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American Control Conference

作者： Christopher J. Bay Bryan P. Rasmussen Dept. of Mechanical Engineering at Texas A&M University College Station 77840 USA Mechanical Engineering at Texas A&M University College Station 77840 USA

ISBN: (纸本)9781467386838

Advancements in technology have led to new possibilities of hands-on projects within the classroom. This paper describes the development, production, and implementation of a controls education kit as a class project in a graduate controls course at Texas A&M University. The controls kit is a ball and plate balancing platform that the students can implement different control algorithms on and analyze their controller's performance. Through this process, the students gain practical experience of designing, implementing, and tuning real controllers. The kit mainly consists of an Arduino microcontroller, a USB webcam, two hobby servo motors, pieces of threaded rod, wooden dowels, and 3D-printed parts. The platform is left to be designed by the student. The kit was assembled for approximately $130, and can be expanded upon to develop further projects with minimal investment. The kit was designed to be easily shipped, and the 3D-printed parts were designed such that a hobby-grade printer can produce them. The kit provides students with hands-on experience at an affordable price-point and is easily configurable for many classroom and laboratory exercises. The relevant files and documentation can be found at .

关键词： Servomotors Universal Serial Bus Webcams Hardware Software Couplings Education Servo Device Component Universal Serial Bus webcam Couplings Education computer hardware computer software Students computer algorithms Standing Orders

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Passive robotic walker path following with bang-bang hybrid control paradigm

Passive robotic walker path following with bang-bang hybrid ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Marco Andreetto Stefano Divan Daniele Fontanelli Luigi Palopoli Department of Information Engineering and Computer Science (DISI) University of Trento Via Sommarive 5 Italy Department of Industrial Engineering (DII) University of Trento Via Sommarive 5 Italy

ISBN: (纸本)9781509037636

This paper presents a control algorithm that steers a robotic walking assistant along a planned path using electromechanical brakes. The device is modeled as a Dubins' car, i.e., a wheeled vehicle that moves only forward in the plane and has a limited turning radius. In order to reduce the cost of the hardware, no force sensor is employed. This feature hampers the application of control algorithms based on a modulated braking action. A viable solution is based on the application of on/off braking action, thus forcing the vehicle to turn with a fixed turning radius. In order to avoid the annoying chattering behaviour, which is the inevitable companion of all bang-bang solutions, we propose a hybrid controller based on three discrete states that rule the application of the braking action. The resulting feedback controller secures a gentle convergence of the user toward the planned path and his/her steady progress towards the destination. This is obtained by using two independent hystereses thresholds, the first one associated with the approaching phase and the second with the following phases. The system convergence toward the path is formally proved. Simulations and experiments show the effectiveness of the proposed approach and the good level of comfort for the user.

关键词： Vehicles Legged locomotion Wheels Robot sensing systems Angular velocity Brakes Brake Manipulator sensing systems Biped locomotion vehicle Wheels ANGULAR VELOCITY braking action computer algorithms Braking Comfort level turning radius

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Energy Efficiency Optimization for Non-Orthogonal Spectrum Sharing

Energy Efficiency Optimization for Non-Orthogonal Spectrum S...

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IEEE Global Communications Conference

作者： Lukai Xu Guanding Yu Dept. of Inf. Sci. & Electron. Eng. Zhejiang Univ. Hangzhou China

ISBN: (纸本)9781509013296

In this paper, we investigate a network with N pairs of users transmitting on the same channel simultaneously from the energy efficiency (EE) perspective. We formulate a non-concave multi-objective optimization problem (MOOP) to investigate the EE tradeoff, taking into account the minimum data rate requirement of each user. The weighted Tchebycheff method is utilized to solve the MOOP by converting it into a single-objective optimization problem, which is then solved by the Dinkelbach method and the concave-convex procedure (CCCP) method. Based on the above, a power control algorithm is developed for the interference network to achieve at least a local optimum. The proposed algorithm is compared with the orthogonal bandwidth sharing, where each user orthogonally shares the whole bandwidth without interfering each other. The performance of the proposed algorithms is verified by numerical results, which show that it is better to share the bandwidth orthogonally rather than non-orthogonally if the interference between each user pair is stronger than a given threshold.

关键词： Interference Bandwidth Resource management Pareto optimization Power control Wireless communication Pareto optimisation Bandwidth Power control CARRIER SYSTEM management of resources Energy efficiency interference interference non-orthogonal computer algorithms

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Neural Network-based Approach for Determining Optimal Reference Compensation Current of Shunt Active Power Filter

Neural Network-based Approach for Determining Optimal Refere...

