http://www.ifac-papersonline.net/ en Copyright 06:51 PM Sunday 19, 2013 IFAC-PapersOnline http://www.ifacpapersonline.com 06:51 PM Sunday 19, 2013 06:51 PM Sunday 19, 2013 ET webmaster@ifac-papersonline.net webmaster@ifac-papersonline.net http://www.ifac-papersonline.net/Detailed/52423.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52425.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52427.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52429.html 04:00 PM Wednesday 31, 1969 Networked Control Systems (NCS), especially Wireless Networked Control Systems (WNCS) over mobile networks became more important in research. Using modern mobile devices and new Wide Area Communication Networks to realize remote patient monitoring systems as well as remote patient control systems brings new challenges for todays research. Considering the many possibilities and advantages modern mobile devices offer we have a look of the behavior of these devices in the above mentioned context. The results of this paper show that using wireless and mobile communication networks for NCS's imposes higher round trip times, more jitter and higher packet loss. This leads to challenging circumstances for NCS's and a need for adaptions in the design of a WNCS. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52431.html 04:00 PM Wednesday 31, 1969 Today’s central issues in the healthcare supply make it imperative to develop new concepts to reduce the emerging costs and ensure high quality standards. Applying ICT and especially telemedicine – technologies that offer the chance to optimize medical data transfer – is regarded as the promising strategy, when developing cost saving concepts. As a result, physicians, as recipients of medical data, are confronted with a growing amount of information, called information overload. Therefore information has to be transported according to the principles of information logistics (ILOG). This paper presents preliminary results of a new approach to use complex event processing (CEP) as a vehicle for information logistics processing termed as Telemedical ILOG Listener (TIL) using context to specify the users’ information need. Every telemedical value, like for instance blood-pressure, has to be described as a telemedical event on the basis of HL7 V3, a widespread international standard for data exchange in the healthcare sector. We will define a message type which is able to include the medical data, data necessary for CEP, context and at least data to represent the dimension of ILOG, so it can be processed by a TIL. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52433.html 04:00 PM Wednesday 31, 1969 This paper presents a large-scale teleoperation test by using a multi-channel router. Our test case is information acquisition in emergency situations. The benefits of robots in emergency situations and in environment dangerous for humans is obvious. To be able to teleoperate the robot in an unknown environment a wireless network is usually used. The network must also fullfill some quality constraints to make the teleoperation possible, eg. speed, reliability, delay times, coverage. As the environment can be large one access point for wireless network is not necessary enough. In our test we are using a multi-channel router. Router uses up to three different wireless network that are working on different wireless networks, such as WLAN, 3G, CDMA450/2000. It uses the best network available and in case of a network problem the router changed to another better working wireless network. The multi-channel router worked fine and fullfilled the expectations. The system outline, the used communication system and results made in 0.5 km coverage drive covering two buildings is introduced. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52435.html 04:00 PM Wednesday 31, 1969 In the framework of different projects, various control strategies for climate management in preventive conservation were developed and applied in different applications. Therefore, modern concepts of predictive control and fuzzy objective functions to calculate optimal set points for control circuits in basic automation (temperature and humidity) and to estimate optimal ventilation strategies are in the focus of research. To increase the effectiveness of the development process, the complete power for computational calculations is outsourced on a central server. This paper presents the basics of the predictive control under fuzziness, describes the used structure of data management as well as first results of the web-based approaches of climate management. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52437.html 04:00 PM Wednesday 31, 1969 To decrease the costs associated with repairing errors introduced during the system design, engineers must detect these errors as soon as possible; ideally, in the phase in which they are produced. In Model-Driven Engineering, the models are used to generate automatically large portions of the system implementation, and hence, if there are errors in the models, they are spread onward to the implementation. This work is a first step toward an automatic verification approach for embedded and real-time systems' high-level specifications, such as UML models. A model-driven framework to simulate the execution of system behavior is proposed in order to identify the presence of errors already in early design phases, prior to the implementation phase. The main idea is to allow the simulation of the behavior specified within UML models, from which a trace of the executed actions is created to enable the analysis of the obtained results. This work has been validated in several case studies, including a real-world embedded and real-time system. The achieved results provide indications that early simulation of UML models is practicable, opening room for using the proposed framework in different CASE tools for early verification (based on simulation) of embedded and real-time systems. