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control-oriented Averaging of Tail-actuated Robotic Fish Dynamics

Control-oriented Averaging of Tail-actuated Robotic Fish Dyn...

引用

American control Conference

作者： Jianxun Wang Songlin Chen Xiaobo Tan Smart Microsystems Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 USA Control and Simulation Center Harbin Institue of Technology Harbin 150001 China

ISBN: (纸本)9781479901777

Motivated by the need for efficient control design, in this paper we consider the averaging of dynamics for a tail-actuated robotic fish, based on an experimentally validated dynamic model that incorporates rigid body dynamics and Lighthill's large-amplitude elongated-body theory. We first show that classical averaging theory fails in this case because of the relatively large oscillatory input in the driving terms. On the other hand, while the first-order geometric averaging method for systems with highly oscillatory inputs is able to capture the original time-dependent dynamics, the resulting average model is overly complex for controller design. We propose a novel control-oriented, data-driven averaging approach for robotic fish dynamics, where a scaling function is introduced on top of the classical averaging method. We run extensive simulations for different combinations of tail-beat bias, amplitude, and frequency, and find that the scaling function is constant for the force equations and varies linearly with the tail-beat bias for the moment equation. The validity of the resulting average model has been confirmed in simulation results for open-loop dynamics with new sets of tail-beat parameters, and for closed-loop dynamics when proportional control of the tail-beat bias is used in target tracking.

关键词： averaging scaling function dynamics moment equation Proportional control Target tracking design control Statistical Biases bias(electronics)

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Optimized real-time soft analyzer for chemical process using artificial intelligence

Optimized real-time soft analyzer for chemical process using...

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Asian control Conference

作者： Mohammad Mahdi Karimi Alireza Fatehi Reza Ebrahimpour Ali Shamsaddinlou APAC research group Department of ControlEngineering Shahid Rajaee Teacher Training University Tehran Iran APAC research group Industrial Control Center of Excellence Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Shahid Rajaee Teacher Training University Tehran Iran

ISBN: (纸本)9781467357661

This paper concerns application of data-derived approaches for analyzing and monitoring chemical process instruments, extracting product information, and designing estimation models for primary process variables, or difficult to measure in real-time variables. Modeling of process with an optimized classical neural network, the multi-layer perceptron (MLP) is discussed. Tennessee Eastman Process, a well-known plant wide process benchmark, is applied to validate the proposed approach. Investigations and several algorithms as step response test, Lipschitz number method and forward selection are used. The main advancement introduced here is that a hierarchical level responsible strategy is applied for selection of input variables and respective efficient time delays to attain the highest possible prediction accuracy of the neural network model for industrial process identification.

关键词： Delay effects Process control Algorithm design and analysis Delays Biological system modeling Training Estimation

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Tuning and experimental evaluation of a likelihood-based engine knock controller

Tuning and experimental evaluation of a likelihood-based eng...

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IEEE Annual Conference on Decision and control

作者： Andreas Thomasson Lars Eriksson Tobias Lindell James C. Peyton Jones Jill Spelina Jesse Frey Division of Vehicular Systems at the Department of Electrical Engineering Linkoping University Linkoping SE-581 83 Sweden Center for Nonlinear Dynamics and Control and the Department of Electrical and Computer Engineering Villanova University Villanova PA 19085 USA Science Technology Engineering and Mathematics Division Delaware County Community College Media PA 19063 USA Department of Mathematics and Statistics Villanova University Villanova PA 19085 USA

ISBN: (纸本)9781467357159

A new likelihood-based stochastic knock controller, that achieves a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response is presented. Up until now it has only been evaluated using simulations and the main contribution here is the implementation and validation of the knock controller on a five cylinder engine with variable compression ratio. Furthermore, an extension of the fast response strategy and a re-tuning of the controller is shown to improve performance. The controller is validated with respect to its robustness to changes in engine operating condition as well as compression ratio. The likelihood-based controller is demonstrated in engine tests and compared to a conventional controller and it is shown that it is able to operate closer to the knock limit with less variations in control action without increasing the risk of engine damage.

关键词： controllers tuning Engine knock compression ratio engine tests control action Engines

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Cooperative flocking and learning in multi-robot systems for predator avoidance

Cooperative flocking and learning in multi-robot systems for...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems

作者： Hung Manh La Ronny Salim Lim Weihua Sheng Jiming Chen Center for Advanced Infrastructure and Transportation Rutgers University Piscataway NJ USA School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA Department of Control Zhejiang University Hangzhou P. R. China

In this paper we propose a hybrid system that integrates reinforcement learning and flocking control in order to create an adaptive and intelligent multi-robot system. First, we present a flocking control algorithm that allows multiple mobile robots to move together while avoiding obstacles. Second, we propose a distributed cooperative learning algorithm that can quickly enable the mobile robot network to avoid predator/enemy while maintaining the network connectivity and topology. The convergence of the cooperative learning algorithm is discussed. As a result, the hybrid system of flocking control and cooperative reinforcement learning results in an efficient integration of high level behaviors (discrete states and actions) and low level behaviors (continuous states and actions) for multi-robot cooperation. The simulations are performed to demonstrate the effectiveness of the proposed system.

