Modern frequency converters have the necessary and sufficient level of functionality. Their further improvement is on the way to increasing energy efficiency. The article discusses the optimization of intelligent syst...
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ISBN:
(纸本)9781665404761
Modern frequency converters have the necessary and sufficient level of functionality. Their further improvement is on the way to increasing energy efficiency. The article discusses the optimization of intelligent system control algorithms.
作者：
Zyubin, Vladimir E.RAS
Inst Automat & Electrometry SB Task Force Linguist Means Appl Programming Novosibirsk 630090 Russia
The hyper-automation is introduced as a model of complex control algorithms. The model reflects basic aspects of control algorithms: presence of an external environment, cyclic and event-driven functioning, synchronis...
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ISBN:
(纸本)9781424403462
The hyper-automation is introduced as a model of complex control algorithms. The model reflects basic aspects of control algorithms: presence of an external environment, cyclic and event-driven functioning, synchronism, hierarchical structure and logical parallelism. The paper introduces basic definitions and conceptual means of hyper-automaton model, which encourage program implementation of the algorithms. A new kind of functional polymorphism we name event-driven polymorphism is distinguished and discussed.
This paper presents the development and preliminary results of a rapidly reconfigurable autopilot for small Unmanned Aerial Vehicles. The autopilot presented differs from current commercial and open source autopilots ...
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ISBN:
(纸本)9780791849002
This paper presents the development and preliminary results of a rapidly reconfigurable autopilot for small Unmanned Aerial Vehicles. The autopilot presented differs from current commercial and open source autopilots mainly as it has been designed to: (i) be easily reprogrammable via Simulink (models are directly transferred to the autopilot through the Real-Time Workshop's code-generation capability);(ii) decouple the traditional tasks of attitude estimation/navigation and flight control by using two Digital Signal controllers (one for each task) interconnected via a Serial Peripheral Interface;and, (iii) being able to interact directly with Simulink as a Hardware-in-the-Loop simulator. This work details each of the main components of the autopilot and its ground control station software. Preliminary results for sensor calibration, Hardware-in-the-loop, ground and flight tests are presented.
In this paper, one of the possibilities of introduction of variable stiffness in a rehabilitation manipulator for lower limbs, is described. Mechanical design and working principle of a proposed system are presented. ...
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ISBN:
(纸本)9781424498628
In this paper, one of the possibilities of introduction of variable stiffness in a rehabilitation manipulator for lower limbs, is described. Mechanical design and working principle of a proposed system are presented. The following control algorithms for manipulators with flexible joints are suggested: the position control and the active impedance control. The tracking performance is experimentally studied for sinusoidal and polynomial reference trajectories. Obtained results confirm that both control strategies are suitable for controlling a rehabilitation manipulator with changeable stiffness.
Self reconfiguring robots are complex robotic systems composed of a finite number of modules, where each module of the system is considered to be a simple agent. Based on this context, the reconfiguration represents t...
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ISBN:
(纸本)3908451884
Self reconfiguring robots are complex robotic systems composed of a finite number of modules, where each module of the system is considered to be a simple agent. Based on this context, the reconfiguration represents the process of re-arranging each agent of the robotic system in order to have a working system. One versatile method to determine the most adequate movement and reconfiguration algorithms can be done using modeling methods and tools. Using this approach, the control algorithms necessary to drive such a system can be modeled, tested and implemented in an embedded system much easier than in a classical approach. This paper presents the case of a self reconfiguring robot for which, a reconfiguration algorithm and a movement algorithm were determined, analyzed, tested and validated.
A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. When a successful test necessitates that an a...
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ISBN:
(纸本)9780791846186
A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. When a successful test necessitates that an algorithm functions on dozens or even hundreds of robots simultaneously, a low price tag on each robot is crucial. This paper presents Spider-Bots, a low cost platform for testing and validating control algorithms for multi-robot swarms. The platform is comprised of centimeter-scale mobile robots that can communicate wirelessly and interact with their environment, along with easy to use software libraries. The resulting platform was validated by testing its ability to execute and record data from three separate algorithms: Set-point navigation, object manipulation, and collision avoidance.
