the force and torque estimator used to close the control loops in the two position/force control schemes. Finally, the article concludes by presenting the experimental results obtained and the most outstanding conclusions of the study as a whole.

Paper Nr: 225
Title:

### SCHEME FOR EVALUATION AND REDUCTION OF MOTION ARTIFACTS IN MOBILE VISION SYSTEMS

Authors:

#### Christoph Walter, Felix Penzlin and Norbert Elkmann

Abstract: Artifacts like motion blur are a common problem for vision systems on mobile robots, especially when operating under low light conditions or when using high-resolution sensors. In this contribution we present a scheme for estimating the degree of motion artifacts, especially motion blur, present in a stream of individual camera images. A single quality estimate is derived per frame using data from an inertial measurement unit. Considering limited image processing capacity of resource-constrained mobile robots, we show a number of data processing strategies that are based upon the idea of congestion control by adaptive image rejection.

Paper Nr: 229
Title:

### MODEL-DRIVEN DEVELOPMENT IN INDUSTRIAL AUTOMATION

Authors:

#### Mathias Maurmaier and Peter Göhner

Abstract: The complexity of modern automation systems is growing steadily. In software engineering, model-driven development proved that it contributes significantly to cope with this complexity in development, while increasing efficiency and the quality of the development results. However, hardware-software dependencies, different types of requirements that must be considered in development and the large number of modeling languages are specific challenges for a model-driven approach in automation technology. In this paper a concept of model-driven system development is presented that takes into account these challenges, and thus provides the possibility to leverage model-driven development in industrial automation technology.

Paper Nr: 238
Title:

### APPEARANCE-BASED DENSE MAPS CREATION

Authors:

#### Luis Paya, Lorenzo Fernandez, Oscar Reinoso, Arturo Gil Aparicio and David Ubeda

Abstract: The visual information captured by omnidirectional systems is very rich and it may be very useful for a robot to create a map of an environment. This map could be composed of several panoramic images taken from different points of view in the environment, and some geometric relationships between them. To carry out any task, the robot must be able to calculate its position and orientation in the environment, comparing his current visual information with the data stored in the map. In this paper we study and compare some approaches to build the map, using appearance-based methods. The most important factor of these approaches is the kind of information to store in order to minimize the computational cost of the operations. We have carried out an exhaustive experimentation to study the amount of memory each technique requires to build the map, and the time consumption to create it and to carry out the localization process inside it. Also, we have tested the accuracy to compute the position and the orientation of a robot in the environment.

Paper Nr: 239
Title:

### ROBUST CONTROL FOR AN ARTIFICIAL MUSCLES ROBOT ARM

Authors:

#### Syrine Boudoua and Mustapha Hamerlain

Abstract: We are concerned with the control of a 3-DOF robot arm actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model therefore resorting to robust control is required.The work in this paper addresses this problem by presenting two types of robust control. One uses neural network control, which has powerful learning capability, adaptation and tackles nonlinearities; in our work the learning performed on-line is based on a binary reinforcement signal without knowing the nonlinearities appearing in the system and no preliminary off-line learning phase is required. The other control law is a Classical variable structure which is robust against parameters variations and external disturbances. Experimental results together with a comparative study are presented and discussed.

Paper Nr: 247
Title:

### Applying a Software Framework for Supervisory Control of a PLC-Based Discrete Event System

Authors:

#### Belén Curto Diego, Vidal Moreno Rodilla, Carlos Fernández Caramés, Raúl Alves and Anibal Chehayeb

Abstract: In this paper we propose a software framework where the main aim is to make easier the implementation of supervisory control. The main idea is that functionalities must be offered with no effects on the robustness of the system. We prove that our methodology has a solid base, so the approach can be applied to any kind of industrial process unit. In this way, a real application of a devel-oped framework is presented. The implementation is done over well-known devices (such as PLC with a conveyor belt) so the technical feasibility of the procedure is guaranteed.

Paper Nr: 248
Title:

### Efficient Simulation of the Fluid-Structure Interface

Authors:

#### Ernesto O. Díaz, Fernando G. Arreguín and Luis L. Gerardo Fraga

Abstract: In this work, an alternative method to simulate fluid interactions with compliant surfaces is described. The simulation of the fluid phenomena is performed by the Smooth Particle Hidrodynamics (SPH) method. In the normal SPH method, solid interfaces are modeled with sets of static particles covering the boundaries. In the proposed alternative method, a compliant-solid interface is modeled as a polygon allowing to substitute the particles that represent a surface in the normal SPH method. Therefore, by considering less particles, a simplification on simulations is achieved, and the alternative method still describes the general behavior of the phenomena. % Furthermore, a deformable object, this is, a time variant object, can be modeled as a polyhedron, with a mass-spring-dashpot system in each of its edges, and with each polygon as a compliant-solid interface. % Bidirectional dependence on the alternative method for fluid simulation and the deformable model gives a new method for the simulation of compliant solids partially or fully immersed in an incompressible fluid. % This new method is not intended to have a high accuracy in the numerical results but to have a perceptual high qualitative behavior and fast numerical response, to be applied in visual/haptic simulators.

Paper Nr: 255
Title:

### Self-localization of a team of mobile robots by means of common colored targets

Authors:

#### Patricio Nebot and Enric Cervera

Abstract: Robot localization is one of the fundamental problems in mobile robotics. Using sensory information to localize the robot in its environment is the most fundamental problem that has to be solved in order to provide a mobile robot with autonomous capabilities, But, if robots can detect each other, there is the opportunity to do better. In this paper, it is explained how one robot, the leader, with a pan-tilt-zoom camera mounted on it can localize a team of robots. Camera images are used to detect other robots and to determine the relative position of the detected robot and its orientation with respect to the leader. Each robot carries a colored target that helps the leader to recognize it and calculate their position and orientation. Moreover, the zoom is used to enhance the perception and get a higher accuracy and a larger field of view.

Paper Nr: 269
Title:

### Analytical Kinematics Framework for the Control of a Parallel Manipulator

Authors:

#### Muhammad Saleem, Ibrahim A. Sultan and Asim A. Khan

Abstract: Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics function relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.

Paper Nr: 270
Title:

### PARAMETER IDENTIFICATION OF A HYBRID REDUNDANT ROBOT BY USING DIFFERENTIAL EVOLUTION ALGORITHM

Authors:

#### Yongbo Wang, huapeng wu and Heikki Handroos

Abstract: In this paper, a hybrid redundant robot IWR (Intersector Welding Robot) which possesses ten degrees of freedom (DOF) where 6-DOF in parallel and additional redundant 4-DOF in serial is proposed. To improve the accuracy of the robot, the kinematic errors caused by the manufacturing and assembly processes have to be compensated or limited to a minimum value. However, currently, there is no effective instrument which capable of measuring the symmetrical errors of the corresponding joints and link lengths after the structure has been assembled. Therefore, calibration and identification of these unknown parameters is utmost important and necessary to the systematic accuracy. This paper presents a calibration method for identifying the unknown parameters by using differential evolution (DE) algorithm, which has proven to be an efficient, effective and robust optimization method to solve the global optimization problems. The DE algorithm will guarantee the fast convergence and accurate solutions regardless of the initial conditions of the parameters. Based on the inverse kinematic error model of the robot, the simulation of the actual robot is achieved by introducing random geometric errors and measurement poses which representing their relative physical behavior. Moreover, through computer simulation, the validity and effectiveness of the DE algorithm for the parameter identification of the proposed application has also been examined.

Paper Nr: 277
Title:

### Surveillance System Using a Mobile Robot Embedded in a Wireless Sensor Network

Authors:

#### Syed I. Ali

Abstract: In this paper, we proposed a surveillance system for guard robots to perform indoor navigation using a wireless sensor network. The aim is to provide a generic surveillance solution for multiple indoor scenarios. The multi-sensor based localization method for the robot has been employed to overcome the shortcomings of the standard AMCL based localization technique. It is also helpful in dealing with sensor limitations. The proposed strategy has been implemented and tested within lab environments. The results show a fair reduction in processing time required by convergence of localization process.

