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检索条件"主题词=distributed parameter systems"

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Non-parametric Inference and Coordination for distributed Robotics

Non-parametric Inference and Coordination for Distributed Ro...

引用

51st IEEE Annual Conference on Decision and Control (CDC)

作者： Julian, Brian J. Angermann, Michael Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA

ISBN: (纸本)9781467320665

This paper presents non-parametric methods to infer the state of an environment by distributively controlling robots equipped with sensors. Each robot represents its belief of the environment state with a weighted sample set, which is used to draw likely observations to approximate the gradient of mutual information. The gradient leads to a novel distributed controller that continuously moves the robots to maximize the informativeness of the next joint observation, which is then used to update the weighted sample set via a sequential Bayesian filter. The incorporated non-parametric methods are able to robustly represent the environment state and robots' observations even when they are modeled as continuous-valued random variables having complicated multimodal distributions. In addition, a consensus-based algorithm allows for the distributed approximation of the joint measurement probabilities, where these approximations provably converge to the true probabilities even when the number of robots, the maximum in/out degree, and the network diameter are unknown. The approach is implemented for five quadrotor flying robots deployed over a large outdoor environment, and the results of two separate exploration tasks are discussed.

关键词： Bayes methods distributed parameter systems filtering theory mobile robots sensors

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Hierarchical and distributed Discrete Event Control of Manufacturing Processes

Hierarchical and Distributed Discrete Event Control of Manuf...

引用

17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Stursberg, Olaf Univ Kassel Dept Elect Eng & Comp Sci D-34131 Kassel Germany

ISBN: (纸本)9781467347372;9781467347358

The supervisory controllers used in manufacturing processes to establish nominal sequences of production steps can theoretically be synthesized based on the supervisory control theory (SCT). The fact, that in practice manual design procedures are preferred over the SCT, is (among other reasons) due to the fact that the models used in the SCT are of an abstract type rather than reflecting the signal flow within a discretely controlled process, and that sets of permissible behaviors are obtained rather than selected (optimal) behaviors within this set. This paper proposes a modeling and synthesis scheme for discrete control which aims at retaining the closed loop structure of the controlled process. An algebraic representation of the discrete event dynamics is chosen to enable the transfer of concepts from continuous control to the supervisory control task. In addition, the scheme considers that the plant to be controlled often comprises continuous quantities (from which events need to be extracted), and that larger manufacturing processes typically have a modular and hierarchical structure.

关键词： algebra closed loop systems continuous systems control system synthesis discrete event systems distributed parameter systems manufacturing processes

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EMG Sliding Mode Finger Joint Synergy Control of a Dexterous Artificial Hand

EMG Sliding Mode Finger Joint Synergy Control of a Dexterous...

引用

4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics

作者： Kent, Benjamin A. Karnati, Nareen Engeberg, Erik D. Univ Akron Dept Mech Engn Akron OH 44325 USA

ISBN: (纸本)9781457712005

From observation of human data, a set of sinusoidal trajectories were developed to mimic the human motion of unscrewing a bottle cap with the thumb and index finger. These trajectories were then implemented on a dexterous robotic hand in the form of a robustly stable sliding mode control algorithm. With the developed synergies, a single myoelectric input was used to control multiple finger joints simultaneously. This controller was then compared to a one degree of freedom prosthetic hand also under sliding mode control. The two hands were used to complete an unscrewing task as quickly as possible. The synergy controller produced a statistically significant reduction in task completion time and also reduced the required workspace.

关键词： Dexterous Hands distributed parameter systems Electromyogram Grasp Synergy Prosthetic Hands

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Filtering and Identification of Stochastic Diffusion systems with Unknown Boundary Conditions

Filtering and Identification of Stochastic Diffusion Systems...

引用

51st IEEE Annual Conference on Decision and Control (CDC)

作者： Aihara, Shin Ichi Bagchi, Arunabha Tokyo Univ Sci Nagano 3920292 Japan

ISBN: (纸本)9781467320665

This paper treats the filtering and parameter identification for the stochastic diffusion systems with unknown boundary conditions. The physical situation of the unknown boundary conditions can be found in many industrial problems, i.g., the salt concentration model of the river Rhine is a typical example. After formulating the diffusion systems by regarding the noisy observation data near the systems boundary region as the system's boundary inputs, we derive the Kalman filter and the related likelihood function. The consistency property of the maximum likelihood estimate for the systems parameters is also investigated. Some numerical examples are demonstrated.

关键词： Kalman filters distributed parameter systems maximum likelihood estimation parameter estimation stochastic systems

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A transfer function representation for a class of hyperbolic systems

A transfer function representation for a class of hyperbolic...

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17th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bartecki, Krzysztof Opole Univ Technol Inst Control & Comp Engn PL-45272 Opole Poland

ISBN: (纸本)9781467321242

Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distributed along the spatial variable, the expressions for the individual elements of the transfer function matrix are derived for the decoupled system, using both exponential and hyperbolic functions. A formula for converting the transfer function matrix to the form describing the original coupled system is also proposed. The considerations are illustrated with a practical example of an electrical transmission line.

关键词： TRANSFER FUNCTIONS hyperbolic systems transfer function matrices coupled system distributed parameter systems electric power transmission Function analysis Hyperbolic Differential equations Hyperbolic functions

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Sampled-Data distributed H_∞ Control of a Class of Parabolic systems

Sampled-Data Distributed <i>H</i><sub>∞</sub> Control of a ...