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52439.html 04:00 PM Wednesday 31, 1969 Nowadays industrial processes demand more complex control systems that must exhibit flexibility and adaptability to changes in the environment. When the system is distributed and thus several controllers are connected by bus segments, it is not trivial to achieve dynamic reconfiguration. This paper addresses how to express controller failure tolerance by means of the design of a supervisor component that tracks continuously if the controllers are online and switch to a backup one a failure is detected. The design of the supervisor is achieved using a model based approach from which the supervisor code skeleton can be generated http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52441.html 04:00 PM Wednesday 31, 1969 This paper presents a temporal characterization for automation systems. The final goal is to achieve a whole model in which a schedulability analysis could be applied in order to assure that this kind of systems meet timing non-functional requirements of the application. This work is performed in the context of a Model Driven Development approach. The definition of three Domain Specific Models: control specification, and hardware and software architectures, is the base for the whole model. In particular, the software domain model uses the XML interface defined by PLCopen for expressing IEC 61131-3 automation projects. The information contained in the model of the application is processed to generate the temporal model of the automation system. A specific transformation of this model makes possible to carry out a schedulability analysis of the system. In particular, this is achieved by generating the specific input model of the well-known Modelling and Analysis Suite for Real-Time Applications, MAST. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52443.html 04:00 PM Wednesday 31, 1969 This paper presents a methodology for the design of supervisors for mode switching systems, one class of hybrid system that frequently appears in industrial process applications. The classical continuous control methods are based on designing controllers that are only valid for an operation point for which are designed. The switching among different controllers can optimize transient response and meet multiple objectives. The main goal of this work is to automatically generate the code of the regulation level loops supervision which will be executed on a Programmable Logic Controller (PLC) and following the guidelines for software development provided by the IEC-61131 standard. The tool developed for achieving this automatic code generation processes information about the process operation, the functional specifications and the control algorithms used in each mode. This information is captured from the different view models of the overall control system and through a user interface. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52445.html 04:00 PM Wednesday 31, 1969 In this paper we describe a method for combining data from multiple on-board sensors to determine a mobile robot pose. An error model for a gyroscope, a dual-axial accelerometer and wheel encoders are derived for estimating the mobile robot’s pose. A tri-axial magnetometer measures the magnetic field strength which is used as a criterion for acceptance of electronic compass readings to correct the azimuth of the mobile robot’s orientation. The errors in each sensor are estimated mutually rather than independently considering each sensor error model. The final estimated pose is used to navigate, guide and control a mobile robot in an indoor environment. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52447.html 04:00 PM Wednesday 31, 1969 Indoor sensor localization is a complex task. In normal circumstances, laser meters, ultrasonic meters or even image processing may be used to estimate the position of a given node at a particular moment. Indoor localization in low-visibility conditions due to smoke is one of the EU GUARDIANS project goals. When smoke density grows, optical sensors are not efficient anymore. In these scenarios other sensors must be studied, such as sonar, radar or radio-frequency signals. The developed multisensor method aims to position a robot in front of doors, fire extinguishers and other points of interest with enough accuracy to, know the doorknob position, grasp it and open the door. In the coarse grain localization, ZigBee and WiFi signals are used to calculate the localization of the robot inside a building and guide it near enough to the point of interest to glimpse a programmable high intensity LED panel. Then, smoke detection and visual fine grained localization are used to position the robot with precision. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52449.html 04:00 PM Wednesday 31, 1969 This paper describes the new version of the communication framework called GIMnet. GIMnet is essentially a service based communication middleware for building distributed applications. The focus on the architectural design has been on robotic applications. GIMnet provides an abstraction layer over TCP/IP and combines the client-server model with the peer-to-peer model to provide an ecient and yet exible interface for communication. From an application point-of-view, GIMnet provides a virtual private network (VPN) in which all participating nodes may communicate point-to-point using simple name designators for addressing. We present the changes to the original system as well as their justications. In addition, an extensive set of performance test results is presented and analyzed. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52451.html 04:00 PM Wednesday 31, 1969 Since many years, roboticists are working to bring robots in our everyday lives, but only few robotic applications have reached this market. Among the reasons for this are the high costs of design and prototyping of such innovative products. Looking at the steps needed to develop new robotic applications, we identified as a major problem the lack of tools and devices targeted to rapid robot prototyping. As a consequence, the resources, either time or money, that should be invested into the development of a new idea get drained by the building of a working prototype to eventually test the idea on. In this paper, we present R2P, an open source modular architecture for rapid prototyping of robotic applications, which aims at speeding up their development. R2P is an open source modular hardware and software architecture, where off-the-shelf basic modules (e.g., sensors, actuators, controllers) are combined together in a plug-and-play way, with tools for an easy development of control software, allowing the implementation of a complex system in a simple and standardized way. R2P allows people involved in robotics, from researchers and designers to students and hobbyists, to dramatically reduce the time and efforts required to build a robot prototype, leaving much more resources to the development of new robotic applications. In this paper, we describe R2P in its main components showing how it can really help in the development of a robot prototype. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52453.html 04:00 PM Wednesday 31, 1969 Fundamental stage of a cost-benefit analysis (CBA) for planned investment projects in transport including ITS systems is the traffic analysis and traffic forecasting. In the article there were presented analytical complexity of 4-step travel demand/land use model. As example presented model for 13 cities of Upper-Silesian Agglomeration (Poland) which has a road net and a public transportation network (tram, bus and railway) of a great density. It is worth to underline that this is one of the biggest models of transport networks in Poland - regarding size of modelled area and number of cities of which transport systems were represented. In the new mobility culture (Green Paper (2007)) five challenges have been identified and presented in this article. Also user services of ITS architecture have been presented. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52455.html 04:00 PM Wednesday 31, 1969 In this paper, the core objective is to show how far a local and ultra-fast optimal control of the traffic signals is possible by involving a computing paradigm based on cellular neural networks (CNN). The first important issue is a systematic reformulation of the basic problem to make it solvable by a CNN processor. CNN has the advantage of being extremely fast while solving even nonlinear complex problems. CNN can further be easily implemented on embedded hardware platforms (especially FPGA and GPU).A further advantage of a CNN based computing is that one can consider the full model in all its nonlinearity and complexity; CNN does cope with both aspects robustly. In the core, we are building a novel neurocomputing based adaptive local traffic control concept that will be extended in a next step for an “area traffic control”, where the proactively optimized coordinated control of many junctions either in an urban context or on the highways will be in the focus of the CNN based optimization. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52457.html 04:00 PM Wednesday 31, 1969 An overall knowledge of the current traffic state is a prerequisite for a functioning traffic management both in private and public transport. Today, the acquisition of traffic data is performed mostly by stationary systems. Typically, induction loops, radar detectors, laser scanners, passive infrared detectors and also image processing systems are used for this purpose. Supplementary, floating cars, which act as mobile traffic sensors, transfer their traffic data speed and position. In Germany, stationary induction loops at traffic lights are the common devices for the acquisition of traffic data, though the underlying purpose of these systems is to enable a traffic actuated control of traffic lights. Because such measuring points are rather rare compared to a whole inner-city road network, complex models are applied in order to conclude the entire traffic state from the limited amount of data measured. Furthermore, coping with climate changes and protecting the environment plays a more and more significant role. New environmental laws and guidelines in Europe force politics and economy to act which requires e.g. innovative concepts for traffic management. Target-oriented information can save lives, protect infrastructures, increase safety and save energy. In order to gain this information, a modular, close-meshed data acquisition network is necessary for the cost-efficient capture of traffic and environmental data. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52459.html 04:00 PM Wednesday 31, 1969 A precise knowledge of the dynamic origin-destination (OD) matrix within a road network is very useful for various planning and operations tasks related to modern road traffic control schemes of the second and third generations. This OD matrix indicates the traffic ows between a specic origin and a specic destination. In this paper, we consider the local traffic ows between a specic intersection and its immediate neighboring intersections and we do thereby estimate the respective split and turn probabilities by involving a Hidden Markov Model (HMM). A simple scenario is considered for illustration purposes; hereby a scenario is taken where each street has two lanes and respective loop detectors at the junctions. The traffic ow on each lane is considered individually. The proposed model is evaluated in a rst series of experiments for which, however, the traffic has been generated by random generators. Nevertheless it is sufficient for a "proof of concept". Next steps (work-in-progress) will be a) to involve traffic data generated by a microscopic simulator (e.g. VISSIM), and b) involve real traffic data collected from the field. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52461.html 04:00 PM Wednesday 31, 1969 Traffic management systems are used to improve traffic flow, to provide current information on public transport systems and to optimise the use of the existing infrastructure. Although these systems can only reach an improvement within the capacity provided by the existing infrastructure, communication and cooperation between vehicles and infrastructure are becoming more and more important. Intelligent Transport Systems (ITS) apply information and communication technologies to transport. Telematic systems, satellite positioning (GNSS) and mobile communication (GSM/GPRS/UMTS and WLAN) technologies and sensor networks are playing an increasingly important role in transport systems. The main innovation is the integration of existing technologies to create new services. ITS can be applied in every transport mode (road, rail, air, water) and services can be used by both passenger and freight transport. This paper describes the current efforts of the German Federal State of Saxony-Anhalt to develop and deploy Cooperative and Intelligent Transport Systems (ITS) for Road Transport and Public Transport in Saxony-Anhalt based on an ITS Master Plan. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52463.html 04:00 PM Wednesday 31, 1969 This paper considers the stability analysis of periodic Takagi-Sugeno fuzzy models. For this we use a switching Lyapunov function defined at the time instants when the subsystems switch. Using the developed conditions we are able to prove the stability of periodic TS systems where the local models or even the subsystems are unstable. The application of the conditions is illustrated on numerical examples. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52465.html 04:00 PM Wednesday 31, 1969 This work proposes an algorithm to obtain a predefined-shape zone as large as possible, belonging to the local domain of attraction of a nonlinear system. In order to do it, fuzzy polynomial models will be used which analysis can be done by convex optimization (sum of squares). Most fuzzy control papers check LMI or SOS stability conditions for Takagi-Sugeno fuzzy models and, if feasibility is reached, forget to study the obtained region and its relationship with the original nonlinear problem. Having into account the shape of the membership functions in a particular region of interest, less conservative stability and stabilization conditions can be easily set up for doing iterations with the fuzzy modelling region in order to maximize the proved basin of attraction. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52467.html 04:00 PM Wednesday 31, 1969 This paper suggests the application of Charged System Search (CSS) algorithms to the optimal tuning of PI controllers. The presentation is focused on a class of second-order processes with an integral component and variable parameters. The CSS algorithms solve the optimization problems which aim the minimization of objective functions expressed as the integral of squared control error augmented by the integral of squared output sensitivity functions. The expressions of the output sensitivity functions are derived from the state sensitivity models of the control systems with respect to process gain variations. The optimal tuning of PI controllers is proposed such that to ensure a reduced sensitivity with respect to process gain variations. A case study is included to illustrate the application of the new CSS algorithms and to compare it with a Particle Swarm Optimization and a Gravitational Search Algorithm. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52469.html 04:00 PM Wednesday 31, 1969 This paper discusses variable signal delays and stochastic packet dropouts within closed loop Networked Control Systems (NCS). A special focus is dedicated to uncertain or partly unknown transition probabilities and the solution of the bilinear controller design problem. In addition, this approach is extended to the design of state observers. A numerical example is given to demonstrate the effectiveness of the controller design, while the observer based approach is applied to an inverted pendulum experiment. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52471.html 04:00 PM Wednesday 31, 1969 When used for function approximation purposes, neural networks belong to a class of models whose parameters can be separated into linear and nonlinear, according to their influence in the model output. This concept of parameter separability can also be applied when the training problem is formulated as the minimization of the integral of the (functional) squared error, over the input domain. Using this approach, the computation of the gradient involves terms that are dependent only on the model and the input domain, and terms which are the projection of the target function on the basis functions and on their derivatives with respect to the nonlinear parameters, over the input domain. These later terms can be numerically computed with the data. The use of the functional approach is introduced here for B-splines. An example shows that, besides great computational complexity savings, this approach obtains better results than the standard, discrete technique, as the performance surface employed is more similar to the one obtained with the function underlying the data. In some cases, as shown in the example, a complete analytical solution can be found. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif