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检索条件"任意字段=7th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2017"

共 396 条记录，以下是281-290 订阅

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Beneficially combining LQR and PID to control longitudinal dynamics of a SmartFly UAV

Beneficially combining LQR and PID to control longitudinal d...

引用

international conference and Workshop on computing and Communication (IEMCON)

作者： Shahriar Bagheri Tural Jafarov Leonid Freidovich Nariman Sepehri Dept. of Mechanical Engineering University of Manitoba Winnipeg MB Canada R&D Eng. Nesne Electronics Izmir Turkey Dept. of Applied Physics and Electronics Umeå University Umeå Sweden

ISBN: (纸本)9781509009978

the problem of control system design for longitudinal axis of a small-size flying wing is studied. the new controller proposed is comprised of two controllers working together to provide robust stability and step reference tracking for the nonlinear dynamics of SmartFly UAV. More precisely, Linear Quadratic Regulator (LQR) is used together with Proportional, Integral, Derivative (PID) controller. the inspiration comes from the fact that each of the mentioned controllers have advantages and disadvantages that cannot be neglected. LQR, as an optimal in terms of energy-like regulator, provides robust stability with a minimized energy-like performance index. It is also very computationally efficient. But, when it comes to the transient of particular output, LQR is not the best solution. On the other hand, PID has the advantage of a possibility to tune the gains for optimized transient behavior, especially for well-behaving plants. Furthermore, PID controller is particularly useful for tracking problems. However, PID is often not robust (in terms of parameter uncertainties) and it is also difficult to tune PID parameters for unstable systems. By differentiating between system stability and performance in the controller design process, it is possible to benefit from both controllers, using them along side together in one system. Functionality of this method was verified through computer simulation in MATLAB/SIMULINK for a nonlinear model of SmartFly UAV. Closed-loop system performance was evaluated in terms of robustness and step reference tracking.

关键词： Mathematical model Robustness Unmanned aerial vehicles Atmospheric modeling Numerical models Stability analysis Regulators

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Advanced HPC Methods for Large-scale Sensitivity Analysis 7

Advanced HPC Methods for Large-scale Sensitivity Analysis

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7th international conference on Electronics, Computers and Artificial Intelligence (ECAI)

作者： Cioaca, Alexandru Univ South East Europe LUMINA Dept Engn Bucharest Romania

ISBN: (纸本)9781467366472

Nonlinear numerical control is rightfully considered to be one of the most difficult engineering problems to tackle, in terms of both practical implementation and time-to-solution. It requires time-stepping numerical models for simulating the trajectory of the system, adjoint models for sensitivity analysis and matrix-free iterative solvers to produce the solution field of the inverse problem. the field of high-performance computing (HPC) provides computational tools and practices which enable the deployment of numerical applications on computational clusters, supercomputers and cloud computing facilities. this article presents a set of practical methods aimed at accelerating and parallelizing computation for sensitivity analysis in a large-scale 4D-Var data assimilation setting.

关键词： data assimilation sensitivity analysis numerical control high-performance computing reduced-order model

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Wheelchair control and navigation based on kinematic model and iris movement 7

Wheelchair control and navigation based on kinematic model a...

引用

7th ieee international conference on Cybernetics and Intelligent systems, CIS 2015 and the 7th ieee international conference on Robotics, Automation and Mechatronics, RAM 2015

作者： Solea, Razvan Filipescu, Adrian Filipescu, Adriana Minca, Eugenia Filipescu, Silviu Department of Automation and Electrical Engineering 'Dunarea de Jos' University of Galati Romania Department of Automation Computer Science and Electrical Engineering 'Valahia' University of Targoviste Romania Department of Electrical Drives 'Politehnica' University of Bucharest Romania

ISBN: (纸本)9781467373364

this paper deals control and navigation of the wheelchair for elderly and disabled based on kinematic model iris motion and image processing. Cirrus Power Wheelchair was modelled as an wheeled mobile robot (WMR) with two driving and two free wheels (2DW/2FW). An input/output model of the wheel control system consisting of servo-amplifier, DC motor and gear reducer have been experimentally indentified. To control each driving wheel system, PI controller has been used. Pole placement method was used for tuning PI controller. A software solution was proposed for real-time computing of the wheelchair position based on data acquisition from whell encoders. A navigation system, based on iris movement and image processing, was real-time implemented in MATLAB. this navigation system identifies the user's eye movement in three directions: forward, left and right. Stop of the wheelchair is done by eye closing. Using a LabView platform, a graphic user interface has been designed and implemented, allowing user to control wheelchair movements. © 2015 ieee.

关键词： Wheelchairs

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Sensory Synergy: Modeling the Neural Dynamics of Environmental Feedback to the Central Nervous system 7

Sensory Synergy: Modeling the Neural Dynamics of Environment...

