Search results for: real time control

Authors: Xiangbin Zhu

Abstract:

EDF (Early Deadline First) algorithm is a very important scheduling algorithm for real- time systems . The EDF algorithm assigns priorities to each job according to their absolute deadlines and has good performance when the real-time system is not overloaded. When the real-time system is overloaded, many misdeadlines will be produced. But these misdeadlines are not uniformly distributed, which usually focus on some tasks. In this paper, we present an adaptive fuzzy control scheduling based on EDF algorithm. The improved algorithm can have a rectangular distribution of misdeadline ratios among all real-time tasks when the system is overloaded. To evaluate the effectiveness of the improved algorithm, we have done extensive simulation studies. The simulation results show that the new algorithm is superior to the old algorithm.

Keywords: Fuzzy control, real-time systems, EDF, misdeadline ratio.

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Authors: Yuki Kondo, Takanori Nagano, Yuki Takeda, Young-Bok Choi, Hiromi Okada

Abstract:

Optical burst switching(OBS) is considered as one of preferable network technologies for the next generation Internet. The Internet has two traffic classes, i.e. real-time bursts and reliable bursts. It is an important subject for OBS to achieve cooperated operation of real-time bursts and reliable bursts. In this paper, we proposes a new effective traffic control method named Separate TB+LB (Token Bucket + Leaky Bucket : TB+LB) method. The proposed method presents a new Token Bucket scheme for real-time bursts called as RBO-TB (Real-time Bursts Oriented Token Bucket). The method also applies the LB method to reliable bursts for obtaining better performance. This paper verifies the effectiveness of the Separate TB+LB method through the performance evaluation.

Keywords: leaky bucket, OBS, traffic control, token bucket.

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Authors: C. Pacheco, A. Cipriano

Abstract:

A new concept of response system is proposed for filling the gap that exists in reducing vulnerability during immediate response to natural disasters. Real Time Early Response Systems (RTERSs) incorporate real time information as feedback data for closing control loop and for generating real time situation assessment. A review of the state of the art on works that fit the concept of RTERS is presented, and it is found that they are mainly focused on manmade disasters. At the same time, in response phase of natural disaster management many works are involved in creating early warning systems, but just few efforts have been put on deciding what to do once an alarm is activated. In this context a RTERS arises as a useful tool for supporting people in their decision making process during natural disasters after an event is detected, and also as an innovative context for applying well-known automation technologies and automatic control concepts and tools.

Keywords: Disaster management, emergency response system, natural disasters, real time.

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Authors: Yongxian Jin, Jingzhou Huang

Abstract:

In an open real-time system environment, the coexistence of different kinds of real-time and non real-time applications makes the system scheduling mechanism face new requirements and challenges. One two-level scheduling scheme of the open real-time systems is introduced, and points out that hard and soft real-time applications are scheduled non-distinctively as the same type real-time applications, the Quality of Service (QoS) cannot be guaranteed. It has two flaws: The first, it can not differentiate scheduling priorities of hard and soft real-time applications, that is to say, it neglects characteristic differences between hard real-time applications and soft ones, so it does not suit a more complex real-time environment. The second, the worst case execution time of soft real-time applications cannot be predicted exactly, so it is not worth while to cost much spending in order to assure all soft real-time applications not to miss their deadlines, and doing that may cause resource wasting. In order to solve this problem, a novel two-level real-time scheduling mechanism (including scheduling profile and scheduling algorithm) which adds the process of dealing with soft real-time applications is proposed. Finally, we verify real-time scheduling mechanism from two aspects of theory and experiment. The results indicate that our scheduling mechanism can achieve the following objectives. (1) It can reflect the difference of priority when scheduling hard and soft real-time applications. (2) It can ensure schedulability of hard real-time applications, that is, their rate of missing deadline is 0. (3) The overall rate of missing deadline of soft real-time applications can be less than 1. (4) The deadline of a non-real-time application is not set, whereas the scheduling algorithm that server 0 S uses can avoid the “starvation" of jobs and increase QOS. By doing that, our scheduling mechanism is more compatible with different types of applications and it will be applied more widely.

Keywords: Hard real-time, two-level scheduling profile, open real-time system, non-distinctive schedule, soft real-time

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Authors: Taweepol Suesut, Arjin Numsomran, Vittaya Tipsuwanporn

Abstract:

This paper presents the communication network for machine vision system to implement to control systems and logistics applications in industrial environment. The real-time distributed over the network is very important for communication among vision node, image processing and control as well as the distributed I/O node. A robust implementation both with respect to camera packaging and data transmission has been accounted. This network consists of a gigabit Ethernet network and a switch with integrated fire-wall is used to distribute the data and provide connection to the imaging control station and IEC-61131 conform signal integration comprising the Modbus TCP protocol. The real-time and delay time properties each part on the network were considered and worked out in this paper.