Paper Nr: 296
Title:

### OBSTACLE AVOIDANCE FOR AUTONOMOUS MOBILE ROBOTS BASED ON POSITION PREDICTION USING FUZZY INFERENCE

Authors:

#### Takafumi Suzuki and Masaki Takahashi

Abstract: This study presents an obstacle avoidance method for Autonomous Mobile Robot by Fuzzy Potential Method (FPM) considering velocities of obstacles relative to the robot. The FPM, which is presented by Tsuzaki, is action control method for autonomous mobile robot. In the proposed method, to decide a velocity vector command of the robot to avoid moving obstacles safely, Potential Membership Function (PMF) considering time until colliding and relative velocity is designed. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can start avoiding behaviour at an appropriate time according to the velocity of the obstacle and the robot. To verify the effectiveness of the proposed method, numerical simulations and simplified experiment intended for an omni-directional autonomous mobile robot are carried out.

Paper Nr: 298
Title:

### AUTONOMOUS CAMERA CONTROL BY NEURAL MODELS IN ROBOTIC VISION SYSTEMS

Authors:

#### Tyler Garaas, Frank Marino and Marc Pomplun

Abstract: Recently there has been growing interest in creating large-scale simulations of certain areas in the brain. The areas that are receiving the overwhelming focus are visual in nature, which may provide a means to compute some of the complex visual functions that have plagued AI researchers for many decades; robust object recognition, for example. Additionally, with the recent introduction of cheap computational hardware capable of computing at several teraflops, real-time robotic vision systems will likely be implemented using simplified neural models based on their slower, more realistic counterparts. This paper presents a series of small neural networks that can be integrated into a neural model of the human retina to automatically control the white-balance and exposure parameters of a standard video camera to optimize the computational processing performed by the neural model. Results of a sample implementation including a comparison with proprietary methods are presented. One strong advantage that these integrated sub-networks possess over proprietary mechanisms is that ‘attention’ signals could be used to selectively optimize areas of the image that are most relevant to the task at hand.

Paper Nr: 308
Title:

### A Simulation Setup for Communication Hardware in the Loop Experiments

Authors:

#### Markus Sauer, Florian Zeiger and Klaus Schilling

Abstract: Simulations are a very powerful tool in robotics to design and verify new algorithms before doing time-consuming tests with real hardware. Nowadays, a lot of very realistic simulation environments are available to simulate robot kinematics and dynamics and any type of multi-robot systems in a virtual physical environment. Unfortunately, the communication in these simulations is often only considered in a very simplified matter, although the characteristics of a real communication link are very complex and might have a strong influence on the performance of a multi-robot algorithm. This contribution proposes a setup to perform communication hardware in the loop tests with the three dimensional simulation environment USARSim. For this setup any communication device which can be connected to a PC architecture like WLAN, UMTS or Bluetooth can be used. A cooperative collision avoidance algorithm is presented as an example which is realized with this setup, while real hardware is used for the communication link between the robots. Finally, the limitations of this type of setup are presented.

Paper Nr: 310
Title:

### Co-design for wireless networked control of an intelligent mobile robot

Authors:

#### Amine Mechraoui, Zeashan H. Khan, jean-Marc Thiriet and Sylviane GENTIL

Abstract: This paper describes a wireless network based control of a Khepera mobile robot moving in a distributed infrastructure. Due to critical dependence on wireless communication, a procedure for reconfiguration of the network is proposed as a possibility to maintain communication between control station and the mobile robot in a successful manner. The network handoff is made under a criterion that takes into account key application dependent performance parameters. The controlled system and the communication network are simulated respectively with Matlab/Simulink and TrueTime.

Paper Nr: 313
Title:

### RANDOM VARIATES GENERATING METHODS OF TIME-BETWEEN-FAILURES FOR THE REPAIRABLE SYSTEMS UNDER AGE-REDUCTION PREVENTIVE MAINTENANCE

Authors:

#### Chun-Yuan Cheng, Renkuan Guo and Mei-Ling Liu

Abstract: Based on the theoretical model, a numerical method is usually necessary for obtaining the optimal preventive maintenance (PM) policy for a deteriorating system since the theoretical model becomes complicated when the system’s hazard rate function is changed after each PM. It makes the application of the theoretical model not suitable for real cases. Moreover, the theoretical model assumes using infinite time span to obtain the long-term expected number of failures. Yet, in reality, the deteriorating systems always have a finite life time. Hence, an optimal solution might not be resulted as compared to the infinite time span. Therefore, we consider using the simulation method to obtain a range of the near-optimal PM policy. The critical step of the simulation method for obtaining a near-optimal PM policy is the generation of the random variates (RV). In this research, three methods are developed to generate the required RVs of the time-between-failures (TBF) for the finite-time-span preventive maintenance model with age reduction effect. It is found that there are no significant differences among three proposed RV generating methods when comparing the dispersion of the generated RV’s. However, the rejection method is the simplest method for obtaining the near-optimal PM policies. Examples of the near-optimal PM policies are also presented in this paper.

Paper Nr: 326
Title:

### Towards a Computationally Efficient Relative Positioning System for Indoor Environments: An RFID Approach

Authors:

#### Wail Gueaieb, Md. S. Miah and Wail Gueaieb

Abstract: The recent advancements of Radio Frequency IDentification (RFID)-based localization approach has necessitates the development of effective solutions for mobile robot navigation systems in an indoor and/or outdoor environment. Among the most common problems pertaining to the modern RFID-based robot navigation systems are that multiple reference RF stations or excessive number of sensors are utilized for the location sensing with RFID, however, particularly in indoor environments, spatial layout or cost problems limit the applicability of those approaches. The contribution of the current manuscript is to devise a simple computationally efficient relative positioning system for indoor environments through a modified RFID tag architecture. The validity of the proposed RFID-based RPS is demonstrated using the real data collected in a typical indoor environment.

Paper Nr: 350
Title:

### THE PERFORMANCE OF OPC-UA SECURITY MODEL AT FIELD DEVICE LEVEL

Authors:

#### Olli Post and Jari Seppälä

Abstract: This paper discusses the performance of OPC UA security model at field device level. Process networks have traditionally been isolated networks but today there is interest to integrate process networks to manufacture and office network. Remote management of field devices via Internet is also gaining interest. This requires implementation of TCP/IP in field devices. However, this causes process networks not being isolated anymore and attention must be paid to the security of process networks. OPC UA is a specification for data transfer in automation systems that can be used to integrate information, horizontally and vertically. Security has also been considered in OPC UA but security measures implemented by OPC UA are too heavy to be uses in field devices. Thus, implementing security profile for authentication without encryption in OPC UA or running OPC UA on IPSec without its own security profile is proposed.

Paper Nr: 352
Title:

### A System-Architecture for robotic movements of goods -Approaches towards a cognitive material flow system-

Authors:

#### Dennis Ommen, Carsten Beth, Jens Kamenik and Axel Hahn

Abstract: Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their centralized control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. This approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.

Paper Nr: 354
Title:

### THE FINS PROTOCOL FOR COMPLEX INDUSTRIAL APPLICATTIONS: A CASE STUDY

Authors:

#### Filomena Soares, Julio Costa, Nuno Carvalho and José Machado

Abstract: This paper presents a comparative approach on the use of different industrial networks configurations and industrial communication protocols. Some aspects, that may influence the right choice of the most indicated protocol for each industrial network configuration, are discussed. It is presented a case study and two configurations networks implementing two industrial communication protocols. The respective advantages and disadvantages are presented. All the detailed aspects including the data exchange are presented too. The obtained results are extrapolated for other similar industrial applications.

Paper Nr: 356
Title:

### PRODUCT REPRESENTATION TO SUPPORT VALIDATION OF SIMULATION MODELS IN COMPUTER AIDED ENGINEERING

Authors:

#### Andreas Kain, Udo Lindemann and Andreas Gaag

Abstract: Computer aided engineering (CAE) provides proper means to support New Product Development (NPD) by simulation tools. Simulation furthers early identification of product characteristics to reduce costs and time. The applicability of simulation models in NPD strongly depends on their validity, thus validating a simulation poses a major issue to provide correct experimentation results. The authors propose a matrix based approach to combine solution neutral system representation, solution specific product representation, and product behaviour in order to raise system comprehension to support validation of simulation models. A case study exemplifies the suggested approach. This paper illustrates the matrix based product representation at composing a flexible multibody simulation of a highly dynamic linear shafting machine tool. The approach supports preprocessing and validation of a flexible multibody simulation model.

