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Ball and plate control system using visual feedback

Ball and plate control system using visual feedback

引用

28th international conference on Computers and their Applications 2013, CATA 2013

作者： Wells, Trent S. Department of Mechanical Engineering California State Polytechnic University Pomona CA 91768 United States

ISBN: (纸本)9781622769728

For many applications it is not always possible to implement a complex control system due to cost restrictions or existing computational architecture. However, increased demands on many market sectors are requiring increasingly complex or innovative solutions in order to remain competitive and efficient within their field of expertise. In many manufacturing floors the utilization of a Proportional Integral Derivative (PID) controller has become the gold standard device for process control systems. As industry demands become increasingly complex the need for more complex solutions that can perform multiple tasks arises as well. For applications such as robotic manipulation or nonlinear systems the PID controller can sometimes be limited in its ability to provide a sufficient solution for these higher order tasks. However, with some minor expansion of the implementation, a PID control system is often able to provide a solution that is simpler and able to offer a solution especially when the model of the system is unknown. When configuring a state space system, generating a mathematical model is one of the largest difficulties to accurately describe the system. this paper presents a solution for the control of a complex system, specifically a ball and plate balancing system using a simplified PID controller. the ball and plate balancing system introduces the complex non-linear control theory as an extension of the simpler ball and beam balancing system configuration. the ball and beam configuration is a two degree of freedom system that has multiple uses for showcasing control system theory and providing a platform to introduce new theories for controls and computing. the benefit of focusing on the ball and plate system is such that it provides a more complex problem and the opportunity for modeling interactions in a more realistic, unrestricted environment. Copyright © (2013) by the international Society for Computers and their Applications.

关键词： three term control systems

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Output Feedback control of Discrete-time Nonlinear Quadratic systems with Quantization Effects and Missing Measurements 28

Output Feedback Control of Discrete-time Nonlinear Quadratic...

引用

28th Chinese control and Decision conference

作者： Shi, Yujing Li, Yueru Li, Shanqiang Harbin Univ Sci & Technol Dept Appl Math Harbin 150080 Peoples R China

ISBN: (纸本)9781467397148

this paper deals with the problem of output feedback control for a class of discrete-time nonlinear quadratic systems with quantization effects and missing measurements. the measured output of system is quantized by a logarithmic quantizer. Moreover, the missing measurements are modeled by introducing a diagonal matrix composed of a series of mutually independent random variables satisfying certain probabilistic distributions on the interval [0 1]. In this paper, the output feedback controller design method, which guarantees the zero equilibrium point of the closed-loop system is stochastic stable, is provided. By using LMI technique, the sufficient condition is derived for computing the desired controller gain matrix and observer gain matrix of the system. Finally, a numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： discrete-time nonlinear quadratic systems quantization missing measurements output feedback control domain of attraction

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Evaluation of NVIDIA Xavier NX Platform for Real-Time Image Processing for Fusion Diagnostics 28

Evaluation of NVIDIA Xavier NX Platform for Real-Time Image ...

引用

28th international conference on Mixed Design of Integrated Circuits and system (MIXDES)

作者： Jablonski, Bartlomiej Makowski, Dariusz Perek, Piotr Lodz Univ Technol Dept Microelect & Comp Sci Lodz Poland

ISBN: (纸本)9788363578190

Real-time image processing is the core component of image plasma diagnostics. Efficient algorithms enable machine protection, contributing to future steady-slate operation in nuclear fusion devices. the paper evaluates the applicability of the newest low-power NVIDIA Jetson Xavier NX platform for fusion diagnostics. this embedded NVIDIA Tegra system-on-a-Chip (SoC) integrates a Graphics Processing Unit (GPU) and Central Processing Unit (CPU) on a single chip. General-Purpose computing on Graphics Processing Units (GPGPU) provides high parallelism that is advantageous in image-based calculations. the hardware differences in comparison to the previous NVIDIA Jetson TX2 based on Pascal architecture, including innovations introduced in the Volta architecture for NVIDIA Tegra, are signified. the evaluation is performed on the Wendelstein 7-X (W7-X) stellarator experimental data. Implemented algorithms detect and analyse thermal events in real-time utilising the embedded GPU. Investigated thermal events are strike-lines, overload hotspots, reflections and surface layers. their detection allows the automated real-time risk evaluation incorporated in the feedback plasma control and interlock systems in the W7-X. the speedup resulting from the upgrade to the Xavier NX platform is presented in the paper, along with techniques pertaining to key hardware differences and programming aspects specific to the NVIDIA Tegra facilitating real-time computing on the low-power embedded device.

关键词： Graphics Processing Unit General-Purpose computing on Graphics Processing Units Image Processing Plasma Diagnostics Fusion Diagnostics Embedded systems

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A Constraint Satisfaction Approach for Planning of Multi-Robot systems 18

A Constraint Satisfaction Approach for Planning of Multi-Rob...

引用

18th international conference on system theory, control and computing (ICSTCC)

作者： Panescu, Doru Pascal, Carlos Gheorghe Asachi Tech Univ Iasi Dept Automat Control & Appl Informat Iasi Romania

ISBN: (纸本)9781479946013

this paper presents a research on multi-robot system planning based on a combination between a multiagent system and a constraint satisfaction problem approach. By using coloured Petri net models, specifically developed for a distributed constraint satisfaction algorithm, it was possible to make some simulation tests with a multi-robot system comprised of four robots involved in solving assembly goals. the analysis determined a mechanism to make the distributed planning phase more efficient by adapting the agents' priorities.

