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Applications of Intelligent Control to Engineering Systems: In Honour of Dr. G. J. Vachtsevanos (Intelligent Systems, Control and Automation: Science and Engineering) PDF

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Applications of Intelligent Control to Engineering Systems International Serieson INTELLIGENTSYSTEMS, CONTROL, AND AUTOMATION: SCIENCE ANDENGINEERING VOLUME39 Editor ProfessorS.G.Tzafestas,NationalTechnicalUniversityofAthens,Greece EditorialAdvisoryBoard ProfessorP.Antsaklis,UniversityofNotreDame,IN,U.S.A. ProfessorP.Borne,EcoleCentraledeLille,France ProfessorD.G.Caldwell,UniversityofSalford,U.K. ProfessorC.S.Chen,UniversityofAkron,Ohio,U.S.A. ProfessorT.Fukuda,NagoyaUniversity,Japan ProfessorF.Harashima, UniversityofTokyo, Japan ProfessorS.Monaco,UniversityLaSapienza,Rome,Italy ProfessorG.Schmidt,TechnicalUniversityofMunich, Germany ProfessorN.K.Sinha,McMasterUniversity, Hamilton,Ontario,Canada ProfessorD.Tabak,GeorgeMasonUniversity, Fairfax,Virginia, U.S.A. ProfessorK.Valavanis, UniversityofSouthern Louisiana, Lafayette,U.S.A. ProfessorS. G. Tzafestas, National Technical University of Athens, Greece For other titles published in this series, go to www.springer.com/series/6259 Kimon P. Valavanis Editor Applications of Intelligent Control to Engineering Systems In HonourofDr. G.J. Vachtsevanos Editor KimonP.Valavanis DepartmentofElectrical&ComputerEngineering UniversityofDenver Denver,CO80208 USA ISBN 978-90-481-3017-1 e-ISBN 978-90-481-3018-4 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2009929445 © Springer Science + Business Media B.V. 2009 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written per- mission from the Publisher, with the exception of any material supplied specifically forthe purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) In honourofDr.GeorgeJ. Vachtsevanos,ourDr.V., fromhisformerstudentsand colleagues Table of Contents Preface vii ListofContributors ix PartI:Diagnostics,Prognostics,Condition-BasedMaintenance 1.SelectedPrognosticMethodswithApplicationtoanIntegratedHealth ManagementSystem 3 C.S.ByingtonandM.J.Roemer 2.AdvancesinUncertaintyRepresentationandManagementforParticle FilteringAppliedtoPrognostics 23 M.Orchard,G.Kacprzynski,K.Goebel,B.SahaandG.Vachtsevanos 3.ANovelBlindDeconvolutionDe-NoisingSchemeinFailurePrognosis 37 B.Zhang,T.Khawaja,R.Patrick,G.Vachtsevanos,M.OrchardandA.Saxena 4.ParticleFilterBasedAnomalyDetectionforAircraftActuatorSystems 65 D.Brown,G.Georgoulas,H.Bae,G.Vachtsevanos,R.Chen,Y.H.Ho, G.TannenbaumandJ.B.Schroeder PartII:UnmannedAerialSystems 5.DesignofaHardwareandSoftwareArchitectureforUnmannedSystems: AModularApproach 91 R.Garcia,L.BarnesandK.P.Valavanis 6.DesigningaReal-TimeVisionSystemforSmallUnmannedRotorcraft: AMinimalandCost-EffectiveApproach 117 M.KontitsisandK.P.Valavanis 7.CoordinationofHelicopterUAVsforAerialForest-FireSurveillance 169 K.Alexis,G.Nikolakopoulos,A.TzesandL.Dritsas 8.GeneticFuzzyRule-BasedClassifiersforLandCoverClassificationfrom MultispectralImages 195 D.G.Stavrakoudis,J.B.TheocharisandG.C.Zalidis vii viii TableofContents PartIII:Bioengineering/Neurotechnology 9.EpilepticSeizuresMayBeginHoursinAdvanceofClinicalOnset: AReportofFivePatients 225 B.Litt,R.Esteller,J.Echauz,M.D’Alessandro,R.Shor,T.Henry, P.Pennell,C.Epstein,R.Bakay,M.DichterandG.Vachtsevanos 10.IntelligentControlStrategiesforNeurostimulation 247 J.Echauz,H.FirpiandG.Georgoulas PartIV:IntelligentControlSystems 11.SoftwareTechnologyforImplementingReusable,DistributedControl Systems 267 B.S.Heck,L.M.WillsandG.J.Vachtsevanos 12.UGVLocalizationBasedonFuzzyLogicandExtendedKalman Filtering 295 A.Tsalatsanis,K.P.ValavanisandA.Yalcin 13.AdaptiveEstimationofFuzzyCognitiveNetworksandApplications 329 T.L.Kottas,Y.S.BoutalisandM.A.Christodoulou 14.AnImprovedMethodinRecedingHorizonControlwithUpdatingof TerminalCostFunction 365 H.Zhang,J.HuangandF.L.Lewis 15.Identifier-BasedDiscoveryinLarge-ScaleNetworks:AnEconomic Perspective 395 J.KhouryandC.T.Abdallah Preface ThiseditedbookispublishedinhonorofDr.GeorgeJ.Vachtsevanos,ourDr.V,cur- rentlyProfessorEmeritus,SchoolofElectricalandComputerEngineering,Georgia InstituteofTechnology,ontheoccasionofhis70thbirthdayandforhismorethan 30yearsofcontributiontothedisciplineofIntelligentControlanditsapplicationto awidespectrumofengineeringandbioengineeringsystems. ThebookisnothingbutaverysmalltokenofappreciationfromDr.V’sformer graduate students, his peers and colleagues in the profession – and not only – to the Scientist, the Engineer, the Professor, the mentor, but most important of all, to the friend and human being. All those who have met Dr. V