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European Conference on Mobile Robots

作者： Harding, Russell J. Whitty, Mark A. Univ New South Wales Sch Mech & Mfg Engn Sydney NSW Australia

ISBN: (纸本)9781467391634

The current availability of increasingly powerful mobile devices is driving a race to integrate such technology with a diversity of new fields. In order to explore one such largely unexplored application, this paper presents an on-board mobile device-based system for autonomous control of a UGV. Contextualised by the requirements of the Australian AGVC competition, a multi-application software suite was developed for Android, implementing a number of open-source software libraries adapted for a control system application. The developed system is capable of full soft-real time autonomous control, capitalising exclusively on the Android device's embedded sensors for data acquisition. Preliminary results indicated robust capability to perceive, map and plan paths around obstacles, and perform adequately accurate localisation in real time. The effectiveness of the system, considering minimum computational power and hardware cost, not only serves as a proof of application to drive research for the next generations of mobile devices, but garnered considerable interest in competition against classical autonomous system setups.

关键词： Android (operating system) automatic guided vehicles control engineering computing data acquisition intelligent sensors mobile computing mobile robots public domain software remotely operated vehicles software libraries Android mobile devices Australian AGVC competition UGV autonomous control embedded sensors multiapplication software suite onboard mobile device-based system open-source software libraries Androids control systems Global Positioning System Humanoid robots Smart phones Androids Data Collection Methods open source software Software libraries Androids autonomous control Embedded sensor control engineering computing Unmanned vehicles Smartphone Humanoid robots intelligent sensors Mobile devices Mobile computing control systems

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DAIDALUS: Detect and Avoid Alerting Logic for Unmanned Systems 34

DAIDALUS: Detect and Avoid Alerting Logic for Unmanned Syste...

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IEEE/AIAA 34th Digital Avionics Systems Conference (DASC)

作者： Munoz, Cesar Narkawicz, Anthony Hagen, George Upchuch, Jason Dutle, Aaron Consiglio, Maria Chamberlain, James NASA Langley Res Ctr Cleveland OH 44114 USA Sunrise Aviat Inc Ormond Beach FL USA

This article consists of a collection of slides from the author's conference presentation.

ISBN: (纸本)9781479989409

This article consists of a collection of slides from the author's conference presentation.

关键词： aerospace computing aircraft autonomous aerial vehicles control engineering computing mobile robots theorem proving DAIDALUS MIT Lincoln Laboratory NASA UAS remote pilots US Air Force Research Laboratory civil airspace detect and avoid alerting logic for unmanned systems interactive theorem prover minimum operational performance standards self-separation algorithms unmanned aircraft systems Air traffic control Aircraft Prediction algorithms Standards Trajectory Unmanned aerial vehicles

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Design and Verification of Low-Complexity Explicit MPC controllers in MPT3

Design and Verification of Low-Complexity Explicit MPC Contr...

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European control Conference (ECC)

作者： Kvasnica, Michal Holaza, Juraj Takacs, Balint Ingole, Deepak Slovak Univ Technol Bratislava Bratislava Slovakia

ISBN: (纸本)9783952426937

This paper reviews the Multi-Parametric Toolbox 3, a new version of the easy-to-use software tool for design, verification, and implementation of optimization-based controllers. Specifically, we introduce advanced building blocks which allow to synthesize and analyze explicit representations of model predictive controllers of low real-time implementation complexity. These building blocks include, but are not limited to, integration of functions over polytopes, computational geometry operations, as well as procedures to analyze invariance and closed-loop stability. We show how to combine these building blocks as to create sophisticated algorithms which lead to well-performing, yet simple controllers which adhere to prescribed requirements.

关键词： closed loop systems computational complexity computational geometry control engineering computing control system synthesis predictive control software tools stability MPT3 MultiParametric Toolbox 3 closed-loop stability computational geometry operations low-complexity explicit MPC controller design model predictive controllers optimization-based controllers real-time implementation complexity software tool Aerospace electronics Complexity theory Mathematical model Optimal control Predictive models Real-time systems Stability analysis

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Driving Autopilot with Personalization Feature for Improved Safety and Comfort 18

Driving Autopilot with Personalization Feature for Improved ...

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18th IEEE International Conference on Intelligent Transportation Systems

作者： Butakov, Vadim Ioannou, Petros Univ So Calif Dept Elect Engn Los Angeles CA 90089 USA

ISBN: (纸本)9781467365963

Self-driving cars are gaining momentum despite the number of considerable technical and human factor issues that remain controversial. Human acceptance and trust of an automated vehicle to transport people in traffic environments under different driving conditions is a challenging task. Perceived, as well as actual safety will play a major role in accepting automated vehicles. Perceptions however vary from one individual to another due to different reaction times, speed perception, and time constants during dynamical changes etc. The closer the automated vehicle dynamics are with those of a manually driven vehicle the more likely that the comfort level of the automated vehicle user will improve. In this paper we review these issues and discuss how the autopilot personalization feature can help to improve both the perceived and actual driving safety and comfort. We present methodology that allows automatic autopilot personalization based on driver performance models. The methodology takes into account driver's preferences for a particular trip and manual parameters fine-tuning by the driver. We demonstrate how the methodology can be applied on an example of adaptive cruise control and automatic lane change personalization. We support the example with data collected on an experimental vehicle.