关键词： multi-robot system constraint satisfaction problem distributed planning coloured Petri net multiagent system

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Designing control systems with distributed parameters 18

Designing control systems with distributed parameters

引用

18th international conference on system theory, control and computing (ICSTCC)

作者： Cristian, Miron Dumitru, Popescu Catalin, Petrescu Univ Politehn Bucuresti Automat Control & Syst Engn Fac Automat Control & Comp Bucharest Romania

ISBN: (纸本)9781479946013

this paper proposes a numerical control strategy for controlling a system with distributed parameters (SDP). Such systems are usually difficult to control, mainly because of their non-standard structure. the model of the process, a heat-exchanger, is obtained using energy-balance equations. the solution that is proposed is to design a polynomial R-S-T controller, to analyze its nominal performances in closed loop configuration, and to improve it using a robust control solution. the results in simulation ensure the tolerance of the system to structure and the non-linearity of the process.

关键词： heat exchanger SDP modelling R-S-T algorithm robust control

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Switching control of a rotary inverted pendulum 26

Switching control of a rotary inverted pendulum

引用

26th international conference on system theory, control and computing (ICSTCC)

作者： Suto, Boglarka Lendek, Zsofia Tech Univ Cluj Napoca Dept Automat Memorandumului 28 Cluj Napoca 400114 Romania

ISBN: (数字)9781665467469

ISBN: (纸本)9781665467469

In this paper we consider the problem of swinging-up and stabilization of a rotary inverted pendulum. We design switching controllers and analyse whether the performance can be improved using more controllers. We optimize both the control gains and the switching points. All the controllers are tested experimentally on a rotary inverted pendulum. Our results indicate that having a large number of switching controllers does not necessarily lead to a performance increase.

关键词： switching control parametric optimization swing-up control nonlinear system rotary inverted pendulum

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Adaptive control software: Can we guarantee safety?

Adaptive control software: Can we guarantee safety?

引用

28th Annual international Computer Software and Applications conference

作者： Liu, Y Yerramalla, S Fuller, E Cukic, B Gururajan, S W Virginia Univ Morgantown WV 26505 USA

ISBN: (纸本)0769522092

the appeal of including adaptive components in complex computational systems, such, as flight control, is iv. their ability to cope with a changing environment. Continual changes induce uncertainty that limits the applicability of conventional verification and validation (V&V) techniques. In safety-critical applications, the mechanisms of change must be observed, diagnosed, accommodated and well understood prior to deployment. In this paper, we present a non-conventional V&V approach suitable for online adaptive systems. We applied this approach to an adaptive flight control system that employs neural network learning for online adaptation. Presented methodology consists of a Novelty Detection technique and Online Stability Monitoring tools. the Novelty Detection technique is based on Support Vector Data Description that detects novel (abnormal) data patterns. the Online Stability Monitoring tools based on Lyapunov's Stability theory detect unstable learning behavior in neural networks.

关键词： Adaptive control systems

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Sewer Network Discharge control Using a Multi-agent Approach 18

Sewer Network Discharge Control Using a Multi-agent Approach

引用

18th international conference on system theory, control and computing (ICSTCC)

作者： Minzu, Viorel Barbu, Marian Costache, Marius-Cristian Dunarea de Jos Univ Galati Control & Appl Informat Dept Galati 800008 Romania

ISBN: (纸本)9781479946013

this paper proposes a distributed controller for a sewer network aiming to minimize the total overflow volume generated by the influent collected in its area, in the horizon of the control problem. the sewer network is modeled as a nonlinear discrete dynamic system. the control objective leads to an optimization problem with constraints on control and state variables. Instead of solving this optimization problem in order to obtain an optimal controller, a multi-agent system is used as a distributed controller. the main advantage is the very small complexity of this approach in comparison with the optimization problem. the numerical tests are very encouraging.

关键词： optimal control multi-agent system sewer network

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Use of predictive model technique to increase the robustness of closed-loop wireless communication. 28

Use of predictive model technique to increase the robustness...

引用

28th IEEE international conference on Electronics, Electrical Engineering and computing, INTERCON 2021

作者： Salazar, Andres O. Fonseca, Diego Antonio M. Bezerra, Joao Paulo S. M. Guedes, Clenia Natal Brazil

ISBN: (纸本)9781665412216

this article proposes to apply the model predictive control (MPC) technique for signal regeneration in wireless communication. Solving data loss problems and increasing the reliability of wireless communication. through a theoretical study was carried out, the practical realization of the concepts addressed here, through laboratory experiments. Using microcontrollers, radio frequency modules, electronic prototyping, and control algorithms were demonstrated that the theoretical method suggested in this work is able to guarantee high stability for the closed communication system up to a certain rate of packet loss. © 2021 IEEE.

关键词： Model predictive control

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A Bio-inspired Model to Care for Casualties in a Disaster 18

A Bio-inspired Model to Care for Casualties in a Disaster

引用

18th international conference on system theory, control and computing (ICSTCC)

作者： Butincu, Cristian Nicolae Craus, Mitica Gavrila, Augustin Ionut Gheorghe Asachi Tech Univ Iasi Dept Comp Sci & Engn Fac Automat Control & Comp Engn Iasi Romania

ISBN: (纸本)9781479946013

A bio-inspired model to care for casualties in a disaster is presented and a simulation based on this model is performed and evaluated. the model uses a queuing system inspired by the behavior of immune systems and an ACO-like heuristic for routing casualties across overloaded medical centers. the simulation results are promising. Our model can be modified to be used for the evacuation of population from an affected area in a disaster.

关键词： disaster casualties care heuristic queuing transport ant colony optimisation immune system simulation

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