WSEAS CONFERENCES. WSEAS, Unifying the Science

Main Page of the Journal                      All 2008                        Main Page of the WSEAS

August 2007, Sept. 2007, Oct. 2007, Nov. 2007, Dec. 2007, 2008


Issue 9, Volume 2, September 2007
Print ISSN: 1991-8763
E-ISSN: 2224-2856







Title of the Paper:  Optimal Control and Filtering of Weakly Coupled Linear Discrete Stochastic Systems by The Eigenvector Approach


Authors: Naser Prljaca, Zoran Gajic

Abstract: In this paper the regulator and filter algebraic Riccati equations, corresponding to the steady state optimal control and filtering of weakly coupled linear discrete stochastic systems are solved in terms of reduced-order sub problems by using the eigenvector approach. The eigenvector method outperforms iterative methods (fixed point iterations, Newton method) of solutions to reduced-order sub problems in case of higher level of coupling between subsystems. In such cases the iterative methods could fail to produce solutions of the corresponding algebraic Riccati equations.

Keywords: Optimal control, Linear discrete stochastic systems, Weakly coupled systems, Order reduction, Eigenvector method

Title of the Paper: Implementation and Comparison of Contemporary Data ClusteringTechniques for a Multi-Compressor System: a Case Study


Authors: Gursewak S. Brar, Yadwinder S. Brar, Yaduvir Singh

Abstract: This paper gives the implementation and deployment of fuzzy clustering algorithm applied to a process control data along with its comparison to various other clustering algorithms. In this paper, the analysis is carried out for the data as obtained from a multi-compressor system based on the factor of keeping the maximum weighted square error at the minimum level. Also, this paper consists of an algorithm, which groups the data according to fuzzy clustering, considering the intermediate values between zero and one. The paper also outlines the comparison among other clustering algorithms on the basis of various validation parameters there by telling us the importance of fuzzy clustering, which considers all the ambiguity in data to be a part of n- clusters, giving an extra attribute of membership function.

Keywords: Data clustering, Data clustering Algorithms, Data mining, Fuzzy Clustering, Multi-Compressor

Title of the Paper: Function Approximation Based Augmented Backstepping Control for an Induction Machine


Authors: Mohammed Belkheiri, Fares Boudjema

Abstract: A new control approach is proposed to address the tracking problem of an induction machine based on a modified field-oriented control (FOC) method. In this approach, one relies first on a partially known model to the system to be controlled using a backstepping control strategy. The obtained controller is then augmented by an online neural network that serves as an approximator for the neglected dynamics and modeling errors. The proposed approach is systematic, and exploits the known nonlinear dynamics to derive the stepwise virtual stabilizing control laws. At the final step, an augmented Lyapunov function is introduced to derive the adaptation laws of the network weights. The effectiveness of the proposed controller is demonstrated through computer simulation.

Keywords: Induction machine, Nonlinear adaptive control, FOC, backstepping, Neural networks, Function Approximation.

Title of the Paper: Performance of a Research Prototype Humanoid Robot Bonten-Maru II to Attain Human-Like Motions


Authors: Hanafiah Yussof, Mitsuhiro Yamano, Yasuo Nasu, Masahiro Ohka

Abstract: This report presents development of basic human-like motions using a research prototype 21-dof humanoid robot called Bonten-Maru II. The aim is to create suitable motion trajectories towards application of humanoid robots in real environments. Kinematical analysis of 3-dof arm and 6-dof leg were presented to generate trajectory in the robotís arms and legs. To realize human-like motions, we proposed navigation method based on contact interaction for humanoid robot to recognize its surrounding by grasping object surface and then correcting its locomotion direction. We also proposed methods to avoid high and low obstacles. Finally, we present crawling motions which can be applied during operation in emergency sites. The experimental results utilizing Bonten-Maru II revealed good performance of the robot when performing humanlike motions in the proposed navigation method, obstacle avoidance, and crawling motions.

Keywords: Humanoid robot, human-like motions, trajectory generation, kinematics, contact-based navigation, obstacle avoidance, crawling motion

[Journals], [Books], [Conferences], [Research], [Contact us], [Indexing], [Reports], [E-Library], [FAQ],
[Upcoming Conferences with Expired Deadline], [History of the WSEAS Conferences]

Copyright © WSEAS