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Information, Communication and Automation Technologies (ICAT), 2011 XXIII International Symposium on

Date 27-29 Oct. 2011

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Displaying Results 1 - 25 of 61
  • [Front cover]

    Publication Year: 2011, Page(s): c1
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  • [Title page]

    Publication Year: 2011, Page(s):1 - 2
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  • [Copyright notice]

    Publication Year: 2011, Page(s): 1
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  • Table of contents

    Publication Year: 2011, Page(s):1 - 6
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  • Conference information

    Publication Year: 2011, Page(s):1 - 11
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  • Convergence analysis for a class of source separation methods

    Publication Year: 2011, Page(s):1 - 6
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (163 KB) | HTML iconHTML

    Blind Source Separation (BSS) is a topic of interest in different fields of information processing with a large span of applications, e.g., in communications, pattern recognition, brain activity monitoring and audio processing. This article reviews some convergence analysis results for parallel BSS algorithms that are used for the simultaneous extraction of sources. The emphasis will be on two maj... View full abstract»

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  • Reduced order dynamics and stability of a parallel manipulator through bond-graph technique

    Publication Year: 2011, Page(s):1 - 8
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1703 KB) | HTML iconHTML

    Dynamic characteristics of complex systems are very important for control system design. This paper represents the differences between full and reduced order dynamical models of a generalized Stewart Platform Mechanism. Full model includes all the dynamics, gravity effects, viscous friction at the joints and the linear motor dynamics. Reduced order dynamics includes all the dynamics of full system... View full abstract»

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  • Development of microgripper system

    Publication Year: 2011, Page(s):1 - 7
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (671 KB) | HTML iconHTML

    The paper presents the experimental development of micro/nano robotic cell for assembling the micro objects. Three techniques for gripping of micro objects with micro/nano robot are presented. The first one uses a two finger gripper and is suitable for objects which are greater than 100 μm. The next technique uses the micro tube for development of pneumatic gripper and can be used for objec... View full abstract»

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  • Path finding simulator for mobile robot navigation

    Publication Year: 2011, Page(s):1 - 6
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (383 KB) | HTML iconHTML

    This work considers the whole process of making a path finding simulator for Pioneer 3DX mobile robot. This simulator needs to be provided implementation of various optimal path finding algorithms and make their comparisons. For this purpose a software solution (GUI in Matlab) has been designed and tested. The simulator allows selecting mazes, different starting and finishing nodes and algorithms.... View full abstract»

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  • Operating characteristics of a passive, bidirectional overrunning clutch for rotary joints of robots

    Publication Year: 2011, Page(s):1 - 7
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2827 KB) | HTML iconHTML

    For the development of robots the mode of assembly and the effectiveness of their joints are of elementary significance. To enable powerful movements, strong torques are required which, when employing electromechanical actuators, are generated by high-capacity motors in combination with adequate speed transformations. Furthermore, such drive systems have to withstand even very high external loads ... View full abstract»

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  • The path planning algorithms for a mobile robot based on the occupancy grid map of the environment — A comparative study

    Publication Year: 2011, Page(s):1 - 8
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1698 KB) | HTML iconHTML

    This paper presents a comparative study of three algorithms that use occupancy grid map of environments to find a path for a mobile robot from the given start to the goal - the D*, Two Way D* (TWD*) and E*. All three algorithms have ability of dynamic replanning in case of changes in the environment. The D* algorithm produces a path consisted of line segments that have discrete transitions between... View full abstract»

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  • Safe motion planning for articulated robots using RRTs

    Publication Year: 2011, Page(s):1 - 7
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1326 KB) | HTML iconHTML

    We present a sampling-based motion planning approach for articulated manipulators that generates safe paths. It uses the rapidly-exploring random trees paradigm to establish a collision-free path in configuration space. The expansion of the trees is influenced by a modified version of the kinetostatic danger field - a safety assessment function recently proposed in the literature. The idea is to g... View full abstract»

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  • SmartLeg: An intelligent active robotic prosthesis for lower-limb amputees

    Publication Year: 2011, Page(s):1 - 7
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4502 KB) | HTML iconHTML

    In recent years, there has been a worldwide interest in improvement of mobility of people with lower limb amputation. In spite of significant development of new technologies during the last decade, commercial below-knee and above-knee prostheses are still energetically passive devices. However, many locomotive functions, like walking up stairs and slopes, need significant power in knee and ankle j... View full abstract»

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  • Optimal torque control of the Interior Permanent Magnet Synchronous Machine

    Publication Year: 2011, Page(s):1 - 8
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (407 KB) | HTML iconHTML

    The basic function of any type of electric machine used in automotive powertrain is to propel the automobile in motor mode or to recharge the high-voltage battery in generator mode. The torque control of electric machine in motor and generator modes, using more efficient high-voltage battery, is a goal for automotive industry. The entire control structure must be designed so as to take into accoun... View full abstract»

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  • Decentralized set-valued state estimation based on non-deterministic chains

    Publication Year: 2011, Page(s):1 - 6
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1191 KB) | HTML iconHTML

