International Journal of Intelligent Systems Technologies and Applications http://www.inderscience.com/browse/index.php?journalID=35&year=2011&vol=10&issue=3 Inderscience Publishers Ltd en-uk International Journal of Intelligent Systems Technologies and Applications 1740-8865 1740-8873 © 2011 Inderscience Publishers Ltd editor@inderscience.com https://www.inderscience.com/images/files/coverImgs/ijista_scoverijista.jpg http://www.inderscience.com/browse/index.php?journalID=35&year=2011&vol=10&issue=3 http://www.inderscience.com/link.php?id=40348 This paper presents a local control approach to linear platoons, systems of vehicles that displace together adopting a train configuration without any material coupling. Linear platoon technology is considered as a potential base for the definition of new urban transportation services. The main problems related to platoon systems is the geometry control: control of inter-vehicle distance and common trajectory matching. The geometry control problem is generally treated according to one of two approaches: global or local. This paper focuses on a local approach which does not require sophisticated sensors and/or costly road equipment. The objective of this local control approach allows satisfactory distance regulation and matching to any common trajectory, by using local perception capabilities of platoon's vehicles. The basic perception capability consists in measuring the vectorial distance between a given vehicle and its predecessor. The behaviour of each platoon vehicle is determined by a physics inspired interaction model based on a virtual spring-damper. Stability and other platoon safety properties are analysed on the base of the physics inspired interaction model. Both simulation and experimentation have been used to measure trajectory error and to evaluate inter-vehicle distance during platoon evolution. Reactive multi-agent approach to local platoon control: stability analysis and experimentations
Jean-Michel Contet, Franck Gechter, Pablo Gruer, Abderrafiaa Koukam
International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 231 - 249
This paper presents a local control approach to linear platoons, systems of vehicles that displace together adopting a train configuration without any material coupling. Linear platoon technology is considered as a potential base for the definition of new urban transportation services. The main problems related to platoon systems is the geometry control: control of inter-vehicle distance and common trajectory matching. The geometry control problem is generally treated according to one of two approaches: global or local. This paper focuses on a local approach which does not require sophisticated sensors and/or costly road equipment. The objective of this local control approach allows satisfactory distance regulation and matching to any common trajectory, by using local perception capabilities of platoon's vehicles. The basic perception capability consists in measuring the vectorial distance between a given vehicle and its predecessor. The behaviour of each platoon vehicle is determined by a physics inspired interaction model based on a virtual spring-damper. Stability and other platoon safety properties are analysed on the base of the physics inspired interaction model. Both simulation and experimentation have been used to measure trajectory error and to evaluate inter-vehicle distance during platoon evolution.

]]> 10.1504/IJISTA.2011.040348 International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 231 - 249 Jean-Michel Contet Franck Gechter Pablo Gruer Abderrafiaa Koukam Laboratoire Systemes et Transports (SeT), Universite de Technologie de Belfort-Montbeliard (UTBM), Belfort F-90010, France. ' Laboratoire Systemes et Transports (SeT), Universite de Technologie de Belfort-Montbeliard (UTBM), Belfort F-90010, France. ' Laboratoire Systemes et Transports (SeT), Universite de Technologie de Belfort-Montbeliard (UTBM), Belfort F-90010, France. ' Laboratoire Systemes et Transports (SeT), Universite de Technologie de Belfort-Montbeliard (UTBM), Belfort F-90010, France linear platoons local control stability proof simulation experimentation platoon control multi-agent systems MAS agent-based systems vehicle platoons inter-vehicle distance common trajectory matching interaction modelling virtual spring damper. 