# ICINCO 2010 Abstracts

## Area 1 - Intelligent Control Systems and Optimization

Full Papers
Paper Nr: 40
Title:

### A MORPHING WING USED SHAPE MEMORY ALLOY ACTUATORS NEW CONTROL TECHNIQUE WITH BI-POSITIONAL AND PI LAWS OPTIMUM COMBINATION PART 1 - DESIGN PHASE

Authors:

#### Ruxandra M. Botez, Mahmoud Mamou, Teodor Lucian Grigorie, Lucian T. Grigorie, Andrei V. Popov, Ruxandra Botez, Mahmood Mamou and Youssef Mebarki

Abstract: The paper presents the design phase of the actuators control system development for a morphing wing application. Some smart materials, like Shape Memory Alloy (SMA), are used as actuators to modify the upper surface of the wing made of a flexible skin. The actuations lines control is designed and validated using a numerical simulation model developed in Matlab/Simulink. The finally adopted control law is a combination of a bi-positional law and a PI law; the control must behave like a switch between cooling phase and heating phase, situations where the output current is 0 A, or is controlled by a law of PI type. The PI controller, for the heating phase, is optimally tuned using the Ziegler-Nichols criterion and the linear model obtained using the System Identification Toolbox of Matlab. The controlled linearized system for heating phase is numerically tested in terms of time response, stability, controllability and the observability. In the actuation control design final phase, numerical simulations, based on SMA non-linear analytical model, were used for validation.

Paper Nr: 41
Title:

### A MORPHING WING USED SHAPE MEMORY ALLOY ACTUATORS NEW CONTROL TECHNIQUE WITH BI-POSITIONAL AND PI LAWS OPTIMUM COMBINATION PART 2 - experimental validation

Authors:

#### Lucian T. Grigorie, Andrei V. Popov, Ruxandra Botez, Mahmood Mamou and Youssef Mebarki

Abstract: The paper represents the second part of a study related to the development of an actuators control system for a morphing wing application, and describes the experimental validation of the control designed in the first part. After a short presentation of the finally adopted control architecture, the physical implementation of the control is done. To implement the controller on the physical model two Programmable Switching Power Supplies AMREL SPS100-33 and a Quanser Q8 data acquisition card, were used. The inputs of the data acquisition were two signals from Linear Variable Differential Transformer potentiometers, indicating the positions of the actuators, and six signals from thermocouples installed on the SMA wires. The acquisition board outputs channels were used to control power supplies in order to obtain the desired skin deflections. The control validation was made in two experimental ways: bench test and wind tunnel test. All 35 optimized airfoil cases, used in the design phase, were converted into actuators vertical displacements which were used as inputs reference for the controller. In the wind tunnel tests a comparative study was realized around of the transition point position for the reference airfoil and for each optimized airfoil.

Paper Nr: 53
Title:

### PREDICTION OF TEMPERATURE INSIDE A REFRIGERATED CONTAINER IN THE PRESENCE OF PERISHABLE GOODS.

Authors:

#### Javier Palafox, Reiner Jedermann and Walter Lang

Abstract: This paper presents an alternative method to predict the temperature profile in a spatial point of the interior of a refrigerated container with the aim of improving the logistics of perishable goods. A SISO gray-box model in which the organic heat is represented by a non-linear feedback system and the cooling process represented by a linear system is proposed. Parameter adaptation and prediction algorithms for the model are modified to reduce the matrix dimensions, implemented in Matlab and applied to experimental data for validation. Apart from being highly accurate, the predictions comply with the desired figures of merit for the implementation in wireless sensor nodes, such as high robustness against quantization and enviromental noise. Simulation results concludes that if the cargo emits organic heat, the proposed model is faster and more accurate than the linear models.

Paper Nr: 84
Title:

### DYNAMIC CONTROL OF MOBILE AD-HOC NETWORKS - Network protocol parameter adaptation using Organic Network Control

Authors:

#### Sven Tomforde, Jörg Hähner and Björn Hurling

Abstract: Data communication protocols show an increasing complexity in terms of variable configurations – especially if their target execution area is highly dynamic. One domain that represents these characteristics are mobile ad-hoc networks (MANets). Since nodes are moving, the situation surrounding a particular node is steadily changing. This provides the opportunity to significantly increase the system’s performance by continuously adapting the protocol. This paper demonstrates the benefit of such an adaptation using the Organic Network Control (ONC) system. Based upon a brief overview of ONC, the adjustment of the framework to enable the control of MANets is described, followed by a simulation-based evaluation using an exemplary broadcast protocol.

Paper Nr: 103
Title:

### A Practical Method for Self-Adapting Gaussian Expectation Maximization

Authors:

#### Nicola Greggio, Alexandre Bernardino and José Santos-Victor

Abstract: Split-and-merge techniques have been demonstrated to be effective in overtaking the convergence problems in classical EM. In this paper we follow a split-and-merge approach and we propose a new EM algorithm that makes use of a on-line variable number of mixture Gaussians components. We introduce a measure of the similarities to decide when to merge components. A set of adaptive thresholds keeps the number of mixture components close to optimal values. For sake of computational burden, our algorithm starts with a low initial number of Gaussians, adjusting it in runtime, if necessary. We show the effectivity of the method in a series of simulated experiments. Additionally, we illustrate the convergence rates of of the proposed algorithms with respect to the classical EM.

Paper Nr: 235
Title:

### Patterns For Temporal Requirements Engineering; A level crossing case study

Authors:

#### Ahmed Mekki, A. Toguyeni and Mohamed Ghazel

Abstract: This work presents a method for verifying temporal requirements of time-constrained systems. The method predates by establishing a new time constraints (properties) taxonomy. Then, a basis of observation patterns relative to the predefined requirements is developed. Our approach allows the automated verification of temporal requirements, initially expressed in a semi-formal formalism, through model transformation and modelchecking. The contributions of the paper are: the definition of a new time constraints (properties) typology as well as a basis of appropriate State Machines (SM) observation patterns. The second contribution consists in developing an algorithm for transforming UML SM with time annotations into Timed Automata (TA). In practice, in order to verify the temporal aspects of a given specification, the observation patterns relative to the investigated properties are instantiated to make appropriate observers. Then using our transformation algorithm, the system specification (denoted in the shape of an UML SM model) with time annotations as well as the obtained observers are translated into TA models. The TA system model is next synchronised with the TA observers. Thereby, the verification process is reduced to a reachability analysis.

Paper Nr: 265
Title:

### A Passivity-Based Approach to Deployment in Multi-Agent Networks

Authors:

#### Heath LeBlanc, Emeka Eyisi, Nicholas Kottenstette, Xenofon Koutsoukos and Janos Sztipanovits

Abstract: Surveillance and convoy tracking applications often require groups of networked agents for redundancy and better coverage. An important goal upon deployment is to establish a formation around a target. Although there exist distributed algorithms using only local communication that achieve this goal, they typically ignore destabilizing effects resulting from implementation uncertainties, such as network delays and data loss. This paper resolves these issues by introducing a discrete-time distributed design framework that uses a compositional, passivity-based approach to ensure $l_2^m$-stability regardless of overlay network topology, in the presence of network delays and data loss. For the restricted case of a uniform node degree in the overlay network topology, the paper shows that asymptotic formation establishment is achieved. Finally, simulations of velocity-limited unmanned air vehicles (UAVs) are presented that demonstrate the robustness of the network architecture to network delays and data loss.

Short Papers
Paper Nr: 5
Title:

### Characteristics of defining hyperplanes of constant returns to scale technology in data envelopment analysis

Authors:

#### Sevan Sohraiee

Abstract: In this paper characteristics of defining hyperplanes of constant returns to scale technology in DEA have been investigated. A defining hyperplane namely H is a type of hyperplane that with the elimination of H, the production possibility set (PPS) will be enlarged (In this paper a defining hyperplane exactly is the full dimensional efficient facet (FDEF) and may be found in Olesen and Peterson (1996, 2003)). Some parts of topology and convex analysis have been considered to show the truth of characteristics.

Paper Nr: 44
Title:

### VERIFICATION OF AN INDUSTRIAL COMPUTER NETWORK OF HIGH RISK OPERATION PLANTS: A NPP APCS Example

Authors:

#### Vitaly Promyslov, Vitaly Promyslov and Stanislav Masolkin

Abstract: An advanced APCS (automated process control system) of large plants, involving nuclear power plants (NPP), is implemented as a distributed in functions and tools system with components interacting with each other and with the plant by use of a local area network (LAN). In the paper, a model of an NPP APCS segment is developed, a method of calculation of time characteristics of the system under worst combination of input conditions based on the “network calculus” is verified. Using the “network calculus” apparatus, a maximal delay of passage of signals from a source to a receiver within the APCS segment under given input parameters is calculated.

Paper Nr: 61
Title:

### 3D Path Planning for Unmanned Aerial Vehicles Using Visibility Line Based Method.

Authors:

#### Rosli Omar and Da-Wei Gu

Abstract: In path planning, visibility graph (or visibility line (VL)) method is capable of producing shortest path from a starting point to a target point in an environment with polygonal obstacles. However, the run time increases exponentially as the number of obstacles grows, causing this method ineffective for real-time path planning. A 2D path planning framework based on VL has recently been introduced to find a 2D path in an obstacle- rich environment with low run time. In this paper we propose 3D path planning algorithms based on the 2D framework. Several steps are used in the algorithms to find a 3D path. First, a local plane is generated from a local starting point to a target point. The plane is then rotated at several pre-defined angles. At each rotation, a shortest path is calculated using 2D algorithms. After rotations at all angles have been done, the shortest one is selected. Simulation results show that the proposed 3D algorithms are capable in finding paths in 3D environments and computationally efficient, thus suitable for real time application.

Paper Nr: 67
Title:

### A NEW PROPOSAL FOR A MULTI-OBJECTIVE TECHNIQUE USING TRIBES AND TABU SEARCH

Authors:

Abstract: The aim of this paper is to present a new multi-objective technique which consists on a hybridization between a particle swarm optimization approach (Tribes) and tabu search technique. The main idea of the approach is to combine the high convergence rate of Tribes with a local search technique based on Tabu Search. Besides, in our study, we proposed different places to apply local search: the archive, the best particle among each tribe and each particle of the swarm. As a result of our study, we present three versions of our hybridized algorithm. The mechanisms proposed are validated using twelve different techniques from specialized literature of multi-objective optimization. The obtained results show that using this kind of hybridization is justified as it is able to improve the quality of the solutions in the majority of cases.

Paper Nr: 78
Title:

### ADAPTIVE FUZZY SLIDING MODE CONTROL FOR UNCERTAIN NONLINEAR SYSTEMS AGAINST ACTUATOR FAULTS

Authors:

#### Najib Essounbouli, Abdelaziz Hamzaoui, Ammar Betta and Meriem Benbrahim

Abstract: In this paper, we propose to combine the fuzzy sliding mode control to tolerate actuator faults of unknown nonlinear systems subject to external disturbances. In particular, the idea of using adaptive fuzzy system to tolerate actuator faults of unknown nonlinear systems by approximating the system functions and the effects caused by actuator faults are avoided by the control structure. On the basis of Lyapunov stability theory its shown that the resulting adaptive closed loop system can be guaranteed to be asymptotically stable in the presence of faults on actuators and disturbances.

Paper Nr: 85
Title:

### A CONTEXT–AWARE ADAPTATION SYSTEM FOR SPATIAL AUGMENTED REALITY PROJECTIONS

Authors:

#### Anne Wegerich, Julian Adenauer, Jeronimo Dzaack and Matthias Roetting

Abstract: To cover three-dimensional information spaces stationary or spatial Augmented Reality (sAR) systems involve installed projection systems, Head-Up- and other displays. Therefore, information presentation techniques for sAR contain three basic problems assigned to the questions which form, which screen position and which physical location the information should have in 3D space. This paper introduces an approach and presents the details of a corresponding system that concentrates on the location problem and the appropriate visualization adaptation. It manages the information presentation for physical occlusions and difficult light conditions of sAR floor projections with a light sensor matrix and a connected software for low and high-level context integration. With changing the size, position, and orientation of the projection area and the content of the presented information it implements a context-aware adaptation system for sAR.

Paper Nr: 89
Title:

### EFFICIENT ORGANIZATION OF TRUCK PLATOONS BY MEANS OF DATA MINING - Application of the Data Mining Technique for the Planning and Organization of Electronically Coupled Trucks

Authors:

#### Ralph Kunze, Richard Ramakers, Klaus Henning and Sabina Jeschke

Abstract: One opportunity to manage the increase of freight transportation and to optimize utilization of motorway capacities is the concept of truck platoons. With the aid of Advanced Driver Assistance Systems, trucks are electronically coupled keeping very short gaps (approx. 10 meters) to form truck platoons on motorways. This contributes to a couple of advantages, such as a reduction of the inter-vehicle distance, which leads to an improved vehicle occupancy and gained road space, an optimization of traffic flow, the reduction of fuel consumption advantaged by slipstream driving, a relief for professional drivers and finally an increase in safety due to the longitudinal and lateral guidance. In this paper, a brief introduction into these truck platoons is given, which have been realized within the project KONVOI. The paper focuses on the calculations for an efficient planning and organizing of truck platoons, which could have been realized by means of the application of data-mining technique. Therefore, the efficiency criterion of electronically coupled truck platoons is discussed as well as the framework of the data-mining technique and the algorithm for the calculation of efficient truck platoons are presented. Finally, the experimental results of the application of the data-mining technique and their relevance for a efficient operation of truck platoons is presented.

