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检索条件"主题词=Computer algorithms"

共 3297 条记录，以下是1621-1630 订阅

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A UAV 3-D Space Dynamic Path Planning in Complex Battlefield Environment

A UAV 3-D Space Dynamic Path Planning in Complex Battlefield...

引用

International Conference on Information Science and Technology (ICIST)

作者： Ren, Jia Du, Wencai Du, Feng Hainan Univ Dept Informat Sci Technol Haikou 570228 Hainan Peoples R China

ISBN: (纸本)9781467351379

A UAV (Unmanned Aerial Vehicle) needs to plan the flight path dynamically according to the changes of battlefield threat situation. For this issue, this paper presents the method of a UAV 3-D space dynamic path planning which combined comprehensive intercept probability estimation model with model predictive control algorithm. The estimation model of comprehensive intercept probability is acquired by calculating radar continuous tracking probability and anti-aircraft missiles shot down probability as a UAV flies to the ground defensive position. On this basis, this paper introduces the comprehensive intercept probability estimation result into the target function of model predictive control algorithm. A series of online control quantities are acquired by rolling the optimization objective function. Thus, a UAV 3-D space dynamic path planning can be accomplished. The simulation results show that this method is effective against the intercept from the ground defensive positions. It, therefore, improves the UAV survival probability in the battlefield environment.

关键词： Path planning drone honey bees Unmanned Aerial Vehicle intercept probability three-dimentional space airborne missiles FLIGHT PATHS Simulation results computer algorithms Probability

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A Dynamic Bipedal Walking Method Using Coupled Elastic Actuation

A Dynamic Bipedal Walking Method Using Coupled Elastic Actua...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Zhao, Mingguo Wu, Botao Tsinghua Univ Tsinghua Natl Lab Informat Sci & Technol TNList Beijing 100084 Peoples R China Tsinghua Univ Dept Automat Beijing 100084 Peoples R China Dept China Satellite Maritime Tracking & Control Jiangyin 214431 Jiangsu Peoples R China

ISBN: (纸本)9781479927456

The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg and connected with a linear spring at their ends. By properly swinging the bars forward and backward periodically, the spring is stretched to store potential energy at the walker's each stride. And after the heel strike the stored energy is transported to the whole system to compensate for the energy lost at the heel strike. By tuning three control parameters, namely the spring coefficient, the length and amplitude of the actuated bar, the walker exhibits stable periodical walking gait. While continuously changing these parameters, the gait of the walker also demonstrates period-doubling bifurcation and chaos. In some certain parameters, the gait can also evolves from chaos back to bifurcation. This gait evolution phenomenon has never been reported in the actuated walking robot before, it shows that the walker's dynamics is somewhat analogical to the passive dynamic walker. We also show this walker can walk over a wide range of speed, that have a reference value to build the actual robot.

关键词： Walkers computer algorithms Leg chaos reference value bars walking Spring constants Heel Hookean spring Locomotion Gait Bars Pedestrians control parameter

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Fast Area of Contact Computation for Collision Detection of a Deformable Object using FEM

Fast Area of Contact Computation for Collision Detection of ...

引用

4th National Conference on computer Vision, Pattern Recognition, Image Processing and Graphics (NCVPRIPG)

作者： Shrivastava, Prateek Das, Sukhendu Indian Inst Technol Madras 600036 Tamil Nadu India

ISBN: (纸本)9781479915880

In case of detection and analysis of deformation in collision scenarios, using a method based on area of contact instead of a point of contact generates numerically stable impulse forces. Area of contact improves the stability of control algorithms, but it is often associated with high computational cost. In this paper, we alleviate this problem by proposing a novel algorithm for collision detection of a deformable mesh against rigid structures. We reuse the data structures maintained for elastic force computations in the FEM, for the purpose of collision detection. Parallel constructs on GPU using reduced model make the simulations interactive even for meshes with thousands of elements. Since we don't maintain any additional complex structure for keeping track of the deformable body at each iteration, we significantly reduce the usage of GPU memory bandwidth. Efficiency of our method is illustrated by reporting high culling efficiency on various tests.

关键词： CONTACT AREA Finite element method Collision detection Collision avoidance Data structures deformation analysis deformable body RIGID STRUCTURES Point contacts computer algorithms reduced model GRAPPER PICK UP Graphics Processing Unit

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Throughput Maximization for Online Request Admissions in Mobile Cloudlets

Throughput Maximization for Online Request Admissions in Mob...

引用

38th Annual IEEE Conference on Local computer Networks (LCN)

作者： Xia, Qiufen Liang, Weifa Xu, Wenzheng Australian Natl Univ Res Sch Comp Sci Canberra ACT 0200 Australia

ISBN: (纸本)9781479905379

In mobile cloud computing (MCC) paradigm, cloud service providers not only offer powerful cloud data centers but also provide small-scale cloudlets in some strategic locations for mobile users to access their rich resources. Due to the flexibility and locality of cloudlets, most requests of mobile users can be processed locally. However, the cloudlets usually have limited resources and processing abilities, which implies that they may not be capable to process every incoming request. Instead, some resource-intensive requests need to be sent to remote data centers for processing and such a processing is transparent to users. In this paper, we address the online request admission issue in a cloudlet with an objective to maximize the system throughput, for which we first propose a novel admission cost model to model critical resource consumptions. We then devise efficient control algorithms for online request admissions. We finally conduct experiments by simulations to evaluate the performance of the proposed algorithms. Experimental results indicate that the proposed algorithms are promising and outperform other heuristics.

