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24th International conference on Neural Information Processing (ICONIP)

作者： Wu, Xingyu Chu, Ming Dong, Zhenghong Beijing Univ Posts & Telecommun Sch Automat Beijing Peoples R China Acad Equipment Dept Informat Equipment Beijing 100876 Peoples R China

ISBN: (纸本)9783319701363;9783319701356

The base attitude of a free-floating space robot is disturbed during capturing targets. Based on the variable stiffness technology, this paper presents a compliance control strategy for minimizing the base attitude disturbance. Firstly, the dynamic model of space manipulator system is established by using the Lagrange equation. Secondly, the differential evolution algorithm is utilized to design the control strategy of variable stiffness joint space manipulator. The simulation results reflect that the influence introduced by impact is obviously reduced, which verify the effectiveness of the control strategy.

关键词： Minimize disturbance Space manipulator Variable stiffness Differential evolution

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Event-triggered control co-design for discrete-time systems subject to actuator saturation

Event-triggered control co-design for discrete-time systems ...

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2016 ieee conference on computer aided control system design, cacsd 2016

作者： Groff, L.B. Moreira, L.G. Da Silva, J. M. Gomes Department of Automation and Energy and Pos-Graduation Program in Electrical Engineering UFRGS av. Osvaldo Aranha 103 Porto-Alegre-RS90035-190 Brazil

ISBN: (纸本)9781509007592

In this paper we present a method to simultaneously design a static state feedback gain and the trigger function to stabilize discrete-time LTI systems subject to actuator saturation under an event-triggered strategy. We derive LMI-based conditions that ensure local (or global, when possible) asymptotic stability of the origin based on the Lyapunov theory. To tune the parameters, we propose convex optimization problems aiming at reducing the sampling activity. The efficiency of the proposed method is illustrated by numerical examples. © 2016 ieee.

关键词： Asymptotic stability

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Real-time control platform based on free software and USB communication

Real-time control platform based on free software and USB co...

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2016 ieee conference on computer aided control system design, cacsd 2016

作者： Serna, Juan Manuel Fory, Carlos Gonzalez-Vargas, Andres M. Soria-Lopez, Alberto Universidad Santiago de Cali Calle 5 #62-00 Santiago de Cali Valle del Cauca Colombia Universidad Autónoma de Occidente Cll 25#115-85 Km 2 Vía Cali-Jamundi. Cali Colombia Departamento de Control Automático Centro de Investigación y de Estudios Avanzados Del IPN Av. IPN 2508 México D.F. Mexico

ISBN: (纸本)9781509007592

Hardware-in-the-Loop (HIL) and Rapid control Prototyping (RPC) are extensively used techniques for the design of control systems. Matlab-based commercial tools for HIL and RPC usually are not cost-effective for most universities in developing countries, where research is limited and their purpose is mostly educational. With that in mind, in this paper we propose a low-cost high-performance control platform that features a DC motor servomechanism, high speed USB interface and Linux-based free software Scilab/XCos with real-time capabilities via RTAI. © 2016 ieee.

关键词： DC motors

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A Survey of Permanent Magnet Synchronous Machine Models Suitable for computer Simulation 19

A Survey of Permanent Magnet Synchronous Machine Models Suit...

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19th International conference on Electrical Drives and Power Electronics (EDPE)

作者： Jercic, Tino Zarko, Damir Univ Zagreb Fac Elect Engn & Comp Dept Elect Machines Drives & Automat Zagreb Croatia

ISBN: (纸本)9781538633809

Permanent magnet synchronous machines with high torque density, which is a frequent requirement for high level applications, are characterized by saturation and cross-saturation effects which need to be taken into account in simulation models used for the purpose of control system design or for optimized design of the machine geometry. In this paper three simulation models of permanent magnet machines are presented: conventional inductance based model with constant parameters in which saturation is not modelled, inductance based model with variable current dependent parameters which includes saturation effects, and flux based model in which saturation effects are also considered. All three models rely on finite element simulations. Their performance is compared using dynamic simulations of an inverter fed interior permanent magnet synchronous machine designed for traction applications.

关键词： permanent magnet motor finite element analysis traction motor inductance map flux linkage map inverse mapping

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Proceedings of the ieee International Symposium on computer-aided control system design

Proceedings of the IEEE International Symposium on Computer-...

