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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Yu, Kaiyan Yi, Jingang Shan, Jerry Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA

ISBN: (纸本)9781467381833

The automated steering and manipulation of multiple nanowires independently would enable the potentially scalable assembly of nanodevices for a variety of applications. We present an electric-field-based design for simultaneous motion planning and manipulation of multiple nanowires in liquid suspension. The design is built on a micro-fluidic device that is actuated by a simple, generic set of electrodes. We first present a motion-control algorithm to simultaneously steer multiple nanowires along desired trajectories under controlled electrophoretic forces, while compensating for background electro-osmotic flow. A two-stage motion-planning algorithm is then presented to generate the desired trajectory for each individual nanowire. Numerical simulations and experimental results confirm and demonstrate the performance of the proposed motion planning and control design.

关键词： motion planning Suspensions Nanowire computer algorithms design control

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Control of an Aerial Manipulator using On-line Parameter Estimator for an Unknown Payload 11

Control of an Aerial Manipulator using On-line Parameter Est...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Lee, Hyeonbeom Kim, Suseong Kim, H. Jin Seoul Natl Univ Mech & Aerosp Engn Seoul South Korea Seoul Natl Univ Fac Mech & Aerosp Engn Seoul South Korea

ISBN: (纸本)9781467381833

This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial manipulator dynamics. With the estimated mass information and the augmented passivity-based controller, the aerial manipulator can fly with the unknown object. Simulation for an aerial manipulator is performed to compare estimation performance between the proposed control algorithm and conventional adaptive sliding mode controller. Experimental results show a successful flight of a custom-made aerial manipulator while the unknown parameters related to an additional payload were estimated satisfactorily.

关键词： computer algorithms ANTENNA Payload Unknown parameter manipulator dynamics Standing Orders parameterization IN-LINE Unknown

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COAP 2014 Best Paper Prize

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COMPUTATIONAL OPTIMIZATION AND APPLICATIONS 2015年第3期62卷 609-611页

作者： Espinoza, Daniel G. Moreno, Eduardo Univ Chile Dept Ind Engn Santiago Chile Adolfo Ibanez Univ Fac Sci & Engn Santiago Chile

The article focuses on the paper 'A primal-dual aggregation algorihtm for minimizing conditional value-at-risk in linear programs,' by Daniel Espinoza and Eduardo Moreno which won the Computational Optimization and Applications (COAP) Best Paper Award. Topics discussed include the approximation method for stochastic optimization problems, the conditional value at risk (CvaR), and production scheduling problems.

关键词： LINEAR programming VALUE at risk computer algorithms RESEARCH MATHEMATICAL optimization PRODUCTION scheduling AWARDS APPROXIMATION algorithms

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Ethanol: Software Defined Networking for 802.11 Wireless Networks 14

Ethanol: Software Defined Networking for 802.11 Wireless Net...

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IFIP/IEEE International Symposium on Integrated Network Management (IM)

作者： Moura, Henrique Bessa, Gabriel V. C. Vieira, Marcos A. M. Macedo, Daniel F. Univ Fed Minas Gerais Dept Comp Sci Belo Horizonte MG Brazil

ISBN: (纸本)9783901882760

Wireless Networks have become ubiquitous and dense to support the growing demand from mobile users. To improve the performance of these networks, new approaches are required, such as context and service aware control algorithms, which are not possible on today's closed proprietary WLAN controllers. In this work, we propose Ethanol, a software-defined networking architecture for 802.11 dense WLANs. This paper describes the benefits of programmable APs, and proposes Ethanol, an architecture for network-wide control of QoS, user mobility, AP virtualization, and security on 802.11 APs. The proposal is evaluated on a prototype using off-the-shelf APs over three use cases.

关键词： Wireless networks Apus computer algorithms Dense ethyl alcohol wireless local area network (WLAN) NETWORK STRUCTURE

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An integrated framework for cooperative ground and aerial vehicle missions utilizing Matlab and X-Plane 9

An integrated framework for cooperative ground and aerial ve...

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9th Annual IEEE International Systems Conference (SysCon)

作者： Bittar, Adriano Vitzilaios, Nikolaos I. Rutherford, Matthew J. Valavanis, Kimon P. Univ Denver Unmanned Syst Res Inst DU2SRI Denver CO 80208 USA

ISBN: (纸本)9781479959273

This paper presents an integrated control framework for the simulation and visualization of cooperative missions for unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The X-Plane simulator is utilized to simulate vehicle dynamics and visualize experiments in realistic environments, whereas the control algorithms are executed and validated in Matlab/Simulink. A novel approach to integrate ground vehicles in X-Plane is presented and an overall open source framework is developed to facilitate the interaction and usability of the two software programs used. The framework facilitates research in cooperative vehicle control, path planning, formation control, and centralized control topologies through straightforward and cost effective system simulation, visualization and evaluation.

关键词： MATLAB computer algorithms Frameworks Ground vehicles vehicle Religious Missions Vehicle dynamics Visualization Unmanned Aerial Vehicle INTEGRATED SHIP CONTROL simulating Integrate

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Connected Underwater Robots: Theory and Practice 16

Connected Underwater Robots: Theory and Practice

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Proceedings of the 2015 International Conference on Collaboration Technologies and Systems

作者： Stilwell, Daniel J. Virginia Tech Bradley Dept Elect & Comp Engn Blacksburg VA USA

ISBN: (纸本)9781467376488

Reliable subsea communication is the principal technical challenge that limits the ability of underwater vehicles to collaboratively perform tasks. The subsea communication channel is extremely low bandwidth and suffers from latencies and frequent dropouts. We present fundamental advances in network theory and corresponding distributed estimation and control algorithms that enable autonomous underwater vehicles to cooperate despite infrequent communication between vehicles. We describe the practical challenges of subsea operations and how our approach distributed data fusion and decentralized control addresses these challenges. We also discuss advances in stochastic graph theory that enable us to model the sparse, time-varying network topology available underwater in a manner suitable for control design. The practical utility of our approach has been verified during field trials in which a team of autonomous underwater vehicles cooperatively localized the source of an acoustic signal.