Paper Nr: 91
Title:

### Morphing Wing Real Time Optimization In Wind Tunnel Tests

Authors:

#### Andrei V. Popov, Lucian T. Grigorie, Ruxandra Botez, Mahmood Mamou and Youssef Mebarki

Abstract: In this paper, wind tunnel results of a real time optimization of a morphing wing in wind tunnel for delaying the transition towards the trailing edge are presented. A morphing rectangular finite aspect ratio wing, having a WTEA reference airfoil cross-section, was considered with its upper surface made of a flexible composite material and instrumented with Kulite pressure sensors, and two smart memory alloys actuators. Several wind tunnel tests runs for various Mach numbers, angles of attack and Reynolds numbers were performed in the 6’×9’ wind tunnel at the Institute for Aerospace Research at the National Research Council Canada (IAR/NRC). Unsteady pressure signals were recorded and used as feed back in real time control while the morphing wing was requested to reproduce various optimized airfoils by changing automatically the two actuators strokes. The paper shows the optimization method implemented into the control software code that allows the morphing wing to adjust its shape to an optimum configuration under the wind tunnel airflow conditions.

Paper Nr: 100
Title:

### GENETIC ALGORITHM VERSUS ANT COLONY OPTIMIZATION ALGORITHM: COMPARISON OF PERFORMANCES IN ROBOT PATH PLANNING APPLICATION

Authors:

#### Nohaidda B. Sariff and Norlida Buniyamin

Abstract: This paper presents the results of a research that uses a simulation approach to compare the effectiveness and efficiency of two path planning algorithms. Genetic Algorithm (GA) and Ant Colony Optimization (ACO) Algorithm for Robot Path Planning (RPP) were tested in a global static environment. Both algorithms were applied within a global map that provides feasible nodes from start point to goal. Performances between both algorithms were compared and evaluated in terms of computational efficiency by measuring the speed and number of iterations, accuracy of solution, solution variation and convergence behavior.

Paper Nr: 148
Title:

### A MULTI-ESTIMATION SCHEME FOR CONTROLLING THE BEVERTON-HOLT EQUATION IN ECOLOGY

Authors:

#### Santiago Alonso Quesada and Manuel De La Sen

Abstract: This paper proposes an adaptive control algorithm to govern the solution of the Beverton-Holt equation under parametrical uncertainties and the potentially presence of additive disturbances. The control strategy is based on a multi-estimation scheme with a supervisor choosing on-line the active estimation model used to parameterize the controller. The tracking of a reference sequence with local modifications of the carrying capacity sequence around its nominal values is achieved with such a control strategy.

Paper Nr: 194
Title:

### Strong stabilization by an output feedback controller for input-delayed linear systems

Authors:

#### Baozhu Du and James Lam

Abstract: This paper addresses the strong stabilization problem for continuous-time linear systems with an unknown input delay using a dynamic output feedback. New criteria for output feedback stabilizability are proposed for the closed-loop system in terms of matrix inequalities with the separation of controller gain and not only Lyapunov matrix but also system matrices. Based on the new characterization, an iterative algorithm is given to design the strong output feedback controllers with the aid of an slack matrix introduced. The effectiveness and merits of the proposed approach are shown through a numerical example.

Paper Nr: 238
Title:

### Smart Home: From User's Behavior To Prediction of Energy Consumption

Authors:

#### Lamis Hawarah, Mirieille Jacomino and Stephane Ploix

Abstract: This paper concerns a home automation system of energy management. Such a system aims at keeping under control the energy consumption in housing. The expected energy consumption is scheduled over one day. Each hour a total amount of energy is available that is a resource constraint for the expected energy plan. The expected consumption is totally derived from users behavior which are quite different from one housing to another, and rather difficult to predict. This paper proposes a {\it Learning System} to predict the user's requests of energy. The proposed method relies on Bayesian networks.

Paper Nr: 239
Title:

### A spatial Ontology for Human-Robot Interaction

Authors:

#### Lamia Belouaer and Maroua Bouzid

Abstract: Robotics quickly evolved in the recent years. This development widened the intervention fields of robots. Robots interact with humans in order to serve them. Improving the quality of this interaction requires to endow robots with spatial representation and/or reasoning system. Many works have been dedicated to this purpose. Most of them take into account metric, symbolic spatial relationships. However, they do not consider fuzzy relations given by linguistic variables in humans language in human-robot interaction. These relations are not understood by robots. Our objective is to combine human representation (symbolic, fuzzy) of space with the robot's one to develop a mixed reasoning. More precisely, we propose an ontology to manage both spatial relations (topological, metric), fuzziness in spatial representation. This ontology allows a hierarchical organization of space which is naturally manageable by humans and easily understandable by robots. Our ontology will be incorporated into a planner by extending the planning language PDDL.

Paper Nr: 252
Title:

### Reinforcement Learning For Robot Control Using Probability Density Estimations

Authors:

#### Alejandro Agostini and Enric Celaya

Abstract: The successful application of Reinforcement Learning (RL) techniques to robot control is limited by the fact that, in most robotic tasks, the state and action spaces are continuous, multidimensional, and in essence, too large for conventional RL algorithms to work. The well known curse of dimensionality makes infeasible using a tabular representation of the value function, which is the classical approach that provides convergence guarantees. When a function approximation technique is used to generalize among similar states, the convergence of the algorithm is compromised, since updates unavoidably affect an extended region of the domain, that is, some situations are modified in a way that has not been really experienced, and the update may degrade the approximation. We propose a RL algorithm that uses a probability density estimation in the joint space of states, actions and Q-values as a means of function approximation. This allows us to devise an updating approach that, taking into account the local sampling density, avoids an excessive modification of the approximation far from the observed sample.

Paper Nr: 254
Title:

### Parameter Tuning by Simple Regret Algorithms and Multiple Simultaneous Hypothesis Testing

Authors:

#### Philippe Rolet, Olivier Teytaud, Philippe Rolet, Paul Vayssiere and Matthieu Coulm

Abstract: Several recent papers have been devoted to simple regret'' algorithms, i.e. algorithms for noisy optimization in unstructured domains. In particular, this literature has shown that the uniform algorithm is indeed optimal asymptotically and suboptimal non-asymptotically. We investigate theoretically and experimentally the application of these algorithms, for automatic parameter tuning, in particular from the point of view of the number of samples required for uniform'' to be relevant and from the point of view of statistical guarantees. We see that for moderate numbers of arms, the possible improvement in terms of computational power required for statistical validation can't be more than linear as a function of the number of arms and provide a simple rule to check if the simple uniform algorithm (trivially parallel) is relevant.

Paper Nr: 258
Title:

### MASTERING INTELLIGENT CLOUDS

Authors:

#### Sergiy Nikitin, Vagan Terziyan and Michal Nagy

Abstract: Current Cloud Computing stack mainly targets three architectural layers: Infrastructure, Platform and Software. These can be considered as services for the respective layers above. The infrastructure layer is provided as a service for the platform layer and the platform layer is, in turn, a service for the Software layer. Agent platforms fit the “Platform as a service” layer within this stack. At the same time, innovative agent-oriented approaches to programming, open new possibilities for software design in the cloud. We introduce main characteristics of our pilot agent platform called UBIWARE and offer flexible servicing architecture within the cloud platform, where various components and systems can configure, run and reuse intelligent cloud services to provide higher degree of flexibility and interoperability for their applications.

Paper Nr: 299
Title:

### EVALUATING TRANSMISSION UNRELIABILITY IN PERSISTENT CSMA PROTOCOL

Authors:

#### Marek Miskowicz and Dariusz Koscielnik

Abstract: The paper addresses the problem of evaluating the unreliability of transmission, undertaken by a given station, according to the persistent CSMA scheme. The presented results show that the maximum transmission unreliability is highly non-linear function of the persistence level p. The results obtained for the persistent CSMA scheme are compared to the corresponding evaluation of the non-persistent CSMA.

Paper Nr: 308
Title:

### Structure-preserving Algorithms for Discrete-time Algebraic Matrix Riccati Equations

Authors:

#### Vasile Sima

Abstract: Structure-preserving algorithms for solving discrete-time algebraic matrix Riccati equations are presented. The proposed techniques extract the stable deflating subspaces for extended, inverse-free symplectic matrix pencils. The algorithms are based on skew Hamiltonian/Hamiltonian pencils derived by an extended Cayley transformation, which only involves matrix additions and subtractions. The structure-preserving approach has the potential to avoid the numerical difficulties which are encountered for a traditional, non-structured solution, returned by the currently available software tools.

Paper Nr: 309
Title:

### Control of Networked Systems Containing Multiple Agents

Authors:

#### Jose B. Cruz Jr., Gregory Tangonan, Jose Cruz, Alvin Culaba, Raymond Tan, Nathaniel Libatique, Fabian Dayrit and Gregory Tangonan

Abstract: This position paper illustrates the use of a natural framework for the modelling, analysis, and design of engineering systems that involve two or more controllers, each of which has an associated objective function. Such systems arise when ordinary single controller systems are networked through communication links so that the information available to each controller may contain aspects of the other systems’ states and the optimization of each objective function is no longer decoupled from each other. Single controller optimization is no longer directly applicable. Appropriate to the study of such systems is the theory of games that has been developing in mathematics, economics, and engineering for the past 60 years. There are extensive applications in economics, but in engineering the applications are scarce. In recent years, there has been great attention to global problems such as the negative environmental impact of energy use, and global warming. These problems arise from complex systems with multiple controllers. Among the approaches for dealing with the problems, there should be one on a total systems approach with a game theory base. A natural framework for this is the subject of this policy paper.

Paper Nr: 321
Title:

### USING MODELICA MODELLING LANGUAGE FOR PHYSICAL PLANT PARAMETERS EVALUATION AND OPTIMIZATION: A CASE STUDY

Authors:

#### José Machado and Eurico Seabra

Abstract: Modelica Modelling language is powerful and suitable for modelling mechatronic systems, being possible to interact different technological aspects and deal, simultaneously with different technologies (mechanical, electrical, pneumatic, hydraulic,..). In this paper it is discussed, in a case study, the possibility of using this language for modelling an automation system (controller and plant) in closed loop behaviour and also in defining some parameters of the automation system in order to optimize some behaviour aspects of the system as, for instance, the time cycle of the automation system. Some aspects relied with controllers dependability are also discussed and it is showed how Modelica modelling language can help controllers’ designers improving controllers dependability, when are used Simulation Techniques.

Paper Nr: 4
Title:

### Fuzzy Frequency Response for Uncertain Dynamic Systems

Authors:

#### Carlos T. Ferreira and Ginalber O. Serra

Abstract: This paper focuses on the Fuzzy Frequency Response: Definition and Analysis for Uncertain Dynamic Systems. In terms of transfer function, the uncertain dynamic system is partitioned into several linear sub-models and it is organized into Takagi-Sugeno (TS) fuzzy structure. The main contribution of this approach is demonstrated, from a Theorem, that fuzzy frequency response is a boundary in the magnitude and phase Bode plots. Low and high frequency analysis of fuzzy dynamic model is obtained by varying the frequency w from zero to infinity.

Paper Nr: 50
Title:

### HARDWARE-SOFTWARE CODESIGN OF FUZZY CONTROL SYSTEMS USING FPGAS

Authors:

#### Ernesto D. Toro Hernández, Alejandro C. Sarmiento, Santiago Sánchez Solano and María Brox

Abstract: This paper describes a hardware/software codesign strategy for fuzzy control systems implementation using FPGAs. The main contribution of the paper consists of a methodology for joint development of hardware and software components intended for rapid and verifiable design of a fuzzy control system. The design flow combines specific tools for fuzzy inference systems included in the XFuzzy environment, simulation and modelling tools from Matlab and FPGA synthesis, and implementation tools provided by Xilinx. The advantages of this proposal are described in section 4 as it is used for the control system development of an autonomous vehicle.

Paper Nr: 56
Title:

### Segmentation of the Solid Bed in Infrared Image Sequences of Rotary Kilns

Authors:

#### Patrick Waibel, Hubert Keller and Jörg Matthes

Abstract: This paper presents two novel methods for segmenting the solid bed in infrared image sequences of metalrecycling rotary kilns. Exploiting the different dynamics and temperatures of gas phase, solid bed and kiln wall, we developed filter chains for an image segmentation of the solid bed. For the image acquisition we employed infrared cameras with a spectral filter. Two image processing algorithms were realized according to the two most common camera positions (frontal and top-left view on the solid bed at the rear-end of the kiln). Results show that both algorithms are capable to segment the solid bed in the image sequences accurately and reliably. The work presented here provides a basis for the extraction of characteristic process state variables, that can help to improve the process control with regard to product quality, energy consumption and emission reduction.

Paper Nr: 105
Title:

### VOICE FEEDBACK CONTROL WITH SUBJECT-IN-THE-LOOP

Authors:

#### Jurek Sasiadek and Dan Necsulescu

Abstract: A subject-in-the-loop feedback control system is composed of a bioengineering system including a subject, whose voice is received by a microphone, a computer that achieves the required signal processing of the sound signal by temporal and/or spectral computations and a speaker or earphones for auditory feedback to the subject of voice training. Frequency domain modifications of the signal are intended for voice training of subjects already familiar with traditional voice training. The objective of this paper is to present alternative methods for the implementation of subject-in-the-loop feedback control systems developed for voice training. The proposed feedback control scheme is an extension of the traditional control systems; feedback sensing and the control law are achieved by the human subject as a self-organizing controller. The experimental set-ups, developed for this purpose, contain programmable digital devices for real time modifications of the frequency content of the voice signal. The paper presents also a preliminary solution that satisfies the requirements for real-time operations, in particular that the subject does not perceive the delay between the sound generation and the auditory reception of the modified sound. The system performs spectral calculations for the analyses of the vocal sound signals. Preliminary experimental results illustrate the operation and the features of the proposed subject-in-the-loop real-time system for voice training.

Paper Nr: 109
Title:

### ON SOME PECULIARITIES OF CLUSTER ANALYSIS OF PERIODIC SIGNALS

Authors:

#### V. Znak and Vladimir Znak

Abstract: An important task of geophysical research is in the answer to the question about the quality of signals. i.e., estimating the locus of the signal and the degree of their presence in noises. Such indications determine the degree of trust to consequent estimations (e.g., estimations of wave arrival times). As seismic data are periodic signals in their nature, conventional means for examining such signals are Fourier and spectral analyses. However, this method does not allow us to clear up questions about probability of signals presence and their locus in recorded data. We consider another approach, which answers the above questions – the cluster analysis of periodic signals, and give some results of analysis of real data recorded in field conditions.