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2016 ieee conference on computer aided control system design, cacsd 2016

ISBN: (纸本)9781509007592

The proceedings contain 24 papers. The topics discussed include: SAT-based distributed reactive control protocol synthesis for Boolean networks;fast control using homotopy properties for obstacle-avoidance of systems with input constraints;control of discrete-time piecewise affine probabilistic systems using reachability analysis;Lyapunov function synthesis - algorithm and software;computing maximal invariant sets for switched nonlinear systems;on the computation of Lyapunov functions for interconnected systems;controlled contractive sets for low-complexity constrained control;a software to design decentralized controllers for time-delay systems;real-time control platform based on free software and USB communication;on the H-two norm of switched systems via homogeneous rational Lyapunov functions;safety verification of refrigeration containers using barrier certificates;follower distribution algorithms for leader-follower networks;LPV filter design for discrete-time systems with time-domain IQCs;and robust H2filtering for discrete-time uncertain systems with auxiliary past output measurements.

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control Synthesis and Delay Sensor Deployment for Efficient ASV designs 35

Control Synthesis and Delay Sensor Deployment for Efficient ...

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35th ieee/ACM International conference on computer-aided design (ICCAD)

作者： Li, Chaofan Sapatnekar, Sachin S. Hu, Jiang Texas A&M Univ Dept ECE College Stn TX 77843 USA Univ Minnesota Dept ECE Minneapolis MN 55455 USA

ISBN: (纸本)9781450344661

Adaptive Supply Voltage (ASV) is a power-efficient approach to achieving resilience against process variation and circuit aging. Fine-grained ASV offers further power efficiency gains, but entails relatively complex control circuit, which has not been well studied yet. This paper presents two control design techniques one is rule-based control derived from network flow optimization and the other is finite state machine control. For the FSM control, a graph-based algorithm that automates the control vector generation is proposed. To the best of our knowledge, this work is the first dedicated study on fine-grained ASV control. This paper also presents an iterative greedy heuristic for delay sensor deployment in ASV designs. The effectiveness of these techniques is confirmed by experiments performed on ICCAD 2014 benchmark circuits. The results show that our techniques achieve around 20% leakage power reduction compared to coarse-grained ASV, while maintain about the same timing yield.

关键词： Iterative methods

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Analysis and experimental verification of three-coil inductive resonant coupled wireless power transfer system 8

Analysis and experimental verification of three-coil inducti...

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8th National Power Electronics conference, NPEC 2017

作者： Sai Kiran, K.B. Kumari, M. Behera, R.K. Ojo, Olorunfemi Iqbal, Atif Department of Electrical Engineering Indian Institute of Technology Patna Patna Bihar800013 India Department of Electrical and Computer Engineering Tennessee Tech University TN United States Department of Electrical Engineering Qatar University Qatar

ISBN: (纸本)9781538632369

In this paper, the basic principle of Wireless Power Transfer (WPT) based on resonance in magnetically coupled coils is described with detailed theoretical analysis of concepts. A novel approach of WPT is proposed using an additional coil between the main transmitter and receiver to enhance the transfer efficiency. The design process for the proposed WPT system is detailed, together with experimental investigation. Output voltages waveforms are presented for variable distances. Frequency domain analysis has been carried out for resonant frequency analysis and detection. It is observed that by using an intermediate coil between the transmitter and receiver coils, almost doubles the output voltage and improves the efficiency by more than four times of a two coil system. The effect of variable capacitors in the intermediate coil on the output voltage at different distances is experimented and founded that using a proper capacitor is required to achieve higher voltages. The output voltage can even be doubled if we use a proper capacitor. © 2017 ieee.

关键词： Resonant circuits

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CPS Oriented control design for Networked Surveillance Robots With Multiple Physical Constraints

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ieee TRANSACTIONS ON computer-aided design OF INTEGRATED CIRCUITS AND systemS 2016年第5期35卷 778-791页

作者： Khan, Muhammad Umer Li, Shuai Wang, Qixin Shao, Zili Hong Kong Polytech Univ Dept Comp Embedded Syst & CPS Lab Hong Kong 07307 Hong Kong Peoples R China Air Univ Dept Mechatron Engn Islamabad 44000 Pakistan

Networked robotics are a typical cyber-physical system (CPS). This paper presents the cyber physical interaction model to perform formation control and tracking in the presence of other robots and static obstacles. It discusses how such a model can be effectively utilized to deal with kinodynamic and operation range constraints. The cyber system is also responsible for feasible trajectory generation based upon regional path segments and to ensure that all the robots maneuver through obstacles in a safe manner. The introduction of virtual robot restructures the formation control problem into a tracking control problem between virtual reference robot and follower robots. A novel obstacle avoidance approach is proposed based upon the scaling of whole (partial) formation corresponding to centralized (distributed) framework. The involved CPS has network structure preserving properties that are key to effective distributed decision making. The novel formation control, obstacle avoidance, and trajectory tracking approaches facilitate networked robots to be effectively controlled through the cyber system. We also discuss efficient and optimal implementation of the proposed trajectory generator using computer-aided design for CPSs. Evaluation of the proposed approach is provided that demonstrate the formation control, trajectory tracking, and obstacle avoidance for multirobots using the proposed scheme.

