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2nd International Conference on Electrical and control Technologies

作者： Stambolov, Grigor Tech Univ Sofia Sofia Bulgaria

ISBN: (纸本)9781634397971

Petri net model of the communication level of a cooperative autonomous mobile robots system (CAMRS) is presented. The purpose of this model is to specify the integration of the individual efforts on path planning, motion control, and vision system that are necessary for the autonomous operation of the mobile robots. This is achieved by analytically modeling the various units of the system as Petri net transducers and, explicitly representing the tasks execution and information dependence among them. The model can also be used to simulate the task processing and evaluate the efficiency of operations and the responsibility of decisions in the communication level of the cooperative autonomous mobile robots system. Some simulations results of the task processing are presented in the paper.

关键词： cooperative autonomous mobile robots (CAMR) petri nets control algorithms communication network

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Multicomputer Research Desks for Simulation and Development of control Systems

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IFAC Proceedings Volumes 2008年第2期41卷 15244-15249页

作者： M.Kh. Dorri A.A. Roshchin Institute of Control Sciences RAS Moscow Russia 117997 Profsoyuznaya 65

This paper is devoted to the detailed description of development processes and features of multicomputer desks based on the development software tool RDS (Research of Dynamic Systems). Powerful capabilities of multicomputer desks developed with use of RDS are illustrated by different examples of control algorithms implementation for technical plants. The software tool RDS developed in Institute of control Sciences RAS satisfies main design principles for multicomputer desks and facilitates creation of research desks for simulation and development of control systems.

关键词： Software development tool control algorithms visual system simulation

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Holonic Communication Structure in the Team of Cooperative Autonomous Mobile Robots

Holonic Communication Structure in the Team of Cooperative A...

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2008 Conference on Human System Interactions (HSI 2008), vol.1

作者： Grigor Stambolov Tadas Sperauskas Rimvydas Simutis Technical University Sofia Bulgaria Kaunas University of Technology Kaunas Lithuania

Recently many authors have been concerned with the problem of cooperation between autonomous mobile robots. In this paper, we present a communication structure which is a part of holonic communication structure in the team of cooperative autonomous mobile robots. Our structure deploys a network of radio beacons which assists to the robot(s) in a coverage. This network is also used for navigation. The theoretical basis for holonic architecture of mobile robots and the communication models, which show the collaboration between the deployed network and mobile robot(s) for the complex tasks, are presented.

关键词： Cooperative Autonomous Mobile Robots (CAMR) Holonic Systems control algorithms Communication Network UML

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Semi-active stiffness dampers for seismic control of structures

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ADVANCES IN STRUCTURAL ENGINEERING 2007年第5期10卷 501-524页

作者： Kori, Jagadish G. Jangid, R. S. Indian Inst Technol Dept Civil Engn Bombay 400076 Maharashtra India

This paper describes the application of semi-active variable stiffness damper (SAVSD) for response control of the seismically excited structure. The SAVSD consists of hydraulic damper connected in the form of bracing in a selected story of frame structure. The SAVSD changes its stiffness depending upon the structural response and accordingly adds the control forces in the structural system. In this paper, the comparative study and the performance of SAVSD under different ratios of damper stiffness to structural story stiffness is presented. The specific objective of this study is to evaluate the optimum value of damper stiffness ratio and its importance in structural response reduction. The optimum stiffness ratio is investigated for the structure subjected to four different types of earthquake ground motions. Here, the switching control law and newly proposed modified switching control law are used and the results are compared with uncontrolled and passive control cases. A numerical study is performed on five and ten-story shear building with different configurations of damper placement. The numerically evaluated optimum parametric values are considered for the analysis of the optimum damper placement in the structure. It is revealed that, the proposed modified switching control law is very effective in reducing the story displacements and inter-story drifts without increasing the top floor accelerations. The numerical results of various analyses indicate that SAVSD shows better performance over the passive dampers in reducing the structural responses.

关键词： structural control semi-active control variable stiffness damper control algorithms earthquake

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Semi-active control of a building complex with variable friction dampers

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ENGINEERING STRUCTURES 2007年第6期29卷 1209-1225页

作者： Ng, C. L. Xu, Y. L. Hong Kong Polytech Univ Dept Civil & Struct Engn Hong Kong Hong Kong Peoples R China

Semi-active coupling control of a building complex, which consists of a main building and a podium structure, using variable friction dampers is investigated in this paper for mitigating seismic responses. The mathematical model of a building complex with variable friction dampers under earthquake excitation is first established. A clipped control strategy is then developed to allow variable friction dampers to work effectively with linear quadratic Gaussian control algorithms as a global-feedback controller. Local-feedback controllers, which include viscous and Reid friction controllers, modulated homogeneous friction controllers, and non-sticking friction controllers, are also formulated for use with variable friction dampers. A building complex of a 20-story main building and a 3-story podium structure is finally used as a numerical example to demonstrate the effectiveness of semi-active coupling control and to compare the local-feedback controllers with the global-feedback controller. The control performance of each controller for the building complex with either single or multiple friction dampers under various ground motions is examined in terms of both story drifts and acceleration responses. The numerical results show that semi-active coupling control is quite promising for reducing seismic responses of both buildings. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： building complex semi-active control control algorithms variable friction dampers

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Free-flying robots in space: an overview of dynamics modeling, planning and control

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ROBOTICA 2007年第5期25卷 537-547页

作者： Moosavian, S. Ali A. Papadopoulos, Evangelos KN Toosi Univ Technol Dept Mech Engn Tehran Iran Natl Tech Univ Athens Dept Mech Engn Athens 15780 Greece

Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

关键词： space robotics control algorithms force control impedance control dynamics modeling.

