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Multivariable and distributed LQG control of a water delivery canal
Lemos, João; Pinto, Luís; Rato, Luís; Rijo, ManuelThis work addresses the problem of the development of a distributed LQG controller for a water delivery canal. The control structure proposed relies on a set o LQG control agents interconnected through a communication network. Each of these local control agents controls a canal reach made of a pool and the corresponding downstream gate and receives information (output signal and control moves) only from the cor...
Actuator Fault Tolerant LQG Control of a Water Delivery Canal
Lemos, João; Sampaio, Inês; Rijo, Manuel; Rato, LuísThe problem of reconfiguration of the control system to mitigate the effects of actuator faults in a water delivery canal is addressed in this paper. When a fault in an actuator is detected and isolated, the controller is reconfigured by changing the set of manipulated and process variables and using a different controller, associated to a different plant model, in a hybrid systems framework. In order to preven...
Efficient Optimization Algorithm for Space-Variant Mixture of Vector Fields
Nascimento, Jacinto C.; Barão, Miguel; Marques, Jorge S.; Lemos, João M.This paper presents a new algorithm for trajectory classifi- cation of human activities. The presented framework uses a mixture of parametric space-variant vector fields to describe pedestrian’s trajecto- ries. An advantage of the proposed method is that the vector fields are not constant and depend on the pedestrian’s localization. This means that the switching motion among vector fields may occur at any image...
NEArBy : Neuroimaging Atlas Based Q/R
Lemos, João Miguel PalabraBrain atlases have been used as reference to classify and tag topological information either structural or functional from brain images. Using atlases, the resulting analysis allows the extraction of semantic information from the existing image data. However the process of classifying and tagging brain images using an atlas is often tedious and mostly dependent on human observation and validation. At the same t...
Experimental application to a water delivery canal of a distributed MPC with st...
Lemos, João; Igreja, José; Cadete, Fernando; Rijo, Manuel; Rato, LuísIn this work, a novel distributed MPC algorithm, denoted D-SIORHC, is applied to upstream local control of a pilot water delivery canal. The D-SIORHC algorithm is based on MPC control agents that incorporate stability constraints and communicate only with their adjacent neighbors in order to achieve a coordinated action. Experimental results that show the effect of the parameters configuring the local controlle...
Control of a water delivery canal with cooperative distributed MPC
Igreja, J.M.; Lemos, João; Cadete, F.M.; Rato, Luís; Rijo, ManuelThis article addresses the problem of controlling pool levels in a water delivery canal using a novel cooperative distributed MPC control algorithm that incorporates stability constraints. According to a distributed control strategy, a local control agent is associated to all canal gates (actuators). In order to achieve cooperative action, each control agent computes the corresponding gate position (manipulated...
Distributed LQG control of a water delivery canal with feedforward from measure...
Lemos, João; Pinto, Luís; Rato, Luís; Rijo, ManuelThis work addresses the design of distributed LQG controllers for water delivery canals that include feedforward from local farmer water consumptions. The proposed architecture consists of a network of local control agents, each connected to one of the canal pools and sharing information with their neighbors in order to act in a coordinated way. In order to improve performance, the measurement of the outflows f...
Fault Tolerant Reconfigurable Control of a Water Delivery Canal - Actuators Faults
Sampaio, Inês; Lemos, João; Rato, Luís; Rijo, ManuelThis work addresses the problem of designing fault tolerant controllers for a water delivery canal that tackle actuators faults. The type of faults considered consists of blocking of one of the gates. The detection of the fault is made by comparing the gate position command with the actual (measured) gate position. Both centralized and distributed controllers are made for local upstream water level control. Cen...
Parameter Tuning of a Distributed Model Predictive Controller for Water Deliver...
Igreja, José; Lemos, João; Cadete, Filipe; Rato, Luís; Rijo, ManuelThis work addresses the problem of tuning the parameters of a distributed model predictive control algorithm (DMPC) applied to the control of water level in a water delivery canal. The D-SIORHC algorithm considered is based on distributed MPC control agents that incorporate stability constraints. Coordination of the different controllers is achieved by a negotiation among neighbor agents. The value of the contr...
Alignment of velocity fields for video surveillance
Marques, Jorge S.; Barão, Miguel; Lemos, João M.Velocity fields play an important role in surveillance since they describe typical motion behaviors of video objects (e.g., pedestrians) in the scene. This paper presents an algorithm for the alignment of velocity fields acquired by different cameras, at different time intervals, from different viewpoints. Velocity fields are aligned using a warping function which maps corresponding points and vectors in both f...
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