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检索条件"主题词=Optimization algorithms"

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PSO Gain Tuning for Position Domain PID Controller 4

PSO Gain Tuning for Position Domain PID Controller

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4th IEEE Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

作者： Pano, V. Ouyang, P. R. Ryerson Univ Dept Aerosp Engn Toronto ON Canada

ISBN: (纸本)9781479936694

Particle swarm optimization (PSO) is a heuristic optimization algorithm and commonly used for gain tuning of traditional PID controllers. In this paper, PSO is used for gain tuning of our previous developed position domain PID controller for contour tracking. A new fitness function is proposed for gain tuning based on the statistics of the contour error, and pre-existed fitness functions are also used for the optimization. The PSO tuning technique demonstrated the same effectiveness in position domain as in time domain controllers with the results being quite satisfying with low contour errors for both linear and nonlinear contours, and the proposed fitness function is proved to be on par with the preexisted fitness functions.

关键词： Acceleration Dynamics Manipulators optimization Time-domain analysis Tuning tuning Time domain analysis contour error Manipulators Proportional Integral Derivative Control acceleration parametric subharmonic oscillator dynamics optimization algorithms health Gain

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A New Approach for Solving the Five-Point Relative Pose Problem for Vision-Based Estimation and Control

A New Approach for Solving the Five-Point Relative Pose Prob...

引用

American Control Conference

作者： Fathian, Kaveh Gans, Nicholas R. Univ Texas Dallas Dept Elect Engn Richardson TX 75080 USA

ISBN: (纸本)9781479932740

The problem of finding the relative camera pose between two calibrated camera views given five matched feature points is called the Five Point Relative Pose Problem. There exists a variety of solutions in the literature. However, existing methods rely on solving an optimization problem that is based on the Essential matrix. The Essential matrix has fundamental weaknesses, and introduces these weaknesses into algorithms that employ it. In this paper, we propose a new and practical method eschews the essential matrix by representing the pose estimation problem in the quaternion space. The new method has numerous advantages. Unlike the Essential Matrix, it is not prone to problems when faced with coplanar points or zero translation between two camera views. Rotation, scaled translation, and scaled depth of the points with respect to both camera frames are simultaneously recovered. Furthermore, the algorithm is robust to noise and can be easily extended to more than five points. Investigations using simulated images under noise have validated the new method and verify that the algorithm can be used in practical context such as Position Based Visual Servoing.

关键词： Cameras Estimation Matrix decomposition optimization Quaternions Transmission line matrix methods Vectors optimization algorithms Vision-based control

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A Factor Graph Approach to Estimation and Model Predictive Control on Unmanned Aerial Vehicles

A Factor Graph Approach to Estimation and Model Predictive C...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ta, Duy-Nguyen Kobilarov, Marin Dellaert, Frank Georgia Inst Technol Inst Robot & Intelligent Machines Atlanta GA 30332 USA Johns Hopkins Univ Lab Computat Sensing & Robot Baltimore MD 21218 USA

ISBN: (纸本)9781479923762

In this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor graphs allow us to consistently use the same optimization method, system dynamics, uncertainty models and other internal and external parameters, which potentially improves the UAV performance as a whole. To this end, we extended the modeling capabilities of factor graphs to represent nonlinear dynamics using constraint factors. For inference, we reformulate Sequential Quadratic Programming as an optimization algorithm on a factor graph with nonlinear constraints. We demonstrate our framework on a simulated quadrotor in an obstacle avoidance application.

关键词： Factor Graph Unmanned Aerial Vehicle drone honey bees Obstacle avoidance vehicle factor A Line graph nonlinear constraint optimization algorithms Collision avoidance sequential quadratic programming Model predictive control Predictive control Nonlinear Dynamics

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A Framework for Automated Competitive Analysis of On-line Scheduling of Firm-Deadline Tasks 35

A Framework for Automated Competitive Analysis of On-line Sc...

引用

35th IEEE Real-Time Systems Symposium (RTSS)

作者： Chatterjee, Krishnendu Pavlogiannis, Andreas Koessler, Alexander Schmid, Ulrich IST Austria Inst Sci & Technol Austria Klosterneuburg Austria Vienna Univ Technol Embedded Comp Syst Grp Vienna Austria

ISBN: (纸本)9781479972876

We present a flexible framework for the automated competitive analysis of on-line scheduling algorithms for firm-deadline real-time tasks based on multi-objective graphs: Given a taskset and an on-line scheduling algorithm specified as a labeled transition system, along with some optional safety, liveness, and/or limit-average constraints for the adversary, we automatically compute the competitive ratio of the algorithm w.r.t. a clairvoyant scheduler. We demonstrate the flexibility and power of our approach by comparing the competitive ratio of several on-line algorithms, including D-over, that have been proposed in the past, for various tasksets. Our experimental results reveal that none of these algorithms is universally optimal, in the sense that there are tasksets where other schedulers provide better performance. Our framework is hence a very useful design tool for selecting optimal algorithms for a given application.