关键词： Robots

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Interfaces of nested Web application framework as reusable software component

Interfaces of nested Web application framework as reusable s...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Prstačić, S. Žagar, M. Kroflin, K. Faculty of Electrical Engineering and Computing Information Support Center Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532330724

The framework is designed to provide a simple and powerful way of Web application component development. Components of the framework can nest, and the framework is designed to be easy to reuse as a component, thus providing its components to be used by the host application. We explain the interfaces required to make this possible - what they provide, what issues they solve, and how their requirement was discovered. We also identify shortcomings of this approach, and issues that will be addressed by future work. © 2012 MIPRO.

关键词： computer software reusability

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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On Exponential Stability of Integral Delay Systems

On Exponential Stability of Integral Delay Systems

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American control Conference

作者： Zhao-Yan Li Bin Zhou Zongli Lin Department of Mathematics Harbin Institute of Technology Harbin 150001 China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

ISBN: (纸本)9781479901777

This paper deals with exponential stability of some classes of integral delay systems with a prescribed decay rate. By carefully exploring the literature on this topic, a delay decomposition approach is established to reduce the conservatism in the existing sufficient conditions by constructing new Lyapunov-Krasovskii functionals. It is proven that the proposed sufficient conditions are always less conservative than the existing ones. Numerical examples illustrate the effectiveness of the proposed approaches.

关键词： Lyapunov methods asymptotic stability delay systems

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Consensus of High-order Multi-agent Systems with Input and Communication Delays-State Feedback Case

Consensus of High-order Multi-agent Systems with Input and C...

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American control Conference

作者： Bin Zhou Zongli Lin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China. Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA.

ISBN: (纸本)9781479901777

We study in this paper the consensus problem for multi-agent systems with agents characterized by high-order linear systems with time delays in both the communication network and inputs. Provided that the open-loop dynamics of the agents is not exponentially unstable, but may be polynomially unstable, and the communication topology contains a directed spanning tree, a truncated predictor feedback approach is established to solve the consensus problem. It is shown that, if the delays are constant and exactly known, the consensus problem can be solved by state feedback protocols for arbitrarily large bounded delays. If it is further assumed that the open-loop dynamics of the agents only contains zero eigenvalues, the delays are allowed to be time-varying and unknown. Numerical examples are worked out to illustrate the effectiveness of the proposed approaches.

关键词： Communication Delays-State Feedback Case communication network inputs

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Practical measurement device independent quantum key distribution

Practical measurement device independent quantum key distrib...

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Quantum Information and Measurement, QIM 2013

作者： Xu, Feihu Curty, Marcos Qi, Bing Cui, Wei Lim, Charles Ci Wen Tamaki, Kiyoshi Lo, Hoi-Kwong Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto ON M5S 3G4 Canada Escuela de Ingeniería de Telecomunicación Dept. of Signal Theory and Communications University of Vigo Vigo Pontevedra 36310 Spain Group of Applied Physics University of Geneva CH-1211 Geneva Switzerland NTT Basic Research Laboratories NTT Corporation 3-1 Morinosato Wakamiya Atsugi-Shi Kanagawa 243-0198 Japan

We analyze real-life implementations of measurement-device-independent quantum-key-distribution (MDI-QKD): a general system model, a finite-decoy protocol and a finite-key analysis. Our work is relevant to not only QK...

ISBN: (纸本)9781557529787

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Cooperative and Active Sensing in Mobile Sensor Networks for Scalar Field Mapping

Cooperative and Active Sensing in Mobile Sensor Networks for...

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IEEE International Conference on Automation Science and engineering

作者： Hung Manh La Weihua Sheng Jiming Chen Center for Advanced Infrastructure and Transportation (CAIT) Rutgers University Piscataway NJ 08854 USA School of Electrical and Computer Engineering Oklahoma State University Stillwater OK 74078 USA State Key Lab. of Industrial Control Technology Department of Control Zhejiang University Hangzhou P.R.China 310027

ISBN: (纸本)9781479915132

Scalar field mapping has many applications including environmental monitoring, search and rescue, etc. In such applications there is a need to achieve a certain level of confidence regarding the estimates at each location. In this paper, a cooperative and active sensing framework is developed to enable scalar field mapping using multiple mobile sensor nodes. The cooperative and active controller is designed via the real-time feedback of the sensing performance to steer the mobile sensors to new locations in order to improve the sensing quality. During the movement of the mobile sensors, the measurements from each sensor node and its neighbors are taken and fused with the corresponding confidences using distributed consensus filters. As a result an online map of the scalar field is built with a certain level of confidence of the estimates. We conducted computer simulations to validate and evaluate our proposed algorithms

关键词： Active sensing Sensor fusion Sensor networks

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