关键词： adaptive control control engineering computing road safety road vehicles traffic engineering computing vehicle dynamics adaptive cruise control automated vehicle dynamics automatic autopilot personalization automatic lane change personalization autopilot personalization feature driver performance models driving autopilot driving comfort driving safety self-driving cars Acceleration Autonomous automobiles MIMICs Manuals Roads Safety Vehicles Adaptive cruise control ride comfort driving safety control engineering computing Vehicle dynamics Automated vehicles Millimeter wave monolithic integrated circuits road vehicles Road safety vehicle Road adaptive control Consumer safety safety acceleration

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Fast handover control scheme for multi-node using the group-based approach

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IET NETWORKS 2015年第1期4卷 44-53页

作者： Chiang, Meng-Shu Huang, Chung-Ming Tuan, Dao Duy Far East Univ Dept Comp Sci & Informat Engn Tainan 74448 Taiwan Natl Cheng Kung Univ Dept Comp Sci & Informat Engn Tainan 70101 Taiwan

The fast handover Mobile IPv6 (FMIPv6) offers a handover preparation mechanism for a mobile node (MN) to reduce the handover latency over wireless network. However, FMIPv6 mainly deals with one MN instead of multiple MNs. In the wireless network, a group of MNs may move from the same previous network to the next network. In this paper, a group-based fast handover (GB-FH) control scheme is proposed to resolve the aforementioned problem. For the proposed GB-FH scheme, one MN initiates a handover preparation and other neighboring MNs can join the handover preparation using the "hitch-and-ride" concept, which means that when one MN is preparing for a handover, its neighbours can join the on-going handover preparation. Through the use of the shared invocation of the handover preparation procedure, (1) the handover preparation delay and handover latency can be reduced for about 20% and 8% respectively comparing with FMIPv6, (2) handover control messages can be reduced for about 57% comparing with FMIPv6 and (3) the contention of the wireless channel for multiple MNs can be improved due to the use of fewer control messages.

关键词： mobile computing IP networks wireless channels telecommunication control control engineering computing multinode handover preparation mechanism mobile node MN handover latency reduction wireless network fast handover mobile IPv6 group-based fast handover control scheme GB-FH scheme hitch-and-ride concept handover control messages wireless channel

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Performance guarantees via pole placement for a webserver hosted on a private cloud

Performance guarantees via pole placement for a webserver ho...

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European control Conference (ECC)

作者： Saikrishna, P. S. Chandrasekar, Addarsh Pasumarthy, Ramkrishna IIT Madras Dept Elect Engn Madras Tamil Nadu India IIT Madras Dept Mech Enginnering Madras Tamil Nadu India

ISBN: (纸本)9783952426937

In this paper we apply pole placement techniques to meet the performance objectives of a web server hosted on a private cloud. The web server is modeled as a switched system with models developed for several well defined operating regions using system identification technique. We then obtain the conditions for placement of exact and regional poles in desired locations using full state feedback to guarentee performance and stability. The experiments are performed on the open source Eucalyptus based cloud setup.

关键词： cloud computing control engineering computing file servers pole assignment public domain software state feedback switching systems (control) Web server full state feedback open source Eucalyptus based cloud setup private cloud regional pole placement techniques switched system system identification technique Asymptotic stability Cloud computing Stability analysis Switches Throughput Time factors Web servers

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Adaptive Group-based Signal control Using Reinforcement Learning with Eligibility Traces

Adaptive Group-based Signal Control Using Reinforcement Lear...

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International IEEE Conference on Intelligent Transportation Systems

作者： Junchen Jin Xiaoliang Ma Div. of Transp. Planning Econ. & Eng. KTH R. Inst. of Technol. Stockholm Sweden

ISBN: (纸本)9781467365970

Group-based signal controllers are widely deployed on urban networks in the European countries. However, group-based signal controls are usually implemented with rather simple timing logics, e.g. vehicle actuated timing. In addition, group-based signal control systems with pre-defined signal parameter settings show relatively poor performances in a dynamically changed traffic environment. This study, therefore, presents an adaptive group-based signal control system capable of changing control strategies with respect to non-stationary traffic demands. In this study, signal groups are formulated as individual agents. The signal group agent learns from traffic environments and makes intelligent timing decisions according to the perceived system states. Reinforcement learning with multiple-step backups is applied as the learning algorithm. Agents on-line update their knowledge based on a sequence of states during the learning process rather than purely on the basis of single previous state. The proposed signal control system is integrated into a software-in-the-loop simulation (SILS) framework for evaluation purpose. In the testbed experiments, the proposed adaptive group-based control system is compared to a benchmark signal control system, the well-established group-based fixed-time control system. The simulation results demonstrate that learning-based and adaptive group-based signal control system owns its advantage in dealing with dynamic traffic environments in terms of improving traffic mobility efficiency.