Paper Nr: 357
Title:

### DYNAMICAL CLUSTERING TECHNIQUE TO ESTIMATE THE PROBABILITY OF THE FAILURE OCCURRENCE OF PROCESS SUBJECTED TO SLOW DEGRADATION

Authors:

#### Traore Moussa

Abstract: In this paper, we propose a supervision method which aims at determining pertinent indicators to optimize predictive maintenance strategies. The supervision method, based on the AUto-adaptative and Dynamical Clustering technique (AUDyC), consists in classifying in real time measured data into classes representative of the operating modes of the process. This technique also allows the detection and the tracking of the slow evolutions of the process modes. Based on the AUDyC technique, a method is proposed to estimate the probabilities of the failure occurence of components in real time. This method is illustrated on the real case of a temperature controller.

Paper Nr: 45
Title:

### SELF-SIMILARITY MEASURMENT USING PERCENTAGE OF ANGLE SIMILARITY ON CORRELATIONS OF FACE OBJECTS

Authors:

#### Darun Kesrarat and Paitoon Porntrakoon

Abstract: A 2D face image can be used to search the self-similar images in the criminal database. This self-similar search can assist the human user to make the final decision among the retrieved images. In previous self-similar search, a 2D face image comprises of objects and object correlations. The attribute values of objects and their correlations are measured and stored in the face image database. The similarity percentage is specified to retrieve the self-similar images from the database. The problem of previous self-similar search is that the percentage of the angle differentiation among the objects in different part is different although their angle differentiation is exactly the same. The proposed model is introduced to improve the stability of the similarity percentage by reducing the number of face objects, object correlations, and the degree calculation. After testing over 100 samples, the proposed method illustrated that the stability of similarity percentage is improved especially for the left side objects of the face image.

Paper Nr: 60
Title:

### COOPERATIVE TELEOPERATION TASK IN VIRTUAL ENVIRONMENT: INFLUENCE OF VISUAL AIDS AND ORAL COMMUNICATION

Authors:

#### Sehat ULLAH, Malik Mallem, Samir otmane and Paul Richard

Abstract: Cooperative virtual environments, where users simultaneously manipulate objects, is one of the subfields of Collaborative virtual environments (CVEs). In this paper we simulate the use of two string based parallel robots in cooperative teleoperation task, Two users setting on separate machines connected through local network operate each robot. In addition, the article presents the use of sensory feedback (i.e shadow, arrows and oral communication) and investigates their effects on cooperation, presence and users performance. Ten volunteers subject had to cooperatively perform a peg-in-hole task. Results revealed that shadow has a significant effect on task execution while arrows and oral communication not only increase users performance but also enhance the sense of presence and awareness. Our investigations will help in the development of teleoperation systems for cooperative assembly, surgical training and rehabilitation systems.

Paper Nr: 91
Title:

### Collision-Model based Motion Planner for Multi-Agents in a Factory

Authors:

#### Sanghoon Ji, Woohyun Ko, Kyung-Tae Nam and Sangmoo Lee

Abstract: It is well known that Mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agents. Most of the past research results thus are based on the probabilistic completeness. However, the practicality of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. We propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents. First, based upon the collision map the collision features of multi agent is analyzed. The collision map is used for the collision avoidance of two industrial manipulators based upon the priority. Second, collision model((M,D) network model) based upon the studied collision features is suggested in order to express the traveling features of multi agents. Finally, an interactive way to design the collision-free motion of multi agent on the network model is proposed.

Paper Nr: 102
Title:

### QUANTIFIED ONTOLOGIES FOR REAL LIFE APPLICATIONS

Authors:

#### Lucia Vacariu, George Fodor, Lazea Gheorghe and Octavian Cret

Abstract: Industrial applications are using run-time symbolic approaches only when formal methods can assign useful meaning to symbols by computationally inexpensive algorithms. However, most reasoning methods are either computationally prohibitive or may compute indefinitely; thus such methods have limited use in industrial applications. Notable exceptions are fuzzy logic and some symbolic statistical methods. In many practical situations, the uncertain environment in which an “intelligent” control system acts consists of the symbolic space of some other “intelligent” control system, both networked in the same name space. When heterogeneous industrial systems store symbols locally (e.g. in firmware), they can even communicate symbolic information. The result of such interaction is to establish relations between heterogeneous vocabularies and reasoning agents, and between symbols and the physical environment in which the connected systems act. This paper introduces and motivates the necessity for on-line quantification of the degree to which symbols in a system have their intended meaning, by using practical methods that are not computationally prohibitive and which do not rely on formal semantic methods.

Paper Nr: 119
Title:

### ONLINE CALIBRATION OF ONE-DIMENSIONAL SENSORS FOR ROBOT MANIPULATION TASKS

Authors:

#### Jan Deiterding and Dominik Henrich

Abstract: The purpose of this paper is to enable a developer to easily employ external sensors emitting a one-dimensional signal for flexible robot manipulation. To achieve this, the sensor must be calibrated using data tuples describing the relation between the positional change of the supervised object and the resulting sensor value. This information is used for adaptation methods, thus enabling robots to react flexibly to changes such as workspace variations or object drifts. We present a sensor-independent method to incrementally generate new data tuples describing this relation during multiple task executions. This method is based on the Secant method and is the only generally applicable solution to this problem. The method can be integrated easily into robot programs without detailed knowledge about its functionality.

Paper Nr: 124
Title:

### Humanoid realistic simulator: The servomotor joint modeling

Authors:

#### José L. Lima, António P. Moreira, José A. Gonçalves and Paulo G. Costa

Abstract: This paper presents a humanoid servomotor model that can be used in simulations. Once simulation is a tool that reduces the software production time, it was developed a realistic simulator that own the humanoid features. Based on a real platform, the simulator is validated when compared with the reality.

Paper Nr: 139
Title:

### DOUBLE WELL POTENTIAL AS DIFFUSIVE FUNCTION FOR PDE-BASED SCALAR IMAGE RESTORATION METHOD

Authors:

#### Aymeric Histace and Michel Ménard

Abstract: Anisotropic regularization PDE’s (Partial Differential Equation) raised a strong interest in the field of image processing. The benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, we propose a PDE-based method restoration approach integrating a double-well potential as diffusive function. It is shown that this particular potential leads to a particular regularization PDE which makes it possible integration of prior knowledge about the gradients intensity level to restore. As a proof a feasibility, results of restoration are presented both on ad hoc and natural images to show potentialities of the proposed method.

Paper Nr: 148
Title:

### Control and Supervision for an industrial grain dryer

Authors:

#### Clemente Cárdenas, Eduardo Julio Moya, David Garcia and Oscar Calvo

Abstract: Automation and control of processes in a food industry is a very important aim. The main reasons are: guaranteeing a better quality of the final product, reducing cost time and improving the use of the raw materials. Specifically, drying and storage grain industries have plants which, in many cases, are out of phase. Besides, they are controlled by machine operators. Our work has consisted in developing a total and supervision automated system to control most of the processes. A first step has been to automate four cereal dryers in order to collect data. Subsequently, a control has been designed to get a constant value of moisture of the grain. At the same time, these data have been used to obtain a total traceability of the process.

Paper Nr: 170
Title:

### All-Elasto-Plastic Polyisoprene/Nanostructured Carbon Pressure Sensing Element

Authors:

#### Maris Knite, Juris Zavickis, Raimonds Orlovs, Gatis Podins and Kaspars Ozols

Abstract: Our further achievements in the design, processing and studies of physical properties of elastomer – nano-structured carbon composites as prospective compressive strain sensor materials for robotic tactile elements as well as for other automatic systems are presented. Composites made of polyisoprene matrix and high-structure carbon nanoparticle filler have been designed and manufactured to develop polymer nano-composites for flexible, entirely polymeric pressure sensing elements. Electrical resistance of the composites as a function of mechanical strain and pressure is studied. SEM pictures of cross-section surface of sensing elements are analyzed.

