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Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR)

Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Baghani M.N. Ahmadabadi A. Harati Robotics and AI Lab Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole.

关键词： Climbing robots Wheels Mobile robots Robot kinematics Road transportation Intelligent robots Inspection Cleaning Artificial intelligence Stability

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Optimal design of robust adaptive controllers a QFT-EEAS based approach using random optimization techniques

Optimal design of robust adaptive controllers a QFT-EEAS bas...

引用

International Conference on Control and Automation (ICCA)

作者： A.K. Sedigh O. Namaki-Shoushtari B.N. Araabi Electrical Engineering Department K.N. Toosi University of Technology Tehran Iran Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

Quantitative design of robust control systems proposes a transparent and practical controller design methodology for uncertain plants. In the case of large plant uncertainties, the resulted robust controller would be unnecessarily high order with large bandwidth. On the other hand, adaptive controllers can also tackle the control of unknown uncertain plants. However, the controller would be nonlinear and time varying. In this paper, a combined design methodology based on quantitative feedback theory (QFT) and externally excited adaptive system (EEAS) is proposed. This controller can handle large plant parameter uncertainties with lower bandwidth. Also, a random optimization technique is employed to optimally design the overall robust adaptive controller. Simulation results are used to show the effectiveness of the proposed design methodology.

关键词： Robust control Programmable control Adaptive control Optimal control Design optimization Design methodology Bandwidth Control systems Uncertainty Feedback

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Relative Velocity Updating in Parallel Particle Swarm Optimization Based Lagrangian Relaxation for Large-scale Unit Commitment Problem

Relative Velocity Updating in Parallel Particle Swarm Optimi...

引用

IEEE Region 10 International Conference TENCON

作者： Songsak Chusanapiputt Dulyatat Nualhong Sujate Jantarang Sukumvit Phoomvuthisarn Department of Electrical Power Engineering Faculty of Engineering Mahanakom University of Technology Bangkok Thailand Department of Computer Engineering Faculty of Engineering Mahanakom University of Technology Bangkok Thailand Center of Excellence in Electrical Power Technology Faculty of Engineering Chulalongkom University Bangkok Thailand

This paper presents an effectiveness of combined parallel relative particle swarm optimization (PRPSO) and Lagrangian relaxation (LR) for a large-scale constrained unit commitment (UC) problem in electric power system. The proposed algorithm incorporates PRPSO with a new relative velocity updating (RVU) approach to tradeoff the solution of each slave processing unit. The parallel algorithm based on the synchronous parallel implementation is developed to consider the neighborhoods decomposition of multiple particle swarm optimizers. The proposed PRPSO divides the neighborhood into sub-neighborhood so that computational effort is reduced and UC solutions are remarkably improved. The proposed method is performed on a test system up to 100 generating units with a scheduling time horizon of 24 hours. The numerical results show an economical saving in the total operating cost when compared to the previous literature results. Moreover, the proposed PRPSO based RVU scheme can considerably speed up the computation time of a traditional PSO, which is favorable for a large-scale UC problem implementation.

关键词： Particle swarm optimization Lagrangian functions Large-scale systems Power engineering and energy Cost function Power generation Power generation economics Power engineering Velocity control Control systems

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Towards the performance analysis of IEEE 802.11 in multi-hop ad-hoc networks

Towards the performance analysis of IEEE 802.11 in multi-hop...

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IEEE Conference on Wireless Communications and Networking

作者： Y. Barowski S. Biaz P. Agrawal Computer Science and Software Engineering Department Samuel Ginn College of Engineering Aubum University Auburn AL USA Wireless Engineering Research and Education Center Samuel Ginn College of Engineering Aubum University Auburn AL USA

The performance of IEEE 802.11 in multi-hop wireless networks depends on the characteristics of the protocol itself, and on those of the upper layer routing protocol. Extensive work has been done to analyze and evaluate the performance of single hop networks under saturated traffic conditions, either through simulations or mathematical modeling. Little work has been done on the analysis of the performance of IEEE 802.11 protocol under the unsaturated traffic conditions that arise in multi-hop networks. The paper proposes analytical models and scenarios for such an analysis. ns-2 simulations with different network configurations validate the proposed models for performance metrics such as throughput, message delay, average queue length, and energy consumption. Simulation results show that the proposed models work well. Key to the modeling of the multi-hop networks is a treatment of the upper layer routing protocols that can affect the network performance through the way they forward packets and the impact of that on the traffic load. The model proposed takes into account the impact of the upper layer routing protocol by introducing a packet acceptance factor with which each relay station accepts packets from the wireless medium before forwarding the same.

关键词： Performance analysis Spread spectrum communication Ad hoc networks Routing protocols Telecommunication traffic Analytical models Traffic control Wireless networks Wireless application protocol Mathematical model

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Combining matching scores in identification model

Combining matching scores in identification model

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International Conference on Document Analysis and Recognition

作者： S. Tulyakov V. Govindaraju Center of Excellence for Document Analysis and Recognition (CEDAR) Department of Computer Science & Engineering State University of New York University at Buffalo USA

The paper discusses a problem of combining recognition scores for different classes produced by one recognizer during one recognition attempt. This problem arises in identification problems which we define as 1:N classification problems with big or variable N. By using artificial example we show that intuitive solution of making identification decision based solely on the best matching score is frequently suboptimal. Paper presents reasons for such behavior, and draws parallels with score normalization technique used in speaker identification. Two examples of real life applications illustrate the possible benefits of properly combining recognition scores.

