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检索条件"主题词=Computer algorithms"

共 3273 条记录，以下是2731-2740 订阅

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Cell Edge Throughput Improvement by Base Station Cooperative Transmission Control with Reference Signal Interference Canceller in LTE System

Cell Edge Throughput Improvement by Base Station Cooperative...

引用

IEEE Vehicular Technology Conference

作者： Atsushi Nagate Daigo Ogata Teruya Fujii Softbank Mobile Corp

ISBN: (纸本)9781467309899

Inter-cell interference coordination (ICIC) is attracting attention recently. This is a technique mainly improving cell-edge throughput by coordinating scheduling and signal transmission of multiple BSs. Different from joint transmission (JT), in which the desired signals for a user equipment (UE) are simultaneously transmitted from multiple BSs, the burdens of information exchange among BSs and its attendant signal processing are mitigated in ICIC because it requires only the exchange of scheduling and control information. In ICIC, the cell-edge throughput is improved by adaptively preventing BSs from transmitting signals (in other words, muting BSs) that would otherwise impose strong interference on the celledge UEs in the neighbor cells. Although this improves cell-edge throughput, it may degrade cell overall performance because no radio resource is assigned to UEs belonging to the muted BS. To resolve this issue, we first propose a scheduling method, which enables muting only when the throughput improvement (cell-edge UE) obtained by muting is superior to the total throughput possible without muting. Also, when considering applying this ICIC technique to current commercial systems such as LTE, it should be noted that reference signal, also known as pilot signal, is always transmitted regardless of muting because reference signal is a common signal used for channel estimation. To solve this issue, we also propose a reference signal interference canceller, in which the UE cancels the reference signal being transmitted from the neighbor BS. We evaluate the performance improvement by computer simulations and confirm that cell-edge throughput is dramatically improved by introducing the proposed canceller. We also propose a control algorithm that activates the canceller only when throughput improvement is possible. A basic lab experiment was also conducted to confirm the effect of the proposed interference canceller with 3GPP Rel-8 LTE-compliant equipment.

关键词： radio resource confirm the effect interference canceller Reference signals interference canceller transport control Throughput UNITED ELECTRIC Local thermodynamic equilibrium computer algorithms performance boost LABORATORY SYSTEM BASE STATION desired signal Long Term Evolution Blind source separation

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Mobile Robot Adaptive Trajectory Control: Non-linear path model inverse transformation for model reference

Mobile Robot Adaptive Trajectory Control: Non-linear path mo...

引用

International Conference on Control, Automation, Robotics & Vision

作者： O.L. Ramirez-Martinez E.A. Martinez-Garcia R.E. Mohan J.K. Sheba Universidad Autonoma de Ciudad Juarez Institute of Engineering and Technology Ciudad Juarez Mexico Singapore University of Technology and Design Singapore Singapore Polytechnique Singapore

ISBN: (纸本)9781479952007

In particular, service robotics is strongly tided to highly accurate navigational tasks where pathway tracking is a practice commonly carried out through control algorithms. This study proposes theoretical non-linear pathways presented as kth-degree polynomials as model references. Our proposal establishes a proportional control with a variable model reference at the level of second order derivatives to which the robot's motion is adapted on-line. The robot's fixed frame Cartesian trajectory model is inversely transformed to wheels' angular acceleration components, which are the reference models. Although, our proposal may be applied to any type of wheeled robot's kinematic structure, we are presenting an example of two active wheels with differential velocity modality. Obtained results raised from successful experimental practice and numerical simulations as well, which depict the capability of the proposed model control.

关键词： Model reference reference model Proportional control Model control trajectory control computer algorithms Wheels Mobile robots Robot

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A Digital Charge-Mode Control Algorithm for Power Decoupling in a Flyback Microinverter

A Digital Charge-Mode Control Algorithm for Power Decoupling...

引用

IEEE Energy Conversion Congress and Exposition

作者： Shiladri Chakraborty Niharika Gupta Souvik Chattopadhyay Department of Electrical Engineering Indian Institute of Technology Kharagpur

ISBN: (纸本)9781479903375

This paper proposes a novel implementation scheme for the controller of a single-phase, grid-connected, flyback PV microinverter topology, which employs low-value film capacitors for achieving power decoupling. The proposed charge-balance criterion is used to develop a real-time controller which eliminates parameter-dependence, thereby improving the robustness of the system. A predictive algorithm is used to estimate the flyback transformer current in order to avoid inaccuracies arising from directly sensing the current. A stability analysis of the scheme is also presented, which reveals additional design restrictions on the minimum voltage of the decoupling capacitor. Simulation and experimental results validate the effectiveness of the approach.

