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检索条件"主题词=Computer algorithms"

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Receding Horizon Stochastic Control algorithms for Sensor Management

Receding Horizon Stochastic Control Algorithms for Sensor Ma...

引用

American Control Conference

作者： Darin Hitchings David A. Castanon Dept of Electrical & Computer Eng. Boston University

ISBN: (纸本)9781424474264

The increasing use of smart sensors that can dynamically adapt their observations has created a need for algorithms to control the information acquisition process. While such problems can usually be formulated as stochastic control problems, the resulting optimization problems are complex and difficult to solve in real-time applications. In this paper, we consider sensor management problems for sensors that are trying to find and classify objects. We propose alternative approaches for sensor management based on receding horizon control using a stochastic control approximation to the sensor management problem. This approximation can be solved using combinations of linear programming and stochastic control techniques for partially observed Markov decision problems in a hierarchical manner. We explore the performance of our proposed receding horizon algorithms in simulations using heterogeneous sensors, and show that their performance is close to that of a theoretical lower bound. Our results also suggest that a modest horizon is sufficient to achieve near-optimal performance.

关键词： computer algorithms Sensors Horizon information gathering Stochastic intelligent sensors real-time application program linear programming

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Development of a Novel HyRoHILS System and Its Application to Parameter Identification of an Industrial Robot

Development of a Novel HyRoHILS System and Its Application t...

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Joint international symposium on robotics

作者： Seung-Woo Son Eui-Jin Kim Chan-Ho Lee Sang-Hun Lee Sung-Hyun Jung Jong-Sung Hur Electro-Mechanical Research Institute Hyundai Heavy Industries Co. Ltd.102-18 Mabuk-dong Giheung-gu Yongin-si Gyeonggi-do Korea Electro-Mechanical Research Institute Hyundai Heavy Industries Co. Ltd.102-18 Mabuk-dong Giheung-gu Yong

ISBN: (纸本)9781617387197

For the development of control algorithms and functions of industrial robots, test and verification with real robot system is an essential stage, and always requires not-ignorable and time-consuming implementation process. Implementing control algorithms directly on the ready-to-sell robot system from the beginning is never productive work, because the commercial robot control system has too many restrictions to be used as a design and test platform. Especially the shortage of calculation capability, memories and I/O devices and the complexity of the software structure are major barriers of direct coding on it. Previously, we had developed the HyRoHILS (Hyundai Robot Hardware In the Loop Simulation) system, as a rapid control prototyping platform for the fast development of industrial robot control algorithms. This system drastically reduced the development lead-time through automatic code generation of control algorithms on the RCP(Rapid Control Prototyping) device and also through provision of the powerful test automation and real-time monitoring environment. It provided us with powerful computing capability and convenient development environments, so it enabled us to concentrate on control algorithm design and test without concerning on any other annoying stuffs related to implementation. However, the software and hardware of the previous HyRoHILS system such as trajectory planner, motor driver were different from those of real commercial robot controller. It may cause that the experimental results of the HyRoHILS system are somewhat different from those of the real robot control system. Thus for developing a reliable robot control algorithm, additional verification test with real robot controller is required. In this paper, the novel HyRoHILS system is introduced. It is composed of a host PC, a commercial robot controller including the internal DSP board, and the RCP device. To the RCP device, control algorithms and functions to be tested are downloaded from the

关键词： robot controller computer algorithms industrial robots robot control system Parameter identification Software Frameworks Robot System hardware-in-the-loop simulation

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Stability of Modified Max Pressure Controller with Application to Signalized Traffic Networks

Stability of Modified Max Pressure Controller with Applicati...

引用

American Control Conference

作者： Thomas Pumir Leah Anderson Dimitrios Triantafyllos Alexandre M. Bayen Department of Electrical Engineering and Information Technology Chemnitz University of Technology Chemnitz Germany

ISBN: (纸本)9781479917730

This work describes a type of distributed feedback control algorithm that acts on a vertical queueing network where flow dynamics may greatly outpace the rate of feedback and actuation. The modeled network has a known, finite set of feasible actuations for the binary controllers located at each network node. It also has known expected demands, split ratios, and maximum service rates. Previous work proposed the application of a max pressure controller to maximize throughput on such a network without the need for centralized computation of a control policy. Here we extend the max pressure controller to satisfy practical constraints on the frequency of switching and guarantees on proportional actuation. We fundamentally alter the formulation of max pressure to a setting where the controller may only update at a rate significantly slower than the dynamics of queue formation. Furthermore, the set of allowable controllers is extended to any convex combination of available signal phases to account for signal changes within a single signal "cycle". We show that this proposed extended max pressure controllers stabilize a vertical queueing network (queue lengths remain bounded in expectation) given slightly increased restrictions on admissible network demand flows. This work is motivated by the application of controlling traffic signals on arterial road networks. Max pressure provides an intriguing alternative to existing feedback control systems due to its distributed implementation and theoretical guarantees, but cannot be directly applied as originally formulated due to hardware and safety constraints. We ultimately apply our extension of max pressure to a simulation of an existing arterial roadway and provide comparison to the control policy that is currently deployed on this site.