关键词： scheduling task analysis automated competitive analysis clairvoyant scheduler competitive ratio firm-deadline real-time tasks flexible framework labeled transition system limit-average constraints liveness multiobjective graphs online scheduling algorithms optimal algorithms optional safety Algorithm design and analysis Real-time systems Safety Schedules Scheduling Scheduling algorithms Vectors Scheduling algorithms elastic frame optimization algorithms Algorithm design and analysis task analysis real-time systems Consumer safety safety IN-LINE

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Performance Certification of Interconnected Systems using Decomposition Techniques

Performance Certification of Interconnected Systems using De...

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American Control Conference

作者： Meissen, Chris Lessard, Laurent Packard, Andrew Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

ISBN: (纸本)9781479932740

We propose a unified framework for the certification of stability and input-output performance of interconnected dynamical systems. In our approach, we seek local dissipativity certificates for each subsystem such that when they are combined, the performance of the entire interconnected system is certified. We also demonstrate, by the use of numerical simulations, that the Alternating Direction Method of Multipliers (ADMM) is a promising computational approach for solving such problems.

关键词： Eigenvalues and eigenfunctions Interconnected systems Lyapunov methods Numerical simulation optimization Polynomials Computational methods Large scale systems optimization algorithms

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Optimizing the PID controller for Slow varying Set Point 28

Optimizing the PID controller for Slow varying Set Point

引用

IEEE 28th Convention of Electrical and Electronics Engineers in Israel (IEEEI)

作者： Damri, E. Shteimberg, E. Zaidner, G. Chana, T. Arad, M. Cohen, Y. Nucl Res Ctr Negev IL-84190 Beer Sheva Israel

ISBN: (纸本)9781479959877

This paper presents the considerations for the design of a closed loop controller application for an electric heater, which is normally characterized by long rise and settling times. The control requirements for these types of systems often include tracking a desired temperature profile, with dynamically changes Set Point, which varies at a rate similar or slower to the process time constant. The temperature profile, varies at a significantly slower rate than the natural time constant of the controlled process. Two different PID tuning methods were considered and analyzed for the task described above. First, the PID controller was designed based on Internal Model Control (IMC) approach and derived from the process model estimated from the system step response. Secondly, optimization algorithms were applied to estimate the PID parameters and obtain the desired Set Point (SP) step response directly [6]. IMC based PID controller is an effective and simple method for designing a closed loop controller, that can be apply for variety types of industrial processes. However, IMC is strongly dependent on the controlled process model, since it is based on its inverse transfer function, an accurate system model is required in order to ensure the desired closed loop performance. The performance of the resulting IMC-PID parameters were calculated and tested in a series of simulations as described in following section. It was tested for tracking both step response and a slow ramp profile. Although simulation results showed good transient respond for SP step change, the initial delay settling time and tracking error were found unacceptably long when applied to track a slowly varying set point profile. Since the control requirements in our application are strict and call for a fast response as well as convergence rate and very close tracking, this controller was determined to be inadequate for the task. In order to overcome this problem, we propose to apply the optimization approac

关键词： closed loop systems control system synthesis electric heating optimisation parameter estimation process control step response temperature control three-term control transfer functions IMC based PID controller PID controller design PID controller optimization PID parameter estimation PID tuning methods SP closed loop controller design closed loop performance control requirements controlled process model convergence rate electric heater industrial processes internal model control inverse transfer function optimization algorithms process time constant slow ramp profile slow varying set point temperature profile tracking error Algorithm design and analysis Convergence optimization Process control Resistance heating Tuning

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Two Local Search Components that Move Along the Axes for Memetic Computing Frameworks

Two Local Search Components that Move Along the Axes for Mem...

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2014 IEEE Symposium on Foundations of Computational Intelligence (FOCI)

作者： Neri, Ferrante Khan, Noel De Montfort Univ Ctr Computat Intelligence Sch Comp Sci & Informat Gateway Leicester LE1 9B1L Leics England

ISBN: (纸本)9781479944910

Within memetic computing frameworks, the structure as well as a correct choice of memes are important elements that drive successful optimization algorithms. This paper studies variations of a promising yet simple search operator, the S Algorithm, which can easily be integrated within a memetic framework to improve candidate solutions. S is a single-solution optimizer that iteratively perturbs variables and conditionally evaluates solutions along the axes. The first S variant, namely S2, unconditionally evaluates solutions in both directions while S3 maintains D uncorrelated step sizes that are either expanded in the direction of improving fitness or else redirected and contracted. Numerical results from the CEC2010 and CEC2014 benchmarks show that the variants outperform S in terms of the number of function evaluations for a given fitness value and, further, that S3 outperforms S in terms of final fitness against a wide range of problems and dimensionality.