关键词： Stability analysis flyback real-time controller DECOUPLING computer algorithms BALANCED CHARGE decoupling capacitor Controllers Power (Psychology) thin film capacitors Energy sources

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Engine Clutch Control Algorithm during Mode Change for Parallel Hybrid Electric Vehicle

Engine Clutch Control Algorithm during Mode Change for Paral...

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IEEE Vehicle Power and Propulsion Conference

作者： Minseok Song Joseph Oh Hyunsoo Kim School of Mechanical Engineering Sungkyunkwan University

ISBN: (纸本)9781467309530

In this study, an engine clutch control algorithm that can minimize the torque variation is suggested for a parallel hybrid electric vehicle (HEV). A performance simulator was developed using the powertrain model of the HEV and a test bench was designed and constructed to evaluate the mode change characteristics of the HEV. The clutch kissing point was measured using the test bench, and an engine clutch control algorithm considering the torque variation was proposed based on the test results. The proposed control algorithm can minimize the torque variation during mode change from EV to HEV by controlling the engine clutch in four steps depending on the vehicle condition.

关键词： torque variations computer algorithms engine clutch State Change Hybrid electric vehicles Porcine hemagglutinating encephalomyelitis virus High Endothelial Venule vehicle condition parallel hybrid electric

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Modeling of Ornithopter Flight Dynamics for State Estimation and Control

Modeling of Ornithopter Flight Dynamics for State Estimation...

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American Control Conference

作者： Jared Grauer James Hubbard Morpheus Laboratory University of Maryland College Park MD 20742

ISBN: (纸本)9781424474264;9781424474271

Interest in flapping-wing aircraft is mounting as the demand for miniature unmanned aircraft proliferates into several sectors of society. Simple and accurate flight dynamics models are needed to develop control algorithms to autonomously perform the challenging missions envisioned for these vehicles. This work presents a complete nonlinear multibody model of the ornithopter flight dynamics, guided by flight tests and system identification results, and cast into a canonical form for nonlinear control. Simulations of trimmed flight and pitch rate damping are presented, showing promise for more advanced control algorithms.

关键词： Flight dynamics State estimation flap wing airplane computer algorithms FLIGHT TESTS Modeling Canonical form Standing Orders Miniature Sectoring System identification

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Depth Invariant Visual Servoing

Depth Invariant Visual Servoing

引用

IEEE Conference on Decision and Control

作者： Peter A. Karasev Miguel Moises Serrano Patricio A. Vela Allen Tannenbaum Georgia Inst. of Tech. USA Georgia Tech. USA

ISBN: (纸本)9781612848006

This paper studies the problem of achieving consistent performance for visual servoing. Given the nonlinearities introduced by the camera projection equations in monocular visual servoing systems, many control algorithms experience non-uniform performance bounds. The variable performance bounds arise from depth dependence in the error rates. In order to guarantee depth invariant performance bounds, the depth nonlinearity must be cancelled, however estimating distance along the optical axis is problematic when faced with an object with unknown geometry. By tracking a planar visual feature on a given target, and measuring the area of the planar feature, a distance invariant input to state stable visual servoing controller is derived. Two approaches are given for achieving the visual tracking. Both of these approaches avoid the need to maintain long-term tracks of individual feature points. Realistic image uncertainty is captured in experimental tests that control the camera motion in a 3D renderer using the observed image data for feedback.

