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 si...
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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.
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 paramet...
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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.
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 Optimizatio...
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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.
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 ...
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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.
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 utiliz...
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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.
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 suffe...
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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.
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...
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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.
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 b...
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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.
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 netwo...
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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.
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 pro...
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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.
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