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检索条件"主题词=computer algorithms"

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Congestion Window Scaling Method for Inter-protocol Fairness of BBR

Congestion Window Scaling Method for Inter-protocol Fairness...

引用

Consumer Communications and Networking Conference, CCNC IEEE

作者： Yeong-Jun Song Geon-Hwan Kim You-Ze Cho School of Electronics Enginerring Kyungpook National University Daegu Korea

ISBN: (数字)9781728138930

ISBN: (纸本)9781728138947

Unlike the existing loss-based and delay-based congestion control algorithms, the Bottleneck Bandwidth Round-trip propagation time (BBR) congestion control algorithm determines the amount of sending data to be transferred at a specific time by calculting BDP (Bandwidth Delay Product). However, when BBR competes with loss-based congestion control algorithms, such as Reno and CUBIC, most of the bottleneck bandwidth is occupied by specific flows or excessive packet loss occurs. In previous work, we proposed an improved loss recovery mechanism in order to address above problems. Through the previous proposal, the fairness between BBR and loss-based algorithms was improved if the buffer size was larger than 2 BDP. However, if the buffer size was smaller than 2 BDP, the performance imbalance and continuous packet retransmission still occurred. In this paper, we propose a congestion window upper scaling method that complements the previously proposed loss recovery mechanism. In addition, we conduct an experiment and evalute its enhanced performance in a Mininet emulator.

关键词： computer network performance evaluation delays telecommunication congestion control transport protocols burnt beyond repair telecommunication congestion control transport protocols computer algorithms scaling method PPM1K gene ARID3B gene Beclomethasone delay Packet loss

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An Algorithm for Stopping a Class of Underactuated Nonlinear Mechanical Robotic Systems

An Algorithm for Stopping a Class of Underactuated Nonlinear...

引用

Mediterranean Conference on Control & Automation

作者： Jason Nightingale Bill Goodwine Department of Aerospace and Mechanical Engineering and the Department of Mathematics University of Notre Dame Department of Aerospace and Mechanical Engineering University of Notre Dame

ISBN: (纸本)9781479909964

We provide a constructive global discontinuous control law with state dependent switches for a class of under-actuated nonlinear mechanical robotic systems that will drive the system to an arbitrarily small neighborhood of rest from all initial configurations and velocities in arbitrarily small time. Because all physical mobile robotic systems are mechanical in nature, control methodologies which exploit the fact that the system is governed by principles of mechanics which are particularly important for robotic engineers. The philosophy of the approach is that instead of using control algorithms which start with a completely generic dynamical system, we constrain the structure of the system to be one which is a Lagrangian control system. To the extent the structure of the mechanical system can be exploited, stronger control results are possible to obtain, such as the stopping algorithm in this paper. Specifically, for control of general nonlinear systems, there are many unsolved problems for the case when the system is not at an equilibrium, and the results in this paper are an initial contribution to this area. The robot is assumed to be underactuated by one in the configuration space;hence, in the state space it is underactuated by twice the dimension of the configuration space plus two. Our method can easily be extended to construct a global discontinuous control law with state dependent switches that will drive the system to an arbitrarily small neighborhood of any velocity from any initial configuration and velocity in arbitrarily small time.

关键词： configuration space discontinuous control Mechanical state space stopping Mechanical systems computer algorithms Nonlinear systems Switches

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Output Control for Nonlinear System with Time-Varying Delay and Stability Analysis

Output Control for Nonlinear System with Time-Varying Delay ...

引用

IEEE Conference on Decision and Control

作者： Anton A. Pyrkin Alexey A. Bobtsov Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia

ISBN: (纸本)9781612848006

This paper deals with the output stabilization of systems with sector-bounded nonlinearity and time-varying delay. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertain nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing output exponential stability of nonlinear system is proposed. Certain results of application of theoretical robust and adaptive control algorithms for various Lego Mindstorms NXT mobile robots (track, wheel and walking ones) are presented in the article.

关键词： output control time varying feedback connection Stability analysis Delay systems system clock absolute stability computer algorithms DYNAMICAL SYSTEMS Unknown parameter exponential stability. track wheel

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Cooperative AUV Motion Planning using Terrain Information

Cooperative AUV Motion Planning using Terrain Information

引用

Oceans 2013 - Norway

作者： Andreas J. Hausler Alessandro Saccon Antonio M. Pascoal John Hauser A. Pedro Aguiar Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Tecnico Department of Mechanical Engineering Eindhoven University of Technology Electrical Computer and Energy Engineering Department University of Colorado at Boulder Faculdade de Engenharia University of Porto

ISBN: (纸本)9781479900022

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes.

关键词： vehicle motion planning Collision avoidance terrains Autonomous underwater vehicles Data Collection Methods Navigation systems computer algorithms

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Model Predictive Control of Domestic Heat Pump

Model Predictive Control of Domestic Heat Pump

引用

American Control Conference

作者： Mikkel Urban Kajgaard Jesper Mogensen Anders Wittendorff Attila Todor Veress Benjamin Biegel Department of Electronic Systems Automation and Control Aalborg University Denmark

ISBN: (纸本)9781479901777

In this paper we consider a house heated by a domestic heat pump. We estimate the economical savings that can be achieved by moving the electrical heat pump load in time according to the time-varying value of electricity. Real data from an inhabited typical Danish house is used to estimate a simple thermal house model. Based on this model and based on the electricity spot prices, we design a control algorithm that seeks to minimize the cost of house heating. Via simulations on a model of a typical Danish single-family house, we show that economical savings in the magnitude of 7 % can be achieved during winter by allowing slightly higher variations in the indoor temperature. Further we show that these economical savings are upper bounded by 12 % for the particular case.