引用

7th Annual international ieee EMBS conference on Neural engineering (NER)

作者： Alnajjar, Fady S. Itkonen, Matti Nagai, Chikara Shimoda, Shingo RIKEN BSI TOYOTA Collaborat Ctr BTCC BSI Intelligent Behav Control Unit Nagoya Aichi Japan

ISBN: (纸本)9781467363891

Human motions are a result of complex-neural interactions between the central nervous system (CNS), sensory and musculoskeletal systems. In this paper, we are focusing in investigating these interactions relying mainly on the concept of sensory-and muscle-synergies. We hypothesize that the CNS is processing and transferring data from sensors and muscles in a unique low-dimensional signaling to simplify the complexity of environmental inputs and to facilitate recruiting muscles patterns. A pilot study involving computing sensory and muscle synergies of seven healthy participants while performing posture balance tasks was conducted to validate our hypotheses. Changes on the participant's muscles lengths during performing the task were used to represent proprioceptors and compute sensory synergies. the resultant muscles activities, on the other hand, were recorded and used to estimate muscle synergies. Experimental results suggest that the environmental inputs were translated into lower dimensional signals and used to move the target limb to the desired position immediately after the balance disturbance. Participants who showed better posture response were found to be likely to have a stronger correlation between the utilized sensory and muscle synergies. this preliminary study is considered fundamental to understand the neural strategies among the CNS, sensory and musculoskeletal systems.

关键词： Muscle

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Offline Analysis of Independent Guarded Assertions in Automotive Integration Testing 17

Offline Analysis of Independent Guarded Assertions in Automo...

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2015 ieee 17th international conference on High Performance computing and Communications (HPCC)

作者： Rodriguez-Navas, Guillermo Kobetski, Avenir Sundmark, Daniel Gustafsson, thomas Malardalen Univ Vasteras Sweden Swedish Inst Comp Sci Kista Sweden Scania CV AB Sodertalje Sweden

ISBN: (纸本)9781479989379

the size and complexity of software in automotive systems have increased steadily over the last decades. Modern vehicles typically contain numerous electrical control units (ECUs), and more and more features require real-time interaction between several dedicated ECUs (e.g., gearbox, brake and engine control units) in order to perform their tasks. Since system safety and reliability must not be adversely affected by this increase in complexity, proper quality assurance is a must. Such quality assurance is often performed by testing the system in different levels of integration throughout the development process. However, the growth of complexity of the system under test aslo affects the testing, making it laborious, difficult and costly. this paper presents a novel method for efficient offline analysis of traces, which has been especially tailored for integration testing of automotive systems. the method exploits the recently defined concept of independent guarded assertion in order to formally describe the events that are relevant for the analysis as well as the expected behavior in those events. the offline analysis is implemented using a standard commercial model checker and has shown good performance in the conducted experiments.

关键词： automotive electrics automotive engineering brakes engines gears program testing quality assurance software quality ECU automotive integration testing automotive systems brake unit electrical control units engine control unit event behavior gearbox unit independent guarded assertions integration testing offline trace analysis software complexity software size standard commercial model checker system complexity system reliability system safety Analytical models Automata Automotive engineering Complexity theory Real-time systems Software Testing automotive model checking model-based testing trace analysis

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GPU-Memory Coordinated Energy Saving Approach Based on Extreme Learning Machine

GPU-Memory Coordinated Energy Saving Approach Based on Extre...

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ieee international conference on High Performance computing and Communications (HPCC)

作者： Junke Li Bing Guo Yan Shen Deguang Li Jihe Wang Yanhui Huang Qiang Li College of Computer Science Sichuan University Chengdu China School of Control Engineering Chengdu University of Information Technology Country Chengdu China

ISBN: (纸本)9781479989386

GPU can offer more powerful computing capabilities compared to that of the CPU, but the problem of the energy consumption is particularly prominent and affects its application in a broader filed. In solving this problem, DVFS (Dynamic Voltage Frequency Scaling) becomes an effective solution. the previous works use the linear approaches and ignore other component characteristics in system at software runtime. this paper assumes that functional relation between the software runtime characteristics and the appropriate frequency which corresponds to the GPU and memory as nonlinear and proposes a GPU and memory coordinated energy saving approach (EDVFS) based on extreme learning machine. Experiments demonstrate the effectiveness of the approach and reasonableness of assumption and that EDVFS can get maximum energy savings of 10.63% and average energy savings of 2.68% compared to the traditional DVFS.