Keywords: Distributed Real-Time Automation, Machine Visionand Ethernet.

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Authors: Amin Zabihinejad, Philippe Viarouge

Abstract:

In this paper, a direct power control (DPC) strategies have been investigated in order to control a high power AC/DC converter with time variable load. This converter is composed of a three level three phase neutral point clamped (NPC) converter as rectifier and an H-bridge four quadrant current control converter. In the high power application, controller not only must adjust the desire outputs but also decrease the level of distortions which are injected to the network from the converter. Regarding to this reason and nonlinearity of the power electronic converter, the conventional controllers cannot achieve appropriate responses. In this research, the precise mathematical analysis has been employed to design the appropriate controller in order to control the time variable load. A DPC controller has been proposed and simulated using Matlab/ Simulink. In order to verify the simulation result, a real time simulator- OPAL-RT- has been employed. In this paper, the dynamic response and stability of the high power NPC with variable load has been investigated and compared with conventional types using a real time simulator. The results proved that the DPC controller is more stable and has more precise outputs in comparison with conventional controller.

Keywords: Direct Power Control, Three Level Rectifier, Real Time Simulator, High Power Application.

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Authors: Pearl Goswell, Jun Jo

Abstract:

Creating3D environments, including characters and cities, is a significantly time consuming process due to a large amount of workinvolved in designing and modelling.There have been a number of attempts to automatically generate 3D objects employing shape grammars. However it is still too early to apply the mechanism to real problems such as real-time computer games.The purpose of this research is to introduce a time efficient and cost effective method to automatically generatevarious 3D objects for real-time 3D games. This Shape grammar-based real-time City Generation (RCG) model is a conceptual model for generating 3Denvironments in real-time and can be applied to 3D gamesoranimations. The RCG system can generate even a large cityby applying fundamental principles of shape grammars to building elementsin various levels of detailin real-time.

Keywords: real-time city generation, shape grammars, 3D games, 3D modelling.

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Authors: Yamamah Abdulrazaq, Lahieb A. Abrahim, Samuel E. Davies, Iain Shewring

Abstract:

Electric water heater (EWH) is a powerful appliance that uses electricity in residential, commercial, and industrial settings, and the ability to control them properly will result in cost savings and the prevention of blackouts on the national grid. This article discusses the usage of timers in EWH control strategies for demand-side management (DSM). To the authors' knowledge, there is no systematic mapping review focusing on the utilization of EWH control strategies in DSM has yet been conducted. Consequently, the purpose of this research is to identify and examine main papers exploring EWH procedures in DSM by quantifying and categorizing information with regard to publication year and source, kind of methods, and source of data for monitoring control techniques. In order to answer the research questions, a total of 31 publications published between 1999 and 2023 were selected depending on specific inclusion and exclusion criteria. The data indicate that direct load control (DLC) has been somewhat more prevalent than indirect load control (ILC). Additionally, the mix method is much lower than the other techniques, and the proportion of real-time data (RTD) to non-real-time data (NRTD) is about equal.

Keywords: Demand side management, direct load control, electric water heater, indirect load control, non-real-time data, real time data.

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Authors: Shinpei Kato, Nobuyuki Yamasaki

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This paper proposes a scheduling scheme using feedback control to reduce the response time of aperiodic tasks with soft real-time constraints. We design an algorithm based on the proposed scheduling scheme and Total Bandwidth Server (TBS) that is a conventional server technique for scheduling aperiodic tasks. We then describe the feedback controller of the algorithm and give the control parameter tuning methods. The simulation study demonstrates that the algorithm can reduce the mean response time up to 26% compared to TBS in exchange for slight deadline misses.

Keywords: Real-Time Systems, Aperiodic Task Scheduling, Feedback-Control Scheduling, Total Bandwidth Server.

