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检索条件"主题词=computer algorithms"

共 3252 条记录，以下是831-840 订阅

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A Distributed Bi-directional Hysteresis Control Algorithm for Server-to-Virtual Bus Differential Power Processing 16

A Distributed Bi-directional Hysteresis Control Algorithm fo...

引用

IEEE 16th Workshop on Control and Modeling for Power Electronics (COMPEL)

作者： Candan, Enver Shenoy, Pradeep S. Pilawa-Podgurski, Robert C. N. Univ Illinois Dept Elect & Comp Engn Urbana IL 61801 USA

ISBN: (纸本)9781467368476

This paper presents a control method for regulating serially connected server voltages. Following the discussion of the proposed control method, both simulations and an experimental study are performed for validation. A simulation model is used to optimize system parameters for maximizing the system-level power conversion efficiency. For the experimental study, a test-bed consisting of four 12 V servers and four dual active bridge converters is built and the control method is implemented on a digital controller. The experimental measurements show that the proposed control method achieves successful voltage regulation of serially connected servers and a system-level power conversion efficiency as high as 99.89%.

关键词： Control Methods power handling hysteresis control computer algorithms Servers Voltage regulation Power Conversion Efficiency system parameter Motor buses TWO-COMPONENT Simulation models

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An Open-Source Architecture for Control and Coordination of a Swarm of Micro-Quadrotors

An Open-Source Architecture for Control and Coordination of ...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Furci, M. Casadei, G. Naldi, R. Sanfelice, R. G. Marconi, L. Univ Bologna CASY DEI Bologna Italy UCSC Dept Comp Engn Santa Cruz CA USA

ISBN: (纸本)9781479960101

This work presents the design of an open-source control architecture specifically tailored to the rapid development and testing of control and coordination algorithms on micro quadrotors. The proposed design extends an existing open-source and open-hardware quadrotor project, i. e., the Crazyflie nano quadrotor, by adding the guidance, navigation and control layers required to accomplish autonomous flight. The control layer, in particular, is based on a cascade control algorithm able to globally stabilize the position and the attitude of the vehicle. The global property guaranteed by the algorithm allows the quadrotors to perform aggressive maneuvers. The guidance layer is designed to coordinate simultaneously multiple vehicles by generating suitable reference trajectories. Experiments demonstrate the effectiveness of the proposed design.

关键词： control layer dike swarms open source Guidance Navigation and Control Standing Orders test control coordination algorithm computer algorithms

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The ANDIX Research OS - ARM TrustZone Meets Industrial Control Systems Security 13

The ANDIX Research OS - ARM TrustZone Meets Industrial Contr...

引用

13th IEEE International Conference on Industrial Informatics (INDIN)

作者： Fitzek, Andreas Achleitner, Florian Winter, Johannes Hein, Daniel Graz Univ Technol Inst Appl Informat Proc & Commun Inffeldgasse 16a A-8010 Graz Austria

ISBN: (纸本)9781479966493

Security by isolation is a longstanding, widely applied, and useful paradigm for achieving security goals such as data and code integrity, confidentiality, and availability. Security by isolation can be used to create Trusted Execution Environments. These environments provide specific security guarantees to the information processing taking place therein. In an Industrial Control System secure control setting using this approach allows, for example, protecting the integrity of a control algorithm against unauthorized modification and secure monitoring of the veracity of received inputs, even in the face of a subverted communication interface. Here, we introduce ANDIX OS, a security Operating System using the ARM TrustZone architecture to create a Trusted Execution Environment. The ARM TrustZone architecture is a set of security extensions for ARM processors based systems. It is widely in use in mobile phones today. We argue that ARM TrustZone is a technology relevant to the Industrial Control System security setting and that research of its applicability should take place now. To this end we freely provide ANDIX OS as open source for research and also present the results of a case study, where we have used ANDIX OS to solve a concrete problem from a smart maintenance for Industrial Control Systems context. We believe that security for Industrial Control Systems is a pertinent topic and that the use of ARM TrustZone as a security technology that comes almost free with a certain class of ARM based systems is worth studying in this context. Therefore, with ANDIX OS, we provide a suitable tool, and hope that actively encouraging researching the usefuleness and applicability of ARM TrustZone in an Industrial Control System (ICS) context will create more secure Industrial Control Systems in the future.

关键词： Industrial control systems security technology Security osmium Security Goals computer algorithms control systems open source

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Decoupling Based Predictive Control Analysis of a Continuous Stirred Tank Reactor

Decoupling Based Predictive Control Analysis of a Continuous...