Paper Nr: 132
Title:

### Interaction of a Flexible Robot with its Environment

Authors:

#### Michael Kastner, Hubert Gattringer, Martin Ramsauer, Paolo Ferrara and Hartmut Bremer

Abstract: Uncomplicated and safe programming interfaces as well as flexible programs themselves become important when robots are used for small lot size tasks or are operated by personnel without special robotics education. This work takes a look at safe and easy interaction of a flexible articulated robot arm – actuated by fluidic muscles – with its environment. A contact detection scheme for stiff collisions at speeds between 50 and 250mm/s is presented and measurement results are disucussed. Moreover, a programming by demonstration concept is described on the basis of a pick and place task. Both strategies (implemented on a seven axis handling robot) rely on physical models to allow an operation without extra sensors.

Paper Nr: 144
Title:

### Autonomous Calibration of a Camera Rig on a Vision Sensor Network

Authors:

#### Kyung M. Han, Yuanqiang Dong and Guilherme DeSouza

Abstract: This paper presents a completely autonomous camera calibration framework for a vision sensor network consisting of a large number of arbitrarily arranged cameras. While previous calibration methods required a tedious procedure involving the careful placement of calibration targets inside the workspace or collecting a large number of images in order to achieve good precision, our method is totally autonomous and requires virtually no human intervention. In the proposed framework, a sequence of images for calibration is collected while the human simply wanders inside the workspace holding a typical planar calibration pattern. Next, the system automatically extracts all necessary features from the images and finds the best set of images that minimizes the error in 3D reconstruction considering all cameras in the set. Abstract Since our vision sensor network is to be employed in a human-robot interface using Augmented Reality, the accuracy in 3D reconstruction is a very important requirement. Therefore, our framework was tested and the results presented demonstrate good accuracy of the method for both synthetic and real images -- that is, an error of just a few millimeters.

Paper Nr: 196
Title:

### Stochastic Optimization for Environmentally Powered WSNs Using MDP Models with Multi-Epoch Actions

Authors:

#### Alexandru Susu

Abstract: The energy management system of an environmentally powered wireless sensor node (WSN) seeks to maximize the quality of the data measurements and to communicate frequently with the network, while balancing the uncertain energy intake with the consumption. To devise such system controller we use the Markov Decision Process (MDP) optimization framework. While detailing the problem, we encounter physical limitations that are not captured in the standard MDP model. Namely, the radio interface takes a non-negligible amount of time to synchronize with the network before starting to transmit the acquired data, which translates into MDP actions spanning over multiple epochs. Optimizing without considering this multi-epoch actions requirement results in suboptimal MDP policies, which, under certain conditions described in the paper, waste on average 50% of these actions. Therefore, we incorporate this new constraint in the MDP formulation, and obtain a policy that performs on average 83% better than a standard MDP policy. This optimal solution outperforms also some heuristic policies we use for comparison by 57% and 154%.

Paper Nr: 211
Title:

### A Framework Based On A High Conception Level To Generate Configurations In Production Systems

Authors:

#### Marwa Kanso, Marwa Kanso, Pascal Berruet and Jean-luc Philippe

Abstract: In this paper, a framework is presented to generate configurations in reconfigurable manufacturing systems (RMS). This framework is based on a high conception level of reconfigurable manufacturing systems, and uses a multicriteria decision algorithm to select operations to carry out the request. Provisional product scheduling is then used to define the simple configuration". This paper focuses on the generation process of the near-most appropriate" configuration to carry out a request. To do so, the same multicriteria decision algorithm is used to select reserved operations" to improve the generated configuration. A case of study illustrates our approach and demonstrates how we can use this framework to generate the near-optimal" configuration and improve reconfigurability.

Paper Nr: 233
Title:

### AN ADAPTABLE ARCHITECTURE FOR INTELLIGENT CONVEYORS

Authors:

#### Dennis Ommen, Jens Kamenik, Carsten Beth, Jan Busch, Alexander Kulas, Eckhard Cramer and Axel Hahn

Abstract: To optimize the transportation processes inside transfer stations the degree of automation has to be increased without the loose of flexibility. Therefore this paper proposes a detailed architecture for an intelligent material flow system based on the technologies of Multi-Agent-Systems (MAS) and wireless sensor networks. Furthermore, a novel framework is proposed that eases the integration process between the MAS and the physical level of heterogeneous conveyors.

Paper Nr: 274
Title:

### Engineering Time in an Ontology for Power Systems through the Assembling of Modular Ontologies

Authors:

#### Jorge Santos, Luis Braga and Anthony Cohn

Abstract: In this paper we investigate how timeless ontologies such as DFault, an ontology for fault diagnosis in power transmission networks can be re-engineered to include temporal entities. We propose a methodology, FONTE (Factorising ONTology Engineering complexity), that allows this complex process to be factored by dividing the problem into parts: modelling the domain concepts ontology (atemporal and aspatial), modelling or acquiring the temporal and /or spatial ontology, and finally producing the target ontology by assembling these modular ontologies via a semi-automated process.

Paper Nr: 296
Title:

### ASSEMBLY SYSTEMS FOR LOW PRODUCT DEMAND. Estimation of Final Results

Authors:

#### Waldemar Grzechca

Abstract: The paper considers assembly systems for low product demand. In the last five decades a large variety of assembly line structures and solutions procedures have been proposed to balance assembly line. Author of this paper compares single assembly line and assembly rotating round table. Estimation of final results of balance of both structures is discussed. It is shown that implementation of different structures are appropriate for low product demand. Numerical example of design assembly single line and assembly rotating round table helps to understand mentioned structures.

Paper Nr: 301
Title:

### CONTROL STRATEGY FOR CONSTANT MILLING FORCE SYSTEM AND METAL REMOVAL RATE MAXIMIZION

Authors:

#### Franc Cus, Uros Zuperl and Joze Balic

Abstract: An adaptive control system in conjunction with off-line optimization is built which controlling the cutting force and maintaining constant roughness of the surface being milled by digital adaptation of cutting parameters. In this way it compensates all disturbances during the cutting process: tool wear, non-homogeneity of the workpiece material, vibrations, chatter etc. The basic adaptive control design is based on the control scheme (UNKS) consisting of two neural identificators of the process dynamics and primary neural regulator.

Paper Nr: 316
Title:

### THE VALUE OF INFORMATION SHARING IN A SERIAL SUPPLY CHAIN WITH CENTRALISED AND DECENTRALISED DECISION

Authors:

#### Mansour Rached, Zied Bahroun, Armand Baboli, Jean-pierre Campagne and Belhassen Zouari

Abstract: In this paper, we present a simulation based model in order to study the effects of information sharing in a serial supply chain. This chain is multi-product and multi-echelon. Our approach focuses on the study of two shared information simultaneously. The first one is the replenishment leadtime coming from the upstream and the second one is the customers’ demand coming from the downstream of the supply chain. Thus, we present four scenarios of information sharing. The demand is supposed normally distributed and the leadtime is random. We develop a cost model consisting of holding, ordering, penalty and transportation costs. The difference of the optimal costs between each studied scenario represents the performance indicator of the information sharing. Two different decisions are considered in our work: centralised and decentralised. The developed model for each studied situation is solved by ILOG CPLEX integrated in a JAVA program. To conclude, the results of our numerical experimentations are analysed.

## Area 2 - Robotics and Automation

Full Papers
Paper Nr: 54
Title:

### Position Estimation of Mobile Robots considering characteristic Terrain Properties

Authors:

#### Michael Brunner, Dirk Schulz and Armin B. Cremers

Abstract: Due to the varying terrain conditions in outdoor scenarios the kinematics of mobile robots is much more complex compared to indoor environments. In this paper we present an approach to predict future positions of mobile robots which considers the current terrain. Our approach uses Gaussian process regression (GPR) models to estimate future robot positions. An unscented Kalman filter (UKF) is used to project the uncertainties of the GPR estimates into the position space. The approach utilizes optimized terrain models for estimation. To decide which model to apply, a terrain classification is implemented using Gaussian process classification (GPC) models. The transitions between terrains are modeled by a 2-step Bayesian filter (BF). This allows us to assign different probabilities to distinct terrain sequences, while taking the properties of the classifier into account and coping with false classifications. Experiments showed the approach to produce better estimates than approaches considering only a single terrain model and to be competitive to other dynamic approaches.

Paper Nr: 79
Title:

### Selection of different paths for doubly nonholonomic mobile manipulators

Authors:

#### Alicja Mazur and Elzbieta Roszkowska

Abstract: This paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. The doubly nonholonomic mobile manipulator is composed of a mobile platform moving without slipping effect between wheels and the surface (i.e. nonholonomic platform) and a manipulator equipped with special nonholonomic gears, designed by Nakamura, Chung and Sordalen, mounted on this platform. A description of the nonholonomic subsystem relative to the desired path using Frenet parametrization is a basis for formulating the path following problem and designing a kinematic control algorithm.

Paper Nr: 124
Title:

### On Real-Time Whole-Body Human to Humanoid Motion Transfer

Authors:

#### Francisco-Javier Montecillo-Puente, Jean-Paul Laumond and Manish N. Sreenivasa

Abstract: We present a framework for online imitation of human motion by the humanoid robot HRP-2. We introduce a representation of human motion, the Humanoid-Normalized model, and a Center of Mass (CoM) anticipation model to prepare the robot in case the human lifts his/her foot. Our proposed motion representation codifies operational space and geometric information. Whole body robot motion is computed using a task-based prioritized inverse kinematics solver. By setting the human motion model as the target, and giving the maintenance of robot CoM a high priority, we can achieve a large range of motion imitation. We present two scenarios of motion imitation, first where the humanoid mimics a dancing motion of the human, and second where it balances on one foot. Our results show that we can effectively transfer a large range of motion from the human to the humanoid. We also evaluate the tracking errors between the original and imitated motion, and consider the restrictions on the range of transferable human motions using this approach.

Paper Nr: 162
Title:

### FREQUENCY EXTRACTION BASED ON ADAPTIVE FOURIER SERIES: APPLICATION TO ROBOTIC YOYO.

Authors:

#### Tadej Petric, Andrej Gams and Leon Zlajpah

Abstract: We present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform. The method originates from nonlinear dynamical systems for frequency extraction, which are based on adaptive frequency oscillators in a feedback loop. While using several adaptive frequency oscillators in a loop results in extraction of separate frequency components, our method extracts the basic frequency of the input signal without any additional logical operations. The proposed method uses a whole Fourier series representation in the feedback loop. In this way it can extract the frequency and the phase of an unknown periodic signal, in real-time and without any additional signal processing or preprocessing. The method also determines the Fourier series coefficients and can be used for dynamic Fourier series implementation. It can be used for the control of rhythmic robotic tasks, where only the extraction of the fundamental frequency is crucial. This is demonstrated on a highly nonlinear and dynamic task of playing the robotic yo-yo.

Paper Nr: 164
Title:

### BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF

Authors:

#### Stefan Lichiardopol, Nathan van de Wouw and Henk Nijmeijer

Abstract: It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the environmental force and in the second phase a tracking controller ensures that the position of the slave robot is tracking the position of the master robot. A stability analysis of the overall closed-loop system is presented and the approach is illustrated by means of an example.

Paper Nr: 176
Title:

### GRASPING WITH VISION DESCRIPTORS AND MOTOR PRIMITIVES

Authors:

#### Oliver Kroemer, Jan Peters, Justus Piater and Renaud Detry

Abstract: Grasping is one of the most important abilities needed for future service robots. Given the task of picking up an object from between clutter, traditional robotics approaches would determine a suitable grasping point and then use a movement planner to reach the goal. The planner would require precise and accurate information about the environment and long computation times, both of which may not always be available. Therefore, methods for executing grasps are required, which perform well with information gathered from only standard stereo vision, and make only a few necessary assumptions about the task environment. We propose techniques that reactively modify the robot's learned motor primitives based on information derived from Early Cognitive Vision descriptors. The proposed techniques employ non-parametric potential fields centered on the Early Cognitive Vision descriptors to allow for curving hand trajectories around objects, and finger motions that adapt to the object's local geometry. The methods were tested on a real robot and found to allow for easier imitation learning of human movements and give a considerable improvement to the robot's performance in grasping tasks

Paper Nr: 216
Title:

### Remote Control of a Mobile Robot Subject to a Communication Delay

Authors:

#### K. Kojima, Alejandro A. Aguirre, Henk Nijmeijer, Toshiki Oguchi and Kotaro Kojima

Abstract: This paper addresses the remote tracking control of a mobile robot subject to a bilateral time-delay. The delay affects the system since the controller and the robot are linked via a delay inducing communication channel, such as the Internet, and consequently the performance and stability of the system are compromised. Based on the notion of anticipating synchronization, a state estimator which stabilizes the system when it is affected by a bilateral time-delay is proposed. A stability analysis including the system, tracking controller and estimator is provided, and the applicability of the proposed delay compensation strategy is demonstrated by means of experiments between multi-robot platforms located in Eindhoven, The Netherlands and Tokyo, Japan.

Paper Nr: 217
Title:

### PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS

Authors:

#### Sisdarmanto Adinandra, Jurjen Caarls, Dragan Kostić and Henk Nijmeijer

Abstract: We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two collision avoidance strategies, namely a high-level and low-level collision avoidance approach, each using different feedback information and update rate. As performance measure we take into account the time to accomplish the transportation task and the tracking errors of the robots. Evaluation is done in several experiments with seven mobile robots.

Paper Nr: 246
Title:

### A highly integrated low pressure fluid servo-valve for applications in wearable robotic systems

Authors:

#### Michele Folgheraiter, Mathias Jordan, Frank Kirchner, Jan Albiez, Felix Grimminger, Steffen Schmidt and Luis V. Benitez

Abstract: In this paper an innovative low pressure valve is presented. The device was designed with the main aim to be easily integrated into complex hydraulic/pneumatic actuation systems, and to operate at relatively low pressure (< 50 · 10 5Pa). Characteristics like compactness, lightweight, high bandwidth, and autonomous sensory capability, where considered during the design process, this in order to achieve a device that fulfill the basic requirements for a wearable robotic system. Preliminary results about the prototype performances are presented here, in particular its dynamic behavior was measured in different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm.