引用

51st IEEE Annual Conference on Decision and Control (CDC)

作者： Fridman, Emilia Bar Am, Netzer Tel Aviv Univ Sch Elect Engn IL-69978 Tel Aviv Israel

ISBN: (纸本)9781467320665

We develop, for the first time, sampled-data H-infinity control for a class of parabolic systems. These systems are governed by semilinear transport reaction equations with additive disturbances and with distributed control on a finite interval. We suggest a sampled-data controller design, where the sampling intervals in time and in space are bounded. The network of N stationary sensing devices provide spatially averaged state measurements over the sampling spatial intervals. Our sampled-data static output feedback enters the equation through N shape functions (which are localized in the space) multiplied by the corresponding state measurements. Sufficient conditions for the internal exponential stability and for L-2-gain analysis of the closed-loop system are derived via direct Lyapunov method in terms of Linear Matrix Inequalities (LMIs). By solving these LMIs, upper bounds on the sampling intervals that preserve the internal stability and the resulting L-2-gain can be found. Numerical examples illustrate the efficiency of the method.

关键词： distributed parameter systems LMIs Lyapunov method sampled-data control

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Dynamic Optimization of Polymer Flooding for Highsalinity Reservoir Based on Maximum Principle

Dynamic Optimization of Polymer Flooding for Highsalinity Re...

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10th World Congress on Intelligent Control and Automation (WCICA)

作者： Lei, Yang Li, Shurong Zhang, Xiaodong Guo, Lanlei China Univ Petr East China Coll Informat & Control Engn Qingdao Shandong Peoples R China Sinopec Shengli Oilfield Co Res Inst Geol Sci Dongying Shandong Peoples R China

ISBN: (纸本)9781467313988

Polymer flooding for high-salinity reservoir is one of the most important technologies for enhanced oil recovery (EOR). In this paper, an optimal control problem (OCP) of a distributed parameter system (DPS) is established, in which the functional of performance index is profit maximum and the governing equations are the fluid equations in porous media. The control variables are chosen as the polymer concentrations. The constraint conditions include boundary constraints and other inequality constraints. To cope with this OCP of DPS, the necessary conditions for optimality are obtained through application of Pontryagin's maximum principle. A gradient method is proposed for the computation of optimal injection strategies. The numerical results of an example for high-salinity reservoir illustrate the effectiveness of the proposed method.

关键词： Optimal control distributed parameter systems maximum principle polymer flooding high-salinity reservoir

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distributed event-triggered control with network delays and packet losses

Distributed event-triggered control with network delays and ...

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51st IEEE Annual Conference on Decision and Control (CDC)

作者： Guinaldo, M. Lehmann, D. Sanchez, J. Dormido, S. Johansson, K. H. Department of Computer Science and Automatic Control at UNED Spain School of Electrical Engineering Royal Institute of Technology (KTH) Sweden

ISBN: (纸本)9781467320665

This paper presents a distributed event-based control approach to cope with communication delays and packet losses affecting a networked dynamical system consisting of N linear time-invariant coupled systems. Two communication protocols are proposed to deal with these communication effects. It is shown that both protocols preserve the system stability in the sense that the state of every subsystem converges to a small region around the origin if the delay and the number of packet losses are bounded. Analytical expressions for the delay bound and the maximum number of consecutive packet losses are derived. Simulations illustrate the results.

关键词： delays distributed parameter systems linear systems networked control systems protocols stability

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QlikView 11 for Developers 1

引用

2012年

作者： Miguel García Barry Harmsen

ISBN: (数字)9781849686075

ISBN: (纸本)9781849686068

It will be a step-by-step tutorial that will discuss best practices. The book is structured in such a way that it can be read both from start to end or can be dipped into. If you are a developer who is looking to learn a fast and easy way to learn to develop your business intelligence apps with QlikView, then this book is for you. If you are a power-user in a QlikView environment, then you will find quicker ways of working with QlikView. You should know the basics of business intelligence before you pick up this book. This book covers QlikView Desktop Personal Edition. Deployments to QlikView Server/Publisher are out of scope for this book.

关键词： Control theory Mathematical optimization distributed parameter systems

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Asymptotic Stability of Forced Equilibria for distributed Port-Hamiltonian systems

Asymptotic Stability of Forced Equilibria for Distributed Po...

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51st IEEE Annual Conference on Decision and Control (CDC)

作者： Macchelli, Alessandro Univ Bologna Dept Elect Comp Sci & Syst DEIS I-40136 Bologna Italy

ISBN: (纸本)9781467320665

The main contribution of this paper is an energy shaping procedure for the stabilization of forced equilibria for linear, lossless, distributed port-Hamiltonian systems via Casimir generation. Once inputs and outputs have been properly chosen to have a well-posed boundary control system, conditions for the existence of Casimir functions in closed-loop are given, together with their relation with the controller structure. These invariants suggest how to select the controller Hamiltonian to introduce a minimum at the desired equilibrium. Such equilibrium can be made asymptotically stable via damping injection, if proper "pervasive" damping injection conditions are satisfied. The methodology is illustrated with the help of a Timoshenko beam with constant non-zero force applied at one side of the spatial domain, and full-actuation on the other one.

关键词： asymptotic stability beams (structures) closed loop systems damping distributed control distributed parameter systems linear systems

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