the work focuses on a sample gathering problem where a team of mobile robots has to collect and deposit into a storage facility all samples spread throughout the robotic environment. Recent results propose an optimal ...
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ISBN:
(纸本)9781479946013
the work focuses on a sample gathering problem where a team of mobile robots has to collect and deposit into a storage facility all samples spread throughout the robotic environment. Recent results propose an optimal and off-line solution for this problem, based on a mixed integer linear programming optimization. However, this optimization may fail when there are many robots and/or samples. To overcome this problem, the current paper first formulates a quadratic programming relaxation that, at a price of obtaining sub-optimal robotic plans, is computationally feasible even when the optimal solution fails. Secondly, the paper comparatively analyzes the two possible formulations, in order to draw rules for choosing the appropriate optimization to be employed in a specific case.
A relevant challenge for the automotive industry is the control of permanent magnet synchronous machines (PMSMs) employed in automotive electrical traction drives. A common characteristic of these applications is the ...
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ISBN:
(纸本)9781479946013
A relevant challenge for the automotive industry is the control of permanent magnet synchronous machines (PMSMs) employed in automotive electrical traction drives. A common characteristic of these applications is the fast dynamics which is subject to several physical and real-time constraints. therefore, the goal of this paper is to provide an effective control methodology that can answer to this challenging problem. To this end, firstly, using a standard quadratic control Lyapunov function (CLF), a linear control law is obtained for the unconstrained dynamics. Secondly, a piecewise affine control law defined on a mesh partition of the error-space is obtained for the constrained dynamics. As a result, the complexity of the PMSM state feedback control problem is significantly reduced. To illustrate the effectiveness of the developed synthesis method a realistic simulation scenario is considered, including a comparison withthe classical PI approach.
Graphs could be used to illustrate a wide range of practical challenges. the word network is usually used to denote a graph in which the elements are associated withthe vertices and edges, emphasizing its relevance t...
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A combined nonlinear model predictive control with extended Kalman filter strategy has been proposed for optimal input design. As the designed controller depend on the identified parameters, the achievable performance...
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ISBN:
(纸本)9781509027200
A combined nonlinear model predictive control with extended Kalman filter strategy has been proposed for optimal input design. As the designed controller depend on the identified parameters, the achievable performance highly depends on the quality of the identified information. the degradation in achieving the desired control performance is quantified by introducing an optimality criteria which minimize the error covariance matrix of the identified parameters. the major contribution is using the information of the system parameter at every sample time to improve the control performance at next time step. the the performance of the proposed algorithm is verified by numerical simulations for a example system.
this research is focused on providing solutions for kinematic evaluation of articulated rigid objects when noisy data is available. Recent results proposed different techniques which necessitate learning stages or lar...
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ISBN:
(纸本)9781479946013
this research is focused on providing solutions for kinematic evaluation of articulated rigid objects when noisy data is available. Recent results proposed different techniques which necessitate learning stages or large relative motions. Our approach starts from a complete analytical solution which uses only point and line features to parametrize the rigid motion. this analytical solution is built using orthogonal dual tensors generated by rigid basis of dual vectors. Next, the necessary transformations are added to the theoretical solution so it can be used with noisy data input. thus, the computational procedure is revealed and different experiments are presented in order to underline the advantages of the proposed approach.
the paper proposes two estimation methods for the spectral radius of a complex interval matrix. these methods exploit different properties of the interval matrix and construct distinct numerical approaches, so that th...
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ISBN:
(纸本)9781479946013
the paper proposes two estimation methods for the spectral radius of a complex interval matrix. these methods exploit different properties of the interval matrix and construct distinct numerical approaches, so that their results dispute, from case to case, the precision of the estimation. this complementarity of the two methods recommends their parallel use in practical applications, allowing the selection of the best outer approximation for the spectral radius. the paper also discusses the algorithmic implementations by using MATLAB compatible software environments. the considered case studies illustrate (i) the operation of the two methods;(ii) the dependence of the accuracy of each method on the concrete entries of the interval matrix, and, implicitly, the usefulness of comparisons between the results provided by both presented methods.
We introduce a new implementation of a standard linear polytopic constraint which allows not only to validate the constraint itself but also to encourage a distance from the system to the boundary (i.e. the edges of t...
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ISBN:
(纸本)9781665414968
We introduce a new implementation of a standard linear polytopic constraint which allows not only to validate the constraint itself but also to encourage a distance from the system to the boundary (i.e. the edges of the polytope), and hence, is called tightening polytopic constraint. We also present the MPC designs for mobile robots to navigate within a polytopic working zone towards the goal, which employ the proposed tightening constraint. Extensive simulations and comparison withthe potential field approach show the effectiveness and advantages of the proposed methods.
As ever more data is collected in the business processes of large enterprises, the decision makers need new business intelligence tools. Enterprise reporting tools have been available for some time, however, while rep...
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ISBN:
(纸本)9781479946013
As ever more data is collected in the business processes of large enterprises, the decision makers need new business intelligence tools. Enterprise reporting tools have been available for some time, however, while reports aggregate business data, the large number of reports can become unmanageable. the European funded project Questor aims to create a revolutionary product that will eliminate the complexities inherent in the report management workflow. the final purpose is to make querying the report database as simple as addressing a question in natural language. this paper gives an overview over the concept of the Questor project, its software architecture, algorithms and results.
Biological systems provide an exceptional source of inspiration for the design of autonomous adaptive agents. In this work, we propose ICE (or Information-Computation-Evolution), a new bio-inspired agent model for com...
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ISBN:
(纸本)9781479946013
Biological systems provide an exceptional source of inspiration for the design of autonomous adaptive agents. In this work, we propose ICE (or Information-Computation-Evolution), a new bio-inspired agent model for complex, multi-agent self-organized systems, such as biological or social systems. the model proposes a physical organization of reality using three main components - information organization, graph-based computation and evolution. It emphasizes a strong relationship between computation and the physical world out of which we derive information principles and a biological description of the world. Agents using ICE operate in an hierarchical structure of 'realities' where they have to conform to the information principles derived from the model and continuously explore more complex knowledge and create new connections to learn more from the world.
We report on two experiments performed to test the importance of Term Order in automatic summarisation. Experiment one was undertaken as part of DUC 2004 to which three systems were submitted, each with a different su...
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