关键词： adaptive control control engineering computing digital simulation learning (artificial intelligence) road traffic control traffic engineering computing Nordic countries SILS framework adaptive group-based signal control system agent learning group-based fixed-time control system reinforcement learning algorithm signal parameter settings software-in-the-loop simulation timing logic traffic mobility efficiency urban networks Adaptive systems control systems Delays Green products Learning (artificial intelligence) Vehicles

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Nonlinear Model Predictive control of SI Engine using Discrete Time Identification Model

Nonlinear Model Predictive Control of SI Engine using Discre...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： Kazuyoshi Odachi Hiroyuki Oyama Masaki Yamakita Department of Mechanical and Control Engineering Tokyo Institute of Technology

Model predictive control（MPC） is a potential control technique for nonlinear systems. It can also control MIMO system and treat constraints easily. However MPC has a disadvantage which is a big computational cost. MPC is successfully applied in the chemical industry, where the sampling period is sufficiently large, e.g., several tens of second or longer. However, MPC is not suitable for mechanical systems controlled with a sampling period in the order of milliseconds. So, in this paper, a feedback compensation method for discrete nonlinear systems is proposed to overcome the problem. To verify the effectiveness of the proposed method, a discrete time identified SI engine model is used for a simulation, and it is shown that computational time of the proposed method is faster than a conventional method, i.e.C/GMRES.

关键词： control engineering computing Model predictive control Spark-Ignition engine

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Nonlinear Model Predictive control of SI Engine using Discrete Time Identification Model

Nonlinear Model Predictive Control of SI Engine using Discre...

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Conference of the Society of Instrument and control Engineers of Japan

作者： Kazuyoshi Odachi Hiroyuki Oyama Masaki Yamakita Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1 Ohokayama Meguroku Tokyo Japan

ISBN: (纸本)9781479985845

Model predictive control(MPC) is a potential control technique for nonlinear systems. It can also control MIMO system and treat constraints easily. However MPC has a disadvantage which is a big computational cost. MPC is successfully applied in the chemical industry, where the sampling period is sufficiently large, e.g., several tens of second or longer. However, MPC is not suitable for mechanical systems controlled with a sampling period in the order of milliseconds. So, in this paper, a feedback compensation method for discrete nonlinear systems is proposed to overcome the problem. To verify the effectiveness of the proposed method, a discrete time identified SI engine model is used for a simulation, and it is shown that computational time of the proposed method is faster than a conventional method, i.e. C/GMRES.

关键词： control engineering computing Model predictive control Spark-Ignition engine

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Current-sharing bus and fuzzy gain scheduling of proportional-integral controller to control a parallel-connected AC/DC converter

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IET POWER ELECTRONICS 2014年第10期7卷 2525-2532页

作者： Kanthaphayao, Yutthana Chunkag, Viboon Rajamangala Univ Technol Fac Engn & Architecture Solar Energy Res & Technol Training Ctr Dept Elect Engn Mueang Dist 11000 Nonthaburi Thailand King Mongkuts Univ Technol North Bangkok Dept Elect & Comp Engn Fac Engn Bangkok Thailand

In this study, a current-sharing bus and fuzzy gain scheduling of proportional-integral (PI) controller to control a parallel-connected AC/DC converter are proposed. A simple current-sharing circuit is applied to divide the load current to calculate the peak input current of each converter module. Fuzzy gain scheduling of PI controller is used to compensate for the error of the output voltage. The dsPIC30F6010 microcontroller is applied in the voltage loop control. In addition, a hysteresis control circuit is used to control the current loop. The experimental performance evaluation is conducted on a prototype, with three converter modules that are parallel-connected, has 250 W/module and has a -48 V DC output voltage. The system offers the following advantages: the tight output voltage regulates both the steady-state operation and the transient response. The current sharing is quite good, and it is simpler to operate in the redundant mode.

关键词： electric current control fuzzy control PI control AC-DC power convertors microcontrollers voltage control hysteresis transient response error compensation control engineering computing current-sharing bus fuzzy gain scheduling proportional-integral controller parallel-connected AC-DC converter load current division peak input current calculation output voltage error compensation dsPIC30F6010 microcontroller voltage loop control hysteresis control circuit current loop control experimental performance evaluation tight output voltage steady-state operation regulation transient response regulation voltage-48 V power 250 W

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