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Communication Constrained Distributed Spatial Field estimation Using Mobile Sensor Networks ⁎

IFAC-PapersOnLine 2020年第2期53卷 9642-9649页

作者： Gennaro Notomista Magnus Egerstedt School of Mechanical engineering Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA30308 USA School of electrical and Computer engineering Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA 30308 USA

In this paper we address the problem of distributed estimation of spatial fields using mobile sensor networks with communication constraints. These constraints consist of a maximum communication bandwidth which limits the amount of data that can be exchanged between any two nodes of the network at each time instant. An algorithm to select the most significant data to be transferred between neighboring sensor nodes is developed starting from derived analytical error bounds. Moreover, the motion of the network nodes is controlled using a coverage control algorithm with the objective of minimizing the estimation uncertainty of each of the nodes. The resulting communication constrained distributed estimation algorithm is deployed on a team of ground mobile robots in the Robotarium, and its performance is evaluated both in terms of estimation accuracy of a simulated spatial field, and of the amount of data transferred.

关键词： Autonomous mobile robots Communication networks estimation algorithms Mobile robots Robotics

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RESPIRATION RATE estimation FOR MODEL PREDICTIVE CONTROL OF DISSOLVED OXYGEN IN WASTEWATER TREATMENT PLANT

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IFAC Proceedings Volumes 2007年第9期40卷 286-291页

作者： T. Suchodolski M.A. Brdys R. Piotrowski Department of Automatic Control Gdansk University of Technology ul. G. Narutowicza 11/12 80 952 Gdansk Poland Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

Respiration rate is very important parameter for biological processes in wastewater treatment plant ( WWTP ). The sequential algorithm for estimate the respiration rate is proposed and investigated. The Kalman filter ... 详细信息

关键词： air biotechnology dynamic systems estimation algorithms estimation parameters Kalman filters modelling waste treatment

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STATIC AND DYNAMIC ATTITUDE DECOMPOSITION FOR estimation WITH MAGNETOMETER SENSOR

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IFAC Proceedings Volumes 2005年第1期38卷 168-173页

作者： Sebastien Changey Dominique Beauvois Volker Fleck Ecole Superieure d'Electricite Service Automatique 3 rue Joliot Curie 91192 Gif sur Yvette cedex France Institut Franco-Allemand de recherches de Saint-Louis 5 rue du General Cassagnou 68300 Saint-Louis France

A priori information given by the complete modelling of the ballistic behavior of a projectile is simplified to give a pertinent reduced evolution model. This model is composed of quasi-static and dynamic models. An extended Kalman filter is designed to estimate dynamic part of the 3 attitude angles (roll in [0, 2π], angle of attack and side-slip in the range of few milliradians) from measures of the magnetic field of the earth given by a three-axis magnetometer sensor embedded on the projectile. The algorithm has been tested in simulation, using realistic evolution of attitude data with measurement noise.

关键词： Kalman filters Attitude Magnetic fields Models estimation algorithms Nonlinear filters

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On the Configuration-LP of the Restricted Assignment Problem 28

On the Configuration-LP of the Restricted Assignment Problem

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28th Annual ACM-SIAM Symposium on Discrete algorithms (SODA)

作者： Jansen, Klaus Rohwedder, Larts Univ Kiel Dept Comp Sci D-24118 Kiel Germany

ISBN: (纸本)9781611974782

We consider the classical problem of SCHEDULING ON UN-RELATED MACHINES. In this problem a set of jobs is to be distributed among a set of machines and the maximum load (makespan) is to be minimized. The processing time p(ij) of a job j depends on the machine i it is assigned to. Lenstra, Shmoys and Tardos gave a polynomial time 2-approximation for this problem [8]. In this paper we focus on a prominent special case, the RESTRICTED ASSIGNMENT problem, in which p(ij) is an element of {p(j), infinity}. The configuration-LP is a linear programming relaxation for the RESTRICTED ASSIGNMENT problem. It was shown by Svensson that the multiplicative gap between integral and fractional solution, the integrality gap, is at most 2 - 1/17 approximate to 1.9412 [11]. In this paper we significantly simplify his proof and achieve a bound of 2 - 1/6 approximate to 1.8333. As a direct consequence this provides a polynomial (2 - 1/6 + is an element of)-estimation algorithm for the RESTRICTED ASSIGNMENT problem by approximating the configuration-LP. The best lower bound known for the integrality gap is 1.5 and no estimation algorithm with a guarantee better than 1.5 exists unless P = NP.