关键词： control strategy Controllers network node traffic network Feedback control systems single signal Queueing networks computer algorithms Network

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Wireless Medical Implant: a Case Study on Artificial Pancreas

Wireless Medical Implant: a Case Study on Artificial Pancrea...

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IEEE International Conference on Communications

作者： Di Ma Su Mei Sun Chin Keong Ho Daniel Wai Meng Mok Chee Kong Chui Stephen Kin Yong Chang Institute for Infocomm Research A*STAR National University of Singapore National University Hospital

ISBN: (纸本)9781457720529

Medical implants are devices manufactured to replace damaged biological organs or structures. Once implanted, these devices communicate with other devices outside the body wirelessly. In this paper, we present our work on a particular type of WMI (wireless medical implants): artificial pancreas. We investigate challenges and issues in the context of artificial pancreas designs. In particular, we focus on how to achieve a low power design for WMI and propose a Virtual Patient system to evaluate control algorithms and communication protocols without an actual implantation of the device. Simulation and experiment results presented in this paper serves as design guidelines for wireless medical implant development.

关键词： Wireless medical implant Artificial pancreas Glucose control Artificial Pancreas Medical implants Case studies wireless Communication protocols computer algorithms

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Input- Output Linearization Control of SSSC for Power Flow Enhancement in a Power System Network

Input- Output Linearization Control of SSSC for Power Flow E...

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IEEE India Conference (INDICON)

作者： Parvathy S. K. C. Sindhu Thampatty T. N. Padmanabhan Nambiar Department of Electrical and Electronics Engineering Coimbatore Amrita Vishwa Vidyapeetham India

ISBN: (纸本)9781538682364

Fast growing power system network requires highly precise control on system parameters. Nowadays, Flexible AC Transmission Systems (FACTS) has got vital importance for attaining this goal. The series FACTS controllers can improve power flow and effectively damp out the oscillations in an interconnected system. Static Synchronous Series Compensators (SSSC) consists of a three phase Voltage Source Converter (VSC) coupled to a DC link capacitor. The SSSC is maintaining overall transmission line impedance by injecting a voltage phase shifted by 90° with the line current. The dynamic equations governing VSC operation is nonlinear in nature. So nonlinear control techniques are best suited for wider operating conditions. Input-Output Feedback Linearizaton (IOFL) technique is a proficient nonlinear controller can feasibly work with a nonlinear model of SSSC. The IEEE 5 bus system is selected as the test system for proving the relevancy of the control algorithm under steady state and dynamic conditions. The power flow improvement has been observed in IEEE 5 bus system with SSSC. The results also imply that the unique robust nature of IOFL control when compared with PI controller for procuring the desired performance indices.

关键词： Flexible AC transmission systems Static synchronous series compensators Nonlinear control Input-Output feedback linearization Power flow improvement flexible AC transmission systems Static synchronous series compensator system network nonlinear control Power flow Test systems line impedance computer algorithms DC link voltage phase line current Control technology

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Link Level Power Control of Optical Networks with Time-Delay

Link Level Power Control of Optical Networks with Time-Delay

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1383-1838

作者： Nem Stefanovic Lacra Pavel Faculty of Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto ONT Canada

ISBN: (纸本)9781424414970;1424414970

We analyze the effects of time-delay in optical communication networks. A link level power control scheme adjusts the OSNR value of the signals toward channel OSNR optimization. We utilize the model from [4] along with its game-theoretic based control algorithm. We incorporate time-delay into the closed loop system, for the general case where every link has a unique time-delay. We derive sufficient conditions for stability under arbitrary time-delays and network configurations.

关键词： Fiber optic networks link level time delay Sufficient conditions Power control Signal to Noise Ratio for Optics network configuration Closed loop systems computer algorithms

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IPMC Propelled Biomimetics Robotic Fish Energy Consumption Model Construction and Its application to Energy-saving Control

IPMC Propelled Biomimetics Robotic Fish Energy Consumption M...