Paper Nr: 277
Title:

### Collective Learning of Concepts using a Robot Team

Authors:

#### Ana C. Palacios-García, Angelica Muñoz-Meléndez and Eduardo F. Morales

Abstract: Autonomous learning of objects using visual information is important to robotics as it can be used for local and global localization problems, and for service tasks such as searching for objects in unknown places. In a robot team, the learning process can be distributed among robots to reduce training time and produce more accurate models. This paper introduces a new learning framework where individual representations of objects are learned on-line by a robot team while traversing an environment without prior knowledge on the number or nature of the objects to learn. Individual concepts are shared among robots to improve their own concepts, combining information from other robots that saw the same object, and to acquire a new representation of an object not seen by the robot. Since the robots do not know in advance how many objects they will encounter, they need to decide whether they are seeing a new object or a known object. Objects are characterized by local and global features and a Bayesian approach is used to combine them, and to recognize objects. We empirically evaluated our approach with a real world robot team with very promising results.

Paper Nr: 285
Title:

### Dynamic Modeling and Pneumatic Switching Control of a Submersible Drogue

Authors:

#### Youghee Han, Raymond de Callafon, Jorge Cortes and Julles Jaffe

Abstract: This paper analyzes the dynamic properties of a submersible drogue for which buoyancy control is implemented by a flexible membrane and pneumatic actuation. It is shown how a simple on/off switching algorithm tuned on the basis of depth measurements and an estimated depth velocity can be used to achieve accurate depth control with small fluctuations. The switching control makes the pneumatically controlled drogue an inherent hybrid system and conditions for contraction and stability are given for the proposed switching control algorithm. Numerical evaluation of the conditions for stability and experimental data of the switching control implemented on a pneumatic submersible drogue further demonstrates the soundness of the proposed switching control algorithm.

Paper Nr: 292
Title:

### VISUAL-BASED DETECTION AND TRACKING OF DYNAMIC OBSTACLES FROM A MOBILE ROBOT

Authors:

#### Michel Devy, Dora L. Almanza-Ojeda and Ariane Herbulot

Abstract: This paper presents a methodology for detecting and tracking moving objects during mobile robot navigation in outdoor or indoor unknown environments using only visual information. A initial set of interest points is detected and then tracked by the Kanade-Lucas tracker procedure (KLT). Along few images, point positions and velocities are accumulated and a spatio-temporal analysis, based on the a contrario theory, carry out the clustering process of these points. All dynamical sets of points found by the clustering are directly initialized and tracked as moving objects using Kalman Filter. At each image, a map of probability saves temporally the previous interesting point positions with a certain probability value. New features will be added in the most probably zones based on this probability map. The process detection-clustering-tracking is executed in an iterative way to guarantee the detection of new moving objects or to incrementally enlarge already detected objects until their real limits. Experimental results on real dynamic images acquired during robot outdoor and indoor navigation task are presented. Furthermore, rigid and non rigid moving object tracking results are compared and discussed.

Short Papers
Paper Nr: 31
Title:

### Autonomous maneuvers of a farm vehicle with a trailed implement in headland

Authors:

#### Christophe Cariou, Roland Lenain, Benoit THUILOT and Michel Berducat

Abstract: This paper addresses the problem of path generation and motion control for the autonoumous maneuvers of a farm vehicle with a trailed implement in headland. A reverse turn planner is firstly investigated, based on primitives connected together. Then, both steering and speed control algorithms are considered. When the system is driving forward, the control algorithms are based on a kinematic model extended with additional sliding parameters and on model predictive control approaches. When the system is driving backward, two different steering controllers are proposed and compared. Real world experiments have been carried out with an experimental trailer hitched to a mobile robot. At the end of each row, the reverse turn is automatically generated to connect the next reference track, and the maneuvers are autonomously performed. Reported experiments demonstrate the capabilities of the proposed algorithms.

Paper Nr: 34
Title:

### AUTOMATED 2D MEASURING OF INTERIORS USING A MOBILE PLATFORM

Authors:

#### Alexander Fietz, Dieter Fritsch, Sebastian M. Jackisch and Benjamin A. Visel

Abstract: This paper presents an approach for a fully automated measuring of a self-contained indoor scene in 2D using a mobile platform. A novel sensor is used, designed for the acquisition of precise floor plan scans, mounted on an ordinary mobile robot. The software framework is configured to optimize the accuracy and the completeness of the acquired data. Therefore an exploration strategy is presented that finds gaps in the data and determines the next best view in an explorative way. The scene is presented to the system as continuous line segments. Data management builds up the gathered point cloud in a homogeneous density, using the relevant and most accurate available information. Existing scan matching techniques are modified in a way to work robust and precise in the scenarios expected. The framework is tested in an exemplary indoor scene. Additionally, the scene is surveyed with a referencing system to build ground truth data and to enable an accuracy evaluation of the developed system.

Paper Nr: 55
Title:

### Automatic Calibration of a motion capture system based on inertial sensors for tele-manipulation

Authors:

#### Bernd Brueggemann, Björn Krüger and Jörg Hoffmann

Abstract: We introduce an intuitive way of controlling a manipulator. This control should fulfill several constraints like low room consuming and to be ready to operate in a short time. With this constraints in mind we chose an inertial sensor based motion capturing system. Such systems have to be adapted to the user. We present a method to adapt the system by a fast calibration while its been used. The calibration does not require specified given motions. The soundness of the system is shown in synthetic and real experiments.

Paper Nr: 57
Title:

### Legs Detection using a Laser Range Finder for Human Robot Interaction

Authors:

#### Flávio G. Pereira, Evandro Salles and Raquel F. Vassallo

Abstract: The ability of detecting humans is an important skill for service robots, specially if these robots are employed in an environment where the human presence is constant, for instance a service robot which works as a receptionist in the hall of a hotel. The principal aim of the proposed method is to estimate the human position using data provided by a Laser Range Finder (LRF). The method utilizes two Finite State Machines (FSMs) to detect some leg patterns and, after that, it computes the probability of being a pair of legs for each detected pattern. In order to validate the proposed method some experiments were performed and are shown.

Paper Nr: 58
Title:

### Formation Control between a Human and a Mobile Robot Based on Stereo Vision

Authors:

#### Flávio G. Pereira, Marino F. Cypriano and Raquel F. Vassallo

Abstract: This paper presents a reactive nonlinear formation control between a human and a mobile robot based on stereo vision. The human, who is considered the leader of the formation, is positioned behind the robot and moves around the environment while the robot executes movements according to the human movements. The robot has a stereo vision system mounted on it and the images acquired by this system are used to detect the human face and estimate its 3D coordinates. These coordinates are used to determine the relative pose between the human and robot, which is send to the controller in order to allow the robot achieves and keeps a desired formation with the human. Experimental results were performed with a human and a mobile robot, the leader and follower respectively, to show the performance of the control system. In this paper a load was put on a mobile robot in which the nonlinear controller was applied, allowing the transportation of this load from a initial point to a desired position. In order to verify the proposed method some experiments were performed and shown in this paper.

Paper Nr: 77
Title:

### NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS

Authors:

#### Vojtěch Vonásek and Martin Saska

Abstract: Complex maneuvers of formations of car-like autonomous vehicles are investigated in this paper. The proposed algorithm provides a complete plan for the formation to solve desired tasks and actual control inputs for each robot to ensure collision-free trajectories with respect to neighboring robots as well as dynamic obstacles. The method is based on utilization of complementary virtual leaders whose control inputs are obtained in one merged optimization process using receding horizon control methodologies. The functionality of the system, which enables reverse driving and arbitrary rotations of formations of nonholonomic robots, is verified by simulations of multi-robot tasks and by hardware experiments.

Paper Nr: 90
Title:

### SMA CONTROL FOR BIO-MIMETIC FISH LOCOMOTION

Authors:

#### Claudio Rossi, Antonio Barrientos Cruz and William Coral

Abstract: In this paper, we describe our current work on bio-inspired locomotion systems using smart materials. The aim of this work is to investigate alternative actuation mechanisms based on smart materials, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot is being developed whose movements are generated using such materials, concretely Shape Memory Alloys. This paper focuses on the actuators control in order to obtain a a sufficiently fast and accurate position for generating the desired motion patterns.

Paper Nr: 93
Title:

### EJS+EJSRL: A FREE JAVA TOOL FOR ADVANCED ROBOTICS SIMULATION AND COMPUTER VISION PROCESSING

Authors:

#### Carlos Jara, Pablo Gil, Jorge Pomares, Fernando Torres and Francisco Candelas

Abstract: This paper presents a free Java software platform which enables users to easily create advanced robotic applications together with computer vision. This novel tool is composed of two layers: 1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and 2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling of arbitrary serial-link manipulators and computer vision algorithms. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in robotics and computer vision fields.

Paper Nr: 106
Title:

### FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE

Authors:

#### Razvan Solea, Razvan Solea, Daniela Cernega, Adrian Filipescu and Adriana Serbencu

Abstract: This paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control laws has been proved by simulation on different situations.

Paper Nr: 111
Title:

### Kinematic Identification of Parallel Mechanisms by a Divide and Conquer Strategy

Authors:

#### Sebastian Durango, Oscar Ruiz-Salguero, John Restrepo-Giraldo, Sofiane Achiche and David Restrepo

Abstract: This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed using the inverse calibration method. The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix. With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results. The contributions of the paper are: (i) The formalization of the inverse calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy. As an application of the proposed kinematic identification protocol the identification of a planar 5R symmetrical mechanism is simulated. The performance of the calibrated mechanism is evaluated by updating the kinematic model with the estimated parameters and developing simulations.

Paper Nr: 115
Title:

### A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS

Authors:

#### Bernd Gersdorf and Hui Shi

Abstract: This paper describes a motion controller for differential drive vehicles with a compensation for castor wheel turn forces. The controller has been developed for electric wheelchairs with two front castor wheels, which require large steering forces to move into the direction given by the joystick in situations where a sharp turn of the castor wheels is needed. It computes the required forces to turn the castor wheels and modifies the drive request adequately. This also helps physical or cognitive impaired users who otherwise have to compensate castor turn forces manually using the joystick, which requires fast reaction time (e.g. when the castor wheels turn quickly into the driving direction) to avoid collisions.

Paper Nr: 121
Title:

### DISTRIBUTED OPTIMIZATION BY WEIGHTED ONTOLOGIES IN MOBILE ROBOTS SYSTEMS

Authors:

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

Abstract: Heterogeneous mobile robots are often required to cooperate in some optimal fashion following specific cost functions. A global cost function is the sum of all agents’ cost functions. Under some assumptions it is expected that a provable convergent computation process gives the optimal global cost for the system. For agents that can exchange ontological information via a network, different variables in the global vector are relevant when ontology instances have been recognized and communicated among agents. It means the optimization depends on what is known to each agent at the current time. There are two ways to solve an optimization of this kind: (a) to weight agents according to the ontology instances or (b) to add ontology-defined optimization constraints. This paper illustrates the benefits of the weighted optimization method.

Paper Nr: 127
Title:

Authors:

#### Frank Hoeller, Timo Röhling and Dirk Schulz

Abstract: This paper presents a navigation system which is able to steer an electronically controlled ground vehicle to given destinations considering all obstacles in its vicinity. The approach is designed for vehicles without a velocity controlled drivetrain and without an odometry system, making it especially useful for typical remote-controlled vehicles without upgrading the motor controllers. The vehicle is controlled by sets of commands, each set representing a specific maneuver. These sets are then combined in a tree-building procedure to form trajectories towards the given destination. While the sets of commands are executed, the vehicle's movement is measured to refine the prediction used for path generation. This enables the approach to adapt to surface alterations. The technique requires a precise position estimation, which is provided in our implementation by a 3D laser mapping based relative localization system. We tested our approach using a 400kg EOD robot in an outdoor environment. The experiments confirmed that our navigation system is able to control the robot to its destination while avoiding obstacles and adapting to different ground surfaces.

Paper Nr: 131
Title:

### Evaluation of Feedback and Feedforward Linearization Strategies for an Articulated Robot

Authors:

#### Roland Riepl, Hubert Gattringer and Hartmut Bremer

Abstract: The increasing demand of high performance applications in industrial environments calls for improved control strategies for nonlinear mechanical systems. Common flatness based approaches, effectively linearizing a highly nonlinear system, are available and ready for deployment. This contribution focuses on evaluating these strategies in a modern and widely used industrial setup.

Paper Nr: 139
Title:

### EXPERIMENTS WITH A CONTINUUM ROBOT STRUCTURE

Authors:

#### Ion Manea and Dorian Cojocaru

Abstract: A continuum arm prototype was designed and implemented using two different shapes: cylinder like and cone like. This new robot is actuated by stepper motors. The rotation of these motors rotates the cables which by correlated screwing and unscrewing of their ends determine their shortening or prolonging, and by consequence, the tentacle curvature. The kinematics and dynamics models, as well as the different control methods developed by the research group were tested on these robots. The lack of no discrete joints is a serious and difficult issue in the determination of the robot’s shape. A solution for this problem is the vision based control of the robot, kinematics and dynamics. An image – based visual servo control where the error control signal is defined directly in terms of image feature parameters was designed and implemented. In this paper, we analyze some mechanical capabilities of this type of continuous robots. We present the structure of the tentacle robot, it’s kinematics model and the results for a series of tests regarding the mechanical behaviour of the robotic structure.