Paper Nr: 186
Title:

### COOPERATIVE UAVS MAPPING COMPLEX ENVIRONMENT USING 2D SPLINEGON

Authors:

#### Antonios Tsourdos, Brian White, Samuel Lazarus, Peter Silson and Rafal Zbikowski

Abstract: This paper presents a novel approach which enables multiple UAVs to efficiently explore an unknown environment and incrementally build the map of the area and its complex shaped obstacles, represented here as concave and convex in shape. The task is achieved by a improved performance of sensor based searching, navigation and mapping of these complex shaped obstacles in an unknown environment. The improved performance is quantified by explicit bounds of navigating the UAVs using an extended Kalman filter and to build the map of the complex shaped obstacles using the 2-D Splinegon. The circle packing search algorithm is used for the completeness of coverage in searching the unknown obstacle’s regions and the UAVs trajectories are generated by the Dubins path planning algorithm. This novel proposed algorithm results in a robust approach to search and map the obstacles using multiple UAVs that is also computational attractive.

Paper Nr: 200
Title:

### A COMPARATIVE STUDY BETWEEN CONVENTIONAL AND CONTINUOUS GENETIC ALGORITHMS FOR THE SOLUTION OF CARTESIAN PATH GENERATION PROBLEMS OF ROBOT MANIPULATORS

Authors:

Abstract: In this paper, a comparative study between the continuous and the conventional GAs for the solution of Cartesian path generation problems of robot manipulators is performed. The difference between both algorithms lies in the ways in which initialization phase, the crossover operator, and the mutation operator are applied. Generally, the operators of the CGA are of global nature, i.e., applied at the joint’s path level, while those of conventional GA are of local nature, i.e., applied at the path point level. It was concluded from the simulations included that CGAs have several advantages over conventional GAs when applied to the path generation problems; first, the joints’ paths obtained using the conventional GA are found to be of highly oscillatory nature resulting in very large net joints displacements consuming more energy and requiring more time. This problem is totally avoided in CGA where the resulting joints’ paths are smooth. Second, the CGA has faster convergence speed (number of generations required for convergence) than the conventional GA. Third, the average execution time per generation in the conventional GA is two to three times that in the CGA. This is due to the fact that the conventional GA requires a coding process, which is not the case in the CGA. Fourth, the memory requirements of the conventional GA are higher than those of the CGA because the former uses genotype and phenotype representations while the later utilizes only the phenotype representation

Paper Nr: 203
Title:

### A MONOCULAR OCCUPANCY GRID FOR LOCAL WMR NAVIGATION

Authors:

#### Lluís Pacheco

Abstract: This work introduces a new methodology to infer environment structure by using monocular techniques. The monocular field of view is constrained to the vicinity of the mobile robot. The cooperative strategy proposed combines DFF and optical flow techniques to obtain qualitative environment information. The remarkable features of the strategy presented are its simplicity and the low computational cost. In this way, a simplified DFF method, which uses only one frame, has been implemented; hence, scenario information can be achieved when homogeneous radiance background constraint is accomplished. Further structure analysis is developed by computing optical flow through time integration series of acquired frames; within a tessellated probabilistic representation consisting in a local occupancy grid framework. Furthermore, the camera pose knowledge is used to correlate the different overlapping image zones. Moreover, time integration of the monocular frames allows a larger environment description suitable for WMR local path planning. Hence, the reported work can be used in obstacle avoidance strategies or reactive behaviours for navigation towards the desired objective.

Paper Nr: 219
Title:

### Segments of color lines: a comparison through a tracking procedure

Authors:

#### Michèle Gouiffès, Samia Bouchafa and Bertrand Zavidovique

Abstract: This paper addresses the problem of visual target tracking by use of robust primitives. More precisely, we evaluate the use of color segments features in a matching procedure and compare the dichromatic color lines with the existing ones, defined in the HSV color space. The motion parameters of the target to track are computed through a voting strategy, where each pair of color segments votes first for one new location, then for two scale changes. Their vote is weighted according to the pairing relevancy and to their location in the bounding box of the tracked object. The comparison is made in terms of robustness to color illumination changes and in terms of quality (robustness of the location of the target during the time). Experiments are carried out on pedestrian and car image sequences. Finally, the dichromatic lines provide a better robustness to appearance changes with fewer primitives. It finally results in a better quality of the tracking.

Paper Nr: 224
Title:

### OBSTACLE DETECTION USING STRUCTURED BACKGROUND

Authors:

Abstract: The paper presents an obstacle detection method for mobile robots using a structured background. This method is based on differences of appearance between obstacles and the background in the camera images. The basic idea is to cover the ground of the workspace with a known structure. If part of this structure is obscured, this can be detected and indicates the existence of an obstacle. The method uses a reference symbol, chosen to exhibit certain features, to construct a reference image of the structured background. To detect possible obstacles we calculate the Fourier descriptors (FD) of all contours included in a given image and compare them with those of the stored reference symbol. This enables us to recognize all reference symbols which are not obscured by obstacles. We then determine the positions and dimensions of all existing obstacles by calculating the occupied symbol areas. The method is implemented as part of a robot-vision system for fully automated stockkeeping. In this paper the results are shown using a MATLAB implementation.

Paper Nr: 262
Title:

### A MHT-based algorithm for performance estimation in DT-MRI Bayesian tracking methods

Authors:

#### Luis M. San Jose

Abstract: This paper deals with the development of a recursive fuzzy inference system that can be applied to estimate the error probability of several tracking algorithms used in medical image processing systems. Specifically, we are interested in the fiber bundles estimation process (fiber tracking) in diffusion tensor (DT) fields acquired via magnetic resonance imaging (MRI). As tracking algorithm we have considered a variation of the Bayesian tracking scheme proposed by Friman and Westin. This paper studies the analogies between this tracking approach and a typical Multiple Hypotheses Tracing (MHT) system, for which fuzzy systems are closely related. This comparison leads to the development of a SAM (Standard Additive Model) fuzzy system that on-line estimates the certainty of the estimated fiber tracts. Its low computational load as well as its efficiency in very isotropic volumes are its main advantages.

Paper Nr: 295
Title:

### MULTI SCALE MOVING CONTROL METHOD FOR AUTONOMOUS OMNI-DIRECTIONAL MOBILE ROBOT

Authors:

#### Masaki Takahashi and Takafumi Suzuki

Abstract: This paper proposes a hierarchical moving control method for autonomous omni-directional mobile robot to achieve both safe and effective movement in a dynamic environment with moving objects such as humans. The method considers a variety of prediction time to each action, such as destination path planning, obstacle avoidance within the recognizable range, and emergency avoidance to avoid spontaneous events. In the method, the movement of the robot can be realized based on prediction of the movement of obstacles by taking account of time scale differences. In this paper, the design method of the proposed method based on the virtual potential approach is proposed. In the method, modules that generate the potential field are structured hierarchically based on the prediction time to each problem. To verify the effectiveness of the proposed method, the numerical simulations and the experiments using a real robot are carried out. From the results, it is confirmed that the robot with the proposed method can realize safe and efficient movement in dynamic environment.

Paper Nr: 311
Title:

### MULTIMODAL INTERACTION WITH VIRTUAL MOCK-UP: CAD Model Integration and Human Performance in Car Maintenance Task.

Authors:

#### Damien Chamaret, Paul Richard and Sehat ULLAH

Abstract: This paper presents a methodology for the efficient integration of CAD models in a physical-based virtual reality simulation without the use of generic algorithms or software with expensive licenses to simplify CAD datas in order to perform in a virtual environment. In addition a human performance is presented using this methodology of CAD models integration. The user can interact with the virtual mock-up using a stringed-based interface that provides haptic sensation in a large workspace. A mocap system is used to track both position and orientation of the arm of the user. A prop attached to the SPIDAR system is used for local (grasp) feedback. An automotive maintenance task is described and evaluated. Results show a positive effect of multi-modal feedback on performance and learning process.

Paper Nr: 312
Title:

### Integrated Path Planning and Tracking for Autonomous Car-like Vehicles maneuvering

Authors:

#### Fernando Gómez-Bravo, Frnacisco Real, José M. Sánchez-Matamoros, Diego López and Luis Merino

Abstract: This paper proposes a new method for control car-like vehicles maneuvering. For this purpose, traditional planning and tracking algorithms has been modified in order to follow complex maneuvers in a frame of a distributed control architecture. Thus, planning and tracking algorithm run in different platforms exchanging data in order to control the maneuvers performance.

