AN FLC-PSO ALGORITHM-CONTROLLED MOBILE ROBOT

The ineffectiveness of the wall-following robot (WFR) performance indicated by its surging movement has been a concerning issue. The use of a Fuzzy Logic Controller (FLC) has been considered to be an option to mitigate this problem. However, the determination of the membership function of the input value precisely adds to this problem. For this reason, a particular manner is recommended to improve the performance of FLC. This paper describes an optimization method, Particle Swarm Optimization (PSO), used to automatically determinate and arrange the FLC’s input membership function. The proposed method is simulated and validated by using MATLAB. The results are compared in terms of accumulative error. According to all the comparative results, the stability and effectiveness of the proposed method have been significantly satisfied

Closed-loop Control of a Vibrant Duct Gravimetric Feeder

Abstract -In this work the control system for a gravimetric feeder with vibrant duct for polymer extrusion process has been designed. The plant considered in this paper is a blending machine that mixes up to six components: each component is measured by a dedicated vibrant duct. All components are mixed directly in the chambers of the extruder screw. The mass delivered by each meter is measured by a load cell. The control objectives are: accurate mass flow estimate on the basis of the weight; accurate mass flow regulation; minimum settling time; robustness of the controller parameters against the variation of material and structure of meter

Fuzzy Sliding Mode Observer with Grey Prediction for the Estimation of the State-of-Charge of a Lithium-Ion Battery

We propose a state-of-charge (SOC) estimation method for Li-ion batteries that combines a fuzzy sliding mode observer (FSMO) with grey prediction. Unlike the existing methods based on a conventional first-order sliding mode observer (SMO) and an adaptive gain SMO, the proposed method eliminates chattering in SOC estimation. In this method, which uses a fuzzy inference system, the gains of the SMO are adjusted according to the predicted future error and present estimation error of the terminal voltage. To forecast the future error value, a one-step-ahead terminal voltage prediction is obtained using a grey predictor. The proposed estimation method is validated through two types of discharge tests (a pulse discharge test and a random discharge test). The SOC estimation results are compared to the results of the conventional first-order SMO-based and the adaptive gain SMO-based methods. The experimental results show that the proposed method not only reduces chattering, but also improves estimation accuracy.11111Ysciescopu

Robust Event-Triggered Energy-to-Peak Filtering for Polytopic Uncertain Systems over Lossy Network with Quantized Measurements

The event-triggered energy-to-peak filtering for polytopic discrete-time linear systems is studied with the consideration of lossy network and quantization error. Because of the communication imperfections from the packet dropout of lossy link, the event-triggered condition used to determine the data release instant at the event generator (EG) can not be directly applied to update the filter input at the zero order holder (ZOH) when performing filter performance analysis and synthesis. In order to balance such nonuniform time series between the triggered instant of EG and the updated instant of ZOH, two event-triggered conditions are defined, respectively, whereafter a worst-case bound on the number of consecutive packet losses of the transmitted data from EG is given, which marginally guarantees the effectiveness of the filter that will be designed based on the event-triggered updating condition of ZOH. Then, the filter performance analysis conditions are obtained under the assumption that the maximum number of packet losses is allowable for the worst-case bound. In what follows, a two-stage LMI-based alternative optimization approach is proposed to separately design the filter, which reduces the conservatism of the traditional linearization method of filter analysis conditions. Subsequently a codesign algorithm is developed to determine the communication and filter parameters simultaneously. Finally, an illustrative example is provided to verify the validity of the obtained results

An Evaluation of Feature Selection Robustness on Class Noisy Data

With the increasing growth of data dimensionality, feature selection has become a crucial step in a variety of machine learning and data mining applications. In fact, it allows identifying the most important attributes of the task at hand, improving the efficiency, interpretability, and final performance of the induced models. In recent literature, several studies have examined the strengths and weaknesses of the available feature selection methods from different points of view. Still, little work has been performed to investigate how sensitive they are to the presence of noisy instances in the input data. This is the specific field in which our work wants to make a contribution. Indeed, since noise is arguably inevitable in several application scenarios, it would be important to understand the extent to which the different selection heuristics can be affected by noise, in particular class noise (which is more harmful in supervised learning tasks). Such an evaluation may be especially important in the context of class-imbalanced problems, where any perturbation in the set of training records can strongly affect the final selection outcome. In this regard, we provide here a two-fold contribution by presenting (i) a general methodology to evaluate feature selection robustness on class noisy data and (ii) an experimental study that involves different selection methods, both univariate and multivariate. The experiments have been conducted on eight high-dimensional datasets chosen to be representative of different real-world domains, with interesting insights into the intrinsic degree of robustness of the considered selection approaches

Path planning for automated guided vehicles system via interactive dynamic influence diagrams with communication

Conference Name:9th IEEE International Conference on Control and Automation, ICCA 2011. Conference Address: Santiago, Chile. Time:December 19, 2011 - December 21, 2011.This paper addresses the problem of path planning for automated guided vehicles (AGV) system in the autonomous vehicle storage and retrieval systems (AVS/RS). To solve the problem of AGV system under dynamic uncertain environment, we propose a new method by extending the framework of interactive dynamic influence diagrams (I-DIDs) with communication capabilities, called Com-I-DIDs. Our work focuses on the communication and coordination of cooperative agents, with the goal of finding the shortest path policy and achieving the minimization of expected total cost. We first introduces the related works for path planning for AGV, and then presents the new method by extending the I-DIDs model with communication, followed by a case study to solve the path planning problem for AGV in AVS/RS. ? 2011 IEEE

Horizontal Review on Video Surveillance for Smart Cities: Edge Devices, Applications, Datasets, and Future Trends

The automation strategy of today’s smart cities relies on large IoT (internet of Things) systems that collect big data analytics to gain insights. Although there have been recent reviews in this field, there is a remarkable gap that addresses four sides of the problem. Namely, the application of video surveillance in smart cities, algorithms, datasets, and embedded systems. In this paper, we discuss the latest datasets used, the algorithms used, and the recent advances in embedded systems to form edge vision computing are introduced. Moreover, future trends and challenges are addressed

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Exploring the stability of feature selection for imbalanced intrusion detection data

Conference Name:9th IEEE International Conference on Control and Automation, ICCA 2011. Conference Address: Santiago, Chile. Time:December 19, 2011 - December 21, 2011.The class imbalance problem is of great importance to network intrusion detection data. Previous studies on feature selection always evaluate the performance of feature selection process according to the model performance and the size of selected feature subset, which neglect the stability of feature selection. We investigate the problem of the stability of feature selection and study in detail the properties of two state-of-the-art feature selection method, i.e. support vector machine recursive feature elimination (SVM-RFE) and random forest variable importance measures (RF-VIM) on the imbalanced intrusion detection data. Experimental results on KDD Cup 99 network intrusion data show the influence of imbalance rate on the stability of the algorithms, and demonstrate that stability is an important evaluation indicator of algorithm in practical applications of intrusion detection. ? 2011 IEEE