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Simulation and visualization of indoor-acoustics for robot control

Simulation and visualization of indoor-acoustics for robot c...

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9th International Conference on Computer Graphics and Imaging

作者： Schmitz, Norbert Wettach, Jens Deines, Eduard Dannenmann, Peter Bertram, Martin Berns, Karsten Hagen, Hans Univ Kaiserslautern Dept Comp Sci Int Res Training Grp Visualizat Large & Unstruct POB 3049 D-6750 Kaiserslautern Germany German Res Ctr Artificial Intelligence Kaiserslautern Germany Univ Kaiserslautern Dept Comp Sci Kaiserslautern Germany

ISBN: (纸本)9780889866447

An autonomous robot orientates itself by using information provided by its sensor systems. Besides distance sensors, optical and acoustic sensors play a vital role in fulfilling this task. In this paper we present a novel approach to simulate and visualize the acoustic properties of an indoor scene. This simulation data is used for testing and refining the control algorithms of an autonomous robot interacting with humans in an office environment. In order to enable a robot to interact with its environment and to perform its intended tasks in a context-sensitive manner, it must be capable of interpreting the information provided by its sensor systems. For testing these interpretation capabilities, certain environmental stimuli need to be provided to the robot in a controlled and repeatable manner. However, such stimuli are not available normally. The presented work provides a virtual testing environment that permits the realistic simulation and visualization of the acoustic properties of indoor-environments. Thus, it is possible to simulate and visualize the spread of sound waves within a room and to simulate the acoustic signals a robot receives at certain positions. Using such well-defined test conditions and a visual representation of the spread of sound in the test environment, it is now possible to find positions of special acoustic properties and to use them for testing the robot's reactions to acoustic events. On this basis, the robot's control algorithms can be refined accordingly.

关键词： virtual environments acoustics simulation visualization robotics control algorithms

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control algorithm for multi-plane photonic banyan-type switching fabric with and without first order crosstalk

Control algorithm for multi-plane photonic banyan-type switc...

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9th International Conference on Transparent Optical Networks (ICTON 2007)

作者： Danilewicz, Grzegorz Kabacinski, Wojciech Michalski, Marek Zal, Mariusz Poznan Univ Tech Chair Commun & Networks Ul Polanka 3 PL-60965 Poznan Poland

ISBN: (纸本)9781424412488

control algorithms for the multiplane baseline switching network are considered in this paper. The first algorithm do not take into account the crosstalk in switching element, while the second algorithm allows to omit the first order crosstalk. In both cases we have derived wide-sense non-blocking conditions. It is also shown that these algorithms require the smallest number of plane, i.e. there is no other algorithms which will lead to the lower number of needed planes. It should be noted, that the algorithm can determine a plane for a new connection in O(N-0.5) time or even in O(1) time depending on the implementation.

关键词： multiplane switching fabrics baseline switching fabrics control algorithms wide-sense non-blocking

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Energy and visual comfort performance of electrochromic windows with overhangs

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BUILDING AND ENVIRONMENT 2007年第6期42卷 2439-2449页

作者： Lee, E. S. Tavil, A. Lawrence Berkeley Lab Environm Energy Technol Div Bldg Technol Program Berkeley CA 94720 USA Istanbul Tech Univ Fac Architecture TR-34437 Istanbul Turkey

DOE-2 building energy simulations were conducted to determine if there were practical architectural and control strategy solutions that would enable electrochromic (EC) windows to significantly improve Visual comfort without eroding energy-efficiency benefits. EC windows were combined with overhangs since opaque overhangs provide protection from direct sun which EC windows are unable to do alone. The window wall was divided into an upper and lower aperture so that various combinations of overhang position and control strategies could be considered. The overhang was positioned either at the top of the upper window aperture or between the upper and lower apertures. Overhang depth was varied. EC control strategies were fully bleached at all times, modulated based on incident vertical solar radiation limits, or modulated to meet the design work plane illuminance with daylight. The EC performance was compared to a state-of-the-art spectrally selective low-e window with the same divided window wall, window size, and overhang as the EC configuration. The reference window was also combined with an interior shade which was manually deployed to control glare and direct sun. Both systems had the same daylighting control system to dim the electric lighting. Results were given for south-facing private offices in a typical commercial building. In hot and cold climates such as Houston and Chicago, EC windows with overhangs can significantly reduce the average annual daylight glare index (DGI) and deliver significant annual energy use savings if the window area is large. Total primary annual energy use was increased by 2-5% for moderate-area windows in either climate but decreased by 10% in Chicago and 5% in Houston for large-area windows. Peak electric demand can be reduced by 7-8%) for rnoderate-area windows and by 14-16% for large-area windows in either climate. Energy and peak demand reductions can be significantly greater if the reference case does not have exterior shading or

关键词： building simulation energy efficiency electrochromic windows daylighting control algorithms

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Legged robots - an overview

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2007年第2期29卷 185-202页

作者： Liu, Jing Tan, Min Zhao, Xiaoguang Chinese Acad Sci Inst Automat Key Lab Complex Syst & Intelligence Sci Beijing 100080 Peoples R China

Legged robots, as one kind of mobile robots, can be used for tasks too dangerous or difficult for human to perform, eg, planetary exploration, disaster salvation and anti-terrorism action. Consequently, the issues of legged robots, including mechanical structure, stability analysis and control algorithms, have become an important research direction in the field of robotics in recent years. This paper surveys the current status with respect to legged robots, and describes the existent research approaches in terms of mechanical structure, stability analysis and control algorithms of legged robots. To conclude, this paper proposes the problems to be solved and discusses the future development of legged robots.

关键词： control algorithms legged robots mechanical structure stability analysis

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