Paper Nr: 315
Title:

### Expression of Emotions Through Body Motion, A novel interface for human-robot interaction

Authors:

#### Nelsonin Trueira and João Sequeira

Abstract: An approach is presented for the expression of basic emotions through only the agent body pose and velocity. The approach is applied in human-robot interaction scenarios, where both humans and robots communicate only through their relative position and velocities. As a result, an interface for human-robot interaction is obtained, which does not require the use of haptic devices or explicit communication with humans, verbal for instance. The small set of emotions that can be conveyed enable humans and robots to anticipate the intentions of the opponent and adapt their behavior accordingly. The aproach is implemented using a webcam, simple vision processing algorithms and Hidden Markov models. The results of preliminary experiments are presented.

Paper Nr: 337
Title:

### Visual Attention in 3D Space Using a Virtual Reality Framework as Spatial Memory

Authors:

#### M. Z. Aziz and Bärbel Mertsching

Abstract: This paper presents a conceptual framework to integrate a spatial memory, derived from a 3D simulator, with a visual attention model. The proposed system is inspired from brain research that explicitly accounts for the use of spatial memory structures in intelligent object recognition and navigation by humans in the three dimensional space. The experiments presented here extend the capability of visual attention modeling to work in 3D space by connecting it to simulated maneuvers in virtual reality. The introduction of this concept opens new directions for work to reach the goal of intelligent machine vision, especially by mobile vision systems.

Paper Nr: 345
Title:

### Robot Auditory System Based on Circular Microphone Array for Home Service Robots

Authors:

#### Keun-Chang Kwak

Abstract: In this paper, we develop robot auditory system including speaker recognition, sound source localization, and speech enhancement based on circular microphone array for home service robots. These techniques are concerned with audio-based Human-Robot Interaction (HRI) that can naturally interact between human and robot through audio information obtained from microphone array and multi-channel sound board. The robot platform used in this study is wever, which is a network-based intelligent home service robot. The experimental results show the effectiveness of the presented audio-based HRI components from the constructed speaker and sound localization database

Paper Nr: 365
Title:

### Path Planning with Markovian Processes

Authors:

#### Istvan Szoke, Lazea Gheorghe, Levente Tamas, Mircea I. Popa and andras majdik

Abstract: This paper describes the path planning for the mobile robots, based on the Markov Decision Problems. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological respectively the metric method. The main goal of the robot is to reach from the home point to the door of the indoor environment using algorithms which are based on Markovian decisions.

## Area 3 - Signal Processing, Systems Modeling and Control

Full Papers
Paper Nr: 59
Title:

### Information-Theoretic View of Control

Authors:

#### Prateep K. Roy, Arben Cela and Yskandar Hamam

Abstract: In this paper we are presenting the informationtheoretic explanation of Bod´e Sensitivity Integral, a fundamental limitation of control theory, controllability grammian and the issues of control under communication constraints. As resource-economic use of information is of prime concern in communication-constrained control problems, we need to emphasize more on informational aspect which has got direct relation with uncertainties in terms of Shannon Entropy and Mutual Information. Bode Integral which is directly related to the disturbances can be correlated with the difference of entropies between the disturbance-input and measurable output of the system. These disturbances due to communication channel-induced noises and limited bandwidth are causing the information packetloss and delays resulting in degradation of control performances.

Paper Nr: 82
Title:

### OPTIMAL SPARSE CONTROLLER STRUCTURE WITH MINIMUM ROUNDOFF NOISE GAIN

Authors:

#### Jinxin Hao, Teck C. Wee, Lucas Karatzas and Yew F. Lee

Abstract: This paper investigates the roundoff noise effect in the digital controller on the closed-loop output for a discrete-time feedback control system. Based on a polynomial parametrization approach, a sparse controller structure is derived. The performance of the proposed structure is analyzed by deriving the corresponding expression of closed-loop roundoff noise gain and the problem of finding optimized sparse structures is solved. A numerical example is presented to illustrate the design procedure and the performance of the proposed structure compared with those of some existing well-known structures.

Paper Nr: 135
Title:

### ON THE STATE–SPACE REALIZATION OF VECTOR AUTOREGRESSIVE STRUCTURES: AN ASSESSMENT

Authors:

#### Vasilis Dertimanis and Dimitrios Koulocheris

Abstract: This study explores the interconnection between vector autoregressive (VAR) structures and state–space models and results in a compact framework for the representation of multivariate time–series, as well as the estimation of structural information. The corresponding methodology that is developed, applies the fact that every VAR process of order n may be described by an equivalent (non–unique) VAR model of first order, which is identical to a state–space realization. The latter uncovers many ”hidden” information of the initial model, it is more easy to manipulate and maintains significant second moments’ information that can be reflected back to the original structure with no effort. The performance of the proposed framework is validated using vector time–series signatures from a structural system with two degrees of freedom, which retains a pair of closely spaced vibration modes and has been reported in the relevant literature.

Paper Nr: 233
Title:

### STRAIN FIELD INTERPOLATION OVER THE SCIARA DEL FUOCO (STROMBOLI VOLCANO) FROM GEODETIC MEASUREMENTS ACQUIRED BY THE AUTOMATIC THEODOROS SYSTEM

Authors:

#### Alessandro Spata, Giuseppe Nunnari, Giuseppe Puglisi, Alessandro Bonforte and Francesco Guglielmino

Abstract: In this paper we treat two important aspects concerning the automatic monitoring of the ground deformation at the Sciara del Fuoco (SdF), the Stromboli volcano (Italy) steep flank subjects to dangerous landslide events: the developments of suitable software procedures to process observations and the evaluation of both 3D motion maps and 3D strain tensor over the whole investigated area. Ground deformation measured by the monitoring system known as THEODOROS (THEOdolite and Distancemeter Robot Observatory of Stromboli) is often affected by offsets and spikes, due to both malfunctioning and periodical maintenances of the system, making very difficult the interpretation of the ground deformation dynamics. To this purpose a suitable software tool able to reduce these drawbacks was developed. Furthermore, both 3D motion maps and 3D strain tensor are computed in order to provide new useful information aimed to better understanding the complex dynamic of the SdF

Paper Nr: 257
Title:

### On Modification of the Generalised Conditioning Technique Anti-windup Compensator

Authors:

#### Dariusz Horla

Abstract: New anti-windup scheme is presented in application to pole-placement control, with a complete analysis of its behaviour for a class of second-order minimumphase stable plants of oscillatory and aperiodic characteristics with different dead-times. The classical generalised conditioning technique anti-windup compensator performance is compared with its three proposed modifications, arising in a new GCT compensation scheme. A critical discussion of the necessity of compensation is also given.

Paper Nr: 301
Title:

### Co-Evolution Preserving Abstract Model Reduction for Uncertain Cyber-Physical Systems

Authors:

#### Manuela Bujorianu and Marius Bujorianu

Abstract: The problem of abstracting computational relevant properties from sophisticated mathematical models of physical environments has become crucial for cyber-physical systems (CPS). We approach this problem using Hilbertean Formal Methods (HFM), a semantic framework that offers intermediate levels of abstractions between the physical world described in terms of differential equations and the formal methods associated with theories of computation. Although, HFM consider both deterministic and stochastic physical environments, in this paper, we focus on the stochastic case. The abstraction method can be used for verification, but also to improve the controller design and to investigate complex interactions between computation and physics. We define also a computational equivalence relation called adaptive model reduction, because it considers the co-evolution between a computation device environment and its physical environment during abstraction.

Short Papers
Paper Nr: 41
Title:

### Suboptimal dual control algorithms for discrete-time stochastic systems under input constraint

Authors:

#### Andrzej Krolikowski and Dariusz Horla

Abstract: The paper considers a suboptimalsolution to the dual control problem for discrete-time stochastic systems in the case of amplitude constraint imposed on the control signal. The objective of the control is to minimize the variance of the output around the given reference sequence. The presented approaches are based on: an MIDC (Modified Innovation Dual Controller) derived from an IDC (Innovation Dual Controller), a TSDSC (Two-stage Dual Suboptimal Control, and a PP (Pole Placement) controller. Finally, the certainty equivalence (CE) control method is included for comparative analysis. In all algorithms, the standard Kalman filter equations are applied for estimation of the unknown system parameters. Example of second order system is simulated in order to compare the performance of control methods. Conclusions yielded from simulation study are given.