Paper Nr: 154
Title:

### A ROBUST MOSAICING METHOD FOR ROBOTIC ASSISTED MINIMALLY INVASIVE SURGERY

Authors:

#### Mingxing Hu, Graeme Penney, Daniel Rueckert, Philip Edwards, Fernado Bello, Michael Figl, Roberto Casula and David Hawkes

Abstract: Constructing a mosaicing image with broader field-of-view has become an interesting topic in image guided diagnosis and treatment. In this paper, we present a robust method for video mosaicing in order to provide more guiding information for robotic assisted minimally invasive surgery. Outliers involved in the feature dataset are removed using trifocal constraints, homographies between images are estimated with -norm optimization and chained together in a practical way. Finally refinement based on bundle adjustment is applied to minimize the error between reprojection and feature measurement. The proposed method has been tested with endoscopic images from Totally Endoscopic Coronary Artery Bypass (TECAB) surgery. The results showed our method performs better than other typical methods in terms of accuracy and robustness to deformation.

Paper Nr: 172
Title:

### Robot skill synthesis through human visuo-motor learning: Humanoid robot statically-stable reaching and in-place stepping

Authors:

#### Jan Babic, Blaz Hajdinjak and Erhan Oztop

Abstract: To achieve a desirable motion of the humanoid robots we propose a framework for robot skill-synthesis that is based on human visuo-motor learning capacity. The basic idea is to consider the humanoid robot as a tool that is intuitively controlled by a human demonstrator. Once the effortless control of the humanoid robot has been achieved, the desired behaviour of the humanoid robot is obtained through practice. The successful execution of the desired motion by the human demonstrator is afterwards used for the design of motion controlers that operate autonomously. In the paper we describe our idea by presenting a couple of robot skills obtained by the proposed framework.

Paper Nr: 179
Title:

### Dynamic Modeling of a Moment Exchange Unicycle Robot

Authors:

#### Raymond de Callafon and Sietse Langius

Abstract: In this paper a three dimensional non-linear model has been derived to describe the dynamics of an unstable moment exchange unicycle robot. The robot uses a driving wheel to provide stabilization in longitudinal direction, while a second moment exchange wheel with a large inertia is used for stabilization in lateral direction. For validation purposes, the resulting equations of motion are compared independently against the simulation results of a finite element package called SPACAR. The model includes the coupling between the lateral and longitudinal motion, which makes it possible to control the yaw angle and the model can be used to design a stabilizing feedback controller.

Paper Nr: 205
Title:

### Multi-scale Collaborative Searching through Swarming

Authors:

#### Yasser E. Taima, Yasser Taima, Wangyi Liu, Andrea Bertozzi and Martin Short

Abstract: This paper presents a multi-scale searching and target-locating algorithm for a group of agents moving in a swarm and sensing potential targets. The aim of the algorithm is to use these agents to efficiently search for and locate targets with a finite sensing radius in some bounded area. We present an algorithm that both controls agent movement and analyzes sensor signals to determine where targets are located. We use computer simulations to determine the effectiveness of this collaborative searching. We derive some physical scaling properties of the system and compare the results to the data from the simulations.

Paper Nr: 226
Title:

### LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING

Authors:

#### Zhongliang Hu, Mika Vainio, Aarne Halme, Eemeli Aro and Tapani Stipa

Abstract: In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transferring between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemented in the floats for underwater localization, based on an Extended Kalman Filter. Extensive real scenario simulation test results are presented.

Paper Nr: 227
Title:

### PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL

Authors:

Abstract: The wheeled mobile robot is a nonlinear system. The trajectory tracking control problem is solved using the sliding mode control. In this paper an optimization technique is investigated in order to obtain the best values for the sliding mode control law parameters. The performances of the control law with the optimum parameters are analyzed in order to establish some rules. The conclusions are based on the simulation results.

Paper Nr: 229
Title:

### EFFICIENT LOCOMOTION ON NON-WHEELED SNAKE-LIKE ROBOTS

Authors:

#### Julián Colorado, Julian Colorado, Antonio Barrientos Cruz, Claudio Rossi, Mario Garzón, María Galán and Jaime Del Cerro

Abstract: This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and analysis of efficient serpentine locomotion based on simulation results.

Paper Nr: 230
Title:

### DECENTRALISED ACTIVE CONTROLLER

Authors:

#### Chiheb A. Abid and Belhassen Zouari

Abstract: This paper deals with the synthesis problem of controllers based on Coloured Petri nets in a decentralised setting. An approach is proposed to derive a decentralised controller consisting of a set of local controllers. Each local controller, modelled by a CP-net, observes and controls a portion of the plant model. Communication between local controllers is performed only when it is necessary allowing the appropriate local controller to restrict the behaviour of its observed portion in order to meet the control specification.

Paper Nr: 241
Title:

### A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE

Authors:

#### George Nikolakopoulos, Kostas Alexis and Nikolaos J. Roussos

Abstract: In this paper a Constrained Finite Time Optimal Controller (CFTOC) is designed and applied to the diving and steering problem of an Autonomous Underwater Vehicle. The non–linear model of the AUV is presented and the decoupled linear models for the steering and diving motions of the vehicle are derived, based on certain modeling assumptions and simplifications, while the cruising speed of the vehicle is considered to be small and constant. The proposed control scheme has the merit to take under consideration: a) the mechanical and physical constrains of the AUV, b) uncertainties produced from modeling errors and environmental noise, c) constrains in the motors, and produce an optimal controller for the vehicle that will guarantee the stability of the closed loop system. The proposed CFTO–controller is applied to simulation studies and relevant simulation results are presented that prove the efficacy of the proposed scheme.

Paper Nr: 247
Title:

### A new predictor/corrector pair to estimate the visual features depth during a vision-based navigation task in an unknown environment

Authors:

Abstract: This papers deals with the problem of estimating the visual features during a vision-based navigation task when a temporary total occlusion occurs. The proposed approach relies on an existent specific algorithm. However, to be efficient, this algorithm requires highly precise initial values for both the image features and their depth. Thus, our objective is to design a predictor/estimator pair able to provide an accurate estimation of the depth value, even when the visual data are noisy. The obtained results show the efficiency and the interest of our technique.

Paper Nr: 248
Title:

### NORMAL FLAT FORMS FOR A CLASS OF 0-FLAT AFFINE DYNAMICAL SYSTEMS AND ITS APPLICATION TO NONHOLONOMIC SYSTEMS

Authors:

#### Bououden Soraya, Boutat Driss and Abdessemed Foudil

Abstract: In this contribution normal flat forms are used to achieve stable tracking control for nonlinear flat systems. Our approach is based on a nonlinear transformations in order to derive two 0-flat normal forms for a class of non-linear systems, a dynamical control law is then proposed to achieve stable trajectory tracking. Finally, This method is generalized to analysis and control a class of a 0-flat affine nonlinear multi-input dynamical systems for which we can build flat outputs to give structural normal flat forms. The computer simulations are given in the paper to demonstrate the advantages of the method.

Paper Nr: 253
Title:

### Bearing-only SAM Using a Minimal Inverse Depth Parametrization: Application to Omnidirectional SLAM

Authors:

#### Cyril Joly and Patrick Rives

Abstract: Safe and efficient navigation in large-scale unknown environments remains a key problem which has to be solved to improve the autonomy of mobile robots. SLAM methods can bring the map of the world and the trajectory of the robot. Monucular visual SLAM is a difficult problem. Currently, it is solved with an Extended Kalman Filter (EKF) using the inverse depth parametrization. However, it is now well known that the EKF-SLAM become inconsistent when dealing with large scale environments. Moreover, the classical inverse depth parametrization is over-parametrized, which can also be a cause of inconsistency. In this paper, we propose to adapt the inverse depth representation to the more robust context of smoothing and mapping (SAM). We show that our algorithm is not over-parametrized and that it gives very accurate results on real data.

Paper Nr: 261
Title:

### A Flexible Robotics and Automation System. Parallel Visual Processing, Realtime Actuator Control, Task Automation for Limp Object Handling

Authors:

#### Thomas Müller, Binh A. Tran and Alois Knoll

Abstract: In this paper, an intrinsically parallel framework striving for increased flexibility in development of robotic, computer vision, and machine intelligence applications is introduced. The framework comprises a generic set of tools for realtime data acquisition, robot control, integration of external software components and task automation. The primary goal is to provide a developer- and user-friendly, but yet efficient base architecture for complex AI system implementations, be it for research, educational, or industrial purposes. The system therefore combines promising ideas of recent neuroscientific research with a blackboard information storage mechanism, an implementation of the multi-agent paradigm, and graphical user interaction. Furthermore, the paper elaborates on how the framework's building blocks can be composed to applications of increasing complexity. The final target application includes parallel image processing, actuator control, and reasoning to handle limp objects and automate handling-tasks within dynamic scenarios.

Paper Nr: 262
Title:

### BIOMIMETIC CONTROL ALGORITHM FOR THE BALANCE AND LOCOMOTION OF WALKING SYSTEMS

Authors:

#### Bîzdoaca N. George, Anca Petrisor, Hani HAMDAN and Khalid Al Mutib

Abstract: Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.

Paper Nr: 264
Title:

### ROBUST 6D POSE DETERMINATION IN COMPLEX ENVIRONMENTS FOR ONE HUNDRED CLASSES

Authors:

#### Thilo Grundmann, Robert Eidenberger, Martin Schneider and Michael Fiegert

Abstract: For many robotic applications including service robotics robust object classification and 6d object pose determination are of substantial importance. This paper presents an object recognition methodology which is capable of complex multi-object scenes. It handles partial occlusions and deals with large sets of different and alike objects. The object recognition process uses local interest points from the SIFT algorithm as features for object classification. From stereo images spatial information is gained and 6d poses are calculated. All reference data is extracted in an off-line model generation process from large training data sets of a total of $100$ different household items. In the recognition phase these objects are robustly identified in sensor measurements. The proposed work is integrated into an autonomous service robot. In various experiments the recognition quality is evaluated and the position accuracy is determined by comparison to ground truth data.

Paper Nr: 281
Title:

### MindLab, a web-accessible laboratory for adaptive e-educational robot teleoperation

Authors:

#### Paolo Di Giamberardino, Marco Temperini and Marco S. Cuomo

Abstract: The paper deals with a web based remote access laboratory, called MindLab, for educational support, via e-teaching and e-learning approaches, in practical robotic experiment to students of robotics and control theory courses. The hardware components are based on commercial easy to use, cheap and modular Lego Mindstorms devices. The software part, in addiction to the framework required for web access to the hardware resources, is designed and implemented in order to allow the teacher to define particular didactic paths depending on each student's skills and on the desired final abilities to be acquired. Exercises are proposed following a skill/competence level set, enabling higher levels access according to the results obtained. After a short description of the hardware setup, the software functionalities, mainly focusing on the exercise definition and presentation aspects, are illustrated, giving also an example of a standard exercise. Concluding remarks end the paper.

Paper Nr: 286
Title:

### Integrating Context into Intent Recognition Systems

Authors:

#### Richard Kelley, Mircea Nicolescu, Amol Ambardekar, Christopher King, Monica Nicolescu and Alireza Tavakkoli

Abstract: One of the foundations of social interaction among humans is the ability to correctly identify interactions and infer the intentions of others. To build robots that reliably function in the human social world, we must develop models that robots can use to mimic these skills. We propose a framework that uses contextual information to improve the performance of an underlying intent recognition system. To represent this information, we introduce the notion of a “lexical digraph,” which encodes grammatical and frequency information between pairs of words in a language. We demonstrate our framework using a physical robot observing the behavior of humans in multiple scenarios.

Paper Nr: 297
Title:

### HAND PROSTHESIS CONTROL – SOFTWARE TOOL FOR EMG SIGNAL ANALYSIS

Authors:

#### Tomasz Suchodolski and Andrzej Wolczowski

Abstract: The paper discusses the problem of the decision process of controlling the bio-prosthesis of the hand that is treated as the human intention recognition by means of the analysis of the electromyography (EMG) signals from the hand muscles. The number of movements, which is indispensable for the dexterity of the prosthesis, makes the recognition not entirely reliable. The approach presented herein includes three methods: the decision tree, neuron networks, and genetic algorithms in order to enhance the reliability of the EMG signal recognition. Simultaneously, the paper presents the software designed for the needs of the research and adapted to processing the EMG signals in compliance with these methods.

Paper Nr: 312
Title:

### REGISTRATION OF INDOOR 3D RANGE IMAGES USING VIRTUAL 2D SCANS

Authors:

#### Marco Langerwisch and Bernardo Wagner

Abstract: For mapping purposes, autonomous robots have to be capable to register 3D range images taken by 3D laser sensors into a common coordinate system. One approach is the Iterative Closest Point (ICP) algorithm. Due to its high computational costs, the ICP algorithm is not suitable for registering 3D range images online. This paper presents a novel approach for registering indoor 3D range images using orthogonal virtual 2D scans, utilizing the typical structure of indoor environments. The 3D registration process is split into three 2D registration steps, and hence the computational effort is reduced. First experiments show that the approach is capable of registering 3D range images much more efficient than ICP algorithm and in real time.

Paper Nr: 38
Title:

### OBSTACLES AVOIDANCE IN THE FRAME WORK OF PYTHAGOREAN HODOGRAPH BASED PATH PLANNING

Authors:

#### Antonios Tsourdos

Abstract: This paper deal with the problem of obstacle avoidance in the path planning based on Pythagorean Hodograph. The obstacles can be avoided in case of Pythagorean Hodograph curves if the curvature of the curves is changed. The obstacle avoidance by changing the curvature in case of PH curves results in an increase in the length of the path. However in some cases obstacle avoidance by changing the curvature of the path results not only in an increase in path length but also accompanied with a tremendous increase in bending energy. An increase in bending energy of a path as a result of curvature change above certain limit makes the path very difficult or impossible to fly. The paths which are not flyable are of no use in path planning scenario therefore some alternative method for obstacle avoidance is needed such that resultant paths is safe and flyable. This paper proposes a solution for obstacle avoidance which results in safe and flyable paths.

