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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Cho, Hyunchul Kim, Minjeong Lim, Hyunkyu Kim, Donghyeok Hyundai Heavy Ind Co Ltd Engine & Machinery Res Inst Robot Res Dept Yongin 446912 Gyeonggi Do South Korea

ISBN: (纸本)9781479969340

In this paper, a Cartesian sensor-less force control method for industrial robots is proposed. The disturbance torques at each joint, generated by external forces at the endeffector of robot, are estimated using a disturbance observer, then they are converted to the force/moment in Cartesian space with the robot Jacobian. The force control algorithm is realized through a powerful position servo of industrial robot controller. Furthermore, the friction's harmful effect on the sensor-less force control is reduced using a high frequency dither signal. The validity of the proposed control algorithm is investigated through the experiments with industrial robots. Real application tests are conducted like a peg-in-hole assembly and a die casting application and contact stability with a stiff environment is also checked by a push task with various push levels.

关键词： Force Force control Friction Robot kinematics Robot sensing systems Service robots Force control industrial robots Manipulator sensing systems Robot kinematics Service robots computer algorithms friction Force Descartes disturbance observer position servo contact stability Robot

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A New Coordinated Path-Following Control for Second-Order Multi-Agent Systems 53

A New Coordinated Path-Following Control for Second-Order Mu...

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53rd IEEE Annual Conference on Decision and Control (CDC)

作者： Zuo, Zongyu Beihang Univ Res Div 7 Sci & Technol Aircraft Control Lab Beijing Univ Aeronaut & Astronaut Beijing 100191 Peoples R China

ISBN: (纸本)9781467360906

This paper addresses the problem of coordinately steering a group of agents under directed information flow along three-dimensional (3-D) reference paths with spatial but without temporal constraints. Based on a novel 3-D algebraic implicit path-following control methodology, a new coordinated path-following control algorithm accounting for large initial positions disagreement is proposed such that all the agents in the group reach the spatial path with negotiated speed profiles and ultimately realize the position coordination on the path. To validate the correctness of the proposed concept, simulation result is included in the end.

关键词： Agents Control Methods information flow Standing Orders accuracy class Byways Simulation results computer algorithms

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Experimental Realization of a One-Way Quantum computer Algorithm Solving Simon’s Problem

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Physical Review Letters 2014年第20期113卷 200501-200501页

作者： M. S. Tame B. A. Bell C. Di Franco W. J. Wadsworth J. G. Rarity University of KwaZulu-Natal School of Chemistry and Physics Durban 4001 South Africa National Institute for Theoretical Physics University of KwaZulu-Natal Durban 4001 South Africa Photonics Group Department of Electrical and Electronic Engineering University of Bristol Merchant Venturers Building Woodland Road Bristol BS8 1UB United Kingdom Quantum Optics and Laser Science Group Imperial College London Blackett Laboratory London SW7 2AZ United Kingdom CPPM Department of Physics University of Bath Claverton Down Bath BA2 7AY United Kingdom

We report an experimental demonstration of a one-way implementation of a quantum algorithm solving Simon’s problem—a black-box period-finding problem that has an exponential gap between the classical and quantum runtime. Using an all-optical setup and modifying the bases of single-qubit measurements on a five-qubit cluster state, key representative functions of the logical two-qubit version’s black box can be queried and solved. To the best of our knowledge, this work represents the first experimental realization of the quantum algorithm solving Simon’s problem. The experimental results are in excellent agreement with the theoretical model, demonstrating the successful performance of the algorithm. With a view to scaling up to larger numbers of qubits, we analyze the resource requirements for an n-qubit version. This work helps highlight how one-way quantum computing provides a practical route to experimentally investigating the quantum-classical gap in the query complexity model.

关键词： QUANTUM computers EXPONENTIAL stability EIGENVALUES computer algorithms RUN time systems (computer science)

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An energy-efficient control algorithms for switching fabrics 16

An energy-efficient control algorithms for switching fabrics

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16th International Telecommunications Network Strategy and Planning Symposium (Networks)

作者： Zal, Mariusz Wojtysiak, Przemyslaw Poznan Univ Tech Chair Commun & Comp Networks PL-64980 Poznan Poland

ISBN: (纸本)9781479965151

In this paper we present the way of saving electrical energy in high-tech telecommunication and computer networks. To achieve this aim, the work focuses on the description of the current state and the future trends of changes, as well as it analyses the possibility of energy-saving solutions based on the Clos switching network architectures used in switching networks. A simulation program has been implemented to estimate multi-stage switching system energy consumption. This program enabled to check the operating quality (how much energy was saved by the structure during packet forwarding or rejecting), routing algorithms (sequential algorithm, quasi-random algorithm and Benes algorithm) and their modifications that optimize the achieved results.