Paper Nr: 68
Title:

### Higher order sliding mode control for continuous time nonlinear systems based on optimal control

Authors:

#### Zhiyu Xi and Tim Hesketh

Abstract: This paper addresses higher order sliding mode control for continuous nonlinear systems. We propose a new method of reaching control design while the sliding surface and equivalent control can be designed conventionally. The deviations of the sliding variable and its high order derivatives from zero are penalized. This is realized by minimizing the amplitudes of the higher order derivatives of the sliding variable. An illustrative example— a field-controlled DC motor— is given at the end.

Paper Nr: 72
Title:

### AN ANALYTICAL AND NUMERICAL STUDY OF PRESSURE TRANSIENTS IN PNEUMATIC DUCTS WITH FINITE VOLUME ENDS

Authors:

#### Giosué Rollo, Nicola I. Giannoccaro and Arcangelo Messina

Abstract: In this paper, the response of a pneumatic transmission line is analysed through two different approaches. Both the approaches, based on the same physical model, are able to simulate the dynamics of a pneumatic line, with finite volume ends. The first approach analytically provides the transients through an equation in a quasi-closed form; the second approach is based on a numerical procedure yielding the inversion of the Laplace transform by the application of a trapezoidal rule. The analysis of the mutual performances of the two approaches, in the frame of pneumatic systems normally operating in industrial automation, can be useful in terms of control of the response and could assist in the design of pneumatic systems.

Paper Nr: 75
Title:

### Linfinity Optimal Gain-Scheduled Filtering of Takagi-Sugeno Fuzzy Systems

Authors:

#### Isaac Yaesh and Uri Shaked

Abstract: The problem of designing gain-scheduled filters with guaranteed induced Linfinity norm for the estimation of the state-vector of finite dimensional discrete-time parameter-dependent Takagi-Sugeno Fuzzy Systems systems is considered. The design process applies a lemma which was recently derived by the authors of this paper, characterizing the induced Linfinity norm by Linear Matrix Inequalities. The suggested filter has been successfully applied to a guidance motivated estimation problem, where it has been compared to an Extended Kalman Filter.

Paper Nr: 80
Title:

### A New Method of Tuning Three Term Controllers for Dead-Time Processes with a Negative/Positive Zero

Authors:

#### Kostas Arvanitis, Anastassios Boglou, Nikolaos Bekiaris-Liberis and George Pasgianos

Abstract: The use of the Pseudo-Derivative Feedback (PDF) structure in the control of stable or unstable dead-time processes with a negative or positive zero is investigated. A simple direct synthesis method for tuning the PDF controller is presented. Moreover, a modification of the proposed method, which ensures its applicability in the case of large overshoot response processes with dead time, is also presented. The PDF control structure and the proposed tuning method ensure smooth closed-loop response to set-point changes, fast regulatory control and sufficient robustness against parametric uncertainty. Simulation results show that, in most cases, the proposed method is as efficient as the best of the most recent PID controller tuning methods for dead-time processes with negative/positive zeros, while its simplicity in deriving the controller settings is a plus point over existing PID controller tuning formulae.

Paper Nr: 150
Title:

### A Discrete Event Simulation Model for the Egress Dynamics from Buildings

Authors:

#### Paolo Lino, Bruno Maione and Guido Maione

Abstract: Safe egress of people from closed buildings is a critical issue, in which modern control methodologies and information and communication technologies play a crucial role. Current research trends suggest us to profitably use wireless networks of distributed sensors and actuators. Then, a large amount of feedback from the real scenario is needed to determine control outputs. In this paper, we use a discrete event system approach to define a simulation model of a complex real scenario. The egress of students and academic staff from a lecture area in the School of Engineering in Bari was simulated, to validate the modeling approach in predicting the evacuation process. Performance indices (flows of individuals in spaces and at critical points, number of evacuated people, time to complete egress) were measured in standard conditions when no emergency or panic phenomena occurred. The results show that the model properly represents real phenomena like blocking, congestion or overcrowding, and faster-is-slower effect. Then, the same approach could be efficient to predict flows in emergency conditions, when specific control actions are taken for speeding-up egress safely.

Paper Nr: 152
Title:

### Modeling, Simulation and Feedback Linearization Control of Nonlinear Surface Vessels

Authors:

#### Mehmet Haklidir, Deniz Aldogan, Isa Tasdelen and Semuel Franko

Abstract: Realistic models and robust control are vital to reach a sufficient fidelity in military simulation projects including surface vessels. In this study, a nonlinear model including sea-state modelling is obtained and feedback linearization control is implemented in this model. To control the system, nonlinear analysis techniques are used. The model is integrated into a commercial framework based CGF application within a high-fidelity military training simulation.The simulation results are presented at the end of the study.

Paper Nr: 199
Title:

### MODELING OF CONTINUOUS FERTILIZER GRANULATION-DRYING CIRCUIT FOR COMPUTER SIMULATION AND CONTROL PURPOSES

Authors:

#### Gediminas Valiulis and Rimvydas Simutis

Abstract: The paper presents the model-based approach to process simulation and advanced control in the industrial granulation circuit of fertilizer production. Different knowledge sources, such as physical phenomena, statistical analysis of process parameters, expert information cover different cognition domains of the process. The mechanistic growth model developed is based on particle coating phenomena, mass and energy transfer. The model partially takes into account the main process parameters, features and the equipment used. Simulation has been executed to test the model performance. The model built can be used for the evaluation of plant control methods and staff training.

Paper Nr: 201
Title:

### Filtering and compression of stochastic signals under constraint of variable finite memory

Authors:

#### Anatoli Torokhti and Stan Miklavcic

Abstract: We study a new technique for optimal data compression subject to conditions of causality and different types of memory. The technique is based on the assumption that certain covariance matrices formed from observed data, reference signal and compressed signal are known or can be estimated. In particular, such an information can be obtained from the known solution of the associated problem with no constraints related to causality and memory. This allows us to consider two separate problems related to compression and de-compression subject to those constraints. Their solutions are given and the analysis of the ssociated errors is provided.

Paper Nr: 204
Title:

### PERIODIC DISTURBANCES REDUCTION IN THE CONTINUOUS CASTING PROCESS BY MEANS OF A MODIFIED SMITH PREDICTOR

Authors:

#### Karim Jabri, Didier Dumur, Emmanual Godoy, Alain Mouchette and Bertrand Bele

Abstract: In the continuous casting process, various control strategies are used to reduce the mold level fluctuations which cause surface defects in the final product. This paper proposes a control structure able to improve the reduction of the bulging effect on the mold level. It is based on the Aström’s modified Smith predictor scheme which presents the advantage that the setpoint response is decoupled from the disturbance rejection transfer function. H-infinity control theory is utilized to develop the controller of this second loop. Both the disturbances rejection and the robust stabilization are considered in this design. Effective tuning rules are also given. Simulation results confirm that the proposed design is more effective than the one based on the PID control law currently implemented in several real plants.

Paper Nr: 208
Title:

### Computational algorithm for nonparametric modelling of nonlinearities in Hammerstein systems

Authors:

#### Przemyslaw Sliwinski and Zygmunt Hasiewicz

Abstract: In the paper a fast computational routines for identification algorithms for recovering nonlinearities in Hammerstein systems based on orthogonal series expansions of functions are proposed. It is ascertained that both, convergence conditions and convergence rates of the computational algorithms are the same as their much less computationally attractive 'theoretic' counterparts. The generic computational algorithm is derived and illustrated by three examples based on standard orthogonal series on interval, viz. Fourier, Legendre, and Haar systems. The exemplary algorithms are presented in a detailed, ready-to-implement, form and examined by means of computer simulations.