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Authors: Marco Soares dos Santos, Camila Nicola Boeri, Jorge Augusto Ferreira, Fernando Neto da Silva

Abstract:

The highly nonlinear characteristics of drying processes have prompted researchers to seek new nonlinear control solutions. However, the relation between the implementation complexity, on-line processing complexity, reliability control structure and controller-s performance is not well established. The present paper proposes high performance nonlinear fuzzy controllers for a real-time operation of a drying machine, being developed under a consistent match between those issues. A PCI-6025E data acquisition device from National Instruments® was used, and the control system was fully designed with MATLAB® / SIMULINK language. Drying parameters, namely relative humidity and temperature, were controlled through MIMOs Hybrid Bang-bang+PI (BPI) and Four-dimensional Fuzzy Logic (FLC) real-time-based controllers to perform drying tests on biological materials. The performance of the drying strategies was compared through several criteria, which are reported without controllers- retuning. Controllers- performance analysis has showed much better performance of FLC than BPI controller. The absolute errors were lower than 8,85 % for Fuzzy Logic Controller, about three times lower than the experimental results with BPI control.

Keywords: Drying control, Fuzzy logic control, Intelligent temperature-humidity control.

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Authors: J. Kasigwa, V. Baryamureeba, D. Williams

Abstract:

The goal of admission control is to support the Quality of Service demands of real-time applications via resource reservation in IP networks. In this paper we introduce a novel Dynamic Admission Control (DAC) mechanism for IP networks. The DAC dynamically allocates network resources using the previous network pattern for each path and uses the dynamic admission algorithm to improve bandwidth utilization using bandwidth brokers. We evaluate the performance of the proposed mechanism through trace-driven simulation experiments in view point of blocking probability, throughput and normalized utilization.

Keywords: Bandwidth broker, dynamic admission control(DAC), IP networks, quality of service, real-time flows.

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Authors: Francisco J. Lopez-Jaquez, Sandra E. Ramirez-Jara

Abstract:

This paper presents an implementation and performance test of a distributed motion control system based on a master-slave configuration used to move a plasma-cutting torch over a predefined trajectory. The master is a general-purpose computer running on an open source operating system platform and software developer. Software running in the master computer generates commands on real time and we measure performance based on a selected set of differences between expected and observed distances. We are testing the null hypothesis that the outcome trajectory is identical to the input against the alternative hypothesis that there is a shift to the right or left of the input one. We used the Wilcoxon signed ranks test method for the hypothesis test.

Keywords: Distributed, motion, control, real-time, contouring.

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Authors: Pingping Zhang, Yanpeng Cai, Jianlong Wang

Abstract:

Stormwater storage tank (SST) is a popular low impact development technology for reducing stormwater runoff in the construction of sponge city. At present, it is difficult to perform the automatic control of SST for reducing peak flow. In this paper, fuzzy control was introduced into the peak control of SST to improve the efficiency of reducing stormwater runoff. Firstly, the design of SST was investigated. A catchment area and a return period were assumed, a SST model was manufactured, and then the storage capacity of the SST was verified. Secondly, the control parameters of the SST based on reducing stormwater runoff were analyzed, and a schematic diagram of real-time control (RTC) system based on peak control SST was established. Finally, fuzzy control system of a double input (flow and water level) and double output (inlet and outlet valve) was designed. The results showed that 1) under the different return periods (one year, three years, five years), the SST had the effect of delayed peak control and storage by increasing the detention time, 2) rainfall, pipeline flow, the influent time and the water level in the SST could be used as RTC parameters, and 3) the response curves of flow velocity and water level fluctuated very little and reached equilibrium in a short time. The combination of online monitoring and fuzzy control was feasible to control the SST automatically. This paper provides a theoretical reference for reducing stormwater runoff and improving the operation efficiency of SST.

Keywords: Stormwater runoff, stormwater storage tank, real-time control, fuzzy control.

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Authors: Imran Ahmed, Muhammad Islam, Syed Inayat Ali Shah, Awais Adnan

Abstract:

The identification and classification of weeds are of major technical and economical importance in the agricultural industry. To automate these activities, like in shape, color and texture, weed control system is feasible. The goal of this paper is to build a real-time, machine vision weed control system that can detect weed locations. In order to accomplish this objective, a real-time robotic system is developed to identify and locate outdoor plants using machine vision technology and pattern recognition. The algorithm is developed to classify images into broad and narrow class for real-time selective herbicide application. The developed algorithm has been tested on weeds at various locations, which have shown that the algorithm to be very effectiveness in weed identification. Further the results show a very reliable performance on weeds under varying field conditions. The analysis of the results shows over 90 percent classification accuracy over 140 sample images (broad and narrow) with 70 samples from each category of weeds.

Keywords: Weed detection, Image Processing, real-timerecognition, Standard Deviation.