关键词： energy conservation energy consumption environmental factors multistage interconnection networks telecommunication network routing Benes? algorithm Clos switching network architecture computer network electrical energy energy-efficient control algorithm energy-saving solution high-tech telecommunication network multistage switching system quasirandom algorithm routing algorithm sequential algorithm switching fabrics Energy consumption Power demand Switches Telecommunications Turning energy consumption computer network sequential algorithm electrical energy multistage interconnection networks Routing algorithms Telecommunications Power demand telecommunication network routing Switches Turning Energy conservation computer algorithms Textile fabrics fabric

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Adaptive Fuzzy Iterative Learning Controller for X-Y Table Position Control

Adaptive Fuzzy Iterative Learning Controller for X-Y Table P...

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IEEE 19th International Conference on Automation, Quality and Testing, Robotics (THETA)

作者： Elshazly, Osama El-bardini, Mohammad El-Rabaie, Nabila M. Menoufiya Univ Ind Elect & Control Engn Dept Fac Elect Engn Menouf Menufia Egypt

ISBN: (纸本)9781479937325

In this paper, an adaptive fuzzy iterative learning control algorithm is proposed for controlling one of the Mechatronics systems. The proposed control scheme is based upon a proportional-derivative-integral (PID) iterative learning control (ILC), for which a fuzzy control is added to tune the parameters of the PID-type ILC. Moreover, an adaptation law is added to the fuzzy control in order to automatically select the proper fuzzy membership functions. The performance of proposed algorithm was assessed in computer numerical controlled (CNC) machine X-Y table to illustrate the validation and the effectiveness of the proposed procedure. The simulation results show that the proposed algorithm can reduce the trajectory error in a far less number of iterations.

关键词： Fuzzy control X-Yworktable trajectory error computer numerical control Position control International Labour Conference iterative methods Fuzzy computer algorithms Self tuning

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Allocation rules on networks

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SOCIAL CHOICE AND WELFARE 2014年第4期43卷 877-892页

作者： Ilkilic, Rahmi Kayi, Cagatay Bilkent Univ Dept Econ Ankara Turkey Univ Rosario Fac Econ Bogota Colombia

When allocating a resource, geographical and infrastructural constraints have to be taken into account. We study the problem of distributing a resource through a network from sources endowed with the resource to citizens with claims. A link between a source and a citizen depicts the possibility of a transfer from the source to the citizen. Given the endowments at each source, the claims of citizens, and the network, the question is how to allocate the available resources among the citizens. We consider a simple allocation problem that is free of network constraints, where the total amount can be freely distributed. The simple allocation problem is a claims problem where the total amount of claims is greater than what is available. We focus on resource monotonic and anonymous bilateral principles satisfying a regularity condition and extend these principles to allocation rules on networks. We require the extension to preserve the essence of the bilateral principle for each pair of citizens in the network. We call this condition pairwise robustness with respect to the bilateral principle. We provide an algorithm and show that each bilateral principle has a unique extension which is pairwise robust (Theorem 1). Next, we consider a Rawlsian criteria of distributive justice and show that there is a unique "Rawls fair" rule that equals the extension given by the algorithm (Theorem 2). Pairwise robustness and Rawlsian fairness are two sides of the same coin, the former being a pairwise and the latter a global requirement on the allocation given by a rule. We also show as a corollary that any parametric principle can be extended to an allocation rule (Corollary 1). Finally, we give applications of the algorithm for the egalitarian, the proportional, and the contested garment bilateral principles (Example 1).

关键词： RESOURCE allocation ASSIGNMENT problems (Programming) RULES ROBUST control COOPERATIVE management of natural resources computer algorithms

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Modeling and model predictive control of a de-manufacturing plant

Modeling and model predictive control of a de-manufacturing ...

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IEEE Conference on Control Applications (CCA)

作者： Cataldo, A. Scattolini, R. CNR Inst Ind Technol & Automat Milan Italy Politecn Milan Dipartimento Elettron Informaz & Bioingn I-20133 Milan Italy

ISBN: (纸本)9781479974092

Dynamic pallet routing optimal control is a crucial task for evolutionary manufacturing plants in order to guarantee efficient production plant performances. In this paper, a new approach based on hybrid Model Predictive Control (MPC) is proposed to control a manufacturing multi-target, multi-pallet transport line. The mathematical representation of the plant is based on a Mixed Linear Dynamical (MLD) model, used by MPC to predict the plant behavior in terms of the future evolution of the state and control variables. The performance index to be minimized is linear and weights the distance of the pallets from their final target. The resulting Mixed Linear Integer Programming (MILP) problem is recursively solved to obtain the control law. Many simulation experiments have been carried out to evaluate the performances of the proposed approach in a realistic scenario. The achieved results confirm the good performances of the control algorithm and its ability to manage even pallet route conflicts and target dynamic re-scheduling.