关键词： estimation algorithms scheduling local search linear programming integrality gap

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Estimating Edge-Local Triangle Count Heavy Hitters in Edge-Linear Time and Almost-Vertex-Linear Space

Estimating Edge-Local Triangle Count Heavy Hitters in Edge-L...

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IEEE High Performance Extreme Computing Conference (HPEC)

作者： Priest, Benjamin W. Pearce, Roger Sanders, Geoffrey Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA Lawrence Livermore Natl Lab Ctr Appl Sci Comp Livermore CA USA

ISBN: (纸本)9781538659892

We describe a methodology for estimating edge-local triangle counts using cardinality approximation sketches. While the approach does not guarantee relative error bounds, we will show that it preserves triangle count heavy hitters - the edges incident upon the largest number of triangles - well in practice. Furthermore, we provide empirical evidence that the sum of edge-local estimations yield reasonable estimates of the global triangle count for free. In this paper we describe a two-pass algorithm for estimating edge-local triangle count heavy hitters. The algorithm requires time linear in the number of edges, memory almost linear in the number of vertices, and is easy to parallelize. We provide results on dozens of real-world and synthetic graphs.

关键词： graphs triangle counting sublinear algorithms estimation algorithms

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Prospects of simultaneous localization and mapping algorithms application in imagery intelligence 12

Prospects of simultaneous localization and mapping algorithm...

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12th Conference on Reconnaissance and Electronic Warfare Systems (CREWS)

作者： Slowak, Pawel Kaniewski, Piotr Mil Univ Technol Ul Gen Witolda Urbanowicza 2 PL-00908 Warsaw Poland

ISBN: (数字)9781510627864

ISBN: (纸本)9781510627864

The article contains an analysis of potential prospects of simultaneous localization and mapping (SLAM) algorithms application in imagery intelligence (IMINT). The first part of the paper presents a detailed description of the SLAM problem. Diverse solutions to the simultaneous localization and mapping problem and related research over the years are presented. The most promising of SLAM approaches are pointed out. To facilitate SLAM analysis, the problem is partitioned into three parts. First, various SLAM estimation techniques are characterized. A mathematical theory behind the usage of parametric filters, non-parametric filters, and least squares method is presented. Further, differences between SLAM algorithms are described in terms of various sensors used on-board SLAM platforms for the examination of the environment. The examination is commonly addressed as landmark extraction. A separate part of the paper discusses the image processing in SLAM. The last part of the SLAM analysis is dedicated to various approaches to map presentation. Further, the properties of SLAM techniques are characterized in terms of their potential benefits to IMINT. Prospects of increased efficiency, accuracy and safety of intelligence gathering process are discussed.

关键词： SLAM intelligence UAV image processing estimation algorithms

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MMAE/LQR Yaw Control System of a Quadrotor for Constant Unknown Inertia 21

MMAE/LQR Yaw Control System of a Quadrotor for Constant Unkn...

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21st International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)

作者： Outeiro, Pedro Cardeira, Carlos Oliveira, Paulo Univ Lisbon Inst Super Teenieo IDMEC Lisbon Portugal

This paper presents a methodology for angular control of a quadrotor that transports a constant unknown load, given the estimates on both inertia and angular velocity, based on measurements from an indoor multi-camera motion capture system and a gyroscope. The proposed control method is an LQR controller and the proposed estimation method is a Multi-Model Adaptive Estimator (MMAE). The control system obtained is validated both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Autonomous mobile robots estimation algorithms Parameter identification Sensor Fusion Embedded systems

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Backstepping based Visual Servoing for Transport Aircraft Automatic Landing

Backstepping based Visual Servoing for Transport Aircraft Au...