Paper Nr: 212
Title:

### REAL-CODED GENETIC ALGORITHM IDENTIFICATION OF A FLEXIBLE PLATE SYSTEM

Authors:

#### Salihatun M. Salleh

Abstract: Parametric modelling deals with determination of model parameters of a system. Parametric modelling of systems may benefit from advantages of real coded genetic algorithms (RCGAs), as they do not suffer from loss of precision during the processes of encoding and decoding compared with Binary Coded Genetic Algorithm. In this paper, RCGA is used to identify the best model order and associated parameters characterising a thin plate system. The performance of the approach is assessed on basis mean-squared error, time and frequency domain response of the developed model in characterising the system. A comparative assessment of the approach with binary coded GA is also provided. Simulation results signify the advantages of RCGA over two further algorithms in modelling the plate system are also provided.

Paper Nr: 231
Title:

### MODEL-BASED DESIGN OF CODE FOR PLC CONTROLLERS

Authors:

#### Krzysztof Sacha

Abstract: This paper describes a method for model-based development of software for programmable logic controllers (PLC). The method includes modeling of a control algorithm, verifying the algorithm with respect to the requirements, and automatically generating the code in one of the IEC 61131 languages. The modeling language is UML state machine diagram, and the verification tool is UPPAAL model-checking toolbox. The method has good scalability with respect to the number of the modeled objects and the ability to cope with integer values by means of variables and function blocks.

Paper Nr: 246
Title:

### Computational aspects for recursive Frisch scheme system identification

Authors:

#### Jens G. Linden, Tomasz Larkowski and Keith J. Burnham

Abstract: The implementation of a recursive algorithm for the estimation of parameters of a linear single-input single-output errors-in-variables system is re-considered. The objective is to reduce the computational complexity in order to reduce the computation time per recursion, which, in turn, will allow a wider applicability of the recursive algorithm. The method of stationary iterative methods for least squares is utilised, in order to reduce the complexity from cubic to quadratic order with respect to the model parameters to be estimated. A numerical simulation underpins the theoretically obtained results.

Paper Nr: 250
Title:

### Recursive Extended Compensated Least Squares Based Algorithm for Errors-in-Variables Identification

Authors:

#### Tomasz Larkowski, Jens G. Linden and Keith J. Burnham

Abstract: An algorithm for the recursive identification of single-input single-output linear discrete-time time-invariant errors-in-variables system models in the case of white input and coloured output noise is presented. The approach is based on a bilinear parametrisation technique which allows the model parameters to be estimated together with the auto-correlation elements of the input/output noise sequences. In order to compensate for the bias in the recursively obtained least squares estimates, the extended bias compensated least squares method is used. An alternative for the online update of the associated pseudo-inverse of the extended observation covariance matrix is investigated, namely an approach based on the matrix pseudo-inverse lemma and an approach based on the recursive extended instrumental variables technique. A Monte-Carlo simulation study demonstrates the appropriateness and the robustness of the proposed scheme.

Paper Nr: 268
Title:

### AN APPROACH OF ROBUST QUADRATIC STABILIZATION OF NONLINEAR POLYNOMIAL SYSTEMS: APPLICATION TO TURBINE / GOVERNOR CONTROL

Authors:

#### Mohamed M. Belhaouane

Abstract: In this paper, robust quadratic stabilization of nonlinear polynomial systems within the frame work of Linear Matrix Inequalities (LMIs) is investigated. The studied systems are composed of a vectoriel polynomial function of state variable, perturbed by an additive nonlinearity which depends discontinuously on both time and state. Our main objective is to show, by employing the Lyapunov stability direct method and the Kronecker product properties, how a polynomial state feedback control law can be formulated to stabilize a nonlinear polynomial systems and, at the same time, maximize the bounds on the perturbation which the system can tolerate without going unstable. The efficiency of the proposed control strategy is illustrated on the Turbine - Governor system.

Paper Nr: 281
Title:

### BUILDING TRAINING PATTERNS FOR MR DAMPERS MODELING

Authors:

#### Javier A. Ruiz-Cabrera, Vicente Diaz-Salas, Jorge D. Lozoya-Santos, Ricardo R. Mendoza, Ruben Morales-Menendez, Vicente Diaz-Salas and Javier A. Ruiz

Abstract: A method in order to validate the input data configuration for MR damper identification purposes is proposed. This method were performed over two MR damper model structures: semi-phenomenological and black box. The electric current as direct input in the models is desired. The comparative input pattern analysis was tooled by a fitting process. The first goal was to find out the best input pattern that allow a realistic identification of parameters forMRmodels. The method characteristics are: minimization in the tests duration avoiding overuse of the specimen and the reduction of number of experiments. The method offered as main result that the data set featured by frequency modulated displacement and increased clock period signal for electric current generates key information on the fitting process, no matter the model structure. In modeling main results, an electric current dependent Non Linear ARX model with 11 coefficients, and a semi-phenomenological model 5 coefficients were proposed with outstanding performances with an overall error of 0.09% and 2% respectively. The incorporation of the electric current as natural input on the model improves the emulation performances and achieves the proposed method characteristics.

Paper Nr: 305
Title:

### Synchronization of Modified Chua's Circuits in Star Coupled Networks

Authors:

#### Oscar R. Acosta, Cesar Cruz-Hernandez , Rosa M. Lopez-Gutierrez and Enrique G. Guerrero

Abstract: In this paper, we use a Generalized Hamiltonian systems approach to synchronize dynamical networks of modified fourth-order Chua’s circuits, which generate hyperchaotic dynamics. Network synchronization is obtained among a single master node and two slave nodes, with the slave nodes being given by observers.

Paper Nr: 341
Title:

### Real-time Wind Forecast for Wind Turbines

Authors:

#### Qing-Guo Wang, Zhen Ye and Lihong I. Lim

Abstract: In wind energy industry, it is well known that real-time wind forecast can improve the performance of wind turbines if the prediction information is well used to compensate the uncertainty of the wind. Unfortunately, neither model nor method is available to give a real-time forecast of wind so far. This paper proposed a real-time wind forecast model by simplifying existing weather forecast model, MM5. Details on model simplification, forecast error correction as well as other issues like boundary conditions and simulations are also discussed.

Paper Nr: 353
Title:

### SAFE COTROLLERS DESIGN FOR HIBRID PLANTS: THE EMERGENCY STOP

Authors:

#### José Machado and Eurico Seabra

Abstract: This paper presents and discusses a case study that applies a global approach for considering all the automation systems emergency stop requirements. The definition of all the functioning modes and all the stop tasks of the automation system is also presented according the standards EN 418 and EN 60204-1. All the aspects related with the emergency stop are focused in a particular way. The proposed approach defines and guarantees the safety aspects of an automation system controller related with the emergency stop. For the controller structure it is used the GEMMA formalism; for the controller entire specification it is used the SFC and for the controller behavior simulation it is used the Automation studio software.

Paper Nr: 358
Title:

### Towards Asynchronous Signal Processing

Authors:

#### Marek Miskowicz and Dariusz Koscielnik

Abstract: A challenging problem of today’s ADC design is a development of low voltage, low power and possibly high performance converters. The ever growing demand for decreasing the supply voltage of semiconductor devices due to scaling the feature size of VLSI technology has pushed the design of analog integrated circuit to its limits. The same problem concerns the analog-to-digital converters since lowering supply voltage results in a reduction of a voltage increment corresponding to the least significant bit (LSB) in signal amplitude quantization. In the paper, an important alternative to conventional ADCs is presented. To overcome problems with decreasing accuracy of amplitude quantization, a new class of asynchronous ADCs is discussed where the mapping of an analog signal into time domain rather than into amplitude domain is used. The asynchronous ADCs are not controlled by any global clock but self-timed. The local reference clock is used only to quantize time intervals that represent the converted signal amplitude. The design of asynchronous Sigma-Delta analog-to-digital converter (ASD-ADC) with serial output interface is discussed in details. The ASD-ADC together with the loss-free asynchronous analog signal recovery method developed recently provides possibility to establish the asynchronous digital signal processing chain.

Paper Nr: 360
Title:

### ANALOG REALIZATIONS OF FRACTIONAL-ORDER INTEGRATORS/DIFFERENTIATORS: A COMPARISON

Authors:

#### Guido Maione

Abstract: Non-integer differential or integral operators can be used to realize fractional-order controllers, which provide better performance than conventional PID controllers, especially if controlled plants are of non-integer-order. In many cases, fractional-order controllers are more flexible than PID and ensure robustness for high gain variations. This paper compares three different approaches to approximate fractional-order differentiators or integrators. Each approximation realizes a rational transfer function characterized by a sequence of interlaced minimum-phase zeros and stable poles. The frequency-domain comparison shows that best approximations have nearly the same zero-pole locations, even if they are obtained starting from different points of view.