关键词： underwater vehicles Autonomous underwater vehicles Subsea Underwater Underwater robots Network theory decentralised control audio signals computer algorithms Data fusion Graph theory Distress vehicle field experimentation

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Measurement System for Ground Reaction Forces in Skid-Steering Mobile Platform Rex 20

Measurement System for Ground Reaction Forces in Skid-Steeri...

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20th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Szrek, Jaroslaw Arent, Krzysztof Wroclaw Univ Technol Dept Biomed Engn Mechatron & Theory Mech Wybrzeze Wyspianskiego 27 PL-50320 Wroclaw Poland Wroclaw Univ Technol Chair Cybernet & Robot Elect Fac PL-50320 Wroclaw Poland

ISBN: (纸本)9781479987016

The article is focused on a measurement system for ground reaction forces in a skid-steering mobile platform. The information derived by such a system is useful for several model based control algorithms which in turn are the base for requirements of a measurement system. The system, that meets the requirements, is proposed and initially discussed. Presentation of a system concept is complemented by initial experimental results.

关键词： measurement system rex computer algorithms Mobile Force Platform ground

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Adaptive Power Control algorithms in Underwater Wireless Optical CDMA Cellular Networks 4

Adaptive Power Control Algorithms in Underwater Wireless Opt...

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4th International Workshop on Optical Wireless Communications (IWOW)

作者： BaniHassan, Navid Akhoundi, Farhad Salehi, Jawad A. Tarbiat Modares Univ Dept Elect & Comp Engn Tehran Iran Sharif Univ Technol Dept Elect Engn Tehran Iran

ISBN: (纸本)9781467377263

In this paper we introduce two adaptive power control algorithms for downlink of underwater wireless optical cellular networks. The first approach is based on the angle of user's position with respect to optical base transceiver station (OBTS) of the cell. The second scheme works according to the link distance between the user and the OBTS. Defining an optimization problem, we aim to guaranty the quality of service for each user while minimizing the transmitting power. In our methods, we utilize limited feedback channel state information (CSI) so that the algorithm could be implemented with low complexity. The simulation results for different water types demonstrate that our proposed algorithms outperform the non-adaptive scheme.

关键词： computer algorithms adaptive power control Water types Transmitter power Cellular networks Underwater Consumers OCDMA Quality of service wireless algorithms base transceiver station

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Security-aware Service Migration for Tactical Mobile Micro-Clouds 34

Security-aware Service Migration for Tactical Mobile Micro-C...

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34th IEEE Annual Military Communications Conference (MILCOM) on Leveraging Technology - The Joint Imperative

作者： Ciftcioglu, Ertugrul N. Chan, Kevin S. Urgaonkar, Rahul Wang, Shiqiang He, Ting IBM Res Yorktown Hts NY USA US Army Res Lab Adelphi MD USA Univ London Imperial Coll Sci Technol & Med London England

ISBN: (纸本)9781509000739

Mobile micro-clouds (MMCs), which are small cloud-like infrastructures that can host services for mobile users, provide a promising approach to deliver data and computation to users in low bandwidth/high latency networks. In this work, we take a step towards security-aware service migration for multiple servers for MMC in tactical environments. As a fundamental model, we consider two users sharing a cluster of MMCs and moving between coverage areas of different MMCs according to random walk. We formulate the problem using a finite horizon Markov Decision Process (MDP). Due to the coupling between users due to security (and possibly interference) costs, we observe that the problem is significantly more complex compared with the non-security-aware single user service migration problem studied in the literature, even in the simplest case of two users. Accordingly, we consider efficient control algorithms which aim to minimize time average costs. Particularly, we propose a modified myopic policy which aims to reduce time average costs by steering operation towards settings which would reduce the likelihood of future security cost increases, by proactively keeping the services distant. Our numerical results demonstrate that our modified myopic policy outperforms other policies in terms of average cost for various settings.

关键词： Cloud computing Cost function Couplings Mobile communication Security Servers Yttrium Servers Couplings mobile communication Cost functions METAL MATRIX COMPOSITES Rare earths yttrium Cloud Computing Consumers Security average time computer algorithms AREA COVERAGE coupling basic model

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Trajectory Tracking Control of a Vehicle with a Large Sideslip Angle

Trajectory Tracking Control of a Vehicle with a Large Sidesl...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Nakano, Hiroshi Kinugawa, Jun Kosuge, Kazuhiro Tohoku Univ Grad Sch Engn Dept Bioengn & Robot Sendai Miyagi 9808579 Japan

ISBN: (纸本)9781467391078

We propose a trajectory tracking control algorithm for a vehicle with a large sideslip angle. The proposed algorithm was designed on the basis of a vehicle's planar motion using a four-wheel vehicle model. The proposed algorithm controls the vehicle's position and attitude by integrating the motion control algorithm for a vehicle with a large sideslip angle into the trajectory tracking algorithm for a mobile robot. The proposed algorithm was implemented into an experimental system and the results verify its effectiveness.

关键词： vehicle SIDESLIP trajectory tracking tracking control Vehicle model computer algorithms Angle

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