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IEEE Conference on Control Applications (CCA)

作者： Burlion, Laurent de Plinval, Henry Mouyon, Philippe Off Natl Etud & Rech Aerosp French Aerosp Lab F-31055 Toulouse France

ISBN: (纸本)9781479974092

In this paper we propose a vision based flight control law for the automatic landing of an aircraft. Newly defined visual features obtained by a 2D-video camera embed the needed information about the relative pose between the aircraft and the runway. To cope with their dependence on the unknown distance to the ground, a depth estimation algorithm is proposed. With these elements, several nonlinear and adaptive control backstepping laws are derived depending on our knowledge of the runway width. Closed-loop stability proofs are also provided. Simulation results show the effectiveness of the approach.

关键词： Nonlinear control Visual motion estimation algorithms

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Sensorless oil drowned pump drive

Sensorless oil drowned pump drive

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IEEE International Symposium on Industrial Electronics

作者： Ryvkin, S Izosimov, D Sarychev, A Raskin, L Aksarin, D Vidumkin, E Cernat, M Inst Control Sci Lab Adapt Control Dynam Objects Moscow Russia

ISBN: (纸本)0780387384

This work presents the digitally controlled sensorless drive applied to a drowned pump. The developed drive provides the high function quality and high reliability. The drive architecture from the reliability viewpoint is described and analyzed. The new control and estimation algorithms that have been used are briefly presented. The construction of the used voltage source inverter and control is examined. The results of the drive simulation, confirming high dynamic accuracy and in addition simplification of the digital control and reduction of the required controller computing capacity are presented.

关键词： digital control electric machine analysis computing invertors machine control motor drives pumps reliability controller computing capacity estimation algorithms sensorless drive digital control sensorless oil drowned pump drive voltage source inverter voltage source inverter Inventors MACHINE TOOL CONTROL Pumps motor drives Numerical controls Drowning Sensors Automobile driving DRIVES

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Identification of Heterogeneous Parameters in an Intracellular Reaction Network from Population Snapshot Measurements through Sensitivity Analysis and Neural Network 8th

Identification of Heterogeneous Parameters in an Intracellul...

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8th Conference on Foundations of Systems Biology in Engineering (FOBSE)

作者： Lee, Dongheon Jayaraman, Arul Kwon, Joseph S. Texas A&M Univ Artie McFerrin Dept Chem Engn College Stn TX 77840 USA Texas A&M Univ Texas A&M Energy Inst College Stn TX 77840 USA Texas A&M Univ Dept Biomed Engn College Stn TX 77840 USA

Cells in a clonal cell-population exhibit a significant degree of heterogeneity in their responses to an external stimulus. In order to model a heterogeneous intracellular process, the individual-based population model (IBPM) has been developed in the past. Specifically, the IBPM approach can represent the heterogeneous dynamics in a cell population with a system of differential equations, whose model parameters follow probability density functions (PDF) instead of being constants. Therefore, in order to accurately predict the heterogeneous cellular dynamics, it is important to infer the PDFs of the model parameters from available experimental measurements. In this study, we propose a methodology to estimate the PDFs of the model parameters from population snapshot measurements obtained from flow cytometry. First, the PDFs of the model parameters are assumed to be normal so that a finite dimensional vector will be inferred from the measurements instead of inferring PDFs. Second, the sensitivity analysis is performed to identify which PDFs of the model parameters are identifiable and should be estimated from the available measurements. Next, in order to reduce the excessive number of evaluations of the IBPM during the PDF estimation process, an NNM is developed so that the output PDFs can be computed for given parameter PDFs. Lastly, the NNM is used to estimate the PDFs of the model parameters by minimizing the difference between the measured and predicted PDFs of the output. To show the effectiveness of the proposed methodology, the PDFs of parameters of a TNF alpha signaling model were estimated from in silico measurements. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： estimation algorithms Stochastic systems Sensitivity analysis Identifiability

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