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AIAA Guidance, Navigation, and control Conference 2005

作者： Miller, Steven P. Anderson, Elise A. Wagner, Lucas G. Whalen, Michael W. Heimdahl, Mats P. E. Rockwell Collins Inc. Cedar Rapids IA 52498 United States University of Minnesota Minneapolis MN 55455 United States Advanced Technology Center MS 108-206 400 Collins Road NE AIAA Commercial Systems Flight Control MS 105-191 400 Collins Road NE Dept. of Computer Science and Electrical Engineering 4192 EE/CS Bldg. 200 Union Street

ISBN: (纸本)1563477378

Recent advances in modeling languages have made it feasible to formally specify and analyze the behavior of large system components. Synchronous data flow languages, such as Lustre, SCR, and RSML-e are well suited to this task, and commercial versions of these tools such as SCADE and Simulink are growing rapidly in popularity among designers of safety critical systems, largely due to their ability to automatically generate code from the models. At the same time, advances in formal analysis tools have made it practical to formally verify important properties of these models to ensure that design defects are identified and corrected early in the lifecycle. This report describes how such formal verification tools have been applied to the FCS 5000, a new family of Flight control Systems being developed by Rockwell Collins Inc. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Flight dynamics

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Distributed sensor networks based on mobile agents paradigm

Distributed sensor networks based on mobile agents paradigm

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Southeastern Symposium on System Theory

作者： M. Ketel N.S. Dogan A. Homaifar Department of Computer Science North Carolina Agriculture and Technical State University Greensboro NC USA Department of Electrical & Computer Engineering North Carolina Agriculture and Technical State University Greensboro NC USA NASA Autonomous Control and Information Technology Center North Carolina Agriculture and Technical State University Greensboro NC USA

Distributed sensor networks (DSNs) are being developed for a wide range of applications. A sensor networks consist of a large number of nodes performing distributed sensing/event detection. Sensor nodes are energy-constrained, efficient routing is essential for increasing the lifetime of a sensor network. A DSN requires interoperability, low latency, and low power consumption in order to operate for long periods of time. Due to power constraints, DSN should be able to operate at low data rates and still delivering acceptable quality of service. In a DSN the energy required for communications tasks is usually much greater than the energy required for computational tasks. To reduce the data communication between nodes and to maximize the network lifetime, we propose to use the mobile-agent paradigm. In mobile-agent based DSN9 instead of moving data from an individual sensor node to a processing center as in the client-server based computing, mobile agents are dispatched from the processing center to the sensor nodes and process data locally. By moving code to the data, a mobile agent can reduce latency, bandwidth and vulnerability to network disconnection.

关键词： Mobile agents computer networks Routing Data communication Bandwidth Wireless communication Application software Delay Wireless sensor networks Capacitive sensors

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： Intelligent robots Learning Robot sensing systems Shape Cognitive robotics Robotics and automation Intelligent agent Algorithm design and analysis Grasping Redundancy

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KINGPINS OR MULES: AN ANALYSIS OF DRUG OFFENDERS INCARCERATED IN FEDERAL AND STATE PRISONS

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Criminology & Public Policy 2006年第3期3卷

作者： ERIC L. SEVIGNY JONATHAN P. CAULKINS Eric L. Sevigny is a Ph.D. student in the Graduate School of Public and International Affairs at the University of Pittsburgh. Mr. Sevigny's research interests lie in the area of drug policy with an emphasis on enforcement sanctioning international control and treatment/harm reduction. His previous experience includes substance abuse counseling and substance abuse treatment needs research of special populations including prisoners the homeless and adolescents. Mr. Sevigny received a B.A. in Psychology from Middlebury College. Jonathan P. Caulkins Ph.D. is Professor of Operations Research and Public Policy at Carnegie Mellon University's Heinz School of Public Policy. Dr. Caulkins specializes in mathematical modeling and systems analysis of social policy problems with a particular focus on issues pertaining to drugs crime violence and prevention. Dr. Caulkins has also published on airline operations sulfur dioxide pollution trading markets Internet-based advertising flexible manufacturing systems and personnel performance evaluation among other topics. At RAND he has been a consultant visiting scientist codirector of RAND's Drug Policy Research Center (1994–1996) and founding director of RAND's Pittsburgh office (1999–2001). Dr. Caulkins received a B.S. and M.S. in Systems Science from Washington University and an S.M. in Electrical Engineering and Computer Science and Ph.D. in Operations Research both from M.I.T.

Research Summary: Drug policy reformers and defenders contest the extent to which low-level drug offenders are being sent to prison and for how long. Using data from the Survey of Inmates in Federal and State Correctional Facilities, 1997 (BJS, 2000), we assess the seriousness of incarcerated drug offenders along dimensions of dangerousness, culpability, and harm—specifically, functional role and drug group participation, type and amount of drugs, firearms involvement, and criminal conviction and arrest history. We find that only about 1.6% of federal and 5.7% of state inmates can be described as “unambiguously low-level.” Alternatively, not many are “kingpins.” Rather, most fall into a middle spectrum representing different degrees of seriousness that depend on what factors are emphasized. Policy Implications: Our findings dampen hopes of dramatically reducing prison populations by getting out of prison those who are unambiguously low-level drug offenders. They simply do not represent the majority of incarcerated drug offenders. In particular, most played some role in distribution, so eliminating prison terms for users (decriminalization) would not have affected many now in prison. Indeed, if decriminalization increased demand, it could plausibly increase prison populations by increasing the number of suppliers still subject to imprisonment. On the other hand, “drug courier exceptions” to sentencing laws that apply to minor role offenders possessing large quantities could have a greater prison reduction impact.