关键词： Control systems Indexes Load modeling Manufacturing Mathematical model Nickel Simulation Load modeling control systems Mathematical Model Nickel Manufacturing plants simulating Predictive control Maximum Allowable Concentration computer algorithms plants manufacturing Model predictive control Modeling Palettes Palletizing

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Biologically Inspired Control Algorithm for an Unified Motion of Whole Robotic Arm-Hand System 23

Biologically Inspired Control Algorithm for an Unified Motio...

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23rd IEEE International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN)

作者： Kwon, Jaesung Yang, Woosung Lee, Hosun Bae, Ji-Hun Oh, Younghwan KwangWoon Univ Sch Robot Seoul 139701 South Korea Japan Adv Inst Sci & Tech Sch Informat Sci Nomi Ishikawa Japan Korea Inst Ind Technol Ansan South Korea Korea Inst Sci & Technol Interact & Robot Res Ctr Seoul 130650 South Korea

ISBN: (纸本)9781479967650

Biologically inspired control approaches have been attracted much attention as alternatives in recent time, for efficiently solving problems in controlling multi-DOF robotic systems, since most human beings or animals exhibit their behaviors in a natural way without explicit computation. Also, they show natural adaptive behaviors irrespective of unexpected external forces or changes of environment. This work is inspired from these novel features. Thus, a self-adapting robotic arm-hand control is proposed exploiting a control scheme based on central pattern generators (CPGs). Instead of a trajectory planning and inverse kinematics problem, this work endeavors to exploit robotic systems coupled with neural oscillators and virtual forces with joint velocity damping. We demonstrate self-adapting motions without the ill-posedness from extensive simulations that enable a robotic arm-hand to make adaptive changes from the given motion to a compliant motion. In addition, it is verified that reaching-to-grasping motion is possible by adopting only transit points sustaining motion repeatability under kinematic redundancy of joints.

关键词： Joints Neurons Oscillators Robot sensing systems Wrist Manipulator sensing systems Oscillators Joints Joints Wrist computer algorithms Neurons Respiratory Inspiration compliant motion self-adaptive Human trajectory planning

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Computationally Efficient Model Predictive Control algorithms: A Neural Network Approach 1

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丛书名： Studies in Systems, Decision and Control

2014年

作者： Maciej Ławryńczuk (auth.)

ISBN: (数字)9783319042299

ISBN: (纸本)9783319042282;9783319042299

This book thoroughly discusses computationally efficient (suboptimal) Model Predictive Control (MPC) techniques based on neural models. The subjects treated include: A few types of suboptimal MPC algorithms in which a linear approximation of the model or of the predicted trajectory is successively calculated on-line and used for prediction. Implementation details of the MPC algorithms for feed forward perceptron neural models, neural Hammerstein models, neural Wiener models and state-space neural models. The MPC algorithms based on neural multi-models (inspired by the idea of predictive control). The MPC algorithms with neural approximation with no on-line linearization. The MPC algorithms with guaranteed stability and robustness. Cooperation between the MPC algorithms and set-point optimization. Thanks to linearization (or neural approximation), the presented suboptimal algorithms do not require demanding on-line nonlinear optimization. The presented simulation results demonstrate high accuracy and computational efficiency of the algorithms. For a few representative nonlinear benchmark processes, such as chemical reactors and a distillation column, for which the classical MPC algorithms based on linear models do not work properly, the trajectories obtained in the suboptimal MPC algorithms are very similar to those given by the ``ideal'' MPC algorithm with on-line nonlinear optimization repeated at each sampling instant. At the same time, the suboptimal MPC algorithms are significantly less computationally demanding.

关键词： Predictive control. computer algorithms

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Extremum Seeking for Maximizing Wind Energy Generation

Extremum Seeking for Maximizing Wind Energy Generation

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IEEE Conference on Control Applications (CCA)

作者： Hashimoto, Hideaki Hayakawa, Tomohisa Tokyo Inst Technol Dept Mech & Environm Informat Tokyo 1528552 Japan

ISBN: (纸本)9781479974092

New method for maximization of the energy transformation efficiency of wind energy systems is developed. The maximization is assumed to be equivalent to the maximization of the the energy transformation efficiency from the wind energy to the blades rotational energy. Extremum seeking control is applied to wind energy systems in the face of aerodynamic uncertainties. In the existing methods, maximization is achieved by adding periodic external signals to the input signal. We develop a control algorithm that achieves the maximization of the energy transformation efficiency by utilizing the periodic fluctuation of the rotational speed of the blades with the tower shadow effect as an external periodic signal. A numerical simulation result is provided to show efficacy of the proposed approach.

关键词： Blades Generators Poles and towers Torque Wind energy Wind speed Wind turbines Wind energy Blades Wind Energy Conversion Systems dynamos Wind energy generation Torque poles and towers Power conversion energy conversion input signal tower shadow effect extremum values computer algorithms

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