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Authors: Lata Kiran Dey, Rajendra Kumar, Biren Karmakar

Abstract:

Web Real-Time Communications is a collection of standards, and protocols, which provide real-time communications capabilities between web browsers and devices. This paper outlines the design and further implementation of a web real-time communications method on a secure web application having audio and video call capabilities. This proposed application may put up a system that will be able to work over both desktop as well as mobile browsers. Web Real-Time Communications (WebRTC) also gives a set of JavaScript standard Real-Time Communications (RTC) Application Programming Interfaces (APIs), which primarily work over the RTC framework. This helps to build a suitable communication application, which enables the audio, video, and message transfer between today’s modern browsers having WebRTC support.

Keywords: WebRTC, Session Initiation Protocol, SIP, RTC, JavaScript, Secure Real Time Protocol, SRTP, Secure Web Sockets, Browser.

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Authors: Yong-can Cao, Wei-dong Zhang

Abstract:

To deal with random delays in Networked Control System (NCS), Modified Fuzzy PID Controller is introduced in this paper to implement real-time control adaptively. Via adjusting the control signal dynamically, the system performance is improved. In this paper, the design process and the ultimate simulation results are represented. Finally, examples and corresponding comparisons prove the significance of this method.

Keywords: Fuzzy Control, Networked Control System, PID, Random Delays

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Authors: A. Ukaew, C. Chauypen

Abstract:

Design concepts of real-time embedded system can be realized initially by introducing novel design approaches. In this literature, model based design approach and in-the-loop testing were employed early in the conceptual and preliminary phase to formulate design requirements and perform quick real-time verification. The design and analysis methodology includes simulation analysis, model based testing, and in-the-loop testing. The design of conceptual driveby- wire, or DBW, algorithm for electronic control unit, or ECU, was presented to demonstrate the conceptual design process, analysis, and functionality evaluation. The concepts of DBW ECU function can be implemented in the vehicle system to improve electric vehicle, or EV, conversion drivability. However, within a new development process, conceptual ECU functions and parameters are needed to be evaluated. As a result, the testing system was employed to support conceptual DBW ECU functions evaluation. For the current setup, the system components were consisted of actual DBW ECU hardware, electric vehicle models, and control area network or CAN protocol. The vehicle models and CAN bus interface were both implemented as real-time applications where ECU and CAN protocol functionality were verified according to the design requirements. The proposed system could potentially benefit in performing rapid real-time analysis of design parameters for conceptual system or software algorithm development.

Keywords: Drive-by-wire ECU, in-the-loop testing, modelbased design, real-time embedded system.

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Authors: U. Tancredi, D. Accardo, M. Grassi, G. Fasano, A. E. Tirri, A. Vitale, N. Genito, F. Montemari, L. Garbarino

Abstract:

The development of guidance, navigation and control algorithms and avionic procedures requires the disposability of suitable analysis and verification tools, such as simulation environments, which support the design process and allow detecting potential problems prior to the flight test, in order to make new technologies available at reduced cost, time and risk. This paper presents a simulation environment for avionic software development and qualification, especially aimed at equipment for general aviation aircrafts and unmanned aerial systems. The simulation environment includes models for short and medium-range radio-navigation aids, flight assistance systems, and ground control stations. All the software modules are able to simulate the modeled systems both in fast-time and real-time tests, and were implemented following component oriented modeling techniques and requirement based approach. The paper describes the specific models features, the architectures of the implemented software systems and its validation process. Performed validation tests highlighted the capability of the simulation environment to guarantee in real-time the required functionalities and performance of the simulated avionics systems, as well as to reproduce the interaction between these systems, thus permitting a realistic and reliable simulation of a complete mission scenario.

Keywords: ADS-B, avionics, NAVAIDs, real time simulation, TCAS, UAS ground control station.

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Authors: Chih-Jer Lin, Chun-Ying Lee, Chiang-Ho Cheng, Geng-Fung Chen

Abstract:

This paper investigates experimental studies on vibration suppression for a cantilever beam using an Electro-Rheological (ER) sandwich shock absorber. ER fluid (ERF) is a class of smart materials that can undergo significant reversible changes immediately in its rheological and mechanical properties under the influence of an applied electric field. Firstly, an ER sandwich beam is fabricated by inserting a starch-based ERF into a hollow composite beam. At the same time, experimental investigations are focused on the frequency response of the ERF sandwich beam. Second, the ERF sandwich beam is attached to a cantilever beam to become as a shock absorber. Finally, a fuzzy semi-active vibration control is designed to suppress the vibration of the cantilever beam via the ERF sandwich shock absorber. To check the consistency of the proposed fuzzy controller, the real-time implementation validated the performance of the controller.