关键词： evolutionary computation iterative methods optimisation search problems CEC2010 benchmark CEC2014 benchmark S algorithm conditional evaluation function evaluation iterative variable perturbation local search components memetic computing frameworks optimization algorithm search operator single-solution optimizer Algorithm design and analysis Benchmark testing Correlation Market research Memetics optimization Sociology Function evaluation Algorithm design and analysis Benchmark testing optimization algorithms tabu search market research Sociology evolutionary algorithm iterative methods axe Axis, Cervical Vertebra Sulfur Frameworks

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Cost-Optimal Execution of Boolean Query Trees with Shared Streams

Cost-Optimal Execution of Boolean Query Trees with Shared St...

引用

IEEE 28th International Parallel & Distributed Processing Symposium (IPDPS)

作者： Casanova, Henri Lim, Lipyeow Robert, Yves Vivien, Frederic Zaidouni, Dounia Univ Hawaii Manoa Honolulu HI 96822 USA INRIA Ecole Normale Superieure Lyon Lyon France Univ Tennessee Knoxville TN 37996 USA

ISBN: (纸本)9780769552071

The processing of queries expressed as trees of boolean operators applied to predicates on sensor data streams has several applications in mobile computing. Sensor data must be retrieved from the sensors, which incurs a cost, e.g., an energy expense that depletes the battery of a mobile query processing device. The objective is to determine the order in which predicates should be evaluated so as to shortcut part of the query evaluation and minimize the expected cost. This problem has been studied assuming that each data stream occurs at a single predicate. In this work we remove this assumption since it does not necessarily hold in practice. Our main results are an optimal algorithm for single-level trees and a proof of NP-completeness for DNF trees. For DNF trees, however, we show that there is an optimal predicate evaluation order that corresponds to a depth-first traversal. This result provides inspiration for a class of heuristics. We show that one of these heuristics largely outperforms other sensible heuristics, including a heuristic proposed in previous work.

关键词： Heuristics query analysis ENERGY EXPENSES data flow Predicate Sensor Data trees Trees disjunctive normal form optimization algorithms Respiratory Inspiration inspiration rivers streams Batteries

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Revisiting the Distribution Index in Simulated Binary Crossover Operator for Evolutionary Multiobjective Optimisation algorithms

Revisiting the Distribution Index in Simulated Binary Crosso...

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4th International Conference on Digital Information and Communication Technology and it's Applications (DICTAP)

作者： Hamdan, Mohammad M. JUST Dept Comp Sci Irbid Jordan Yarmouk Univ Irbid Jordan

ISBN: (纸本)9781479937240

The simulated binary crossover operator is an important variation operator in evolutionary algorithms. The experimental results reported in this work are a detailed study for the distribution index parameter of this operator. The results are for NSGAII algorithm. The results are interesting regarding three metrics: hypervolume, inverted generational distance and spread.

关键词： optimization algorithms Operators Binary Genetic Crossing Over simulating hypervolume

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SuperPUF: Integrating Heterogeneous Physically Unclonable Functions 33

SuperPUF: Integrating Heterogeneous Physically Unclonable Fu...

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33rd IEEE/ACM International Conference on Computer-Aided Design (ICCAD)

作者： Wang, Michael Yates, Andrew Markov, Igor L. Univ Michigan 2260 Hayward St Ann Arbor MI 48109 USA

ISBN: (纸本)9781479962785

Physically Unclonable Functions (PUFs) combat counterfeit ICs by identifying each chip using inherent process variation. PUFs must produce sufficiently many bits, but replicating the same PUF design requires care since process variation and its spatial correlation may change in the next 10 years. Additional challenges arise in system-on-chip and heterogeneous 3D integration of diverse PUFs. Responding to these challenges, we introduce methods for combining PUFs, with provisions for sampling process variation throughout the IC. When multiple sources of entropy are available, our optimization algorithms select sources to maximize joint entropy and minimize physical overhead. Empirical validation uses SPICE simulations for a 45nm technology node.

关键词： entropy integrated circuit design integrated circuit manufacture integrated circuit technology optimisation system-on-chip three-dimensional integrated circuits PUF design replication SPICE simulation chip identification counterfeit IC entropy source heterogeneous 3D integration heterogeneous physically unclonable functions integration inherent process variation optimisation algorithm physical overhead minimization size 45 nm spatial correlation superPUF Clocks Correlation Entropy Integrated circuit modeling Logic gates Robustness system-on-chip entropy optimization algorithms three-dimensional integrated circuits integrated circuit technology integrated circuit manufacture integrated circuit modelling integrated circuit design Timing devices Logic gates process change

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