关键词： Incarceration, Drug Policy, Inmate Surveys, Low-Level Drug Offenders, Culpability

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Improvement of low frequency oscillation damping in power systems via an adaptive critic based neurofuzzy controller 8th

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8th International Conference on Knowledge-Based Intelligent Information and engineering Systems, KES 2004

作者： Rashidi, Farzan Moshiri, Behzad Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)9783540232056

This paper proposes an Adaptive Critic Based Neuro-Fuzzy controller (ACBNFC) to Thyristor controlled Series Capacitor (TCSC), which might have a significant impact on power system dynamics. The function of the ACBNFC is to control a firing angle of the TCSC. The proposed method is used for damping the low frequency oscillations caused by disturbances such as a sudden change of small or large loads or an outage in the generators or transmission lines. To evaluate the usefulness of the proposed method, the computer simulation for single machine infinite system is performed and compared with fuzzy PD controller. Obtained results show the proposed control strategy is very robust, flexible and could be used to get the desired performance levels. The response time is also very fast. Simulation results that have been compared with fuzzy PD controller show that our method has the better control performance than fuzzy PD controller. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Damping

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Hybrid systems: Generalized solutions and robust stability 6

Hybrid systems: Generalized solutions and robust stability

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Goebel, Rafal Hespanha, Joao Teel, Andrew R. Cai, Chaohong Sanfelice, Ricardo Center for Control Engineering and Computation and Electrical and Computer Engineering Department University of California Santa BarbaraCA93106-9560 United States

Robust asymptotic stability for hybrid systems is considered. For this purpose, a generalized solution concept is developed. The first step is to characterize a hybrid time domain that permits an efficient description of the convergence of a sequence of solutions. Graph convergence is used. Then a generalized solution definition is given that leads to continuity with respect to initial conditions and perturbations of the system data. This property enables new results on necessary conditions for asymptotic stability in hybrid systems. Copyright © 2004 IFAC.

关键词： Lyapunov functions

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Sliding mode congestion control in differentiated service communication networks

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2nd International Conference on Wired/Wireless Internet Communications, WWIC 2004

作者： Ebrahimirad, Hassan Yazdanpanah, M.J. Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)3540209549

The rapid growth of the Internet and increased desmand to use the Internet for voice and video applications necessitate the design and utilization of new Internet architectures with effective congestion control algorithms. As a result, the Differentiated Service (Diff-Serv) architectures were proposed to deliver Quality of Service (QoS) in TCP/IP networks. Network congestion control remains a critical and high priority issue, even for the present Internet architecture. The aim of this paper is to design a robust active queue management system to secure high utilization, bounded delay and loss, while the network complies with the demands each traffic class sets. To this end, variable structure control theory is used and a sliding mode congestion controller is designed. Simulation results of the proposed control action demonstrate the effectiveness of the controller in providing robust queue management system. © Springer-Verlag Berlin Heidelberg 2004.

关键词： controllers

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A new approach to commutation in predictive control of switch reluctance motor

A new approach to commutation in predictive control of switc...

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2004 IEEE International Conference on Industrial Technology, ICIT

作者： Sadeghzadeh, Arash Araabi, Babak N. Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran P.O. Box 14395/515 Tehran Iran

This paper provides a model predictive approach to control switched reluctance motors (SRM's). A local linear neuro-fuzzy model is used to model SRM. Then a predictive control schema is devised considering an appropriate energy term in the optimization phase. Commutation occurs naturally as an outcome of the predictive control design process, not as an extra step added to the control policy. From a computational view point, we use locally linear model predictive control that with a quadratic cost and linear constraints reduces to a simple quadratic program, which can be solved very fast in a closed form. Simulation studies justify applicability of our proposed method to SRM applications. © 2004 IEEE.

关键词： Reluctance motors

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Observer-based model reference sliding-mode control of active suspension systems 6

Observer-based model reference sliding-mode control of activ...

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Ashari, Alireza Esna Yazdunpanah, Mohammad Javad Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box: 14395/515 Tehran Iran

In this paper a model reference variable structure controller (VSC) for an active suspension system is designed. A half vehicle model is used in which, the vertical and pitch motions of the mass supported by the suspension and the vertical motion of the suspension masses are considered. Sliding mode controller is applied for the purpose of disturbance attenuation. Unit vector approach, which is a sliding mode control structure for multivariable systems, is used and a robust adaptive nonlinear controller is designed. A reduced-order observer is designed to use only output information. Robust eigenstructure assignment method is implemented in the line of sliding surface design. Simulation results verify the effectiveness of the proposed nonlinear controller scheme in comparison with the passive suspension system and also H∞ technique. The output of the closed-loop system can also smoothly track a set point in a manner that the vertical position of vehicle may be regulated toward the desired point. Copyright © 2004 IF AC.

关键词： Robust control

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Hybrid systems: Generalized solutions and robust stability 1

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IFAC Proceedings Volumes 2004年第13期37卷 1-12页

作者： Rafal Goebel Joao Hespanha Andrew R. Teel Chaohong Cai Ricardo Sanfelice Center for Control Engineering and Computation & Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560

关键词： Hybrid systems generalized solutions set convergence set-valued maps asymptotic stability lyapunov functions robustness

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