Paper Nr: 361
Title:

### Linear Identification of Rotary White cement Kiln

Authors:

#### Golamreza Noshirvani, mansoor shirvani and alireza fatehi

Abstract: Rotary cement kiln is the main part of a cement plant that clinker is produced in it. Continual and prolonged operation of rotary cement kiln is vital in cement factories. However, continual operation of the kiln is not possible and periodic repairs of the refractory lining would become necessary, due to non-linear phenomena existing in the kiln, such as sudden falls of coatings in the burning zone and probability of damages to the refractory materials during production. This is the basic reasoning behind the needs for a comprehensive model which is severely necessary for better control of this process. Such a model can be derived based on the mathematical analysis with consultation of expert operator experiences. In this paper linear model is identified for rotary kiln of Saveh white cement factory. The linear model is introduced using Box-Jenkins structure. The results of the obtained model were satisfactory compared to some other models and can be used for designing adaptive or robust controllers.

Paper Nr: 363
Title:

### ON THE LINEAR SCALE FRACTIONAL SYSTEMS

Authors:

#### Manuel Ortigueira

Abstract: The Linear Scale Invariant Systems are introduced for both integer and fractional orders. They are defined by the generalized Euler-Cauchy differential equation. It is shown how to compute the impulse responses corresponding to the two regions of convergence of the transfer function. This is obtained by using the Mellin transform. The quantum fractional derivatives are used because they are suitable for dealing with this kind of systems.

Paper Nr: 14
Title:

### MICRO-ENERGY PULSE POWER SUPPLY WITH NANOSECOND PULSE WIDTH FOR EDM

Authors:

#### Fang Ji and Yong-bin Zhang

Abstract: Micro-energy pulse power supply is required in order to manufacture workpiece with micro-nano precision in electrical discharging machining. The paper analyzes two kinds of typical pulse powers and some important elements. One new micro-energy pulse power supply is presented. The analysis has been done during experiments for the power supply, and then the driving circuit and discharging circuit for the metallic oxide semiconductor field effect transistor (MOSFET) are modified to improve their performance so that the pulse width of the power supply could be less than that of the normal pulse power supply for electrical discharging machining (EDM). The least pulse width is obtained. It is less than 90 nanoseconds and its least energy for single pulse is less than 10-6 joule. Subsequently, the pulse waveform is adjusted considering the impedance matching of the discharging circuit in order that the pulse waveform has no oscillation and no overshot. The regular pulse is good to detect discharging status correctly and sensitively.

Paper Nr: 71
Title:

### A New Deconvolution Method based on Maximum Entropy and Quasi-Moment truncation technique

Authors:

#### Monika Pinchas and Ben Z. Bobrovsky

Abstract: In this paper we present a new blind equalization method based on the quasi-moment truncation technique and on the Maximum Entropy blind equalization method presented previously in the literature. In our new proposed method, fewer moments of the source signal are needed to be known compared with the previously presented technique. Simulation results show that our new proposed algorithm has better equalization performance compared with Godard's and Lazaro's algorithm.

Paper Nr: 161
Title:

### About the decomposition of rational series in noncommutative variables into simple series

Authors:

#### Mikhail V. Foursov and Christiane Hespel

Abstract: Similarly to the partial fraction decomposition of rational fractions, we provide an approach to the decomposition of rational series in noncommutative variables into simpler series. This decomposition consists in splitting the representation of the rational series into simpler representations. Finally, the problem appears as a joint block--diagonalization of several matrices. We present then an application of this decomposition to the integration of dynamical systems.

Paper Nr: 188
Title:

### Analysis and design of computer architecture circuits with controllable delay line

Authors:

#### Nikolay V. Kuznetsov, Gennady Leonov, Sveltana Seledzhi and Pekka Neittaanmaki

Abstract: In this work classical and modern control theory methods are applied for rigorous mathematical analysis and design of different computer architecture circuits such as clock generators, synchronization systems and others. The present work is devoted to the questions of analysis and synthesis of feedback systems, in which there are controllable delay lines. In the work it is mathematically strictly shown that RC-chain can be used as a controllable delay line for different problems of circuit engineering if the chain is sequentially connected with hysteretic relay. This relay is either artificially introduced or shows itself as non-ideality of logic elements. The possibility of phase-locked loop application for time delay control is considered.

Paper Nr: 196
Title:

### Simple Design Method of the State Observer for Linear Time-Varying Systems

Authors:

#### Yasuhiko Mutoh

Abstract: A simple design method of the Luenberger observer for linear time-varying systems is proposed in this paper. The paper first proposes the simple calculation method to derive the pole placement feedback gain vector for linear time-varying systems. For this purpose, it is shown that the pole placement controller can be derived simply by finding some particular "output signal" such that the relative degree from the input to this output is equal to the order of the system. Using this fact, the feedback gain vector can be calculated directly from plant parameters without transforming the system into any standard form. Then, this method is applied to the design of the observer, i.e., because of the duality of linear time-varying system, the state observer can be derived by un-stabilization of the state error equation.

Paper Nr: 213
Title:

### Modeling Approach for Networked Embedded Systems with Heterogeneous Communication - Modeling Common Gateway Functionalities for Interconnection

Authors:

#### Johannes Klöckner, Marcus Müller, Yixin Huang and Wolfgang Fengler

Abstract: This paper presents a method to create system level models of gateway facilities to combine embedded fieldbus networks. Here automotive applications are used as representative with CAN and FlexRay. A strategy is introduced to create gateway models, which provide high flexibility in terms of reusability, replaceability, extensibility and flexibility. Todays systems often incorporate a very complex heterogeneous communication structure with real time requirements. These characteristics have an influence on the system design process. The goal of avoiding design errors in early development stages requires the validation on hierarchical functional models of various abstraction levels using simulation based analysis prior to hardware design. A current approach includes problem oriented system analysis. This approach is extended to analyze the system behavior of heterogeneous embedded systems focusing on switching mechanisms. Here lies the challenge on the connection of subsystems with distinct fieldbuses realizing different paradigms. Regarding real time aspects paradigm switches can be a source of errors in the system design.

Paper Nr: 258
Title:

### INTEGRATING REUSABLE CONCEPTS INTO A REFERENCE ARCHITECTURE DESIGN OF COMPLEX EMBEDDED SYSTEMS

Authors:

#### Liliana Dobrica

Abstract: The content of this paper addresses the issues regarding integrating reusable concepts for a quality-based design of reference architecture in the context of complexity that is specific to today’s embedded control systems. The reference architecture consists of core services and is designed based on considering taxonomy of requirements and constraints, reusable control patterns and a quality-based measurement instrument.

Paper Nr: 321
Title:

### PERFORMANCE EVALUATION OF A MODIFIED SUBBAND NOISE CANCELLATION SYSTEM IN A NOISY ENVIRONMENT

Authors:

#### Ali A. Noor, Aini Hussain and Salina Abdul Samad

Abstract: This paper presents a subband noise canceller with reduced residual noise. The canceller is developed by modifying and optimizing an existing multirate filter bank that is used to improve the performance of a conventional full-band adaptive filtering. The proposed system is aimed to overcome problems of slow asymptotic convergence and high residual noise incorporating with the use of oversampled filter banks for acoustic noise cancellation applications. System equation is formulated and the optimum prototype filters are derived. Prototype analysis and synthesis filters are optimized for minimum amplitude distortion. The proposed scheme offers a simplified structure that without employing cross adaptive filters or notch filtering reduces the effect of colored components near the band edges in the frequency response of the analysis filters. Issues of increasing convergence speed and decreasing the residual noise at the system output are addressed. The performance under white and colored environments is evaluated in terms of mean square error MSE performance. A comparison is made with an equivalent unmodified system as well as with a conventional full-band scheme. Fast initial convergence was obtained with this modification. Also a decrease in the amount of residual noise by approximately 10dB compared to a subband model without modification was reachable under actual speech and background noise