关键词： Runtime Time-frequency analysis Mathematical model Graphics processing units Memory management Energy consumption

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Simulation-driven optimization of real-time control tasks

Simulation-driven optimization of real-time control tasks

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ieee international Symposium on Cyberspace Safety and Security

作者： Matteo Morelli Yasmina Seddik Marco Di Natale Chokri Mraidha Sara Tucci-Piergiovanni CEA LIST Laboratory of Model-Driven Engineering for Embedded Systems Scuola Superiore S. Anna

ISBN: (纸本)9781479989386

In this paper we define a simulation-driven process to improve the design of real-time control systems. the process aims at exploring the interplay betwen control performance and real-time behavior of control tasks. the traditional design flows based on the definition of implicit tasks deadlines on control functions are extended to include the exploration of relaxed deadlines and order of execution constraints. Relaxed deadlines, coupled with an optimization approach to find feasible task sets, allow the exploration and evaluation of different task implementations. the definition of relaxed deadlines and the evaluation of task implementations is performed using the T-Res (Time and Resource) scheduling simulation framework [21] under Simulink. the problem is defined as a quadratic optimization problem using a tight upper bound formulation of the task response times. the application of the method to a quadcopter case study shows how the consideration of the control performance in the definition of the timing parameters of interest can lead to an improved design.

关键词： simulating control performance time periods Time parameters Exploration control task control function design improvement time characteristic Real time control Religious Missions application methods real-time control system

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Wheelchair control and Navigation Based on Kinematic Model and Iris Movement

Wheelchair Control and Navigation Based on Kinematic Model a...

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international conference on Cybernetics and Intelligent systems

作者： Razvan Solea Adrian Filipescu Adriana Filipescu Eugenia Minca Silviu Filipescu Department of Automation and Electrical Engineering "Dunarea de Jos" University of Galati Romania Department of Automation Computer Science and Electrical Engineering "Valahia" University of Targoviste Romania Department of Electrical Drives "Politehnica" University of Bucharest Romania

ISBN: (纸本)9781467373395

关键词： wheelchair control navigation kinematic model iris movement

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On a Feedback control-Based Mechanism of Bidding for Cloud Spot Service

On a Feedback Control-Based Mechanism of Bidding for Cloud S...

引用

ieee international conference on Cloud computing Technology and Science (CloudCom)

作者： Zheng Li Maria Kihl Anders Robertsson Department of Electrical and Information Technology Faculty of Engineering Lund University Lund Sweden Department of Automatic Control

As a cost-effective option for Cloud consumers, spot service has been considered to be a significant supplement for building a full-fledged market economy for the Cloud ecosystem. However, unlike the static and straightforward way of trading on-demand and reserved Cloud services, the market-driven regulations of employing spot service could be too complicated for Cloud consumers to comprehensively understand. In particular, it would be both difficult and tedious for potential consumers to determine suitable bids from time to time. To reduce the complexity in applying spot resources, we propose to use a feedback control to help make bidding decisions. Based on an arccotangent-function-type system model, our novel bidding mechanism imitates fuzzy and intuitive human activities to refine and issue new bids according to previous errors. the validation is conducted by using Amazon's historical spot price trace to perform a set of simulations and comparisons. the result shows that the feedback control-based mechanism obtains a better trade-off between bidding rationality and success rate than the other five comparable strategies. Although this mechanism is only for black-box bidding (price prediction) at this current stage, it can be conveniently and gradually upgraded to take into account external constraints in the future.

关键词： Cloud computing Adaptive control Pricing Cost accounting Mathematical model Games Stochastic processes

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Sensory Synergy: Modeling the Neural Dynamics of Environmental Feedback to the Central Nervous system

Sensory Synergy: Modeling the Neural Dynamics of Environment...

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international ieee/EMBS conference on Neural engineering

作者： Fady S. Alnajjar Matti Itkonen Chikara Nagai Shingo Shimoda Intelligent Behavior Control Unit BSI-TOYOTA Collaboration Center (BTCC) Nagoya Japan

Human motions are a result of complex-neural interactions between the central nervous system (CNS), sensory and musculoskeletal systems. In this paper, we are focusing in investigating these interactions relying mainly on the concept of sensory- and muscle-synergies. We hypothesize that the CNS is processing and transferring data from sensors and muscles in a unique low-dimensional signaling to simplify the complexity of environmental inputs and to facilitate recruiting muscles patterns. A pilot study involving computing sensory and muscle synergies of seven healthy participants while performing posture balance tasks was conducted to validate our hypotheses. Changes on the participant's muscles lengths during performing the task were used to represent proprioceptors and compute sensory synergies. the resultant muscles activities, on the other hand, were recorded and used to estimate muscle synergies. Experimental results suggest that the environmental inputs were translated into lower dimensional signals and used to move the target limb to the desired position immediately after the balance disturbance. Participants who showed better posture response were found to be likely to have a stronger correlation between the utilized sensory and muscle synergies. this preliminary study is considered fundamental to understand the neural strategies among the CNS, sensory and musculoskeletal systems.

关键词： Muscles Correlation Integrated circuits Central nervous system Recruitment Computational modeling

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