over the years and haveinteractedwithhiminsomeprofessionaland/orsocialcapacityunderstandthis statement:Georgenevermadeanybodyfeelinferiortohim,hehelpedandsupported everybody,andhewastherewhenanybodyneededhim! IwasnotDr.V’sstudent.IfirstmethimandhiswifeAthenamorethan26years ago during one of their visits to RPI, in the house of my late advisor, Dr. George N.Saridis.Sincethen,Ihavebeenveryfortunatetohavehadandcontinuetohave interactionswithhim.ItisnotanexaggerationifIsaythatwealllearnedalotfrom him.Weunderstoodthattheoryandapplicationsgotogetherandtheydonotoppose each other;we acquireda wide andwell roundedperspectiveofwhatengineering is; we witnessed firsthand how diverse concepts and ideas are brought under the same frameworkand how they are applied successfully; we were fortunate to see howconventionalcontroltechniquesandsoft-computingtechniquesworkinunison tocompletetasksandmissionsincomplexmulti-levelsystems. Duringhis tenureat GaTech,Dr. V and hisgroupestablished a unique‘school of thought’ in systems, where the term system may be interpreted as being rather abstractorveryspecific.Withoutsacrificingtheoreticaldevelopmentsandcontribu- tions,heandhisgrouphavedemonstratedrepeatedly,howcomplexsystemsfunc- tioninreal-time. ItisprobablysafetoclaimthatDr.Vandhisgrouphavemadeandcontinueto make seminal and significant contributions to four areas: Intelligent Control Sys- tems;UnmannedAircraftSystems;Diagnostics,PrognosticsandCondition-Based Maintenance; Bioengineering and Neurotechnology.The impact of their research findings and accomplishments is evidenced by publications, citations, prototypes andfinalproducts,tosaytheleast.Whatdistinguishesthatgroupfromanyotheris ‘sustainabilityandcontinuity’!They,andallofus, keeponworkingtogetherover theyears,sothetorchasfarastheschoolofthoughtisconcernedispassedtofrom onestudentgenerationtoanother. ix x Preface WhenwefirsttoyedwiththeideatohaveaWorkshopinhonorofDr.V,inanice GreekIslandsothatwecanmixbusinessandpleasure,Frank(Dr.FrankLewis)and Ijumpedontheopportunitytopublishthisbook,andFrankallowedmetotakethe lead.The15contributedchaptersarejustasmallsampleofprojectsinwhichDr.V andhisgroupareeitherinvolveddirectly,orinfluencedbecauseoftheirwork. Thebookisdividedintofourparts.PartIreferstodiagnostics,prognosticsand condition-basedmaintenance,anareawhichisthenaturaloutgrowthofintegrated controlanddiagnostics.Itincludesfourcontributedchapters,however,ifonewants to obtain expert knowledge on the subject, should read the book Intelligent Fault DiagnosisandPrognosisforEngineeringSystems,byG.Vachtsevanosetal. Part II refers to Unmanned Aerial Systems, an area pioneered and domin- ated for years by the GaTech group. The GTmax is most likely the most widely knownautonomousunmannedhelicopter,capableoffunctioningunderfailures;the Software-EnabledControlapproachandthe OpenControlPlatform(OCP) Archi- tecturearetwounique,seminalcontributionsthathavechangedthewaysystemsare modeledandcontrolled.Thehardware-in-the-loopandsoftware-in-the-loopverific- ationandvalidationaretwoapproachesalmosteverybodyuseswhendealingwith complexsystems,notnecessarilyunmanned.Thispartincludesfourchapters. Part III refers to Bioengineeringand Neurotechnology.This is, to my surprise, kind of ‘a well keptsecret’, because Dr. V’s grouphas indeed contributedgreatly to studying, modeling and predicting (this is the key word, predicting) epileptic seizuresinpatients!This,coupledwithcontributionstoneurostimulationusingin- telligent control techniques will advance the field of Bioengineering making the mostimpactinimprovingthequalityoflifeofpatients. PartIVreferstoIntelligentControlSystems,chronologicallythefirstandever- lastingareainwhichDr.Vandhisgrouparecontributingto.Thispartiscomposed offivechapters,‘disconnected’soto speak,givinga flavorofthe diversityofdis- ciplinesIntelligentControlmaybeappliedto. It is unfortunate that we could not include more contributions to this edited volume.Regardless,theresponseofpeopletojoiningandparticipatingintheWork- shoponJune27–29intheIslandofLemnos,Athena’sbirthplace,hasbeenbeyond expectations. TheSpringergroup,ledbyMs.NathalieJacobs,andKaradaPublishingServices led by our point of contact, Ms. Jolanda, have been very supportive throughout this project. Both Nathalie and Jolanda have worked very hard so that the book isavailableduringtheWorkshop. Last, on a personal note, I want to state that Dr. V has supported me over the years, has guided me professionally, has been a true mentor and friend, and has backedupeverycrazyidea(!!!)Ihavecomeupwith.Iamhonoredbyhisfriend- ship,andIowealottohim. KimonP.Valavanis Denver,May6,2009

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