2011-05-24T23:20:50-05:00 10 3 231 249 2011-05-24T23:20:50-05:00 http://www.inderscience.com/link.php?id=40349 Navigation systems often play an important role in mobile robot control. Many existing mobile robot navigation systems have been implemented and tested for particular types of robots. However, in some implementations, such as heterogeneous multi-robot systems, a generic navigation system can offer potential advantages. In such applications, a generic navigation system should be able account for robots with varying size, shape, drive type and sensor quantities. Additionally, it should be capable of offering a high degree of flexibility for navigation in known and unknown environments. Hence, a single generic navigation system that combines the benefits of reactive and deliberative control has been developed for heterogeneous mobile robots. The design of the hierarchical hybrid navigation system is based on the A* algorithm, a polar histogram and a modified dynamic window approach. Simulation experiments with three heterogeneous robots in a range of environments have been conducted. Performance of reactive navigation and hybrid reactive-deliberative navigation in known and unknown environments is evaluated. Favourable results are achieved with the developed reactive system. Hybrid reactive-deliberative navigation offers improved performance over reactive navigation in known environments. Deliberative control does not affect performance significantly in unknown environments. Initial hardware experiments demonstrate that the navigation system can work on real robots. Development of a navigation system for heterogeneous mobile robots
Praneel Chand, Dale A. Carnegie
International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 250 - 278
Navigation systems often play an important role in mobile robot control. Many existing mobile robot navigation systems have been implemented and tested for particular types of robots. However, in some implementations, such as heterogeneous multi-robot systems, a generic navigation system can offer potential advantages. In such applications, a generic navigation system should be able account for robots with varying size, shape, drive type and sensor quantities. Additionally, it should be capable of offering a high degree of flexibility for navigation in known and unknown environments. Hence, a single generic navigation system that combines the benefits of reactive and deliberative control has been developed for heterogeneous mobile robots. The design of the hierarchical hybrid navigation system is based on the A* algorithm, a polar histogram and a modified dynamic window approach. Simulation experiments with three heterogeneous robots in a range of environments have been conducted. Performance of reactive navigation and hybrid reactive-deliberative navigation in known and unknown environments is evaluated. Favourable results are achieved with the developed reactive system. Hybrid reactive-deliberative navigation offers improved performance over reactive navigation in known environments. Deliberative control does not affect performance significantly in unknown environments. Initial hardware experiments demonstrate that the navigation system can work on real robots.

]]> 10.1504/IJISTA.2011.040349 International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 250 - 278 Praneel Chand Dale A. Carnegie School of Engineering and Computer Science, Victoria University of Wellington (VUW), Wellington, New Zealand and School of Engineering and Physics, The University of the South Pacific, Suva, Fiji. ' School of Engineering and Computer Science, Victoria University of Wellington (VUW), Wellington, New Zealand mobile robots navigation systems robot navigation reactive control obstacle avoidance hybrid reactive-deliberative navigation robot path planning robot control simulation. 2011-05-24T23:20:50-05:00 10 3 250 278 2011-05-24T23:20:50-05:00 http://www.inderscience.com/link.php?id=40350 The application of intelligent systems along with conventional control theories has been widely presented in the recent literature to understand and compensate for the non-linearity exhibited by complex systems. An adaptive fuzzy-PID controller is proposed to precisely control the speed of an ultrasonic piezoelectric motor (PEM) at various operating conditions. The implemented controller shows an enhanced performance over the classical controllers for both transient and steady-state responses. The system variables are determined based on self-tuned formulas that have an adaptive capability to handle non-linearity and parameter uncertainties in PEM at diverse working conditions. Practical and simulated results are provided to validate the performance of the proposed methodology. Experimental evaluation of adaptive fuzzy-PID control for piezoelectric motor drive system
Mohammad A. Al-Khedher, Shebel A. AlSabbah
International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 279 - 288
The application of intelligent systems along with conventional control theories has been widely presented in the recent literature to understand and compensate for the non-linearity exhibited by complex systems. An adaptive fuzzy-PID controller is proposed to precisely control the speed of an ultrasonic piezoelectric motor (PEM) at various operating conditions. The implemented controller shows an enhanced performance over the classical controllers for both transient and steady-state responses. The system variables are determined based on self-tuned formulas that have an adaptive capability to handle non-linearity and parameter uncertainties in PEM at diverse working conditions. Practical and simulated results are provided to validate the performance of the proposed methodology.

