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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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AFCD: An Approximated-Fair and controlled-Delay Queuing for High Speed Networks

AFCD: An Approximated-Fair and Controlled-Delay Queuing for ...

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International Conference on computer Communications and Networks

作者： Lin Xue Suman Kumar Cheng Cui Praveenkumar Kondikoppa Chui-Hui Chiu Seung-Jong Park School of Electrical Engineering and Computer Science Center for Computation & Technology Louisiana State University Baton Rouge LA USA Department of Computer Science Troy University Troy AL USA

High speed networks have characteristics of high bandwidth, long queuing delay, and high burstiness which make it difficult to address issues such as fairness, low queuing delay and high link utilization. Current high speed networks carry heterogeneous TCP flows which makes it even more challenging to address these issues. Since sender centric approaches do not meet these challenges, there have been several proposals to address them at router level via queue management (QM) schemes. These QM schemes have been fairly successful in addressing either fairness issues or large queuing delay but not both at the same time. We propose a new QM scheme called Approximated-Fair and controlled-Delay (AFCD) queuing for high speed networks that aims to meet following design goals: approximated fairness, controlled low queuing delay, high link utilization and simple implementation. The design of AFCD utilizes a novel synergistic approach by forming an alliance between approximated fair queuing and controlled delay queuing. It uses very small amount of state information in sending rate estimation of flows and makes drop decision based on a target delay of individual flow. Through experimental evaluation in a l0Gbps high speed networking environment, we show AFCD meets our design goals by maintaining approximated fair share of bandwidth among flows and ensuring a controlled very low queuing delay with a comparable link utilization.

关键词： AFCD bandwidth among flows comparable link utilization

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A spectrum sensing and transmission model for secondary users in cognitive radios

A spectrum sensing and transmission model for secondary user...

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2012 20th International Conference on Software, Telecommunications and computer Networks, SoftCOM 2012

作者： Gandhi, Pratik Alshawabkeh, Ibrahim Chandra, Kavitha Thompson, Charles Center for Advanced Computation and Telecommunications Department of Electrical and Computer Engineering University of Massachusetts Lowell Lowell MA 01854 United States

ISBN: (纸本)9789532900347

An analysis of spectrum sensing and transmission of a secondary user sharing a channel with a licensed primary user is presented. The primary user access patterns are modeled as an on-off Markov process. A five state Markov model is derived to describe the performance of a secondary user that aims to utilize the channel during its idle state. Assuming perfect knowledge of the primary user access patterns, the model is analyzed with respect to the size of a back-off counter chosen when the channel is sensed busy and the size of the window allocated for secondary transmission when the channel is sensed idle. An analytical region is derived for the secondary users to operate in while the primary channel is free. © 2012 University of Split.

关键词： Cognitive radio

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Experimental Quantum Computing to Solve Systems of Linear Equations

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Physical Review Letters 2013年第23期110卷 230501-230501页

作者： X.-D. Cai C. Weedbrook Z.-E. Su M.-C. Chen Mile Gu M.-J. Zhu Li Li Nai-Le Liu Chao-Yang Lu Jian-Wei Pan Hefei National Laboratory for Physical Sciences at Microscale and Department of Modern Physics University of Science and Technology of China Hefei Anhui 230026 China Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto M5S 3G4 Canada Centre for Quantum Technologies National University of Singapore Singapore 117543 Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University Beijing 100084 China

Solving linear systems of equations is ubiquitous in all areas of science and engineering. With rapidly growing data sets, such a task can be intractable for classical computers, as the best known classical algorithms require a time proportional to the number of variables N. A recently proposed quantum algorithm shows that quantum computers could solve linear systems in a time scale of order log (N), giving an exponential speedup over classical computers. Here we realize the simplest instance of this algorithm, solving 2×2 linear equations for various input vectors on a quantum computer. We use four quantum bits and four controlled logic gates to implement every subroutine required, demonstrating the working principle of this algorithm.

关键词： Quantum computers

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Low-cost, high-capability, embedded systems for education and research: A toolbox for the Microsoft Kinect

Low-cost, high-capability, embedded systems for education an...

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119th ASEE Annual Conference and Exposition

作者： Fabian, Joshua Young, Tyler A. Jones, James Peyton Clayton, Garrett Miles Center for Nonlinear Dynamics and Control Villanova University Villanova United States Department of Electrical and Computer Engineering United States

ISBN: (纸本)9780878232413

Increasingly powerful, yet low-cost computing and sensing devices are now available for use in student designs and embedded mechatronic systems. The Microsoft Kinect, for example, though initially developed as a gaming device, provides rich sensing possibilities, with camera and depth images, again at remarkably low cost. However, the sophistication of such devices often requires a high degree of programming ability in order to exploit their evident capabilities. This paper describes progress on a National Science Foundation and Math Works sponsored project aimed at making these devices more accessible to student users through the use of Automatic Code Generation techniques. Specifically, the paper describes a new toolbox that has been developed which allows students to perform their designs from within the Matlab / Simulink environment, and then to implement these designs directly on a hardware platform coupled to the Kinect system. Students develop their designs using interconnected Simulink blocks and subsystems, and the 'build' process automatically cross-compiles and downloads the model to the target for execution. External mode capability can be used to monitor the target hardware as it executes in real time, enabling the user to tune model parameters and log data while their application is running. An example showing how the Kinect can be integrated into a higher level system design is shown as an example. © 2012 American Society for engineering Education.

关键词： Students

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controllability and stability of discrete-time antilinear systems

Controllability and stability of discrete-time antilinear sy...

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Australian control Conference (AUCC)

作者： Ai-Guo Wu Guang-Ren Duan Wanquan Liu Victor Sreeram Harbin Institute of Technology Shenzhen Graduate School The University of Western Australia Shenzhen P. R. China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Department of Computing Curtin University Perth Australia School of Electrical Electronic and Computer Engineering The University of West Australia Perth Australia

In this paper, the discrete-time antilinear systems are investigated. Firstly, a closed-form expression for the state response of discrete-time antilinear systems is established. Secondly, the concepts of reachability and controllability are proposed for discrete-time antilinear systems. With the closed-form expression of the state reponse as tools, anti-Gram criteria for reachability are given. In addition, a matrix rank criteria for reachability and controllability is given for time-invariant antilinear systems. In addition, an anti-Lyapnov equation approach is given to check the stability of the time-invariant antilinear systems.

关键词： Linear systems controllability Australia Educational institutions Equations Vectors

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