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IEEE Power and Energy Society General Meeting

作者： Y. B. Chiu G. W. Chang Y. Y. Chen L. Y. Hsu H. J. Lu Y. D. Lee Y. R. Chang Department of Electrical Engineering National Chung Cheng University Institute of Nuclear Energy Research Atomic Council

ISBN: (纸本)9781509041695

With the increasing use of non-linear loads, the harmonic problems have become of great concerns. One of the solutions to harmonics is the application of shunt active power filters (APFs). The APF reference compensation strategy proposed in this paper adopts the backpropagation neural network (BPNN) to train the control algorithm and calculate the reference compensation current under steady state and varying load levels. Simulation results obtained by using MATLAB/Simulink show that the proposed BPNN-based APF control strategy can effectively mitigate harmonic currents generated by the nonlinear load.

关键词： Active power filter Backpropagation neural network Nonlinear load Harmonics active power filter nonlinear load harmonics compensating current computer algorithms power filters current harmonics shunt Shunts (electrical) accurate position finder

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Minimum-Energy Wireless Real-Time Multicast by Joint Network Coding and Scheduling Optimization

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MATHEMATICAL PROBLEMS IN ENGINEERING 2015年第1期2015卷 1-9页

作者： Tan, Guoping Zhu, Yandan Li, Yueheng Zhang, Lili Xu, Jing Hohai Univ Coll Comp & Informat Engn Nanjing 210098 Jiangsu Peoples R China Chinese Acad Sci Shanghai Microsyst & Informat Technol Res Inst Shanghai 200050 Peoples R China

For real-time multicast services over wireless multihop networks, to minimize the energy of transmissions with satisfying the requirements of a fixed data rate and high reliabilities, we construct a conflict graph based framework by joint optimizing network coding and scheduling. Then, we propose a primal-dual subgradient optimization algorithm by random sampling K maximal stable sets in a given conflict graph. This method transforms the NP-hard scheduling subproblem into a normal linear programming problem to obtain an approximate solution. The proposed algorithm only needs to adopt centralized technique for solving the linear programming problem while all of the other computations can be distributed. The simulation results show that, comparing with the existing algorithm, this algorithm can not only achieve about 20% performance gain, but also have better performance in terms of convergence and robustness.

关键词： REAL-time computing MULTICASTING (computer networks) LINEAR network coding SCHEDULING MATHEMATICAL optimization computer algorithms

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An Intelligent Broadcasting Algorithm for Early Warning Message Dissemination in VANETs

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MATHEMATICAL PROBLEMS IN ENGINEERING 2015年第1期2015卷 1-8页

作者： Bae, Ihn-Han Catholic Univ Daegu Sch IT Engn Gyongsan 712702 South Korea

Vehicular ad hoc network (VANET) has gained much attention recently to improve road safety, reduce traffic congestion, and enable efficient traffic management because of its many important applications in transportation. In this paper, an early warning intelligence broadcasting algorithm is proposed, EW-ICAST, to disseminate a safety message for VANETs. The proposed EW-ICAST uses not only the early warning system on the basis of time to collision (TTC) but also the intelligent broadcasting algorithm on the basis of fuzzy logic. Thus, the EW-ICAST resolves effectively broadcast storm problem and meets time-critical requirement. The performance of EW-ICAST is evaluated through simulation and compared with that of other alert message dissemination algorithms. From the simulation results, we know that EW-ICAST is superior to Simple, P-persistence, and EDB algorithms.

关键词： ARTIFICIAL intelligence BROADCASTING industry VEHICULAR ad hoc networks (computer networks) computer algorithms SELECTIVE dissemination of information ROAD safety measures TRAFFIC congestion

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Coupling Response Surface and Differential Evolution for Parameter Identification Problems

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computer-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING 2015年第5期30卷 376-393页

作者： Vincenzi, Loris Savoia, Marco DIEF Univ Modena & Reggio Emilia I-41125 Modena Italy Univ Bologna DICAM I-40136 Bologna Italy

In the present article, a new surrogate-assisted evolutionary algorithm for dynamic identification problems with unknown parameters is presented. It is based on the combination of the response surface (RS) approach (the surrogate model) with differential evolution algorithm for global search. Differential evolution (DE) is an evolutionary algorithm where N different vectors collecting the parameters of the system are chosen randomly or by adding weighted differences between vectors obtained from two populations. In the proposed algorithm (called DE-Q), the RS is introduced in the mutation operation. The new parameter vector is defined as the one minimizing the second-order polynomial function (RS), approximating the objective function. The performances in terms of speed rate are improved by introducing the second-order approximation;nevertheless, robustness of DE algorithm for global minimum search of objective function is preserved, because multiple search points are used simultaneously. Numerical examples are presented, concerning: search of the global minimum of analytical benchmark functions;parameter identification of a damaged beam;parameter identification of mechanical properties (masses and member stiffnesses) of a truss-girder steel bridge starting from frequencies and eigenvectors obtained from an experimental field test.

关键词： EVOLUTIONARY algorithms DIFFERENTIAL evolution (computer science) RESPONSE surfaces (Statistics) computer algorithms MECHANICAL behavior of materials STIFFNESS (Mechanics)

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High Level Synthesis FPGA Implementation of the Jacobi Algorithm to Solve the Eigen Problem

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MATHEMATICAL PROBLEMS IN ENGINEERING 2015年第1期2015卷 1-11页

作者： Bravo, Ignacio Vazquez, Cesar Gardel, Alfredo Lazaro, Jose L. Palomar, Esther Univ Alcala de Henares Dept Elect Madrid 28805 Spain Birmingham City Univ Sch Comp Telecommun & Networks Birmingham B4 7XG W Midlands England

We present a hardware implementation of the Jacobi algorithmto compute the eigenvalue decomposition (EVD). The computation of eigenvalues and eigenvectors has many applications where real time processing is required, and thus hardware implementations are often mandatory. Some of these implementations have been carried out with field programmable gate array (FPGA) devices using low level register transfer level (RTL) languages. In the present study, we used the Xilinx Vivado HLS tool to develop a high level synthesis (HLS) design and evaluated different hardware architectures. After analyzing the design for different input matrix sizes and various hardware configurations, we compared it with the results of other studies reported in the literature, concluding that although resource usage may be higher when HLS tools are used, the design performance is equal to or better than low level hardware designs.

关键词： FIELD programmable gate arrays JACOBI method EIGENANALYSIS computer algorithms PROBLEM solving

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A Stable Hankel Transforms Algorithm Based on Haar Wavelet Decomposition for Noisy Data

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MATHEMATICAL PROBLEMS IN ENGINEERING 2015年第1期2015卷 1-8页

作者： Zhang, Huaiqing Zhu, Chuanbao Su, Xiangfeng Nie, Xin Chongqing Univ State Key Lab Power Transmiss Equipment & Syst Se Chongqing 400044 Peoples R China

We proposed the combination of signal denoising technology and Hankel transforms algorithm which were both based on Haar wavelet decomposition. Therefore, one can achieve above two purposes simultaneously while the wavelet decomposition is carried out just for once. The principle and its derivation of the Haar wavelet method for Hankel transforms were put forward. Numerical examples and engineering application showed that the precision of Haar wavelet method is about magnitude of 1.0E - 4 and 1.0E - 5;it can maintain good accuracy when using fewer wavelet coefficients. Moreover, it has better anti-noise performance and better computational stability than the filter method, so it can be applied to the Hankel transforms with noisy data.

关键词： HANKEL functions TRANSFORMATIONS (Mathematics) computer algorithms WAVELETS (Mathematics) DECOMPOSITION (Mathematics)

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The Robust Passive Location Algorithm for Maneuvering Target Tracking

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MATHEMATICAL PROBLEMS IN ENGINEERING 2015年第1期2015卷 1-8页

作者： Yang, Xiaojun Liu, Gang Guo, Jinku Wang, Hongqiao He, Bing Xian Res Inst High Technol Xian 710025 Shaanxi Peoples R China

With the advantages such as high security and far responding distance, the passive location has a broad application in military and civil domains such as radar and aerospace. However, most of the current passive location methods are based on the framework of the probability theory and cannot be used to deal with fuzzy uncertainty in the passive location systems. Though the fuzzy Kalman filter can be used in the uncertainty systems, it could not deal with the abrupt change of state like the maneuvering target which will lead to the filter divergence. Therefore, in order to track the maneuvering target in the fuzzy passive system, we proposed a robust fuzzy extended Kalman filter based on the orthogonality principle and the fuzzy filter in the paper. Conclusion can be made based on the simulation result that this new approach is more precise and more robust than the fuzzy filter.

关键词： ROBUST control computer algorithms computer security PROBABILITY theory KALMAN filtering

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