Type 1 Diabetes Mellitus (T1DM) patients live with the need for insulin replacement for life. Closed-loop therapies or Artificial Pancreas consist of a continuous subcutaneous insulin infusion pump, a continuous gluco...
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ISBN:
(纸本)9781665449502
Type 1 Diabetes Mellitus (T1DM) patients live with the need for insulin replacement for life. Closed-loop therapies or Artificial Pancreas consist of a continuous subcutaneous insulin infusion pump, a continuous glucose monitoring sensor, and a control algorithm. It automatically adjusts insulin infusion in real time, functioning as a healthy pancreas would regulate glucose levels through the administration of hormones with little or no user input. The control algorithms widely used for artificial pancreas development are Model Predictive control (MPC) and Proportional-Integral-Derivative (PID) and these are adapted to help TD1M patients to regulate their blood glucose levels. The development of the artificial pancreas has to consider disturbances such as meal intake and physical activity. These disturbances can be unannounced which can bring blood glucose levels down and cause hypoglycemia. Therefore, in this work, two control algorithms are compared facing meal intake and exercise to compensate for the effects of exercise and food and avoid hypoglycemia.
The escalating prevalence of diabetes mellitus presents a pressing global health challenge, with projections indicating a further rise in both type 1 and type 2 diabetes cases. While type 1 diabetes necessitates exter...
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ISBN:
(纸本)9798350329537;9798350329520
The escalating prevalence of diabetes mellitus presents a pressing global health challenge, with projections indicating a further rise in both type 1 and type 2 diabetes cases. While type 1 diabetes necessitates external insulin administration due to pancreatic insufficiency, type 2 diabetes may also require insulin supplementation, albeit in lesser amounts. Traditional insulin delivery methods, involving multiple daily injections, can be burdensome for patients, particularly those with type 1 diabetes, which requires higher insulin doses. To mitigate these challenges, researchers have developed artificial pancreas systems-a closed-loop approach capable of automatically measuring blood glucose levels and administering insulin. These systems integrate insulin pumps with continuous glucose monitors (CGMs) to maintain glycemic control. However, the effectiveness of these systems heavily depends on the control algorithm employed. While conventional control engineering algorithms have been predominant, recent advancements in artificial intelligence (AI) have led to the exploration of AI-based controllers, particularly those leveraging reinforcement learning (RL). RL-based algorithms, categorized as semi-supervised learning, demonstrate promise in adapting to individual patient dynamics without the need for labeled data. This review investigates the utilization of various mathematical models, such as UVA/PADOVA, Bergman's minimal, and Hovorka models, in conjunction with RL-based algorithms in diabetes management. By examining existing research findings, we elucidate the efficacy of RL-based approaches in patient-specific learning and offer insights into future directions for optimizing diabetes management strategies.
The article deals with the issue that there is no study on the designing of switched reluctance electric vibration drives. The mathematical models of an electromechanical converter and electronic commutator with a mot...
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ISBN:
(纸本)9781538643075
The article deals with the issue that there is no study on the designing of switched reluctance electric vibration drives. The mathematical models of an electromechanical converter and electronic commutator with a motor phase 90-degree switching algorithm are presented. The interdisciplinary calculation of the built models was carried out. The results of modeling and simulation are motor winding currents and induced voltage graphs. The experimental prototype of the switched reluctance vibration drive with the microprocessor-based control system is developed and made. An experimental research that proves the adequacy of the models has been performed.
Using vehicle dynamics, in this paper an automotive ABS control algorithms, which adaptive to the adhesive coefficient of road surface was proposed. And also an ABS experiment bench was explored. Simulation and experi...
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ISBN:
(纸本)9781424452675
Using vehicle dynamics, in this paper an automotive ABS control algorithms, which adaptive to the adhesive coefficient of road surface was proposed. And also an ABS experiment bench was explored. Simulation and experiment studies results show that this ABS system can control the wheel slip well and the control effect is good, it provides an effective method of ABS research.
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