A new approach to two-player zero-sum differential games with convex-concave cost function is presented. It employs the tools of convex and variational analysis. A necessary and sufficient condition on controls to be ...
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A new approach to two-player zero-sum differential games with convex-concave cost function is presented. It employs the tools of convex and variational analysis. A necessary and sufficient condition on controls to be an open-loop saddle point of the game is given. Explicit formulas for saddle controls are derived in terms of the subdifferential of the function conjugate to the cost. Existence of saddle controls is concluded under very general assumptions, not requiring the compactness of control sets. A Hamiltonian inclusion, new to the field of differential games, is shown to describe equilibrium trajectories of the game.
In this paper, a virtual factory using the manufacturing message specification (MMS) companion standard is implemented. The MMS companion standard (9506-3/spl sim/9506-7) and virtual machines are designed and implemen...
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In this paper, a virtual factory using the manufacturing message specification (MMS) companion standard is implemented. The MMS companion standard (9506-3/spl sim/9506-7) and virtual machines are designed and implemented for robot, numerical controller (NC), programmable logic controller (PLC), and process control (PC). Finally, the MMS Internet monitoring system (MIMS) is developed for the testing system.
When representatives of high-technology corporations come to US University campuses to recruit science and engineering graduates, they will be hard pressed to find many ethnic minorities, women or people with disabili...
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When representatives of high-technology corporations come to US University campuses to recruit science and engineering graduates, they will be hard pressed to find many ethnic minorities, women or people with disabilities. Is anybody surprised on this? The problem is a deep-rooted one indeed. Science, Mathematics and engineering education is among some of the shrinking majors for USA's graduating high school seniors. The problem is consistently and uniformly spread over the whole population of the United States (including the majority white population), and is even more pronounced among minority population. Some of our major corporations with a dominant role in the international market place are losing grounds to European and Asian competitors, in part, due to lack of vision to ensure for future supply of competent high-tech work force. Here by minority we mean African American, Native American (American Indians), Hispanic American, Alaskans and Pacific Islanders.
In this paper, the design of explicit rate-based congestion control in high speed communication networks is considered. At a bottleneck node, there are multiple best-effort sources competing with other high priority c...
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In this paper, the design of explicit rate-based congestion control in high speed communication networks is considered. At a bottleneck node, there are multiple best-effort sources competing with other high priority cross traffic sources. The goal of congestion control is to achieve high link utilization, low packet loss, low delay, and fairness among the best-effort sources. In this paper, the high priority traffic is described by an autoregressive integrated moving average (ARIMA) process. To deal with the propagation delays associated with the best-effort sources, model predictive control, particularly, generalized predictive control, techniques are proposed to solve the congestion problem here. It is demonstrated that the proposed controller performs well and is robust to delay uncertainties. In addition, in a multiple-nodes configuration, the controller provides max-min fairness.
Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optim...
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ISBN:
(纸本)0780372727
Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.
We propose a global high-gain scaling based observer/controller for systems in the uncertain generalized output-feedback canonical form. Time-varying nonlinear parametric uncertainty is allowed to occur coupled with u...
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We propose a global high-gain scaling based observer/controller for systems in the uncertain generalized output-feedback canonical form. Time-varying nonlinear parametric uncertainty is allowed to occur coupled with unmeasured states in the system dynamics. This represents a significant generalization from existing results which allow unknown parameters only in output-dependent terms. This restriction in previous results is mainly owing to the fact that no general solution is known for systems involving bilinear terms in unmeasured states. The design utilizes the dual architecture of a high-gain observer and controller with the underlying state scaling being dynamically output-dependent. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution for the benchmark open problem proposed in our earlier work with the provision that a magnitude bound on the unknown parameter be given.
Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the...
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ISBN:
(纸本)0780372727
Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control paramete. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm in aspects of external and internal impulses.
Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the are...
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Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.
In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This proble...
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In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.
We present a result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle's invariance prin...
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We present a result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle's invariance principle to the case of general nonlinear time-varying systems. We show the utility of our theorem by analyzing uniform asymptotic stability of the origin for nonholonomic: systems in closed loop with particular smooth time-varying feedbacks previously proposed in the literature.
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