Paper Nr: 43
Title:

### MOBILE ROBOT OBSTACLE DETECTION USING AN OVERLAPPED ULTRASONIC SENSOR RING

Authors:

#### Sungbok Kim, Jaehee Jang and Hyun B. Kim

Abstract: This paper presents the obstacle detection of a mobile robot using an ultrasonic sensor ring with overlapped beam pattern. Basically, it is assumed that a set of ultrasonic sensors are installed at regular intervals along the side of a circular mobile robot of nonzero radius. First, by exploiting the overlapped beam pattern, it is shown that the positional uncertainty inherent to an ultrasonic sensor can be significantly reduced for both single and double obstacle detection. Second, given measured distances from adjacent ultrasonic sensors, the geometric method of computing the position of the detected obstacle with respect to the center of a mobile robot is described. Third, through experiments using our ultrasonic sensor ring prototype, the validity and the performance of the proposed overlapped ultrasonic sensor ring are demonstrated.

Paper Nr: 59
Title:

### SALT AND PEPPER NOISE DETECTION BASED ON NON-LOCAL MEANS

Authors:

#### Carlos A. Junez-Ferreira, Nelio Pastor and Fernando Velasco-Avalos

Abstract: Denoising is an important task inside the image processing area. In this paper, an algorithm for detecting and suppressing salt and pepper noise is presented. Firstly, the algorithm computes an estimation of the denoised image by using a variant of the Non-Local Means proposal. This estimation is segmented in order to detect corrupted pixels avoiding misclassifying pixels with extreme values that belong to objects on the uncorrupted image. Once pixels are classified, the algorithm performs a suppression step by using an adaptive median filter. Obtained results show that the implementation of this proposal gives good noise detection and suppression.

Paper Nr: 80
Title:

### Planning stacking operations with an unknown number of objects

Authors:

#### Guillem Alenya and Lluis Trilla

Abstract: A planning framework is proposed for the task of cleaning a table and stack an unknown number of objects of different size on a tray. We propose to divide this problem in two, and combine two different planning algorithms. One, plan hand motions in the euclidean space to be able to move the hand in a noisy scenario using a novel Time-of-Flight camera (ToF) to perform the perception of the environment. The other one, chooses the strategy to effectively clean the table, considering the symbolic position of the objects, and also its size for stacking considerations. Our formulation does not use information about the number of objects available, and thus is general in this sense. Also, it can deal with different object sizes, planning adequately to stack them. The special definition of the possible actions allows a simple and elegant way of characterizing the problem, and is one of the key ingredients of the proposed solution. Some experiments are provided in simulated and real scenarios that validate our approach.

Paper Nr: 96
Title:

### MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE

Authors:

#### Nir Ziv, Nir Ziv, YongKwun Lee and Gaetano Ciaravella

Abstract: A lot of research has been done for bipedal walking and many positive results have been produced, such as the ASIMO robot from Honda. However, although bipedal walking is a good solution for moving over uneven surfaces; bipedal walking is inefficient over an even surface because the robot’s walking speed and stability are limited. Consequently, employing a wheeled locomotion on even surfaces can be advantageous. This paper presents a mathematical model and simulation of wheeled biped robot with two passive wheels on each foot. This enables the robot to move more efficiently over even surfaces. Also, this paper attempts to produce a more human-like inline-skating motion than previously created inline-skating simulations.

Paper Nr: 112
Title:

### TOWARDS HUMAN INSPIRED SEMANTIC SLAM

Authors:

#### Dominik Maximilián Ramík, Christophe Sabourin, Dominik M. Ramík and Kurosh Madani

Abstract: Robotic SLAM is attempting to learn robots what human beings do nearly effortlessly: to navigate in an unknown environment and to map it in the same time. In spite of huge advance in this area, nowadays SLAM solutions are not yet ready to enter the real world. In this paper, we observe the state of the art in existing SLAM techniques and identify semantic SLAM as one of prospective directions in robotic mapping research. We position our initial research into this field and propose a human inspired concept of SLAM based on understanding of the scene via its semantic analysis. First simulation results, using a virtual humanoid robot are presented to illustrate our approach

Paper Nr: 130
Title:

### A GEOMETRIC APPROACH FOR THE HOMOTHETIC APPROXIMATION OF STOCHASTIC PETRI NETS

Authors:

#### Dimitri Lefebvre

Abstract: Reliability analysis is often based on stochastic discrete event models like stochastic Petri nets. For complex dynamical systems with numerous components, analytical expressions of the steady state are tedious to work out because of the combinatory explosion with discrete models. For this reason, fluidification is an interesting alternative to estimate the asymptotic behaviour of stochastic processes with continuous Petri nets. Unfortunately, the asymptotic mean marking of stochastic and continuous Petri nets with same structure and same initial marking are mainly often different. This paper shows that this difficulty is related to the partition in regions of the reachability state space. A geometric approach is developed to characterize the regions and to get a homothetic approximation of the stochastic steady state.

Paper Nr: 152
Title:

### FDI WITH NEURAL AND NEUROFUZZY APPROACHES: APPLICATION TO DAMADICS

Authors:

#### N. Guersi, Dimitri Lefebvre, Yahia Kourd and Noureddine Guersi

Abstract: Fault diagnosis is a major challenge for complex systems as long as it increases the safety and productivity. This work concerns faults diagnosis, based on artificial intelligence, neural networks, and fuzzy logic. Thanks to an associative memory, neural networks have good capacities of organization, approximation and classification. Combined with fuzzy logic, neural networks are an effective tool for system modelling, fault detection and fault diagnosis. This paper illustrates the potential of these tools for the modelling and the diagnosis of an industrial actuator (DAMADICS benchmark).

Paper Nr: 187
Title:

### Consensus Problem of Multi-Agent Systems with Markovian Communication Failure

Authors:

#### Yuebing Hu, James Lam and JinLing Liang

Abstract: This paper studies the consensus problem of multi-agent systems with Markovian communication failure which may be caused by limited communication capacity. The occurrence of the failures is modeled by a discrete-time Markov chain. A consensus sufficiency condition is established in terms of linear matrix inequalities (LMIs). Based on this condition, a new controller design method is provided. A numerical example is utilized to illustrate the effectiveness of the proposed approach.

Paper Nr: 199
Title:

### MANIPULATOR-DEPLOYED SYSTEMS FOR SURFACE DECONTAMINATION IN NUCLEAR FACILITIES

Authors:

#### Jan Bremmer, Sascha Gentes and Nadine Gabor

Abstract: Due to the phasing out of nuclear energy in Germany there are a growing number of nuclear facilities that have to be decommissioned within the next years. In this context a multitude of surfaces in nuclear facilities have to be decontaminated. Manipulator-deployed systems offer a suitable solution and are properly designed for this kind of task. Beyond that they can be used for the processing of surfaces in civil as well as industrial fields of application, e.g. the stripping of coatings on metal surfaces. By the use of a suitable supporting system various attachments like a milling machine or laser can be carried and operated on walls and ceilings. Vacuum suction plates guarantee the interconnection between the supporting system and the object to be treated. Due to the intricate processes as well as the required flexibility arising from the multi purpose use with milling or laser attachments a robust control system with a high performance and a high level of customization is required. The following article introduces to you the systems in detail.

Paper Nr: 201
Title:

### Design and Experimental Verification of Power-assisted Smart Door System for Passenger Vehicle

Authors:

#### Kum-Gil Sung, Minkyu Park and Lee Byoungsoo

Abstract: In this study, to enhance the ease of opening and closing the doors of the passenger vehicle, a smart door with a power assist mechanism consisting of a motor and clutch was developed and tested. A power assist mechanism mounted within the vehicle’s door is proposed and modeled. The required force necessary to control the designed mechanism during the vehicle’s roll, pitch and the opening angle of the door has been established. Finally, the improvement in the ease of opening and closing doors by utilizing the designed ower assist mechanism was tested and proven through an experimental verification.

Paper Nr: 206
Title:

### IMPACT OF DIFFERENT BIT RATES ON PERFORMANCE CHARACTERISTICS OF INDUSTRIAL WLAN SOLUTIONS

Authors:

#### André Schimschar and Lutz Rauchhaupt

Abstract: Wireless communication is already widely used in industrial automation applications. Many solutions are available which consider industrial related requirements more or less. Thus, reliability and performance with respect to the specific requirements are the main concerns of industrial automation system users. Some of the wireless solutions base on the well-known Wireless LAN. The development of IEEE 802.11 was driven by the demand on highest possible data rates e.g. for video streaming applications. This paper proves whether the increased bit rates are appropriate to the requirements of industrial automation applications. A test methodology is introduced which can be used to get the necessary characteristic parameters with respect to the application field - industrial automation. The impact of bit rates on packet loss probability and therefore on the performance is analysed. Together with the transmission time for a successful transmission with one attempt a cost function has been developed. It shows for WLAN solutions, that the highest bit rate is not adequate to meet the reliability and performance requirements of industrial automation applications.

Paper Nr: 212
Title:

### Simultaneous learning of perceptions and actions in autonomous robots

Authors:

#### Pablo Quintia Vidal, Roberto Iglesias, Miguel Rodriguez and Carlos V.Regueiro

Abstract: This paper presents a new learning approach for autonomous robots. Our system will learn simultaneously the perception – the set of states relevant to the task – and the action to execute on each state for the task-robot-environment triad. The objective is to solve two problems that are found when learning new tasks with robots: interpretability of the learning process and number of parameters; and the complex design of the state space. The former was solved using a new reinforcement learning algorithm that tries to maximise the time before failure in order to obtain a control policy suitable to the desired behaviour. The state representation will be created dynamically, starting with an empty state space and adding new states as the robot finds them, this makes unnecessary the creation of a predefined state representation, which is a tedious task.

Paper Nr: 213
Title:

### GEOMETRIC FORMATIONS FOR A TEAM OF MOBILE ROBOTS Odometric-based Maintenance Method for Heterogeneous Teams of Robots

Authors:

#### Patricio Nebot and Enric Cervera

Abstract: One of the most important topics in multirobot formations is how to maintain the initial formations while the robots are moving or navigating through the environment. This paper presents a new approach based on the cooperation among a team of heterogenoeous robots for the maintenance of multirobot formations. The robots must cooperate among them in order to get that all the robots, despite their sensory power, can maintain the formation while they are moving. To get that, the robots only have available the communication among them and their own odometry information. One of the robots, the conductor, is in charge to drive the formation and the rest of robots must follow it maintaining the formation. To do that, the use of “virtual points” and Bezier curves are introduced.

Paper Nr: 215
Title:

### PRIORITY SELECTION FOR MULTI-ROBOTS

Authors:

#### Sanghoon Ji, Sangmoo Lee and Woonghee Shon

Abstract: The priority selecting problem for multi-robots deals with the determination of the relative importance of multi-robots with the limited capability in speed and acceleration in order that the robots should arrive in the minimum time without any collision. Unlike the case of a single robot, the arrival time of multi-robots depends on the delayed action for collision-avoidance. The delayed action time to avoid collision varies according to the priority order of the robots. This means that faster motion completion can be achieved by altering the distribution of the priory. However, the priority decision which provides the collision-free optimum operation of multi-robots cannot be solved mathematically. It is because the collision avoidance process among robots is closely linked mutually. Therefore in this paper, based on (M,D) network model, in considering the priority decision, how to reduce the complexity of priority decision is suggested by selecting the robots which have influence on operating performance of total robots. Conclusively, the effectiveness of the proposed approach is confirmed through simulation.

Paper Nr: 220
Title:

### DEVELOPMENT OF LIGHTWEIGHT DUAL ARM ROBOT BY USING HOLLOW SHAFT SERVO ASSEMBLY

Authors:

#### Minkyu Park, Seokjo Go and Youngjin Lee

Abstract: Studies on dual arm robots have been continually carried out because the robots provide human-like flexibility of movement. In previous study, the dual arm robot with solid shafts had been designed. However, the robot has some defects in its heavy weight and big shape. In this study, a hollow shaft servo assembly for lightweight robot arm has been developed. And then, the dual arm robot(AUTOMAN) has been designed using a hollow shaft servo assembly.

Paper Nr: 225
Title:

### Static Balance for Rescue Robot Navigation : Translation Motion Discretization Issue within Random Step Environment

Authors:

#### Evgeni Magid, Evgeni Magid and Takashi Tsubouchi

Abstract: The goal of rescue robotics is to extend the capabilities of human rescuers while also increasing their safety. During the rescue mission mobile robot is deployed on the site and is operated from a safe place by a human. A decision on the robot's path selection is very complicated, since the operator cannot see the robot and the environment. Our goal is to provide a kind of automatic "pilot system" to propose the operator a good direction or several options to traverse the environment, taking into account the robot's static and dynamic properties. To find a good path we need a special path search algorithm on debris. The real state space of the search is extremely huge and to decrease the number of search directions we discretize robot's motion and the state space before the search. Search algorithm needs a proper definition of node's neighborhood, which will ensure smooth exploration of the search tree. In this paper we present our results in estimation of the transition possibilities between two consecutive states, connected with a translation step, and discuss the problems arising from the discretization of the state space. Exhaustive simulations were used to structure, analyze and solve the discretization issue problems and help to remove unsuitable directions of the search from the search tree.

Paper Nr: 250
Title:

### VISUAL MAP BUILDING AND LOCALIZATION WITH AN APPEARANCE-BASED APPROACH

Authors:

#### Francisco Amorós Espí, Oscar Reinoso, Luis Paya, Lorenzo Fernández Rojo and Jose Maria Marin

Abstract: Appearance-based techniques have proved to constitute a robust approach to build a topological map of an environment using just visual information. In this paper, we describe a complete methodology to build appearance-based maps from a set of omnidirectional images captured by a robot along an environment. To extract the most relevant information from the images, we use and compare the performance of several compressing methods. In this analysis we include their invariance against rotations of the robot on the ground plane and small changes in the environment. The main objective consists in building a map that the robot can use in any application where it needs to know its position and orientation within the environment, with minimum memory requirements and computational cost but with a reasonable accuracy. This way, we present both a method to build the map and a method to test its performance in future applications.