关键词： Cyber-physical systems (CPSs) formation control networked robots obstacle avoidance

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Dynamic Reliability Management for Near-Threshold Dark Silicon Processors 35

Dynamic Reliability Management for Near-Threshold Dark Silic...

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35th ieee/ACM International conference on computer-aided design (ICCAD)

作者： Kim, Taeyoung Sung, Zeyu Cook, Chase Gaddipati, Jagadeesh Wang, Hai Chen, Haibao Tang, Sheldon X. -D. Univ Calif Riverside Dept Comp Sci & Engn Riverside CA 92521 USA Univ Calif Riverside Dept Elect & Comp Engn Riverside CA 92521 USA Shanghai Jiao Tong Univ Dept Micro Nanoelect Shanghai 200240 Peoples R China UESTC Sch Microelect & Solid State Elect Chengdu 610054 Peoples R China

ISBN: (纸本)9781450344661

In this article, we propose a new dynamic reliability management (DRM) techniques at the system level for emerging low power dark silicon manycore microprocessors operating in near-threshold region. We mainly consider the electro-migration (EM) failures. To leverage the EM recovery effects, which was ignored in the past, at the system-level, we propose a new equivalent DC current model to consider recovery effects for general time-varying current waveforms so that existing compact EM model can be applied. The new equivalent DC current is calculated in two steps: firstly, the equivalent square waveform is calculated so that peak and terminal stresses are matched, secondly, the parameterized equivalent DC current is derived in terms of the parameters of the periodic fitted square waveforms from. the first step. The new recovery EM model can allow EM induced lifetime to be better managed at the system level. The system level energy optimization problem considering EM lifetime subject to power and performance constraints is framed by seeking the best dark silicon cores' voltage and on/off status. The resulting problem is solved by the State-Action-Reward-State-Action (SARSA) reinforcement learning algorithm. Experimental results on a 64-core near threshold dark silicon processor show that the new equivalent EM DC currents can fully exhibit the recovery effects at the system-level so that trade-off between EM lifetime and energy/perfOrmance can be easily made. We further show that the proposed learning-based energy optimization can effectively manage and optimize energy subject to reliability, given power budget and performance limits. When the recovery effects are considered, the new optimization method can achieve 8.6X longer lifetime at the costs of 2.0X more energy and 3.3X more performance degradation.

关键词： Budget control

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control-Fluidic Codesign for Paper-Based Digital Microfluidic Biochips 35

Control-Fluidic CoDesign for Paper-Based Digital Microfluidi...

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35th ieee/ACM International conference on computer-aided design (ICCAD)

作者： Wang, Qin Li, Zeyan Cheong, Haena Kwon, Oh-Sun Yao, Hailong Ho, Tsung-Yi Shin, Kwanwoo Li, Bing Schlichtmann, Ulf Cai, Yici Tsinghua Univ Dept Comp Sci & Technol Beijing Peoples R China Sogang Univ Dept Chem Seoul South Korea Sogang Univ Inst Biol Interfaces Seoul South Korea TUM Inst Adv Study Munich Germany Natl Tsing Hua Univ Hsinchu 30013 Taiwan Tech Univ Munich Inst Elect Design Automat Munich Germany

ISBN: (纸本)9781450344661

Paper-based digital microfluidic biochips (P-DMFBs) have recently emerged as a promising low-cost and fast-responsive platform for biochemical assays. In P-DMFBs, electrodes and control lines are printed on a piece of photo paper using inkjet printer and conductive ink of carbon nanotubes (CNTs). Compared with traditional digital microfluidic biochips (DMFBs), P-DMFBs enjoy notable advantages, such as faster in-place fabrication with printer and ink, lower costs, better disposability, etc. Because electrodes and CNT control lines are printed on the same side of a paper, a new design challenge for P-DMFB is to prevent the interference between moving droplets and the voltages on CNT control lines. These interactions may result in unexpected droplet movements and thus incorrect assay outputs. To address the new challenges in automated design of P-DMFBs, this paper proposes the first control-fluidic codesign flow, which simultaneously adjusts the control line routing and fluidic droplet scheduling to achieve an optimized solution. As the control line routing may not be able to address all the interferences between moving droplets and the voltages on control lines, droplet rescheduling is performed to effectively deal with the remaining interferences in the routing solution. Computational simulation results on real-life bioassays show that the proposed codesign method successfully eliminates all the interferences, while a state-of-the-art maze routing method cannot solve any of the benchmarks without conflicts.

关键词： Carbon nanotubes

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