Based on a unified analysis of both pure and slotted ALOHA systems, a new control algorithm for ALOHA systems is proposed. A feature of great practical importance is the algorithm's automatic adjustment to changes...
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Based on a unified analysis of both pure and slotted ALOHA systems, a new control algorithm for ALOHA systems is proposed. A feature of great practical importance is the algorithm's automatic adjustment to changes in average traffic intensity or the (finite or infinite) number of active stations in the system. In addition, the algorithm has a low-complexity implementation. computer simulations, concentrating on the use for two-way data communication in a cable television network, have demonstrated that the practical performance of the algorithm closely approximates the theoretical optimum, even under extremely heavy traffic load conditions. Furthermore, dynamic performance simulations have shown that the algorithm assures swift recovery from overload situations.
The development and performance of moving-bank multiple model adaptive control (MMAC) algorithms for quelling vibrations induced in the SPICE 2 space structure are presented. The structure consists of a large platform...
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The development and performance of moving-bank multiple model adaptive control (MMAC) algorithms for quelling vibrations induced in the SPICE 2 space structure are presented. The structure consists of a large platform and a smaller platform connected by three legs in a tripod fashion. Deviations of the line-of-sight (LOS) vector from the center of the large platform to the center of the smaller platform are used for LQG controller performance evaluation. The parameter estimator implements the maximum entropy with identity covariance (ME/I) algorithm;the moving bank logic employs parameter position monitoring the controller uses the modified MMAC method. Whereas parameter variations of two percent caused instabilities in the single filter/controller design, the MMAC algorithm provides an excellent method to estimate a wide range of parameter variations and to quell oscillations in the structure.
Two algorithms for the complete automation of background estimation in ICP emission spectroscopy are presented and evaluated. One of these algorithms is based on heuristic spectral interpretation, while the other is b...
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Two algorithms for the complete automation of background estimation in ICP emission spectroscopy are presented and evaluated. One of these algorithms is based on heuristic spectral interpretation, while the other is based on statistical spectral interpretation. These algorithms both address the weaknesses of the conventionally employed approaches of blank subtraction in calibration and background estimation through interpolation from analyst-selected wavelengths adjacent to the analyte peak. In a rigorous evaluation with synthetic spectra, these algorithms are characterized for performance in terms of accuracy, precision, and robustness. As a demonstration of the algorithms' performance with experimentally measured spectra, a determination of uranium in the presence of a calcium background interference is performed. These algorithms require no analyst interaction for their operation, and they estimate the background for every spectrum measured.
We suggest a new approach to the derivation of programs from their specifications. The formal derivation and proof of programs as is practiced today is a very powerful tool for the development of high-quality software...
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We suggest a new approach to the derivation of programs from their specifications. The formal derivation and proof of programs as is practiced today is a very powerful tool for the development of high-quality software. However, its application by the software development community has been slowed by the amount of mathematical expertise needed to apply these formal methods to complex projects and by the lack of reuse within the framework of program derivation. To address these problems, we have developed an approach to formal derivation that employs the new concept of generic algorithms. A generic algorithm is one that has (1) a formal specification, (2) a proof that it satisfies this specification, and (3) generic identifiers representing types and operations. It may have embedded program specifications or pseudocode instructions describing the next steps in the stepwise refinement process. Using generic algorithms, most software developers need to know only how to pick and adapt them, rather than perform more technically challenging tasks such as finding loop invariants and deriving loop programs. The adaptation consists of replacing the generic identifiers by concrete types and operations. Since each generic algorithm can be used in the derivation of many different programs, this new methodology provides the developer with a form of reuse of program derivation techniques, correctness proofs, and formal specifications.
A mobile manipulator in this study is a manipulator mounted on a mobile platform. Assuming the end point of the manipulator is guided, e.g., by a human operator to follow an arbitrary trajectory, it is desirable that ...
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A mobile manipulator in this study is a manipulator mounted on a mobile platform. Assuming the end point of the manipulator is guided, e.g., by a human operator to follow an arbitrary trajectory, it is desirable that the mobile platform is able to move as to position the manipulator in certain preferred configurations. Since the motion of the manipulator is unknown a priori, the platform has to use the measured joint position information of the manipulator for its own motion planning. This paper presents a control algorithm for the platform so that the manipulator is always positioned at the preferred configurations measured by its manipulability. Simulation results are presented to illustrate the efficacy of the algorithm. The algorithm is also implemented and verified on a real mobile manipulator system. The use of the resulting algorithm in a number of applications is also discussed.