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2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Qingsong Hu Hua Zhou Engineering College Shanghai Ocean University201306China

ISBN: (纸本)9781424447749

Energy consumption efficiency is important in the design of the ionic polymer-metal composite (IPMC) propelled biomimetics robotic fish since it concerns about the cruising time in the water. IPMC energy consumption model is pretty critical to help improve it. Based on the physical properties of the IPMC material and the hydrodynamic reactive force theory, the energy consumption and accelerating velocity models are proposed. The model shows its precision by comparing with the experimental data. By embedding in the multi-objective compatible control algorithm, the model is applied to the energy-saving control of the IPMC propelled robotic .sh. The control result shows the validity of the model and control algorithm.

关键词： energy consumption IPMC Energy sources computer algorithms Standing Orders Biomimetics energy saving embedding

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Combined Collision Avoidance and Prevention of Soft Tissue Damage Control Method for Surgical Robots

Combined Collision Avoidance and Prevention of Soft Tissue D...

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IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Inko Elgezua Yo Kobayashi Sangha Song Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Advanced of Science and Engineering Waseda University Graduate School of Science and Engineering Waseda University

ISBN: (纸本)9781457711992

Surgical robots will have a more and more important role in Minimally Invasive Surgery (MIS), especially in laparoscopic procedures. They can overcome some of the problems of laparoscopic surgery and improve surgeon's performance. However, they also introduce new challenges and problems. Perhaps the biggest problem is lack of feedback to surgeons. This lack of feedback can cause serious problems such as tissue damage, or touching vulnerable organs. To avoid such situations, prevention of tissue damage or collision avoidance methods have been proposed. There is however a lack of methods that combine them in a simple control algorithm. In this paper we propose a novel control method for MIS master-slave surgical robot that combines collision avoidance and prevention of tissue damage. We have validated our method with a real robot in in-vitro experiments. Experimental results suggest that our method improves surgeon's performance and safety.

关键词： surgical robots Collision avoidance Tissue Damage computer algorithms Control Methods Feedback Laparoscopy Damage control Surgeons laparoscopic surgery Management Information Systems

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Multi-Cell Full-Duplex Wireless Communication for Dense Urban Deployment

Multi-Cell Full-Duplex Wireless Communication for Dense Urba...

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IEEE Global Communications Conference

作者： M. Moshiur Rahman Charles Despins Aaron Callard Gamini Senarath Sofiene Affes Dept. of Electrical Engineering ETS University of Quebec Huawei Canada Research Center INRS-EMT University of Quebec

ISBN: (纸本)9781509013296

Simultaneous bidirectional transmission and reception of signals on a single channel in a full duplex (FD) system is gaining increased attention from both academia and industry. Recent advances in radio transceiver design have been able to minimize the self interference (SI) to a great extent making realization of a FD transceiver possible. For FD deployment in a multi-cell environment, minimizing SI is not sufficient due to the presence of a complex array of network-wide interference. This paper investigates the critical deployment challenges for a dense urban FD multi-cell network and provides solutions for successful deployment of FD cellular networks. Extensive simulation results show that the proposed user selection and power control algorithms are able to increase the FD performance gain by more than 80% when compared to the traditional half duplex (HD) counterpart.

关键词： FOCAL LENGTH deployment Radio transceivers single-channel reception FULL DUPLEX CARRIER SYSTEM computer algorithms Simulation results signals Academic Settings Dense

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Benchmark Tests of Active Disturbance Rejection Control on an Industrial Motion Control Platform

Benchmark Tests of Active Disturbance Rejection Control on a...

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2009 American Control Conference (ACC 2009)

作者： Gang Tian Zhiqiang Gao Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH 44115 USA

ISBN: (纸本)9781424445233

The improvement of Active Disturbance Rejection Control over the existing industry controller is benchmarked with the state of the art industrial automation equipment, using the common PLC, drive, and the mechanical transmissions of belt, gear, and direct coupling. All together 168 tests are run at various line speeds, different levels of pulse-like torque disturbance, and with various viscous friction. The results are tabulated for comparison, in terms of integrated absolute error and maximum error observed, and the RMS and peak torque required from the drive motor. In the worst case scenarios, across all variations of mechanical configuration, we observe the performance improvement from just under 20percent to 290percent, with comparable control efforts. Together with simplicity in the control algorithm itself, the ease of tuning and operation, such improvement establishes ADRC as a viable replacement of the existing industry controller in manufacturing.

关键词： Robust control Benchmark testing state of the art disturbing torque Machine Configuration MECHANICAL TRANSMISSIONS computer algorithms performance boost Motor Control absolute error directly coupled DC motors maximum error peak torque BENCHMARKS

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