Keywords: Electro-Rheological Fluid, Semi-active vibration control, shock absorber, fuzzy control, Real-time control.

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Authors: Kawtar Benghazi Akhlaki, Manuel I. Capel-Tuñón

Abstract:

UML is a collection of notations for capturing a software system specification. These notations have a specific syntax defined by the Object Management Group (OMG), but many of their constructs only present informal semantics. They are primarily graphical, with textual annotation. The inadequacies of standard UML as a vehicle for complete specification and implementation of real-time embedded systems has led to a variety of competing and complementary proposals. The Real-time UML profile (UML-RT), developed and standardized by OMG, defines a unified framework to express the time, scheduling and performance aspects of a system. We present in this paper a framework approach aimed at deriving a complete specification of a real-time system. Therefore, we combine two methods, a semiformal one, UML-RT, which allows the visual modeling of a realtime system and a formal one, CSP+T, which is a design language including the specification of real-time requirements. As to show the applicability of the approach, a correct design of a real-time system with hard real time constraints by applying a set of mapping rules is obtained.

Keywords: CSP+T, formal software specification, process algebras, real-time systems, unified modeling language.

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Authors: Masood Roohi, Amir Taghavipour

Abstract:

This paper describes a strategy to develop an energy management system (EMS) for a charge-sustaining power-split hybrid electric vehicle. This kind of hybrid electric vehicles (HEVs) benefit from the advantages of both parallel and series architecture. However, it gets relatively more complicated to manage power flow between the battery and the engine optimally. The applied strategy in this paper is based on nonlinear model predictive control approach. First of all, an appropriate control-oriented model which was accurate enough and simple was derived. Towards utilization of this controller in real-time, the problem was solved off-line for a vast area of reference signals and initial conditions and stored the computed manipulated variables inside look-up tables. Look-up tables take a little amount of memory. Also, the computational load dramatically decreased, because to find required manipulated variables the controller just needed a simple interpolation between tables.

Keywords: Hybrid electric vehicles, energy management system, nonlinear model predictive control, real-time.

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Authors: D. Gouwanda, S. M. N. A. Senanayake

Abstract:

This paper presents a real time force sensing instrument that is designed for human gait analysis purposes. It is capable of recording and monitoring ground reaction forces exerted by human foot during various activities such as walking, running and jumping in real time. In overall, force sensing mat mainly consists of three elements: the force sensing mat, signal conditioning circuit and data acquisition device. Force sensing mat is the mat that contains an array of force sensing elements. To control and process the incoming signal from the force sensing mat, Force-Logger and Force-Reloader are developed using National Instrument Labview. This paper describes the architecture of the force sensing mat, signal conditioning circuit and the real time streaming of the incoming data from the force sensing mat. Additionally, a preliminary experiment dataset is presented in this paper.

Keywords: Force platform, force sensing resistor, human gait analysis.

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Authors: Marco Soares dos Santos, Jorge Augusto Ferreira, Camila Nicola Boeri, Fernando Neto da Silva

Abstract:

The present paper proposes high performance nonlinear force controllers for a servopneumatic real-time fatigue test machine. A CompactRIO® controller was used, being fully programmed using LabVIEW language. Fuzzy logic control algorithms were evaluated to tune the integral and derivative components in the development of hybrid controllers, namely a FLC P and a hybrid FLC PID real-time-based controllers. Their behaviours were described by using state diagrams. The main contribution is to ensure a smooth transition between control states, avoiding discrete transitions in controller outputs. Steady-state errors lower than 1.5 N were reached, without retuning the controllers. Good results were also obtained for sinusoidal tracking tasks from 1/¤Ç to 8/¤Ç Hz.

Keywords: Hybrid Fuzzy Selecting, Control, Range Controllers, Servopneumatic Fatigue System.

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Authors: Jamuna Konda, Umamaheswara Reddy Karumuri, Sriramya Muthugi, Varun Pishati, Ravi Shakya,

Abstract:

This paper investigates the challenges involved in mathematical modeling of plant simulation models ensuring the performance of the plant models much closer to the real time physical model. The paper includes the analysis performed and investigation on different methods of modeling, design and development for plant model. Issues which impact the design time, model accuracy as real time model, tool dependence are analyzed. The real time hardware plant would be a combination of multiple physical models. It is more challenging to test the complete system with all possible test scenarios. There are possibilities of failure or damage of the system due to any unwanted test execution on real time.

