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Adaptive robust control of unmanned tracked vehicles for trajectory tracking based on constraint modeling and analysis

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NONLINEAR DYNAMICS 2024年第11期112卷 9117-9135页

作者： Wang, Xiuye Wang, Yinlong Sun, Qinqin Chen, Yu Al-Zahran, Ahmed Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China ZheJiang Traff Technician Coll Dept Automot Engn Jinhua 321015 Zhejiang Peoples R China Nanjing Univ Aeronaut & Astronaut Sch Energy & Power Engn Nanjing 210016 Peoples R China Univ Jeddah Dept Mech & Mat Engn Jeddah Saudi Arabia

A novel trajectory tracking control problem based on constraint modeling and analysis is addressed by the way of constraint-following control for the unmanned tracked vehicle in this paper. The unmanned tracked vehicle system contains time-varying uncertainty which is possibly swift but bounded, and the bound is possibly unknown. First, the coupled dynamics model of unmanned tracked vehicle is established. By taking into account the kinematic characteristics, it makes the motion control of unmanned tracked vehicles more precise. Meanwhile, a 3D virtual prototype model is established for the unmanned tracked vehicle. Second, for the control objective of trajectory tracking, the related problem is converted into a constraint-following problem, and an adaptive robust controller is therefore proposed based on this for the controlled unmanned tracked vehicle system to satisfy the trajectory tracking constraint. Finally, it is proved that the controlled unmanned tracked vehicle system can achieve accurate trajectory tracking with the proposed adaptive robust control, even under the interference of complex time-varying uncertainties. modeling accurate dynamics and trajectory tracking constraints for unmanned tracked vehicles while designing an adaptive robust controller to realize accurate motion control for unmanned tracked vehicles even under strong external disturbances are the main contributions of this paper.

关键词： Unmanned tracked vehicle constraint-following Trajectory tracking control Adaptive robust control constraint modeling

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A constraint modeling Framework for Domain-Specific Languages 2019

A Constraint Modeling Framework for Domain-Specific Language...

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17th ACM SIGPLAN International Workshop on Domain-Specific modeling (DSM)

作者： Pschorn, Patrick Antonino, Pablo Oliveira Morgenstern, Andreas Kuhn, Thomas Fraunhofer IESE Kaiserslautern Germany

ISBN: (纸本)9781450369848

The growing usage of Domain Specific modeling Languages (DSML) for architecture view frameworks induces a need for automatic verification of non-functional model properties like completeness and consistency. However, we argue that the high demand for tailored architecture view frameworks is not complemented by appropriate constraint specification facilities. OCL is a common language for defining modeling constraints, but industry user reports indicate that despite its accuracy, it is too complex to be adopted in industrial scale. Approaches that were proposed to simplify the use of OCL either operate on technical formalisms or lack tool support to express new, or more complex types of constraints that can be validated automatically on the model. To address this challenge, we present a constraint modeling framework for the specification and validation of constraints on DSMLs. A constraint modeling Language (CML) created based on this framework provides a high level constraint specification environment by using extensible template implementations to enable the automatic validation in computer aided software engineering (CASE) tools. We evaluate the approach in different industry projects and observe that using the proposed framework enhances understandability and effectiveness of constraint specification.

关键词： constraints constraint modeling Domain-Specific modeling Architecture View Frameworks

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Design innovation through constraint modeling

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INTERNATIONAL JOURNAL OF ARCHITECTURAL COMPUTING 2006年第1期4卷 87-105页

作者： Kilian, Axel MIT Sch Architecture & Planning Dept Architecture 77 Massachusetts Ave Cambridge MA 02139 USA

In this paper we describe how constraint modeling can support design innovation. Furthermore, we lay out how constraints are employed in the construction and exploration of a model's design space. We place the approach within the context of design exploration using computational and conceptual representations of design. A review of the literature reveals that geometric, topologic, functional, and quantitative constraints are those most commonly used. For each constraint type, an example is presented drawing from several workshops and research conducted by the author. The examples range from product design, to structural design, to fabrication issues in freeform geometry. Based on the case studies, we describe how the different types of constraints can be used as design drivers and help in the exploration of solution spaces. In conclusion, we identify the need for bidirectional exercising of constraints as the next challenge in design exploration and discuss how it is relevant in particular for cross domain design.

关键词： design exploration constraint modeling parametric modeling

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modeling Finite-Element constraint to Run an Electrical Machine Design Optimization Using Machine Learning

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IEEE TRANSACTIONS ON MAGNETICS 2015年第3期51卷 1-4页

作者： Arnoux, Pierre-Hadrien Caillard, Pierre Gillon, Frederic Ecole Cent Lille Lab Elect Engn & Power Elect F-20048 Villeneuve Dascq France

This paper proposes a method to the model constraints from different models to run an optimization over models with different granularities. Through machine learning, the proposed method has proven to be able to accurately map the constraints and minimize the number of call to the model. It handles both continuous and discrete variables and mixes design rules to statistic approach to create a surrogate of the model.

