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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Boutoustous, K. Laurent, G. J. Dedu, E. Matignon, L. Bourgeois, J. Le Fort-Piat, N. Univ Franche Comte Lab Informat Montbeliard France Univ Franche Comte CNRS FEMTOST Inst Automat Control & Micro Mechatron Syst Dept Besancon France Univ Caen Normandy GREYC Caen France

ISBN: (纸本)9781424466757

This paper presents a distributed control architecture to perform part recognition and closed-loop control of a distributed manipulation device. This architecture is based on decentralized cells able to communicate with their four neighbors thanks to peer-to-peer links. Various original algorithms are proposed to reconstruct, recognize and convey the object levitating on a new contactless distributed manipulation device. Experimental results show that each algorithm does a good job for itself and that all the algorithms together succeed in sorting and conveying the objects to their final destination. In the future, this architecture may be used to control MEMS-arrayed manipulation surfaces in order to develop Smart Surfaces, for conveying, fine positioning and sorting of very small parts for micro-systems assembly lines.

关键词： MEMS-arrayed manipulation surface control closed loop systems closed-loop control contactless distributed manipulation device decentralised control decentralized cell distributed control distributed control architecture image reconstruction intelligent actuators microactuators microassembling microelectromechanical system actuator arrays micromanipulators microsystem assembly line object recognition object recognition object reconstruction part recognition smart surface

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Research and Design of Dynamic Strategy distributed control architecture in Power Internet of Things

Research and Design of Dynamic Strategy Distributed Control ...

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International Conference on Artificial Intelligence and Computer Engineering (ICAICE)

作者： Xie, Yuncheng Wu, Kehe Zhao, Tong Gao, Xue North China Elect Power Univ Sch Control & Comp Engn Beijing Peoples R China

ISBN: (纸本)9781728191461

With the rapid development of power Internet of Things (IoT), a large number of terminal devices are widely used in the construction of power IoT. In order to meet the security requirements of the IoT terminals, it is necessary to study a new control architecture supporting massive terminals, which could realize the dynamic strategy construction and ensure the flexibility in the strategy deployment process. In view of the problems caused by massive heterogeneous terminals, this paper proposed dynamic strategy distributed control architecture for the power IoT, which is divided into three layers on the basis of the distributed control architecture: strategy layer, transport layer and physical layer, so that the entire process of strategy formulation, strategy matching and terminal feedback forms a closed loop, dynamically adjusting and controlling terminal devices and data flow. This architecture ensures the security of power production and realizes the unified safety management and control of massive heterogeneous terminals.

关键词： power internet of things massive heterogeneous terminals distributed control architecture dynamic strategy construction

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Hardware design and distributed embedded control architecture of a mobile soccer robot

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MECHATRONICS 2011年第2期21卷 455-468页

作者： Rajaie, H. Zweigle, O. Haeussermann, K. Kaeppeler, U. -P. Tamke, A. Levi, P. Univ Stuttgart IPVS D-70569 Stuttgart Germany

Designing robust, modular and fast mobile robots, operating in high dynamic environments is a challenging task. This includes design of the mechanics and the control system of the robot. This paper presents the modular hardware design of a mobile soccer robot platform, including the mechanics, electronic system and the low-level distributed control architecture of the robot. The basic idea behind this paper is not to introduce a new distributed control architecture, both at low and high levels of control, but to focus on a novel approach to manage the distributed control system of a single robot, consisting of a number of microcontroller based modules connected together through a data bus. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Robot hardware design distributed control architecture Stability and reliability

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Design and Simulation of Autonomous Fault Diagnosis and Reconfiguration control System for Satellite Constellation Based on distributed control architecture

Design and Simulation of Autonomous Fault Diagnosis and Reco...

