Deformable Linear Objects, such as hose and cable, are widely used in daily life and industrial applications. Problems in robotic operation and precise control of DLOs, have limited the progression of automation in the electronics industry and automotive industry. In this chapter, we propose an approach based on robot vision to suppress the vibration of a DLO, by means of real-time image processing of high-speed visual feedback to obtain the geometric coordinates and posture of the DLO. A PID controller verifies the validity of the theory along with the expected posture of the DLO. The effectiveness of the proposed strategy is confirmed by experiment. Results show that the proposed method can damp vibrations effectively.

关键词：变形线性对象；机器人视觉；振动抑制；PID控制

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A study of the behavior and evaluation of the Ant Colony Optimization algorithm (ACO) in Type-1 and Type-2 Fuzzy Controller design is presented in this chapter. The main objective of the work is based on the main reasons in tuning membership functions for the optimization Fuzzy Controllers of the benchmark problem known as the Water Tank with the algorithm of Ant Colony Optimization. For the design of Type-1 and Type-2 Fuzzy Controllers for particular applications, the use of bio-inspired optimization methods have helped in the complex task of finding the appropriate values of the parameters and the structure of fuzzy systems. In this research we consider the application of ACO as the paradigm that aids in the optimal design of Type-1 and Type-2 Fuzzy Controllers. We also analyzed that in evaluating the uncertainty, the results in the simulation are better with Type-2 Fuzzy Controllers. Finally, provide a comparison of the different methods for the case of designing Type-1 and Type-2 Fuzzy Controllers with Ant Colony Optimization.

关键词：蚁群优化算法；模糊控制器；仿真

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To address the air pollution diffusing problem,a visualization algorithm based on fluid diffusion physical model and volume rendering is proposed to simulate the diffusion process epically for the urgent pollution accidents.The diffusion model is based on the simplified heat diffusion equation and the basic vortex constraint.The texture mapping based volume rendering method is adapted to handle the visualization algorithm.In addition,the render process adopts the GPU to implement the real-time visualization rendering.

关键词：大气；空气污染；可视化

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In this paper the main idea is to control the flight of an F-16 airplane using fuzzy system and PID controller to achieve the control. In general, to control the total flight is necessary to control the angle of the elevator, angle of the aileron and the angle of the rudder. For this reason, 3 fuzzy systems are used to control the respective angles. In this paper the fuzzy systems are presented with results using the simulation plant of the airplane.

关键词：F-16飞机；电梯；控制器

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In this chapter we describe an iterative two-layer hierarchical approach to MPC of large-scale linear systems subject to coupled linear constraints. The algorithm uses constraint tightening and applies a primal-dual iterative averaging procedure to provide feasible solutions in every sampling step. This helps overcome typical practical issues related to the asymptotic convergence of dual decomposition based distributed MPC approaches. Bounds on constraint violation and level of sub-optimality are provided. The method can be applied to large-scale MPC problems that are feasible in the first sampling step and for which the Slater condition holds (i.e., there exists a solution that strictly satisfies the inequality constraints). Using this method, the controller can generate feasible solutions of the MPC problem even when the dual solution does not reach optimality, and closed-loop stability is also ensured using bounded suboptimality.

关键词：迭代两层；大型线性系统耦合；MPC

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Simultaneous separation of vapor and particles in industrial processes could be a key step toward manufacturing of high-quality goods. The separation is critical for successful measurement of volatile or semi-volatile aerosol particles.

关键词：大气；空气治理；空气质量

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This report describes the current state of knowledge regarding the effectiveness of several advanced collision-avoidance technologies (ACATs) and presents an assessment of the effect of each technology on traffic safety. The report covers only ACATs for light-duty vehicles. The literature reviewed is primarily restricted to English language publications from the last ten years (2003 to 2013). The technologies included in the assessment address vehicle instability (electronic stability control); forward impact collisions (forward collision warning, autonomous emergency braking); and crashes related to lane/road departure (lane departure warning and prevention, blind spot detection). The methodologies and data used to evaluate ACAT effectiveness are also discussed. Data on the penetration of the technologies into the light-duty fleet are also presented. Overall, the systems reviewed here were estimated to be substantially effective in reducing their target crash types. The studies reviewed had a range of estimated reductions, and in some cases the differences were fairly substantial. However, even the lower-bound estimates are significant in most cases. Most studies relied on simulation or limited field operational tests to evaluate effectiveness.

关键词：事故减少；先进的防碰撞技术（简称ACATS）；防撞

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This chapter considers sliding mode control of nonlinear discrete time systems with matching perturbations. The nonlinear sliding mode controller, whose parameters assure the closed-loop system stable, is designed in order to drive the state trajectories toward to a small bounded region. The controller is approximated by a polynomial equation in current control term u(k) according to Taylor series expansion. The algebraic solutions can be obtained by resolving a polynomial equation in the latest control term u(k). The integrated procedure provides a straightforward methodology to apply sliding mode control design technique for nonlinear systems. The simulation results are provided to illustrate the effectiveness of the proposed scheme.

关键词：非线性离散时间系统；非线性控制器；滑模控制

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In the Eastern Seaboard Intermodal Transportation Applications Center at Hampton University, we started an investigation of the air pollutants around heavily-travelled roadways, shipping channels, airports, and railroads with the purpose of obtaining real time measurements of pollutant concentrations and relating them to real-time weather and traffic information. In the first two cycles of our research program, we built a mobile unit containing a NOx and an ozone analyzer, and a weather station to provide simultaneous measurements of wind speed, wind direction, temperature, and solar intensity with the concentration measurements. The measured NO2 concentrations were compared to the predictions of CALINE4. Considering the effects of PM2.5 on public health and the 2008 US Census Bureau report, which showed that around 16% of American households live within 100 m of a highway having four or more lanes, an instrument for the measurements of PM10 and PM2.5 were added to our measurement capabilities for the current research cycle.

关键词：大气；氮氧化物；臭氧

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The Sydney Coordinated Adaptive Traffic System (SCATS) is used to mitigate traffic congestion along urban arterial corridors. Although there has been research on SCATS performance, this report combines three different areas of research about SCATS that are not known to be represented in any research literature. These include: (a) the relationship between SCATS, traffic volumes, and Transit Signal Priority (TSP); (b) between TSP and traffic conditions; and (c) the correlation between signal timing and air quality; in particular, human exposure to the air pollutant PM2.5 at intersections. In addition, this research looked at the key factors affecting transit user exposure to traffic-related pollutants at bus shelters. All areas of study present the results of statistical tests and regressions to determine SCATS or traffic variables impacts. SCATS did show statistically significant improvements regarding traffic speeds at one minor intersection, even when traffic volumes showed a statistically significant improvement. At a major intersection, results were mixed and not conclusive. Overall, it was determined that the improvements available through SCATS vary depending on the time of day and the direction of travel. TSP was not negatively affected by SCATS. In controlling for both priority and traffic conditions, each were shown to have a distinguished and significant impact on bus travel time. Non-priority signals had a much greater impact on travel time than priority signals (11.0 and 0.6 seconds for the corridor model, respectively).

关键词：大气；空气质量；防护

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