关键词： constraint modeling finite-element (FE) model machine learning optimal design random forest

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constraint programming based techniques for medical resources optimization: medical internships planning

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JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING 2020年第9期11卷 3801-3810页

作者： Benamrane, Amine Benelallam, Imade Bouyakhf, El Houssine Mohammed V Univ Rabat LIMIARF Fac Sci Rabat Morocco Natl Inst Stat & Appl Econ Irfane INSEA Rabat Morocco

Hospital internships are the most essential and important component of any medical training to acquire and develop different clinical skills. The main management issue related to this point is the allocation of internship students to different services undergoing several logistical and pedagogical constraints during the hospital university calendar. In this paper, we show how we can use constraint Programming design to model and solve this problem through the constraint Satisfaction Problems (CSP). Then, we propose an extended model (constraint Optimization model) to cover the limitations of the CSP model and find the optimal scheduling taking in account students' preferences. Finally, we show that using several What-If scenarios can help to suggest and recommend to decision makers some adjustments to the problem inner rules to get the optimal solution.

关键词： constraint optimization constraint modeling Multi-objective optimization Medical internships planning

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A global constraint for over-approximation of real-time streams

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constraintS 2017年第3期22卷 463-490页

作者： Bart, Anicet Truchet, Charlotte Monfroy, Eric Univ Nantes CNRS TASC LS2NUMR 6004 Nantes France Inst Mines Telecom Atlantique CNRS TASC LS2NUMR 6004 Nantes France

Formal verification of real time programs, where variables can change values at every time step, is difficult due to the analyses of loops with time lags. In this paper, we propose a constraint programming model together with a global constraint and a filtering algorithm, for computing over-approximation of real-time streams. The global constraint handles the loop analyses by providing an interval over-approximation of the loop invariant. We apply our method to the FAUST language, a language for processing real-time audio streams. Experiments show that our approach provides accurate results in short times.

关键词： constraint modeling Global constraint Block-diagrams Verification

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constraint programming approach to a bilevel scheduling problem

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constraintS 2011年第3期16卷 317-340页

作者： Kovacs, Andras Kis, Tamas Hungarian Acad Sci Comp & Automat Res Inst Budapest Hungary

Bilevel optimization problems involve two decision makers who make their choices sequentially, either one according to its own objective function. Many problems arising in economy and management science can be modeled as bilevel optimization problems. Several special cases of bilevel problem have been studied in the literature, e.g., linear bilevel problems. However, up to now, very little is known about solution techniques of discrete bilevel problems. In this paper we show that constraint programming can be used to model and solve such problems. We demonstrate our first results on a simple bilevel scheduling problem.

关键词： Scheduling Bilevel programming constraint modeling QCSP

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Formulating the template ILP consistency problem as a constraint satisfaction problem

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constraintS 2013年第2期18卷 144-165页

作者： Bartak, Roman Cernoch, Radomir Kuzelka, Ondrej Zelezny, Filip Charles Univ Prague Fac Math & Phys Prague 1 Czech Republic Czech Tech Univ Fac Elect Engn CR-16635 Prague 1 Czech Republic

Inductive Logic Programming (ILP) deals with the problem of finding a hypothesis covering positive examples and excluding negative examples, where both hypotheses and examples are expressed in first-order logic. In this paper we employ constraint satisfaction techniques to model and solve a problem known as template ILP consistency, which assumes that the structure of a hypothesis is known and the task is to find unification of the contained variables. In particular, we present a constraint model with index variables accompanied by a Boolean model to strengthen inference and hence improve efficiency. The efficiency of models is demonstrated experimentally.

关键词： constraint modeling Inductive logic programming Meta-reasoning

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constraint-Handling with Support Vector Decoders 5

Constraint-Handling with Support Vector Decoders

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5th International Conference on Agents and Artificial Intelligence (ICAART)

作者： Bremer, Jeorg Sonnenschein, Michael Carl von Ossietzky Univ Oldenburg D-26129 Oldenburg Germany

ISBN: (纸本)9783662444405;9783662444399

A comparably new application for support vector machines is their use for meta-modeling the feasible region in constrained optimization problems. Applications have already been developed to optimization problems from the smart grid domain. Still, the problem of a standardized integration of such models into (evolutionary) optimization algorithms was as yet unsolved. We present a new decoder approach that constructs a mapping from the unit hyper cube to the feasible region from the learned support vector model. Thus, constrained problems are transferred into unconstrained ones by space mapping for easier search. We present result from artificial test cases as well as simulation results from smart grid use cases for real power planning scenarios.

关键词： Smart grid constraint-handling Decoder constraint modeling SVDD

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Multi-objective Finite-Domain constraint-Based Forest Management 22nd

Multi-objective Finite-Domain Constraint-Based Forest Manage...

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22nd Regular meeting of the Portuguese-Association-of-Operational-Research (APDIO)

作者： Eloy, Eduardo Bushenkov, Vladimir Abreu, Salvador Univ Evora Evora Portugal Univ Evora CIMA Evora Portugal Univ Evora NOVA LINCS Evora Portugal

ISBN: (纸本)9783031464393;9783031464386

This paper describes an implementation of a constraint Programming approach to the problem of multi-criteria forest management optimization. The goal is to decide when to harvest each forest unit while striving to optimize several criteria under spatial restrictions. With a large number of management units, the optimization problem becomes computationally intractable. We propose an approach for deriving a set of efficient solutions for the entire region. The proposed methodology was tested for Vale do Sousa region in the North of Portugal.

关键词： Forest management constraint programming constraint modeling Multi-criteria optimization Pareto frontier

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