A rule based fuzzy controller is presented for attitude stabilization of a small satellite in low earth orbit. Active control is done by using 3-axis magneto-torquing. A prefered torque vector can not always be genera...
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A rule based fuzzy controller is presented for attitude stabilization of a small satellite in low earth orbit. Active control is done by using 3-axis magneto-torquing. A prefered torque vector can not always be generated from the magnetic coils in certain regions of the orbit, due to an unfavourable direction of the geomagnetic field vector. The main objective of an acceptable control algorithm will then be to optimize the control effort: maximize the desired influence on the controlled axis and minimize the undesired disturbances to the other axes. It was found that a fuzzy controller can achieve these goals in a computationally effective way, compared to other more involved MIMO algorithms, while performing just as well or better under similar conditions. This fuzzy controller solves the control constraint problem by chosing the best magneto- torquer, the polarity and switching instances.
Originally, adaptive control theory was developed for the ideal system models, i.e., linear system models under the assumption that relative degree and upper bounds on the order of the systems are known. At the beginn...
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Originally, adaptive control theory was developed for the ideal system models, i.e., linear system models under the assumption that relative degree and upper bounds on the order of the systems are known. At the beginning of the last decade, adaptive control algorithms designed for such ideal system models were strongly attacked by many researchers due to ''lack of robustness'' in the presence of unmodeled dynamics and external disturbances. The purpose of the present paper is to relax existing constant pressure on the adaptive control algorithms originally designed for the ideal system models. It is shown that such adaptive control algorithms are globally stable and robust with respect to unmodeled dynamics and external disturbances without any modifications, such as isigma-modification, epsilon1-modification, relative dead-zone, projection of the parameter estimates, etc. Global stability of the unmodified algorithms is established by requiring the reference signal to be persistently exciting.
A technique for constructing an N-input concentrator from two (N/2)-input concentrators and a stage of 2x2 switching elements is described. Recursive decomposition of each of the (N/2)-input concentrators yields a log...
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A technique for constructing an N-input concentrator from two (N/2)-input concentrators and a stage of 2x2 switching elements is described. Recursive decomposition of each of the (N/2)-input concentrators yields a log2N-stage switching network similar in topology to the inverse omega network. The control algorithm for setting the switching elements is shown to be a simple logic function of the activity bits of the inputs. An iterative cell that combines the functions of the control logic and the 2x2 switching element can be used as a building block to realize the entire concentrator. Applications of the concentrator structure as an interconnection fabric in fast packet switching is explored. This leads to an efficient self-routing network, similar in topology to the transposed Batcher-banyan network.
The following problem is considered. There are several users who send jobs to an M/M/1 queue and have privately observed information relating to their benefits from the rate of job submissions and their costs due to w...
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The following problem is considered. There are several users who send jobs to an M/M/1 queue and have privately observed information relating to their benefits from the rate of job submissions and their costs due to waiting in the queue. Each user's benefits and costs are unknown to the queue manager and to other users. The manager's objective is to achieve ''optimal'' flow control, where the optimality depends on arriving at an appropriate trade-off between delay and the job arrival rate assigned to each user: the allocations should be such that no user can be made better off by a reallocation without hurting at least one other user. Since the optimality calculation requires knowledge of the users' private information, we propose an algorithm that converges to the optimum, while inducing users to reveal information relating to their benefits and costs truthfully, and balances the manager's budget. Earlier work on this problem [1] has produced a flow control algorithm that requires the queue manager to incur a potentially huge deficit;this leads to several theoretical and practical problems.
This letter describes a novel structure for large-matrix connector-type optical switches. The dimensions of the apparatus designed for 512 x 512 switching were 0.8 m(W) x 0.6 m(D) x 1.85 m(H). It is based on the three...
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This letter describes a novel structure for large-matrix connector-type optical switches. The dimensions of the apparatus designed for 512 x 512 switching were 0.8 m(W) x 0.6 m(D) x 1.85 m(H). It is based on the three-stage Clos network. Switching is accomplished by the mechanical reconnection of fibers. The fiber tangling is avoided by using an intelligent zigzag transfer method for the connector plugs. The mean insertion loss is less than 1 dB for SM fibers. The most appropriate internal fiber link is chosen by a computer algorithm from all possible candidates. The mean switching time is estimated at about 1 min.
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