An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. the controlsystem is designed for: 1) when there is no good understanding of all physical effects incorporated in the mu...
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An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. the controlsystem is designed for: 1) when there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; 2) when the parameters of the system are not precisely known; and 3) when the system parameters do vary in a known regions about their nominal values. the proposed adaptive control law has the inverse dynamics controller structure and is composed of both an identification part and a control part. the simulation results verify the proposed approach to coordinated adaptive control of multiple robot manipulators in constrained motion tasks.
In this paper, we analyse the ability of the P-NET fieldbus network to cope withthe timing requirements of a Distributed Computer controlsystem (DCCS), where messages associated to discrete events should be made ava...
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In this paper, we analyse the ability of the P-NET fieldbus network to cope withthe timing requirements of a Distributed Computer controlsystem (DCCS), where messages associated to discrete events should be made available to a distributed application within a maximum bound time. the major contribution of this paper is the integration of a pre-run-time schedulability analysis of the P-NET protocol withthe typical Distributed Computer controlled system requirement. A case study of a petrochemical DCCS application and its message communication support is presented stressing some of the timing requirements that must be satisfied by the message exchanges. An implementation supported by a P-NET fieldbus network is then analysed and some conclusions are drawn about this example.
the proceedings contain 79 papers. the special focus in this conference is on Economics, Emergence, Complex systems, Issues and Innovations in Evolutionary Computation. the topics include: A framework for evolutionary...
ISBN:
(纸本)3540648917
the proceedings contain 79 papers. the special focus in this conference is on Economics, Emergence, Complex systems, Issues and Innovations in Evolutionary Computation. the topics include: A framework for evolutionary processes in semantic memory;preferential partner selection in evolutionary labor markets;subspace pursuit for exploratory modeling;evolutionary computing in multi-agent environments;evalution of a simple host-parasite genetic algorithm;testing three paradigms for evolving groups of cooperative, simple agents;acquisition of general adaptive features by evolution;hybrid interior-lagrangian penalty based evolutionary optimization;GA-optimal fitness functions;scaling up evolutionary programming algorithms;short notes on the schema theorem and the building block hypothesis in genetic algorithms;a superior evolutionary algorithm for 3-SAT;evolvable hardware control for dynamic reconfigurable and adaptive computing;evolutionary programming strategies with self-adaptation applied to the design of rotorcraft using parallel processing;optimization of thinned phased arrays using evolutionary programming;evolutionary domain covering of an inference system for function approximation;learning to re-engineer semantic networks using cultural algorithms;integration of slicing methods into a cultural algorithm in order to assist in large-scale engineeringsystems design;genetic search for object identification;fuzzy cultural algorithms with evolutionary programming;culturing evolution strategies to support the exploration of novel environments by an intelligent robotic agent;skeuomorphs and cultural algorithms;sphere operators and their applicability for constrained parameter optimization problems;numeric mutation as an improvement to symbolic regression in genetic programming and variable-dimensional optimization with evolutionary algorithms using fixed-length representations.
A hybrid model for representing knowledge in a Greek natural language interface to MS-DOS is presented. this model employs semantic knowledge of the operating system domain to develop a hybrid architecture integrating...
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A hybrid model for representing knowledge in a Greek natural language interface to MS-DOS is presented. this model employs semantic knowledge of the operating system domain to develop a hybrid architecture integrating symbolic and connectionist modules for recognizing the MS-DOS command labels of related or unrelated successive natural language user messages. this approach was deeply motivated by handling ellipsis, ambiguity and flexibility of sentence structure as well as possible. A comparative experimental evaluation of this approach to a symbolic one illustrating their pros and cons is also given. Finally, ways of extending this model are proposed withthe view of making the natural language interface more user friendly and functional.
A new type of traffic simulator has been developed in Finland by Helsinki University of Technology (HUT), Laboratory of Transportation engineering since 1989. Since 1991, further development has been made together wit...
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ISBN:
(纸本)085296613X
A new type of traffic simulator has been developed in Finland by Helsinki University of Technology (HUT), Laboratory of Transportation engineering since 1989. Since 1991, further development has been made together with TFK- Transport Research Institute. the name of the simulator is HUTSIM. the main objective is to develop a tool for traffic signal planners to design better signal controlsystems, programs and strategies. this is done by making it possible to evaluate and compare control arrangements by means of delays, stops and queues caused to traffic by signal. the off-line evaluation allow the designer to verify the level of signal performance to choose the best solutions. the basic method in HUTSIM-simulator is that a real signal controller or a controlsystem is taken into laboratory and the simulator is connected to that system. It means that the simulator generates the traffic and the detector information. the detector information is then transmitted to the controller. the controlsystem makes its own decisions and transmits the signal status information back to the simulator. this kind of arrangement has many advantages because it makes it possible to examine a real controlsystem in almost actual conditions in a laboratory environment. A disadvantage is that some additional communication hardware and software must be built into the simulator. Other advantages of HUTSIM-simulator can be listed as follows: PC-computer usage, micro level simulation, object oriented programming and visually oriented user interface.
Over the past two years, a multi-purpose transport database facility, known as `Instrumented City', has been developed by the Nottingham Univ Transport Research Group (NUTRG), in collaboration with Leicestershire ...
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ISBN:
(纸本)085296613X
Over the past two years, a multi-purpose transport database facility, known as `Instrumented City', has been developed by the Nottingham Univ Transport Research Group (NUTRG), in collaboration with Leicestershire County Council (LCC), and withthe financial support of the Science and engineering Research Council (SERC). this development has been based on the collection, processing and storage of traffic-related data from the County of Leicestershire. LCC's urban traffic control (UTC) system currently provides the main source of time-varying data for the Instrumented City database via a dedicated British Telecom telephone line between NUTRG's traffic laboratory and LCC's Traffic Management Computer. Following on from a description of the database and the types of data that can be provided for research under the aegis of the facility, this paper contains brief outlines of the work undertaken in a number of research projects that have used Instrumented City data. the benefits of collaboration between academic researchers and local authority engineers, exemplified by the development of the Instrumented City facility, are then commented upon. Finally, progress made in the development of a prototype remote pollution monitoring facility in Leicester, which will utilize the existing traffic signal control infrastructure and will lead to a major extension of the Instrumented City facility, is described.
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