关键词： data center computer algorithms Mobile Consumers Throughput Hyalin PROCESSABILITY Resource utilization

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Hybrid Metaheuristics 2013

引用

丛书名： Studies in Computational Intelligence

2013年

作者： El-ghazali Talbi

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Low Cost X4 Platform to Study Control algorithms

Low Cost X4 Platform to Study Control Algorithms

引用

International Conference on Unmanned Aircraft Systems

作者： D. Lara G. Romero D. Flores L. Ramirez A. Zuniga C. Pegard R. Abdelhamid E. Alcorta UAMRR-Universidad Autonoma de Tamaulipas Laboratoire MIS Universite de Picardie Jules Verne Universidad Autonoma de Nuevo Leon

ISBN: (纸本)9781479923779

In this paper, we present the design of an autopilot embedded system applied to control a four rotor mini helicopter, called X4-flyer. The main goal is to achieve a stable flight, controlling the vehicle attitude;this is done using two control strategies: a linear PD control and nonlinear nested saturations control. The onboard system uses a simplified architecture and the main processor has a structured program to handle the data acquisition, and calculates the control to send actuators correction to get a desired set point. Real time experiments, in a pivoted platform, show that the autopilot is a reliable low cost platform.

关键词： Automatic pilots learning control computer algorithms host processor STRUCTURAL APPLICATION Data Collection Methods Proportional derivative control Platform Set of points Standing Orders

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Study of Reinforcement Learning Based Shared Control of Walking-aid Robot

Study of Reinforcement Learning Based Shared Control of Walk...

引用

IEEE/SICE International Symposium on System Integration (SII)

作者： Xu, Wenxia Huang, Jian Wang, Yongji Cai, Hong Huazhong Univ Sci & Technol Sch Automat Wuhan 430074 Peoples R China

ISBN: (纸本)9781479926268

In this paper, we experimentally investigated a new reinforcement learning based robot shared control algorithm for walking-aid robot. To autonomously adapt to different user operation habits and motor ability, robot dynamically adjusted user control weight by proposed algorithm. The weight adjustment is performed online based on user control efficiency, current robot walking state and environment information by re-inforcement learning algorithm. The shared control synthetizes the final robot velocity according to the control weight. The effectiveness of proposed reinforcement learning based shared control algorithm is verified by experiments in a specified environment.

关键词： learning (artificial intelligence) Robot computer algorithms Learning based environmental information

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Small-Signal Modeling of a Three-Phase Isolated Inverter with Both Voltage and Frequency Droop Control

Small-Signal Modeling of a Three-Phase Isolated Inverter wit...

引用

Annual IEEE Applied Power Electronics Conference and Exposition

作者： Md. Rasheduzzaman Jacob Mueller Jonathan W. Kimball Department of Electrical and Computer Engineering Missouri University of Science and Technology

ISBN: (纸本)9781479923250

In conventional power system operation, droop control methods are used to facilitate load sharing among different generation sources. This method compensates for both active and reactive power imbalances by adjusting the output voltage magnitude and frequency of the generating unit. Both P-ω and Q-V droops have been used in synchronous machines for decades. Similar droop controllers were used in this study to develop a control algorithm for a three-phase isolated (islanded) inverter. Controllers modeled in a synchronous dq reference frame were simulated in PLECS and validated with the hardware setup. A small-signal model based on an averaged model of the inverter was developed to study the system's dynamics. The accuracy of this mathematical model was then verified using the data obtained from the experimental and simulation results. This validated model is a useful tool for the further dynamic analysis of a microgrid.

关键词： Inventors small-signal droop control THREE-PHASE VOLTAGE computer algorithms Generating sets REFERENCE FRAMES synchronous machines load sharing MICRO-GRID Dynamic analysis Controllers

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Influence of Software Effects on the Susceptibility of Ethernet Connections

Influence of Software Effects on the Susceptibility of Ether...

引用

IEEE International Symposium on Electromagnetic Compatibility

作者： Matthias Kreitlow Heyno Garbe Frank Sabath Bundeswehr Research Institute for Protective Technologies - NBC-Protection Munster Germany 29633 Institute of Electrical Engineering and Measurement Technology Hannover Germany 30167

ISBN: (纸本)9781479955466

It is widely known that Ethernet networks are susceptible to high-power electromagnetics (HPEM). Even with electromagnetic disturbance levels below the threshold, at which a hardware failure of components can be observed, there are impacts on the data transmission between two computers. A typical effect on the application level is a decrease of the maximum data rate between two endpoints with a higher field strength until the transmission completely breaks down. To quantify the effect of electromagnetic disturbances it is necessary to distinguish between effects which are software-related due to control algorithms and applications behaviour on higher protocol layers, and hardware-related effects caused by physical interaction between the network components and the disturbance. This paper shows the results of a new measurement method compared to classical tests using a FTP data transmission.

关键词： Ethernet networks data transmission application layer Network components protocol layer field strength Electromagnetic interference Hardware Failure computer software computer algorithms End Point Connections Connections Program Behavior

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A Singularity-Free Approach for Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control 3

A Singularity-Free Approach for Safe Interaction of Robot As...

引用

3rd International Conference on Control, Instrumentation, and Automation (ICCIA)

作者： Sharifi, Iman Doustmohammadi, Ali Talebi, Heidar Ali

ISBN: (纸本)9781479931170

In this paper, using a hybrid control technique for robotic rehabilitation, a singularity-free control algorithm for the safe robot-human interaction is proposed. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach taken in this paper uses a model free impedance control and hence it does not require any information about the model except the upper bounds on the system matrix. The stability of the approach is investigated using multiple Lyapunov function theory. The proposed control algorithm is applied to a six-axis industrial robot arm, namely PUMA 560 and the results demonstrate the validity of the proposed control scheme.

关键词： Aerospace electronics Impedance Joints Robot kinematics Switches Robot kinematics avionics impedance Switches Joints Joints computer algorithms Control technology

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