关键词： Domestic Heat Pump economical savings electrical heat pump load heat pumps residential heating Savings Domestic architecture computer algorithms Model predictive control Predictive control Electricity Domestic single family housing Danish

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Harmonics Compensation and Power Factor Improvement Using LED Driver

Harmonics Compensation and Power Factor Improvement Using LE...

引用

IEEE Energy Conversion Congress and Exposition

作者： Saeed Anwar Ali Elrayyah Yilmaz Sozer Department of Electrical and Computer Engineering The University of Akron Akron Ohio USA

ISBN: (纸本)9781479957774

Power quality improvement technique using LED driver is presented in this paper. Harmonics is one of the major factors that affect the power quality of conventional grid or microgrid. Electrical loads are connected to the main grid as a common bus which is known as Point of Common Coupling (PCC). Harmonics are generated from different power supply units, rectifiers, power converters, UPS, generators, magnetic devices and LED lights. In this research, the harmonics compensation unit is incorporated into a LED driver which is capable of eliminating harmonics from PCC where the residential loads are connected. Half controlled rectifier is used for LED driver and the switches are controlled by the proposed control algorithm to reduce the harmonics on the PCC voltage. Fast and efficient algorithm has been utilized for the system. The simulation and experimental results are presented to verify the effectiveness of the proposed method.

关键词： harmonic compensation Light emitting diodes Power quality power unit computer algorithms efficient algorithm point of common coupling Switches residential load

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Predictive Control of an Asymmetric Cascaded Multilevel Inverter with a Single DC Source

Predictive Control of an Asymmetric Cascaded Multilevel Inve...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Marcelo Vasquez Jorge Pontt Juan Vargas Electronics Engineering Department Universidad Tecnica Federico Santa Maria

ISBN: (纸本)9781479902255

This paper proposes a control scheme for an asymmetric cascaded multilevel inverter with a single DC source. This control approach permits a unique DC source generate three-phase current with one main cell and one floating cell per phase. Main cell are handled by using a space vector control and floating cells are controlled by a predictive control strategy. This strategy is used to control the floating capacitors voltages to maintain an asymmetry to maximize the number of levels of the load voltage and also manage the reactive power to reduce the harmonics produced by the main cell, which also provides the active power to the load. Finally, the proposed control algorithm improves the load current quality with a reduce number of calculation. Results are presented in simulations.

关键词： DC power supply Predictive control Space vector control load voltage three-phase current Electric loads cascades Inventors active power Reactive power multilayers computer algorithms

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Cable Stiffened Flexible Link Manipulator

Cable Stiffened Flexible Link Manipulator

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rahul Dixit R. Prasanth Kumar Research Center Imarat Hyderabad India - 500069 Department of Mechanical and Aerospace Engineering Indian Institute of Technology Hyderabad Ordnance Factory Estate Yeddumailaram India - 502205

ISBN: (纸本)9781479969357

Flexible link manipulators (FLMs) have several advantages over rigid link manipulators (RLMs) in aspects such as mass and moment of inertia, energy consumption, and speed. However, they suffer from a major limitation of flexibility that affects precision of operation. Control algorithms that are currently used for RLMs cannot be directly applied to FLMs. Majority of research on FLMs has focused on how to eliminate or reduce the undesirable effects of flexibility by specially developed control algorithms. In this paper, we introduce a new design change that stiffens the flexible link manipulator using cables and minimizes the effect of flexibility while retaining the advantages of FLMs. Such cable stiffened flexible link manipulators have the advantage of allowing the use of existing control techniques designed for RLMs. Effectiveness of this new approach is shown through simulations and experiments.

关键词： flexible link manipulators cable undesirable effects computer algorithms updated design Control technology

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Distributed Parameter e-modification for an Aeroelastic Torsion Model

Distributed Parameter e-modification for an Aeroelastic Tors...

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IEEE Annual Conference on Decision and Control

作者： Abraham K. Ishihara Nhan Nguyen Carnegie Mellon University Silicon Valley NASA Research Park Moffett Field CA 94035 1000 NASA Ames Research Center Moffett Field CA

ISBN: (纸本)9781467360890

In this note we consider the closed-loop control of an aeroelastic torsion model where the control objective is to track a desired shape. A Lyapunov approach is utilized and an adaptive control algorithm using e-modification is proposed. The entire analysis is confined to the underlying infinite dimensional space and uniform ultimate boundedness of the closed-loop system is proved. Numerical simulation is provided to illustrate the performance.

关键词： Aeroelastics uniform ultimate boundedness distributed parameter computer algorithms Closed loop systems numerical simulation CLOSED LOOP CONTROL Note Taking

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Roll Prediction-based Optimal Control for Safe Path Following

Roll Prediction-based Optimal Control for Safe Path Followin...

引用

American Control Conference

作者： Sanghyun Hong J. Karl Hedrick Department of Mechanical Engineering University of California Berkeley CA 94720 USA

ISBN: (纸本)9781479917730

Autonomous vehicles can risk dangerous rollover if they corner without taking roll motion into consideration. This paper proposes a control algorithm to follow a curved road while simultaneously preventing rollover. Model predictive control is applied to minimize roll motion throughout cornering. The prediction of vehicle state is based on a four-wheel nonlinear vehicle model with roll dynamics and a tire brush model. Full braking is utilized as a control actuator to achieve an optimal balance in the trade-off between vehicle speed and roll motion. CarSim simulations show the performance of the proposed control approach and the influence of vehicle parameters on control performance.

关键词： computer algorithms Road Curves Autonomous Vehicles Vehicle model Vehicle speed control performance corners Rolling motion Optimal control

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