Paper Nr: 259
Title:

### Self deployed robotic network for long range semiautomatic operation.

Authors:

#### Tomas Solarski, David Vala and Jiri Koziorek

Abstract: This paper covers questions about long distance communication in a difficult hazardous environment. Distant communication is presented via number of robotics carriers determined to link communication between a centre of control and a remote controlled robot in hostile area or gather data from certain area. This robotic net acts autonomously and cooperates with surroundings background to guarantee data connection. Two main issues are presented: the data communication and the robotic carrier. Communication can be created by own system carried on robots or use accessible communication such Wi-Fi/Ethernet in urban areas. The robotics carriers are realized as modular system with capability to modify each main part of carrier to fit specific environment.

Paper Nr: 287
Title:

### ROBOT SOCCER STRATEGY – BIOMIMETIC APPROACH

Authors:

#### Bîzdoaca N. George, Anca Petrisor, Hani HAMDAN, Khalid Al Mutib and Daniela Coman

Abstract: Biomimicry is the right pattern for a successful algorithm or control strategy. The present paper applies biomimetic approach to robotic soccer game, using as model the human soccer team’s strategy. For implementation the authors use a team of MIROSOT soccer robot, with three robots. Using software Simi Scout a suitable tactics analysis can be extract from the games. Analyzing the real soccer game, a number of attributes are specified and are embedded at different levels. The specified levels are interconnected and the game analysis is processed for optimization. The authors approach offer a flexible and more complex situation: all the robots can be attacking, defending or goalkeeper player. In this case the role changing strategy is based on the distance between player and the ball, the payer and the goal area and the player and the attack area. The controller for the attacking robot is designed using Petri nets. The Petri net model is implemented in Petri Net Toolbox under MATLAB environment. Using this information the robot program is adapted and the tests/games are experimented. The results are commented and improved control architecture, based on practical results, is proposed.

Paper Nr: 310
Title:

### Towards Object-Oriented Software Development for Industrial Robots

Authors:

#### Alwin Hoffmann, Andreas Schierl, Michael Vistein, Andreas Angerer and Wolfgang Reif

Abstract: Industrial robotics is characterized by sophisticated mechanical components and highly-developed control algorithms. However, the efficient use of robotic systems - with regard to flexibility, reusability and extensibility - is very much limited by existing programming methods. As a consequence, software development for industrial robots is a complex and time-consuming task which generates considerable costs. This work performs an analysis of the current software development for robotics systems and identifies shortcomings from a software engineering point of view. Based on that, it outlines an architectural approach that addresses the identified problems and allows efficient software development for industrial robotic systems.

Paper Nr: 317
Title:

### DYNAMICAL INVARIANTS FOR CPG CONTROL IN AUTONOMOUS ROBOTS

Authors:

#### Fernando Herrero-Carrón, Francisco D. Borja Rodríguez and Pablo Varona

Abstract: Several studies have shown the usefulness of central pattern generator circuits to control autonomous rhythmic motion in robots. The traditional approach is building CPGs from nonlinear oscillators, adjusting a connectivity matrix and its weights to achieve the desired function. Compared to existing living CPGs, this approach seems still somewhat limited in resources. Living CPGs have a large number of available mechanisms to acomplish their task. The main function of a CPG is ensuring that some constraints regarding rhythmic activity are always kept, surmounting any disturbances from the external environment. We call this constraints the dynamical invariant'' of a CPG. Understanding the underlying biological mechanisms would take the design of robotic CPGs a step further. It would allow us to begin the design with a set of invariants to be preserved. The presence of these invariants will guarantee that, in response to unexpected conditions, an effective motor program will emerge that will perform the expected function, without the need of anticipating every possible scenario. In this paper we discuss how some bio-inspired elements contribute to building up these invariants.

Paper Nr: 319
Title:

### LASER BASED TELEROBOTIC CONTROL FOR ASSISTING PERSONS WITH DISABILITIES PERFORM ACTIVITIES OF DAILY LIVING

Authors:

#### Karan Khokar, Karan Khokar, Rajiv Dubey and Redwan Alqasemi

Abstract: In this paper we demonstrate an innovative use of range information from a laser sensor mounted on the end- effector of a remote robot manipulator to assist persons with disabilities carry out ADL (Activities of Daily Living) tasks in unstructured environments. Laser range data is used to determine goals, identify targets and via points to enable autonomous execution of trajectories. The human operator performs minimal teleoperation and is primarily involved in higher level decision making. We hypothesize that laser based assistance improves task performance in terms of time and accuracy and also reduces the cognitive load on the user executing the task. Tests on ten healthy human subjects in executing a remote manipulation task conform the hypothesis.

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

Full Papers
Paper Nr: 160
Title:

### Linearizing control of yeast and bacteria fed-batch cultures - A Comparison of Adaptive and Robust Strategies

Authors:

#### Laurent Dewasme, Alain V. Wouwer and Daniel Coutinho

Abstract: Linearizing control is a popular approach to control bioprocesses, which has received considerable attention is the past several years. This control approach is however quite sensitive to modeling uncertainties, thus requiring some on-line parametric adaptation so as to ensure performance. In this study, this usual adaptive strategy is compared in terms of implementation and performance to a robust strategy, where the controller has a fixed parametrization which is determined using a LMI framework so as to ensure robust stability and performance. Fed-batch cultures of yeast and bacteria are considered as application examples.

Paper Nr: 173
Title:

### Image Motion Estimation using Optimal Flow Control

Authors:

#### Annette Stahl, Annette Stahl and Ole M. Aamo

Abstract: In this paper we present an optimal control approach for image motion estimation in an explorative and novel way. The variational formulation incorporates physical prior knowledge by giving preference to motion fields that satisfy appropriate equations of motion. Although the framework presented is flexible, we employ the Burgers equation from fluid mechanics as physical prior knowledge in this study. Our control based formulation evaluates entire spatio-temporal image sequences of moving objects. In order to explore the capability of the algorithm to obtain desired image motion estimations, we perform numerical experiments on synthetic and real image sequences. The comparison of our results with other well-known methods demonstrates the ability of the optical control formulation to determine image motion from video and image sequences, and indicates improved performance.

Paper Nr: 221
Title:

### Stability analysis for bacterial linear metabolic pathways with monotone control system theory

Authors:

#### Laurent Tournier, Anne Goelzer, Vincent Fromion, Nacim Meslem, Nacim Meslem, Laurent Tournier, Anne Goelzer and Vincent Fromion

Abstract: In this work we give technical conditions which guarantee the global attractivity of bacterial linear metabolic pathways (reversible and irreversible structures) where both genetic and enzymatic controls involve the end product through metabolic effectors. To reach this goal, we use the negative feedback theorem of the monotone control systems theory, and we represent all conditions needed to apply the negative feedback theorem to the bacterial linear metabolic pathways in convenient deduced forms.

Paper Nr: 228
Title:

### Simple Derivation of a State Observer of Linear Time-Varying Discrete Systems

Authors:

#### Yasuhiko Mutoh

Abstract: In this paper, a simple calculation method to derive the Luenberger observer for linear time-varying discrete systems is presented. For this purpose, the simple design method of the pole placement for linear time-varying discrete systems is proposed. 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 new 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 discrete system, the state observer can be derived by simple calculations.

Paper Nr: 231
Title:

### Robustness of ISS Systems to Inputs with Limited Moving Average, with Application to Spacecraft Formations

Authors:

#### Esten I. Grøtli, Antoine Chaillet, Elena Panteley and Jan T. Gravdahl

Abstract: We provide a theoretical framework that fits realistic challenges related to spacecraft formation with disturbances. We show that the input-to-state stability of such systems guarantees some robustness with respect to a class of signals with bounded average-energy, which encompasses the typical disturbances acting on spacecraft formations. Solutions are shown to converge to the desired formation, up to an offset which is somewhat proportional to the considered moving average of disturbances. The approach provides a tighter evaluation of the disturbances' influence, which allows for the use of more parsimonious control gains.

Paper Nr: 255
Title:

### A Robust Limited-Information Feedback for a Class of Uncertain Nonlinear Systems

Authors:

#### Alessio Franci and Antoine Chaillet

Abstract: We propose a variant of the recently introduced strategy for stabilization with limited information recently introduced by Liberzon and Hespanha (2005) and analyze its robustness properties. We show that, if the nominal plant can be made Input-to-State Stable (ISS) with respect to measurement errors, parameter uncertainty and exogenous disturbances, then this robustness is preserved with this quantized feedback. More precisely, if a sufficient bandwidth is available on the communication network, then the resulting closed-loop is shown to be semiglobally Input-to-State practically Stable (ISpS).

Paper Nr: 278
Title:

### Distributed Kalman Filter-based Target Tracking in Wireless Sensor Networks

Authors:

#### Phuong Pham and Sesh Commuri

Abstract: The tracking of mobile targets using Distributed Kalman Filters in a Wireless Sensor Network (WSN) is addressed in this paper. In contrast to the Kalman Filter implementations reported in the literature, our approach has the Kalman Filter running on only one network node at any given time. The knowledge learned by this node, i.e. the system state and the covariance matrix, is passed on to the subsequent node running the filter. Since a finite subset of the sensor nodes is active at any given time, target tracking can be accomplished using lower power compared to centralized implementations of the Kalman Filter. Numerical simulations demonstrate that the proposed algorithm is robust to measurement noise and changes in the velocity of the target. The results in this paper show that the proposed technique for target tracking will result in significant savings in power consumption and will extend the useful life of the WSN.

Paper Nr: 279
Title:

### ESTIMATION AND COMPENSATION OF DEAD-ZONE INHERENT TO THE ACTUATORS OF INDUSTRIAL PROCESSES

Authors:

#### Auciomar Cerqueira, Marcelo Vale, Daniel Guerra, Fábio D. Araújo and André Maitelli

Abstract: The oscillations present in control loops can cause damages in industry. Canceling, or even preventing such oscillations, would save up to large amount of dollars. Studies have identified that one of the causes of these oscillations are the nonlinearities present on industrial processes actuators. This paper has the objective to develop a methodology for removal of the harmful effects of nonlinearities. Will be proposed a parameters estimation method to the Hammerstein model, whose nonlinearity is represented by dead-zone. The estimated parameters will be used to construct the inverse model of compensation. A simulated level system was used as test platform. The valve that controls inflow has a dead-zone. Results analysis shows an improvement on system response.

Short Papers
Paper Nr: 52
Title:

### Identification of Discrete Event Systems: Implementation issues and model completeness

Authors:

#### Matthias Roth, Jean-Jacques Lesage and Lothar Litz

Abstract: This paper presents some practical issues for the identification of discrete event systems (DES). The considered class of systems consists of a plant and a controller running is a closed-loop. Special emphasis is given to a data collection procedure using industrial controllers and its impact on the external DES-behavior of the considered systems. For models identified on the basis of observed external DES behavior using the algorithm from (Klein, 2005) it is shown that under some conditions, the identified model language simulates the complete original system language even if only a subset of this language is available for identification. This model characteristic is crucial for many model-based techniques like diagnosis or verification. Analyzing the observed data of a laboratory facility it is shown how it can be decided if the conditions for a complete model hold for an existing application.

Paper Nr: 110
Title:

### AN INVERSE SENSOR MODEL FOR EARTHQUAKE DETECTION USING MOBILE DEVICES

Authors:

#### Thomas Collins and John Moore

Abstract: We describe a sensory framework to be used for the purposes of earthquake detection using minimal cost, accelerometer equipped, hardware units. Combining techniques from mobile robotics this model is intended to address the current issue in the field whereby high fidelity hardware units tuned to detect specific characteristics such as wave features and/or high fidelity event models derived from data analysis are required for such detection. In this paper we present and contextualise the architecture under construction in addition to outlining the salient elements of the problem we are addressing.

Paper Nr: 153
Title:

### NONLINEAR INTO STATE AND INPUT DEPENDENT FORM MODEL DECOMPOSITION - Applications to discrete-time model predictive control with succesive time-varying linearization along predicted trajectories

Authors:

#### Przemyslaw Orlowski

Abstract: Linearization techniques are well known tools that can transform nonlinear models into linear models. In the paper we employ a successive model linearization along predicted state and input trajectories resulting in linear time-varying model. The nonlinear behaviour is represented in each time sample by recurrent set of linear time-varying models. Solution of the optimal non-linear model predictive control problem is obtained in an iterative way where the most important step is the linearization along predicted trajectory. The main aim of this paper is to analyse how the nonlinear system should be transformed into linear one to ensure possibly fast solution of the model predictive control problem based on the successive linearization method.

Paper Nr: 167
Title:

### A SUBOPTIMAL FAULT-TOLERANT DUAL CONTROLLER IN MULTIPLE MODEL FRAMEWORK

Authors:

#### Ivo Puncochar and Miroslav Simandl

Abstract: The paper focuses on the design of a suboptimal fault-tolerant dual controller for stochastic discrete-time systems. Firstly a general formulation of the active fault detection and control problem that covers several special cases is presented. One of the special cases, a dual control problem, is then considered throughout the rest of the paper. It is stressed that the designed dual controller can be regarded as a fault-tolerant dual controller in the context of fault detection. Due to infeasibility of the optimal fault-tolerant dual controller for general non-linear system, a suboptimal fault-tolerant dual controller based on rolling horizon technique for jump Markov linear Gaussian system is proposed and illustrated by means of a numerical example.

Paper Nr: 177
Title:

### Asymptotic analysis of phase control system for clocks in multiprocessor arrays

Authors:

#### Gennady Leonov, Svetlana Seledzhi, Nikolay V. Kuznetsov and Pekka Neittaanmäki

Abstract: New method for the rigorous mathematical analysis of electronic synchronization systems is suggested. This method allows to calculate the characteristics of phase detectors and carry out a rigorous mathematical analysis of transient process and stability of the system.