关键词： Visual servoing Invariant nonlinearity Optic axis Planar image data computer algorithms Bound problematic

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Position Regulation of Flexible-Joint Robots with Input/Output Constant Delays

Position Regulation of Flexible-Joint Robots with Input/Outp...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yen-Chen Liu Nikhil Chopra Department of Mechanical Engineering National Cheng Kung University Tainan 70101 Taiwan Department of Mechanical Engineering University of Maryland College Park 20742 MD USA

ISBN: (纸本)9781467363563

In this paper, the problem of set-point control for flexible-joint robotic manipulators with input/output time delays is investigated. By utilizing scattering transformation with an input-output passive controller, it is demonstrated that the flexible-joint robotic control system can be stabilized when there are time delays in the communication channels. Although stabilization is achieved, the flexible-joint robot cannot be regulated to the desired configuration when utilizing the scattering variables. Hence, a new control framework without scattering transformation is subsequently studied in this paper to guarantee both stability and position regulation provided that the control gain is appropriately selected based on a bound on the time delays. The proposed control algorithms are validated via numerical examples on a two-link flexible-joint robotic manipulator.

关键词： set point control Robot computer algorithms Standing Orders broadcasting Robot control articulated robot Robot Manipulator

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Research on Control Algorithm for Laser Guided AGV Based on Proximal Policy

Research on Control Algorithm for Laser Guided AGV Based on ...

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Image Processing, Electronics and computers (IPEC), Asia-Pacific Conference on

作者： Enmin Du Yu Ren Hangzhou Dianzi University Hangzhou China

ISBN: (数字)9781728160672

ISBN: (纸本)9781728160689

Path tracking control is the key to ensure that the laser guided automated guided vehicles (LGAGVs) can deliver the goods to the designated place quickly and safely. However, it is very difficult to build accurate AVG dynamic model because of the variety of LGAGV dynamic types. In addition, a lot of manual test work is needed in traditional path tracking control, which makes the design of LGAGV path tracking challengeable. In this paper, the deep reinforcement learning (RL) is used to realize the design of LGAGV path tracking controller. Firstly, according to its characteristics, LGAGV path tracking problem is described as a Markov decision process (MDP) with continuous state and continuous action under the unknown transition probability. Then, a reliable control policy was learnt by LGAGV through the Proximal Policy Optimization (PPO) without any additionally exploring the possibilities. The simulation results show that the distance error and the stability of the control motor are better than the traditional model free algorithmic control when the angle error is fitting.

关键词： LGAGV path tracking random policy gradient deep reinforcement learning tracking Automated guided vehicle systems computer algorithms control electric machine path-tracking control LASER-GUIDED angular misalignment continuous action Laser cargo TRANSITION PROBABILITIES Markov chain Policies

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Rapid Turning at High-Speed: Inspirations from the Cheetah's Tail

Rapid Turning at High-Speed: Inspirations from the Cheetah's...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Amir Patel M. Braae Department of Electrical Engineering University of Cape Town South Africa

ISBN: (纸本)9781467363563

Inspired by the cheetah, we present a novel tail control system for manoeuvring terrestrial robots at high speed. The mathematic model for a high-speed turn is derived and the model with a tail is shown to be more successful at rapid turns in simulation. We then built a high speed mobile platform with an actuated tail to experimentally validate the control algorithms. Further controller development is performed based on results of the initial simulations. Finally, we show that by rapidly swinging the tail, our system is capable of turning at much higher speeds than a tail-less version.

关键词： cheetahs High speed computer algorithms simulating

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A comparison of Inversion Based Iterative Learning Control algorithms

A comparison of Inversion Based Iterative Learning Control A...

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American Control Conference

作者： Kuo-Tai Teng Tsu-Chin Tsao Mechanical and Aerospace Engineering University of California Los Angeles USA Mechanical and Aerospace Department University of California Los Angeles USA

ISBN: (纸本)9781479917730

The learning filter in Iterative Learning Control determines the performance in terms of convergence rate and converged error. The ideal learning filter is the inverse of the system being learned. For minimum phase system, direct system inversion can be implemented easily. However for non-minimum phase system, direct system inversion would result in an unstable filter. In the literature, there are several methods that approximate the system inversion. In time domain, zero-phase-error tracking controller (ZPETC) and zero-magnitude-error tracking controller (ZMETC) have been used frequently for non-minimum phase system. In frequency domain, Model-less Inversion-based Iterative Control (MIIC) has been used for atomic force microscope (AFM) imaging. In this paper, a data-based dynamic inversion method in the frequency domain is proposed, and the performance is compared with aforementioned inversion methods.

关键词： minimum phase system Atomic Force Microscopy Inversion non-minimum phase system direct systems computer algorithms tracking controller Filters Iterative learning control

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