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2006年国际电子、工程及科学领域的分布式计算和应用学术研讨会

作者： JunHua Xiang Institute of Aerospace and the Material Engineering,National University of Defense Technology Changsha,Hunan 410073,China YuLin Zhang Space Technology Research Center,Tsinghua University Haidian,Beijing 100084,China

Based on the distributed control architecture,designed the system scheme of autonomous fault diagnosis and reconfiguration control system for satellite constellation. Studied and analyzed the constellation reconfiguration control schedule under existed the backup satellites or not. Finally carried on simulation and analysis of reconfiguration control for navigational constellation applied even phase reconfiguration strategy,simulation results indicated the control scheme designed was feasible and effectively enhanced the autonomy of satellite constellation.

关键词： Satellite Constellation Autonomous Fault Diagnosis Reconfiguration control distributed control architecture

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Ground-Tested control architecture for distributed Aircraft Fuel Management 35

Ground-Tested Control Architecture for Distributed Aircraft ...

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35th IEEE/AIAA Digital Avionics Systems Conference (DASC)

作者： Insaurralde, Carlos C. Giron-Sierra, Jose M. Univ Teesside Sch Sci & Engn Middlesbrough Cleveland England Univ Complutense Madrid Dept Comp Architecture & Automat Control Madrid Spain

ISBN: (纸本)9781509025237

The SmarFuel project aims to develop a new generation of AFMS (Aircraft Fuel Management System). It proposes a distributed Avionics control architecture (DACA) based on networked Smart Fuel Components (SFCs). This decentralized solution (opposite to conventionally-centralized approaches) reduces avionics wiring whilst the AFMS is fault tolerant. The DACA is realized by distributing the control system through microcontrollers embedded in SFCs and across a fieldbus. Thus, SFCs are able to implement advanced functions such as auto-calibration. The AFMS operation modes considered are three: pressure refueling, engine supply, and fuel transfer. The operation sequence of AFMS events is not fixed which makes the SFC decision-making process critical. The above DACA for AFMS was already realized and evaluated successfully in laboratory prototypes. This paper presents experimental results from verification and validation tests of the DACA realization carried out in a real-scaled helicopter rig. These ground experiments are based on the above fuel system operations. This paper also presents a verification tool for the SFC state machines. Conclusions and future research directions are also discussed.

关键词： aircraft fuel management distributed control architecture ground rig-based tests

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distributed control for the Modular Multilevel Matrix Converter

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2019年第4期34卷 3775-3788页

作者： Yao, Wenxi Liu, Jian Lu, Zhengyu Zhejiang Univ Coll Elect Engn Hangzhou 310027 Zhejiang Peoples R China

The modular multilevel matrix converter (M3C) is a direct ac/ac topology and is promising in the medium-voltage high-power application. However, the current M3C prototypes mainly adopt the centralized control structure that may hinder its modularity and flexibility. Based on the new distributed control architecture, the corresponding design principles for the M3C are proposed to realize both the distribution of control tasks and improve the expandability. And in order to reduce the dependence of a real-time communication network, a time-dimension decoupling strategy based on a voltage decoupling and current coupling control algorithm is employed, in which the voltage loop is divided into the input side, output side, and inner circulating decoupling models that are executed in the system controller, while the real-time current loop is established on the coupling abc coordinate frame in each local controller. In order to reduce the influence of communication delay, a novel scheme to replace the direct ac current reference with dc power value and double synchronization phase information is adopted. The controller parameters of the current loop are also designed carefully after frequency decomposition. Finally, an experimental prototype is constructed to verify the feasibility of the proposed control scheme after a series of tests in steady-state and dynamic operations.

关键词： Clock synchronization distributed control architecture modular multilevel matrix converter (M3C) time-dimension decoupling voltage decoupling and current coupling control

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distributed control of multi-robot systems engaged in tightly coupled tasks

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AUTONOMOUS ROBOTS 2004年第1期17卷 79-92页

作者： Huntsberger, TL Trebi-Ollennu, A Aghazarian, H Schenker, PS Pirjanian, P Das Nayar, H CALTECH Jet Prop Lab Pasadena CA 91109 USA Evolut Robot Inc Pasadena CA USA OphirTech Altadena CA 91003 USA