]]> 10.1504/IJISTA.2011.040350 International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 279 - 288 Mohammad A. Al-Khedher Shebel A. AlSabbah Faculty of Engineering Technology, Department of Mechatronics Engineering, Al Balqa Applied University, PO Box 15008, Amman 11134, Jordan. ' Faculty of Engineering Technology, Department of Mechatronics Engineering, Al Balqa Applied University, PO Box 15008, Amman 11134, Jordan PID controllers proportional integral derivative fuzzy logic fuzzy control adaptive algorithms self-tuning control ultrasonic piezoelectric motors. 2011-05-24T23:20:50-05:00 10 3 279 288 2011-05-24T23:20:50-05:00 http://www.inderscience.com/link.php?id=40351 In this paper, we have performed a comparative analysis of various conventional contrast enhancement techniques (histogram equalisation and adaptive histogram equalisation), the recent fast grey-level grouping method (Chen et al., 2006a,b), the fuzzy logic method (Hanmandlu and Jha, 2006) and a modified fuzzy logic method (Nair et al., in press) to find out which of these is well suited for automatic contrast enhancement for satellite images of the ocean, obtained from a variety of sensors. The principle of transforming the skewed histogram of the original image into a uniform histogram is used as the basis for all techniques. The performance of the different contrast enhancement algorithms is evaluated based on the visual quality and the Tenengrad criterion. The inter-comparison of different techniques was carried out on a standard low contrast image and also on different satellite images with different characteristics. Based on our study, we conclude that the modified fuzzy logic (Nair et al., in press) is well suited for automatic contrast enhancement of satellite images of the ocean. Satellite image processing for oceanic applications using fuzzy logic
Madhu S. Nair, Rekha Lakshmanan, M. Wilscy, Rao Tatavarti
International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 289 - 301
In this paper, we have performed a comparative analysis of various conventional contrast enhancement techniques (histogram equalisation and adaptive histogram equalisation), the recent fast grey-level grouping method (Chen et al., 2006a,b), the fuzzy logic method (Hanmandlu and Jha, 2006) and a modified fuzzy logic method (Nair et al., in press) to find out which of these is well suited for automatic contrast enhancement for satellite images of the ocean, obtained from a variety of sensors. The principle of transforming the skewed histogram of the original image into a uniform histogram is used as the basis for all techniques. The performance of the different contrast enhancement algorithms is evaluated based on the visual quality and the Tenengrad criterion. The inter-comparison of different techniques was carried out on a standard low contrast image and also on different satellite images with different characteristics. Based on our study, we conclude that the modified fuzzy logic (Nair et al., in press) is well suited for automatic contrast enhancement of satellite images of the ocean.