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International Conference on Industrial Instrumentation and Control

作者： Bansode, Prashant Jadhav, Sharad P. Ramrao Adik Inst Technol Dept Instrumentat Engn Navi Mumbai 400706 India

ISBN: (纸本)9781479971657

This paper presents a decoupling based model predictive control strategy for a process of continuous stirred tank reactor (CSTR). The MPC strategy when used along with decoupling compensation technique seem to suffer from increase in the computational complexity of the predictive control algorithm because of the additional dynamics of decoupling compensator. In this paper, we seek to reduce the computational burden on predictive control algorithm utilizing a simple decoupling technique for a process with loop interactions. A CSTR MIMO process is a benchmark problem for studying loop interactions. We compensate for loop interactions by directly modifying the plant model without changing its response characteristics provided plant and model mismatch is at minimum. The proposed strategy is compared for its simplicity with multi-variable decoupling control strategies with application to MPC in process industry. Simulations show that proposed technique efficiently reduces loop interactions in CSTR process.

关键词： Continuously stirred tank reactors Predictive control DECOUPLING computer algorithms Benchmark testing plant models Maximum Allowable Concentration Loops Contraceptive Coil STIRRED TANK REACTOR Agitation Tanks

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Modelling and Control Design for Biped Robot Standing on Nonstationary Plane 20

Modelling and Control Design for Biped Robot Standing on Non...

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20th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bazylev, Dmitry Zimenko, Konstantin Margun, Alexey Ibraev, Denis Kremlev, Artem ITMO Univ Kronverkskiy Pr 49 St Petersburg 197101 Russia

ISBN: (纸本)9781479987016

Motion control of biped robots includes a variety of tasks, such as controlling a robot walking on a horizontal plane, climbing stairs, moving on uneven surfaces, etc. This article describes modeling and designed control system for a biped robot standing on nonstationary plane. The problem of stabilization of the balancing robot, assembled on the basis of a robotic kit Bioloid, is considered for the case, when trajectories of movable plane are assumed to be bounded and unknown in advance. In contrast to previous works [4], [8] the mathematical model of the system is completed with dynamical equations and an estimator of nonstationary plane angle and angular velocity is designed. Performance of the proposed control algorithm is confirmed by numerical simulation.

关键词： biped robot design control Modeling computer algorithms control systems plane Platanus hybrida Planing Motor Control ANGULAR VELOCITY trajectory advance numerical simulation Religious Missions Robot

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Formation Control and Obstacle Avoidance for Multi-Agent Systems with Dynamic Topology

Formation Control and Obstacle Avoidance for Multi-Agent Sys...

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International Conference on Stability and Control Processes in Memory of V.I. Zubov (SCP)

作者： Morozova, Natalia S. Moscow MV Lomonosov State Univ Fac Computat Math & Cyberneth Moscow Russia

ISBN: (纸本)9781467376983

This paper presents the distributed formation control of a multi-agent systems with first-and second-order dynamics. The proposed control algorithms are based on the virtual leaders approach. The modifications of the base controls which ensures that agents avoid collisions and obstacles are considered in this paper. Specific rules that allow each agent to calculate the virtual leaders' position and the priority of each leader are suggested. The formation topology is chosen by the agents dynamically depending on the number of neighbouring agents, only local information is used by the agents. Obstacle avoidance is implemented with the help of potential repulsive function. Based on the developed discrete-time algorithm, solution for maintaining formation and avoiding collisions and obstacles while moving towards the target point, is proposed. Simulation results are presented, indicating capabilities of the algorithms.

关键词： Multi-agent systems Obstacle avoidance Agents Collision avoidance topology computer algorithms Collisions Leaders

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Deployment of Model Based Robotic Control algorithms, Designed Using Matlab/Simulink, in the form of OROCOS Components Operating under Linux Xenomai 20

Deployment of Model Based Robotic Control Algorithms, Design...

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20th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Arent, Krzysztof Domski, Wojciech Cholewinski, Mateusz Wroclaw Univ Technol Chair Cybernet & Robot Elect Fac Wybrzeze Wyspianskiego 27 PL-50370 Wroclaw Poland

ISBN: (纸本)9781479987016

The article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. The target software platform is OROCOS framework within Linux Xenomai - a real-time operational system. First, the algorithm of transforming of an automatically generated code from Simulink scheme into an OROCOS component is presented. Next, the proposed procedure is discussed and evaluated from the perspective of the control engineer's needs.