    A general decentralized computational framework for set-valued state estimation and prediction for systems that assume a hybrid state machine representation is introduced in this article. The decentralized scheme consists of a conjunction of a finite set of distributed state machines that are specified by a decomposition of the external signal space. While, in general, the latter is shown to be an... View full abstract»

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  • Using behavior models for anomaly detection in hybrid systems

    Publication Year: 2011, Page(s):1 - 8
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (262 KB) | HTML iconHTML

    The importance of safety and reliability in today's real-world complex hybrid systems, such as process plants, led to the development of various anomaly detection and diagnosis techniques. Model-based approaches established themselves among the most successful ones in the field. However, they depend on a model of a system, which usually needs to be derived manually. Manual modeling requires a lot ... View full abstract»

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  • Nonlinear model predictive control of a benchmark nonlinear boiler

    Publication Year: 2011, Page(s):1 - 6
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (243 KB) | HTML iconHTML

    This paper presents a case study of nonlinear model predictive control (NMPC) applied to a benchmark nonlinear boiler model. The motivation for NMPC is that if the controlled plant exhibits nonlinear behavior, a linear controller based on a linearized model may often be unable to achieve satisfactory performance. The case study in this paper, a power plant boiler, exhibits significant nonlineariti... View full abstract»

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  • Nonlinear observer design for a class of Lipschitz time-delay systems with unknown inputs: LMI approach

    Publication Year: 2011, Page(s):1 - 5
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (202 KB) | HTML iconHTML

    In this paper, we consider a method to design a full-order nonlinear observer for a class of nonlinear time-delay systems with unknown inputs. Based on Lyapunov-Krasovskii functional, we derive a sufficient condition for existence of the designed observer which requires solving a set of nonlinear matrix inequalities. Then, the achieved condition is formulated in terms of two linear matrix inequali... View full abstract»

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  • New edge sorting criterion for maximum clique search algorithm in unit disk graphs

    Publication Year: 2011, Page(s):1 - 6
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (227 KB) | HTML iconHTML

    Unit disk graphs (UDG) are a natural choice for wireless network modeling. However, complex UDG algorithms with a long processing time could be ineffective because of nodes mobility and the lack of processing power of the nodes. Therefore, they should be adapted for use in wireless networks. In this paper we present an accelerated algorithm for maximum clique in UDG using simple calculations. The ... View full abstract»

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  • New forensic method for measuring dynamic changes of EMF level limits using smart dust

    Publication Year: 2011, Page(s):1 - 5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1038 KB) | HTML iconHTML

    Devices and appliances such as transformers, mobile phones and GSM antennas, or electro motors, produce, electromagnetic fields (EMF) around them during their operation. According to an International Commission on Non-Ionizing Radiation Protection (ICNIRP) levels above 2000 milligauss (mG) or 200 microtesla (μT) for occupants in general premises are considered as dangerous for human health.... View full abstract»

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  • Generalized orthogonalization method for finite discrete signals and its application

    Publication Year: 2011, Page(s):1 - 6
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (247 KB) | HTML iconHTML

    The problem of finding a pair of biorthogonal functions for the case of finite and discrete signals is considered. Starting from two initial functions which are not necessarily biorthogonal, a general procedure to construct biorthogonal ones is given. Compared to previous orthogonalization methods, this method is more general, flexible and also more systematic. Numerical results are also given to ... View full abstract»

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  • A control engineering perspective to radio resource management challenges in emerging cellular/“noncellular” radio systems

    Publication Year: 2011, Page(s):1 - 8
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (265 KB) | HTML iconHTML

    The technological evolution of the wireless cellular systems has been very rapid in last two decades. In the coming decade of “converging wireless networks/systems/ecosystems”, there is an increasing demand on achieving very high data rates ubiquitously even with high mobile speeds as if we connected to a wired ADSL! Radio Resource Management (RRM) for the emerging wireless systems w... View full abstract»

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  • Real-time co-operative decision making & control systems

    Publication Year: 2011, Page(s):1 - 10
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (554 KB) | HTML iconHTML

    Learning and adaptability (and thus the ability of being co-operative) are important features of decision & control systems. This paper investigates decision making and control concepts that enable human beings and artificial beings to interact and co-operate in real time in a dynamic and reliable way. It examines the aspects of being co-operative and substitutable in the context of: (i) co-op... View full abstract»

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  • Full Wave Analysis in 3D laser scans for vegetation detection in urban environments

    Publication Year: 2011, Page(s):1 - 7
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2130 KB) | HTML iconHTML

    This paper presents a novel technique for detecting vegetation of virtually all forms in terrestrial laser scanning data of urban environments. We make use of a modern laser range finder capability to measure multiple echoes per laser pulse via Full Wave Analysis. The algorithm is able to efficiently, i.e., less than acquisition time, identify vegetation to a high degree of accuracy (more than 99 ... View full abstract»

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  • Efficient processing of large 3D point clouds

    Publication Year: 2011, Page(s):1 - 7
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (254 KB) | HTML iconHTML

    Autonomous robots equipped with laser scanners acquire data at an increasingly high rate. Registration, data abstraction and visualization of this data requires the processing of a massive amount of 3D data. The increasing sampling rates make it easy to acquire Billions of spatial data points. This paper presents algorithms and data structures for handling this data. We propose an efficient octree... View full abstract»

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