Keywords: Model Based Design, MATLAB, Simulink, Stateflow, plant model, real time model, real-time workshop, target language compiler.

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Authors: Zohir Irki, Michel Devy

Abstract:

In this paper, we will present an architecture for the implementation of a real time stereoscopic images correction's approach. This architecture is parallel and makes use of several memory blocs in which are memorized pre calculated data relating to the cameras used for the acquisition of images. The use of reduced images proves to be essential in the proposed approach; the suggested architecture must so be able to carry out the real time reduction of original images.

Keywords: Image reduction, Real-time correction, Parallel architecture, Parallel treatment.

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Authors: M. M. Abutaleb, A. Hamdy, M. E. Abuelwafa, E. M. Saad

Abstract:

Optical flow is a research topic of interest for many years. It has, until recently, been largely inapplicable to real-time applications due to its computationally expensive nature. This paper presents a new reliable flow technique which is combined with a motion detection algorithm, from stationary camera image streams, to allow flow-based analyses of moving entities, such as rigidity, in real-time. The combination of the optical flow analysis with motion detection technique greatly reduces the expensive computation of flow vectors as compared with standard approaches, rendering the method to be applicable in real-time implementation. This paper describes also the hardware implementation of a proposed pipelined system to estimate the flow vectors from image sequences in real time. This design can process 768 x 576 images at a very high frame rate that reaches to 156 fps in a single low cost FPGA chip, which is adequate for most real-time vision applications.

Keywords: Optical flow, motion detection, real-time systems, FPGA.

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Authors: Javed Ahmed, M. N. Jafri, J. Ahmad, Muhammad I. Khan

Abstract:

Real-time object tracking is a problem which involves extraction of critical information from complex and uncertain imagedata. In this paper, we present a comprehensive methodology to design an artificial neural network (ANN) for a real-time object tracking application. The object, which is tracked for the purpose of demonstration, is a specific airplane. However, the proposed ANN can be trained to track any other object of interest. The ANN has been simulated and tested on the training and testing datasets, as well as on a real-time streaming video. The tracking error is analyzed with post-regression analysis tool, which finds the correlation among the calculated coordinates and the correct coordinates of the object in the image. The encouraging results from the computer simulation and analysis show that the proposed ANN architecture is a good candidate solution to a real-time object tracking problem.

Keywords: Image processing, machine vision, neural networks, real-time object tracking.

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Authors: Dipali Bansal, Rashima Mahajan, Shweta Singh, Dheeraj Rathee, Sujit Roy

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Non-invasive Brain Computer Interface like Electroencephalography (EEG) which directly taps neurological signals, is being widely explored these days to connect paralytic patients/elderly with the external environment. However, in India the research is confined to laboratory settings and is not reaching the mass for rehabilitation purposes. An attempt has been made in this paper to analyze real time acquired EEG signal using cost effective and portable headset unit EMOTIV. Signal processing of real time acquired EEG is done using EEGLAB in MATLAB and EDF Browser application software platforms. Independent Component Analysis algorithm of EEGLAB is explored to identify deliberate eye blink in the attained neural signal. Time Frequency transforms and Data statistics obtained using EEGLAB along with component activation results of EDF browser clearly indicate voluntary eye blink in AF3 channel. The spectral analysis indicates dominant frequency component at 1.536000Hz representing the delta wave component of EEG during voluntary eye blink action. An algorithm is further designed to generate an active high signal based on thoughtful eye blink that can be used for plethora of control applications for rehabilitation.

Keywords: Brain Computer Interface, EDF Browser, EEG, EEGLab, EMOTIV, Real time Acquisition

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Authors: R. Dariani, S. Schmidt, R. Kasper

Abstract:

Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulation of the autonomous driving allows taking decision on undefined situation such as lane change or obstacle avoidance. Based on position of the vehicle, lane situation and obstacle position, the optimization problem is reformulated in real-time to avoid the obstacle and any car crash.

Keywords: Autonomous driving, Obstacle avoidance, Optimal control, Path planning.

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Authors: A. Thabet, G. B. H. Frej, M. Boutayeb

Abstract:

This paper presents a design of dynamic feedback control based on observer for a class of large scale Lipschitz nonlinear systems. The use of Differential Mean Value Theorem (DMVT) is to introduce a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). High performances are shown through real time implementation with ARDUINO Duemilanove board to the one-link flexible joint robot.

Keywords: Feedback stabilization, DMVT, Lipschitz nonlinear systems, nonlinear observer, real time implementation.

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