Paper Nr: 182
Title:

### A MINIMUM RELATIVE ENTROPY PRINCIPLE FOR ADAPTIVE CONTROL IN LINEAR QUADRATIC REGULATORS

Authors:

#### Daniel Braun and Pedro Ortega

Abstract: The design of optimal adaptive controllers is usually based on heuristics, because solving Bellman’s equations over information states is notoriously intractable. Approximate adaptive controllers often rely on the principle of certainty-equivalence where the control process deals with parameter point estimates as if they represented “true” parameter values. Here we present a stochastic control rule instead where controls are sampled from a posterior distribution over a set of probabilistic input-output models and the true model is identified by Bayesian inference. This allows reformulating the adaptive control problem as an inference and sampling problem derived from a minimum relative entropy principle. Importantly, inference and action sampling both work forward in time and hence such a Bayesian adaptive controller is applicable on-line. We demonstrate the improved performance that can be achieved by such an approach for linear quadratic regulator examples.

Paper Nr: 222
Title:

### DESIGN OF A MULTIOBJECTIVE PREDICTIVE CONTROLLER FOR MULTIVARIABLE SYSTEMS

Authors:

#### Faten Ben Aicha, Faouzi Bouani and Mekki Ksouri

Abstract: In this paper, a strategy for automatic tuning of decentralized predictive controller synthesis parameters based on multiobjective optimization for multivariable systems is proposed. This strategy integrates the genetic algorithm to generate the synthesis parameters (the prediction horizon, the control horizon and the cost weighting factor) making a compromise between closed loop performances (the overshoot, the variance of the control and the settling time). A simulation example is presented to illustrate the performance of this strategy in the on-line adjustment of generalized predictive control parameters.

Paper Nr: 223
Title:

### Efficient implementation of constrained robust model predictive control using a state space approach

Authors:

#### Amira Kheriji, Faouzi Bouani and Mekki Ksouri

Abstract: The goal of this paper is to evaluate the closed loop performances of a new approach in constrained state space Robust Model Predictive Control (RMPC) in the presence of parametric uncertainties. The control law is obtained by the resolution of a min-max optimization problem, initially non convex, under input and input deviation constraints, using worst case strategy. The technique used is the Generalized Geometric Programming (GGP) which is a global optimization method for non convex functions constrained in a specific domain. The key idea of the proposed approach is the convexification of the optimization problem allowing to compute the optimal control law using standard optimization technique. The proposed method is efficient since it guarantees set-point tracking different from the origin and non zero disturbances rejection. The efficiency of this approach is illustrated with two examples and compared with a recent state space RMPC algorithm.

Paper Nr: 244
Title:

### Mixed color/level lines and their stereo-matching with a modified Hausdorff distance

Authors:

#### Noppon Lertchuwongsa, Michèle Gouiffès and Bertrand Zavidovique

Abstract: Level lines and sets are competitive features to support recognition. Color is assumed more informative than intensity, so color-lines are preferred to exhibit the set basis. In the paper, they are defined after level lines, and then extracted and characterize. Greater information is kept by color lines resulting into more efficient grouping towards objects. A novel Hausdorff-inspired disparity finder is introduced fed in by color lines with respect to epipolar constraints. The efficient disparity map resulting from pixel wise line-matching between left and right images justifies our technical choices.

Paper Nr: 260
Title:

### FEATURE EXTRACTION AND SELECTION FOR AUTOMATIC SLEEP STAGING USING EEG

Authors:

#### Hugo Simões, Gabriel Pires, Urbano Nunes and Vitor Silva

Abstract: Sleep disorders affect a great percentage of the population. The diagnostic of these disorders is usually made by a polysomnography, requiring patient’s hospitalization. Low cost ambulatory diagnostic devices can in certain cases be used, especially when there is no need of a full or rigorous sleep staging. In this paper, several methods to extract features from 6 EEG channels are described in order to evaluate their performance. The features are selected using the R-square Pearson correlation coefficient (Guyon and Elisseeff, 2003), providing this way a Bayesian classifier with the most discriminative features. The results demonstrate the effectiveness of the methods to discriminate several sleep stages, and ranks the several feature extraction methods. The best discrimination was achieved for relative spectral power, slow wave index, harmonic parameters and Hjorth parameters.

Paper Nr: 293
Title:

### SOLUTION of an INVERSE PROBLEM by CORRECTION of TABULAR FUNCTION for MODELS of NONLINEAR DYNAMIC SYSTEMS

Authors:

#### Josif Boguslavskiy

Abstract: In this paper, we present a solution to the problem of correction of parameterized tabular nominal functions for the motion equations in a model of a nonlinear dynamical system using observations in discrete time. The correction vector is determined by the mean of the multi-polynomial approximation algorithm (MPA-algorithm ) using observations of the noise functions of the components of the state vectors. The method of correction of tabular functions is demonstrated by correcting 204 parameters in an example involving a mathematical model of the motion of an F-16 aircraft

Paper Nr: 304
Title:

### MULTI-TERMINAL BDD IN MICROPROCESSOR-BASED CONTROL

Authors:

#### Vaclav Dvorak

Abstract: The paper addresses software implementation of logic-intensive control algorithms whose implementation with the smallest memory footprint is often required in embedded systems. A presented heuristic method of Multi-Terminal Binary Decision Diagram (MTBDD) synthesis aims to minimize the cost of a resulting diagram and thus the required amount of memory to store it. Evaluation of Boolean functions then reduces to traversing a MTBDD, one or more variables in a single step, according to a required speed. In terms of program execution, the evaluation process essentially does a sequence of indirect memory accesses to dispatch tables. The presented method is flexible in making trade-offs between performance and memory consumption and may be thus useful for embedded microprocessor or microcontroller software.

Paper Nr: 314
Title:

### Modeling Smart Grids as Complex Systems through the Implementation of Intelligent Hubs

Authors:

#### Enrique Kremers, Oscar Barambones, Jose M. González de Durana and Pablo Viejo

Abstract: The electrical system is undergoing a profound change of state, which will lead to what is being called the smart grid. The necessity of a complex system approach to cope with ongoing changes is presented: combining a systemic approach based on complexity science with the classical views of electrical grids is important for an understanding the behavior of the future grid. Key issues like different layers and inter-layer devices, as well as subsystems are discussed and proposed as a base to create an agent-based system model to run simulations.

Paper Nr: 1
Title:

### MODELING RADIAL VELOCITY SIGNALS FOR EXOPLANET SEARCH APPLICATIONS

Authors:

#### Jian Li, Peter Stoica and Prabhu Babu

Abstract: In this paper, we introduce an estimation technique for analyzing radial velocity data commonly encountered in extrasolar planet detection. We discuss the Keplerian model for radial velocity data measurements and estimate the 3D spectrum (power vs. eccentricity, orbital period and periastron passage time) of the radial velocity data by using a relaxation maximum likelihood algorithm (RELAX). We then establish the significance of the spectral peaks by using a generalized likelihood ratio test (GLRT). Numerical experiments are carried out on a real life data set to evaluate the performance of our method.

Paper Nr: 30
Title:

### Shared Memory in RTAI Simulink for kernel and user-space communication at the Example of the SDH-2 - QRtaiLab For SDH-2 Matrix Visualization

Authors:

#### Thomas Haase and Holger Nahrstaedt

Abstract: At the Institute for Process Control and Robotics reactive grasping skills are developed to enhance the Multi-fingered SCHUNK Dextrous Hand 2 (SDH2) to fulfill industrial needs. Therefore, RTAI Linux and Matlab - Simulink RTW are used as application development system. The exchange of data between the Multi-fingered hand and the computer system is possible with the help of a C++ library. By reason that this SDH2 C++ library could not be used in Real-Time kernel programs this paper presents an approach of how to combine Real-Time Simulink models (RTAI) with user-space tasks. Therefore a shared memory based interface within Simulink S-Functions is established. The RTAI Target Language Compiler remains unaffected. The designed interface is described in more detail and represents a contribution to the further development of RTAI. In addition a possibility of how to debug and visualize tactile sensor matrices with QRtaiLab is presented.

Paper Nr: 46
Title:

### REUSABLE STATE MACHINE COMPONENTS FOR EMBEDDED CONTROL SYSTEMS

Authors:

#### Krzysztof Sierszecki, Christo Angelov and Feng Zhou

Abstract: The paper presents a software design method for embedded applications, featuring reconfigurable components such as a State Machine (SM) function block operating in conjunction with a composite Signal Generator (SG) function block. The method emphasizes separation of concerns, whereby the State Machine realizes the reactive aspect of system behaviour in separation from the transformational aspect, which is delegated to the Signal Generator. Instances of these function blocks can be used to configure event-driven state machines executed periodically in the context of control system tasks (actors). When activated, the SM determines the control step that has to be executed in response to a particular event. The control step is then indicated to the SG, which generates the corresponding control signals. The SM has been implemented using a new Binary Decision Diagram (BDD)-based design pattern, resulting in a simple, yet powerful component capable of processing both discrete and continuous signals, which can be used to efficiently implement control actors for sequential and hybrid control applications.

Paper Nr: 74
Title:

### APPLICATION OF HIERARCHICAL MODEL METHOD ON OPEN CNC SYSTEM’S BEHAVIOR RECONSTRUCTION

Authors:

#### Hualong Xie, Weitang Sun, Chenguang Guo, Yongxian Liu and Jinfu Zhao

Abstract: There are many shortcomings in the open CNC system control program developed by the traditional programming mode, such as maintenance difficulties and poor portability. The application and development of FSM in CNC system are researched in this paper, and the basic principles of FSM and reconstruction mechanism of FSM are introduced. The reconstruction process based on FSM by the application of hierarchical modeling method and status table are also constructed. At last, the adaptive control function of automatic adjusting feeding speed in three axis CNC milling machine is extended to realize the function definition of the software unit in control system and control logic separation.

Paper Nr: 107
Title:

### Recognizing User Interface Control Gestures from Acceleration Data Using Time Series Templates

Authors:

#### Pekka Siirtola, Pekka Siirtola, Perttu Laurinen, Heli Koskimäki and Juha Röning

Abstract: This study presents a method for recognizing six predefined gestures using data collected with a wrist-worn tri-axial accelerometer. The aim of the study is to design a gesture recognition-based control system for a simple user interface. The recognition is done by matching the shapes that user's movements cause to acceleration signals to predefined time series templates describing gestures. In this study matching is done by using three different trajectory distance measures, the results show that the weighted double fold gives the best results. The superiority of this distance measure was shown using a statistical significance test. A user-dependent version of the method recognizes gestures with accuracy of 94.3% and a recognition rate of the user-independent version is 85.5%. This work was supported by the EU 6th Framework Program Project XPRESS.

Paper Nr: 123
Title:

### CLASSIFICATION OF POWER QUALITY DISTURBANCES VIA HIGHER-ORDER STATISTICS AND SELF-ORGANIZING NETWORKS

Authors:

#### Juan-Jose Gonzalez De La Rosa, Agustín Agüera, José Carlos Palomares and Antonio Moreno-Munoz

Abstract: This work renders the classification of Power Quality (PQ) disturbances using fourth-order sliding cumulants’ maxima as the key feature. These estimators are calculated over high-pass filtered real-life signals, to avoid the low-frequency 50-Hz sinusoid. Four types of electrical AC supply anomalies constitute the starting grid of a competitive layer performance, which manages to classify 90 signals within a 2D-space (whose coordinates are the minima and the maxima of the sliding cumulants calculated over each register). Four clusters have been clearly identified via the competitive network, each of which corresponds to a type of anomaly. Then, a Self-Organizing Network is conceived in order to guess additional classes in the feature space. Results suggest the idea of two additional sets of signals, which are more related to the degree of signals’ degeneration than to real new groups of anomalies. We collaterally conclude the need of additional features to face the problem of subclass division. The experience sets the foundations of an automatic procedure for PQ event classification.

Paper Nr: 234
Title:

### Survey of Estimate Fusion Approaches

Authors:

#### Jirí Ajgl and Miroslav Simandl

Abstract: The paper deals with fusion of state estimates of stochastic dynamic systems. The goal of the contribution is to present main approaches to the estimate fusion which were developed during the last four decades. The hierarchical and decentralised estimation are presented and main special cases are discussed. Namely the following approaches, the distributed Kalman filter, maximum likelihood, channel filters, and the information measure, are introduced. The approaches are illustrated in numerical exapmples.

Paper Nr: 251
Title:

### REAL-TIME CONTROL OF REWINDING MACHINE: Comparison of two approaches

Authors:

#### Karel Perutka

Abstract: The paper deals with two simple approaches applied on real-time control of rewinding machine and their comparison. In brief, the comparison of results obtained by nonlinear real-time control with pre-identification, and by adaptive real-time control with on-line identification was realized. The rewinding machine was controlled in real-time by PC from MATLAB’s Real-Time Toolbox using technological card, terminal board and wires. Each of two used approaches has its advantages and its drawbacks, which was proven, but nonlinear control seemed to be more suitable for the rewinding machine because of the history of action signal from the nonlinear control, the action is more consistent.

Paper Nr: 282
Title:

### A SUB-OPTIMAL KALMAN FILTERING FOR DISCRETE-TIME LTI SYSTEMS WITH LOSS OF DATA

Authors:

#### Naeem Khan, Naeem Khan, Sajjad Fekri and Da-Wei Gu

Abstract: In this paper a sub-optimal Kalman filter estimator is designed for the plants subject to loss of data or insufficient observation. The methodology utilized is based on the closed-loop compensation algorithm which is computed through the so-called Modified Linear Prediction Coefficient (MLPC) observation scheme. The proposed approach is aimed at the artificial observation vector which in fact corrects the prediction cycle when loss of data occurs. A non-trivial mass-spring-dashpot case study is also selected to demonstrate some of the key issues that arise when using the proposed sub-optimal filtering algorithm under missing data.

Paper Nr: 288
Title:

### Nonlinear constrained predictive control of exothermic reactor

Authors:

#### Joanna Zietkiewicz and Joanna Zietkiewicz

Abstract: Predictive method which allows applying constraints in the process of designing control system has wide practical significance. The method developed in the article consists of feedback linearization and linear quadratic control applied to obtained linear system. Employment of interpolation method introduces constraints of variables into control system design. The control algorithm was designed for a model of exothermic reactor, results illustrate its operation in comparison with PI control.