]]> 10.1504/IJISTA.2011.040351 International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 289 - 301 Madhu S. Nair Rekha Lakshmanan M. Wilscy Rao Tatavarti Department of Computer Science, University of Kerala, Kariavattom, Thiruvananthapuram 695581, Kerala, India. ' Department of Computer Science, KMEA Engineering College, Aluva, Kerala, India. ' Department of Computer Science, University of Kerala, Kariavattom, Thiruvananthapuram 695581, Kerala, India. ' Department of Civil Engineering, Gayatri Vidya Parishad College of Engineering, Madhurawada, Visakhapatnam 530048, Andhra Pradesh, India contrast enhancement GLG grey-level grouping histograms satellite images fuzzy logic entropy satellite image processing ocean images ocean imaging. 2011-05-24T23:20:50-05:00 10 3 289 301 2011-05-24T23:20:50-05:00 http://www.inderscience.com/link.php?id=40352 Total dialysis dose (Kt/V) is considered to be a major determinant of morbidity and mortality in haemodialysed patients. The continuous growth of the blood urea concentration over the 30 60-min period following dialysis, a phenomenon known as urea rebound, is a critical factor in determining the true dose of haemodialysis (HD). The misestimation of the equilibrated (true) post-dialysis blood urea or equilibrated Kt/V results in an inadequate HD prescription, with predictably poor clinical outcomes for the patients. The estimation of the equilibrated post-dialysis blood urea (C<SUB align=right>eq) is therefore crucial in order to estimate the equilibrated (true) Kt/V. Measuring post-dialysis urea rebound (PDUR) requires a 30- or 60-min post-dialysis sampling, which is inconvenient. This paper presents a novel technique for predicting equilibrated urea concentration and PDUR in the form of a Takagi Sugeno Kang fuzzy inference system. The advantage of this neuro-fuzzy hybrid approach is that it does not require 30 60-min post-dialysis urea sample. Adaptive neuro-fuzzy inference system (ANFIS) was constructed to predict equilibrated urea (C<SUB align=right>eq)taken at 60 min after the end of the HD session in order to predict PDUR. The accuracy of the ANFIS was prospectively compared with other traditional methods for predicting equilibrated urea (C<SUB align=right>eq), PDUR and equilibrated dialysis dose (<SUB align=right>eqKt/V). The results are highly promising, and a comparative analysis suggests that the proposed modelling approach outperforms other traditional urea kinetic models. Adaptive neuro-fuzzy system as a novel approach for predicting post-dialysis urea rebound
Ahmad Taher Azar
International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 302 - 330
Total dialysis dose (Kt/V) is considered to be a major determinant of morbidity and mortality in haemodialysed patients. The continuous growth of the blood urea concentration over the 30 60-min period following dialysis, a phenomenon known as urea rebound, is a critical factor in determining the true dose of haemodialysis (HD). The misestimation of the equilibrated (true) post-dialysis blood urea or equilibrated Kt/V results in an inadequate HD prescription, with predictably poor clinical outcomes for the patients. The estimation of the equilibrated post-dialysis blood urea (C<SUB align=right>eq) is therefore crucial in order to estimate the equilibrated (true) Kt/V. Measuring post-dialysis urea rebound (PDUR) requires a 30- or 60-min post-dialysis sampling, which is inconvenient. This paper presents a novel technique for predicting equilibrated urea concentration and PDUR in the form of a Takagi Sugeno Kang fuzzy inference system. The advantage of this neuro-fuzzy hybrid approach is that it does not require 30 60-min post-dialysis urea sample. Adaptive neuro-fuzzy inference system (ANFIS) was constructed to predict equilibrated urea (C<SUB align=right>eq)taken at 60 min after the end of the HD session in order to predict PDUR. The accuracy of the ANFIS was prospectively compared with other traditional methods for predicting equilibrated urea (C<SUB align=right>eq), PDUR and equilibrated dialysis dose (<SUB align=right>eqKt/V). The results are highly promising, and a comparative analysis suggests that the proposed modelling approach outperforms other traditional urea kinetic models.

]]> 10.1504/IJISTA.2011.040352 International Journal of Intelligent Systems Technologies and Applications, Vol. 10, No. 3 (2011) pp. 302 - 330 Ahmad Taher Azar Department of Electrical Communication and Electronics Systems Engineering, Modern Science and Arts University (MSA), 26 July Mehwar Road Intersection with Wahat Road, 6th of October City, Egypt neural networks Takagi Sugeno Kang FIS TSK fuzzy inference system ANFIS adaptive neuro-fuzzy inference system Ceq equilibrated urea concentration PDUR post-dialysis urea rebound equilibrated dialysis adequacy haemodialysis fuzzy logic total dialysis dose blood urea concentration modelling. 2011-05-24T23:20:50-05:00 10 3 302 330 2011-05-24T23:20:50-05:00