关键词： deployment computer algorithms Linux control engineering Robot control Simulation Analysis Perspective based

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A Hardware-In-the-Loop Setup for Rapid Control Prototyping of Mechatronic Systems 20

A Hardware-In-the-Loop Setup for Rapid Control Prototyping o...

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20th IEEE Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Simoni, Luca Beschi, Manuel Colombo, Davide Visioli, Antonio Adamini, Riccardo Univ Brescia Dipartimento Ingn Meccan & Ind I-25121 Brescia Italy CNR Ist Tecnol Ind & Automaz Milan Italy Gefran SpA Gerenzano VA Italy

ISBN: (纸本)9781467379298

In this paper we present a Hardware-In-the-Loop setup for the simulation of complex mechatronic systems. The setup consists of two coupled brushless motors. One of them is the motor under test, which is used to design the control algorithm and to test the control software, while the other one simulates the device to be controlled. Libraries of mechanical and hydraulic components have been implemented in an IEC61131-3 language so that a complex system can be simulated in a relatively easy way and this allows for a rapid control prototyping. Practical issues are discussed and an illustrative example is shown to confirm the effectiveness of the setup.

关键词： HARDWARE IN THE LOOP Microelectromechanical devices computer algorithms hydraulic cells rapid prototyping PROTOTYPE Complex systems Standing Orders Brushless motors simulating

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Extremum Seeking Control of Smart Inverters for VAR Compensation

Extremum Seeking Control of Smart Inverters for VAR Compensa...

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General Meeting of the IEEE-Power-and-Energy-Society

作者： Arnold, Daniel B. Negrete-Pincetic, Matias Stewart, Emma M. Auslander, David M. Callaway, Duncan S. Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Univ Calif Berkeley Dept EECS Berkeley CA USA Pontificia Univ Catolica Chile Dept Elect Engn Santiago Chile Lawrence Berkeley Natl Lab Environm Energy Technol Div Berkeley CA USA Univ Calif Berkeley Energy & Resources Grp Berkeley CA USA

ISBN: (纸本)9781467380409

Reactive power compensation is used by utilities to ensure customer voltages are within pre-defined tolerances and reduce system resistive losses. While much attention has been paid to model-based control algorithms for reactive power support and Volt Var Optimization (VVO), these strategies typically require relatively large communications capabilities and accurate models. In this work, a non-model-based control strategy for smart inverters is considered for VAR compensation. An Extremum Seeking control algorithm is applied to modulate the reactive power output of inverters based on real power information from the feeder substation, without an explicit feeder model. Simulation results using utility demand information confirm the ability of the control algorithm to inject VARs to minimize feeder head real power consumption. In addition, we show that the algorithm is capable of improving feeder voltage profiles and reducing reactive power supplied by the distribution substation.

关键词： reactive compensation computer algorithms Inventors distribution substation Feeders hydraulic props Power output extremum values Reactive power Public utilities communications capability Power consumption control strategy power compensation

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Bio-inspired Engineering for the Exploration of Remote Worlds

Bio-inspired Engineering for the Exploration of Remote World...

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IEEE Aerospace Conference

作者： Spells, Corbin Doucette, Stefan Ketsdever, Andrew Univ Colorado 1420 Austin Bluffs Pkwy Colorado Springs CO 80918 USA

ISBN: (纸本)9781479953806

The Dynamic Stereoscopic Long Range System (DSLRS) has been developed to offer an engineering perspective on the behavior of herds and flocks of animals for bio-inspired engineering applications. The system provides the relative spacing and velocity of each member within a herd or flock. The DSLRS employs two fixed cameras which simultaneously capture stereoscopic image pairs. These image pairs are analyzed using automated software algorithms developed in this work to produce spacing data up to a range of 350 meters. Eventually, the spacing and velocity data acquired by the DSLRS will aid in the development of a control algorithm for robotic swarms based on biological behavior. A control algorithm for automated robotic swarm operation will reduce or eliminate the human element in the control loop. For instance, estimates for the Global Positioning System (GPS) satellite constellation show that continuous, human-in-the-Ioop space operations from the ground costs up to 85 percent of the overall budget for the GPS space mission architecture. An intelligent system, with the ability to assess situations and react based on biological instincts, may address a critical need in autonomous operations. The DSLRS is a first step in understanding herd and flock behavior from an engineering perspective in an attempt to provide the necessary level of fidelity to develop bio-inspired control algorithms.

关键词： computer algorithms control ring Biomimetics herd Exploration Software algorithms FLOCKING Stereoscopic Stereo image processing Surgery Budgets Fidelity

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