NASA mission concepts for the upcoming decades of this century include exploration of sites such as steep cliff faces on Mars, as well as infrastructure deployment for a sustained robotic/manned presence on planetary and/or the lunar surface. Single robotic platforms, such as the Sojourner rover successfully flown in 1997 and the Mars Exploration Rovers ( MER) which landed on Mars in January of 2004, have neither the autonomy, mobility, nor manipulation capabilities for such ambitious undertakings. One possible approach to these future missions is the fielding of cooperative multi-robot systems that have the required onboard control algorithms to more or less autonomously perform tightly coordinated tasks. These control algorithms must operate under the constrained mass, volume, processing, and communication conditions that are present on NASA planetary surface rover systems. In this paper, we describe the design and implementation of distributed control algorithms that build on our earlier development of an enabling architecture called CAMPOUT (control architecture for Multi-robot Planetary Outposts). We also report on some ongoing physical experiments in tightly coupled distributed control at the Jet Propulsion Lab in Pasadena, CA where in the first study two rovers acquire and carry an extended payload over uneven, natural terrain, and in the second three rovers form a team for cliff access.

关键词： tight coordination distributed control architecture multiple mobile robots

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Dynamic Frontier-Led Swarming:Multi-Robot Repeated Coverage in Dynamic Environments

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 646-661页

作者： Vu Phi Tran Matthew A.Garratt Kathryn Kasmarik Sreenatha G.Anavatti School of Engineering and Information Technology University of New South WalesCanberraAustralian Capital Territory 2612Australia IEEE

A common assumption of coverage path planning research is a static *** environments require only a single visit to each area to achieve ***,some real-world environments are characterised by the presence of unexpected,dynamic *** require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle *** paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic *** algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding *** tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different *** measure both repeated coverage performance and obstacle avoidance *** a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.

关键词： Artificial pheromones distributed control architecture dynamic obstacle avoidance multi-robot coverage stigmergy swarm robotics

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CAMPOUT: A control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS 2003年第5期33卷 550-559页

作者： Huntsberger, T Pirjanian, P Trebi-Ollennu, A Das Nayar, H Aghazarian, H Ganino, AJ Garrett, M Joshi, SS Schenker, PS Jet Propuls Lab Pasadena CA 91109 USA Evolut Robot Inc Pasadena CA 91103 USA OphirTech Altadena CA 91003 USA Univ Calif Davis Dept Mech & Aeronaut Engn Davis CA 95616 USA

Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a control architecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform examples of a cliff traverse for science data acquisition, and site construction operations including grasping, hoisting, and transport of extended objects such as large array sensors over natural, unpredictable terrain. In support of this work we have developed an enabling distributed control architecture called control architecture for multirobot planetary outposts (CAMPOUT) wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment of extended payloads.

关键词： distributed control architecture multiple mobile robots robot outposts tight coordination

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Coordinated control of Multiple Autonomous Underwater Vehicle System

Coordinated Control of Multiple Autonomous Underwater Vehicl...

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8th World Congress on Intelligent control and Automation (WCICA)

作者： Jiang, Dapeng Pang, Yongjie Qin, Zaibai Harbin Engn Univ Natl Def Key Lab Autonomous Underwater Vehicle Te Harbin Heilongjiang Pr Peoples R China

ISBN: (纸本)9781424467129

This paper explores the problem of coordinated control of multiple autonomous underwater vehicle system (MAUVS) in the real-world tasks such as environmental exploration and oceanographic sampling. These tasks involve solving a distributed multi-agent planning problem in which the actions of underwater vehicles are tightly coupled. A distributed control architecture MOOS-IvP is applied to the MAUVS. In this approach, fully distributed control of underwater vehicles is realized and behavior-based control strategy is used to ensure a timely reaction of the vehicles in complex and dynamic environment. The architecture is further extended with market-based coordination strategy to tackle the problem of task level cooperation of MAUVS in task execution. It is shown in this paper that the integration of market based coordination strategy and MOOS-IvP architecture can enable the MAUVS to work efficiently in tasks require both loosely-coupled and tightly coupled cooperation.

关键词： Multiple Autonomous Underwater Vehicles Cooperative control distributed control architecture market basedcoordination

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