关键词： Pattern recognition Handwriting recognition Pattern matching Artificial intelligence Text analysis Speech Biometrics Venus computer science Pattern classification

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Using Visualization to Understand Dependability: A Tool Support for Requirements Analysis

Using Visualization to Understand Dependability: A Tool Supp...

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Annual IEEE/ NASA Goddard Workshop on software engineering

作者： P. Donzelli D. Hirschbach V. Basili Computer Science Department University of Maryland College Park MD USA Computer Science Department Fraunhofer Center for Experimental Software Engineering University of Maryland College Park MD USA

Dealing with dependability requirements is a complex task for stakeholders and analysts as many different aspects of a system must be taken into account at the same time: services characteristics and quality properties, failure modes and tolerable failure rates, reactions and recovery time in case of failure, and so on. Visualization helps cope with this complexity. In this paper, we build upon a practical framework for eliciting and modeling dependability requirements to show how graphical data representation can facilitate requirements analysis during the requirements elicitation and definition process. An air traffic control system, adopted as a testbed within the NASA high dependability computing project, is used as a case study

关键词： software engineering Data visualization NASA Failure analysis Educational institutions Air traffic control System testing computer science Information processing Context-aware services

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Adoption-Centric software Maintenance Process Improvement via Information Integration

Adoption-Centric Software Maintenance Process Improvement vi...

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IEEE International Workshop on software Technology and engineering Practice (STEP)

作者： Shihong Huang S. Tilley M. VanHilst D. Distante Computer Science & Engineering Florida Atlantic University USA Department of Computer Sciences Florida Institute of Technology USA Research Center on Software Technology University of Sannio Italy

software process improvement is an iterative activity, normally involving measurement, analysis, and change. For most organizations, the existing software process has substantial momentum and is seemingly immovable. Any change to existing process activities causes turbulence in the organization, which can be a significant barrier to adoption of the quality improvement initiative. This paper presents a quiescent, non-invasive, and adoption-centric approach to process improvement for software maintenance. The approach realizes the goal of improving the efficiency of existing processes by minimizing changes to existing workflows and focusing on integrating enhancements at the micro-level of the system. By leveraging information buried in existing data, making it explicit, and integrating the results with known facts, more informed decision-making is made possible. The approach is illustrated with a model problem concerning redocumentation of an embedded control system in the context of performing higher-quality software maintenance

关键词： software maintenance computer science software systems Production Manufacturing software engineering software tools software measurement Information analysis Decision making

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Output feedback reconfigurable controller design using eigenstructure assignment: post fault order change

Output feedback reconfigurable controller design using eigen...

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International Conference on Control and Automation (ICCA)

作者： A.E. Ashari A.K. Sedigh M.J. Yazdanpanah Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical and Electronics Engineering Department K.N. Toosi University of Technology Tehran Iran

This paper proposes a reconfigurable controller design method for multivariable systems, which is capable of dealing with order-change problems that may occur in an after-fault system. A new method is proposed to recover the nominal closed-loop performance after a fault occurrence in the system. This approach uses the eigenstructure assignment. Unlike the previously developed approaches, the new method can be implemented in the case when the fault leads to order change of the after-fault model. Also, it can be used to solve the problems in which the set of after-fault open-loop and closed-loop eigenvalues have common elements, especially when the system becomes uncontrollable or unobservable due to the fault. The method guarantees the stability of the reconfigured closed-loop system in the presence of output feedback. Finally, simulation results are provided to show the effectiveness of the proposed method for an aircraft model.

关键词： Output feedback Control systems Stability Eigenvalues and eigenfunctions Sliding mode control Design methodology MIMO Process control Open loop systems Java

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Reconfigurable sliding-mode control design using genetic algorithms and eigenstructure assignment

Reconfigurable sliding-mode control design using genetic alg...

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International Conference on Control and Automation (ICCA)

作者： A.E. Ashari M.J. Yazdanpanah A.K. Sedigh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical and Electronics Engineering Department K.N. Toosi University of Technology Tehran Iran

This paper proposes a reconfigurable control system design methodology using the sliding-mode control. The advantage of the proposed sliding-mode reconfigurable control methodology is that it is more robust than the simple static reconfigurable feedback. An approach is suggested to redesign the sliding surface for the after-fault variable structure controller using the genetic algorithms. So, the new sliding-mode controller is capable of preserving much of the dynamics of the original unfailed system. Simulation results are provided to show the effectiveness of the proposed method.

关键词： Sliding mode control Algorithm design and analysis Genetic algorithms Control systems Feedback Robust control Stability Java Uncertainty State-space methods

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H//sub/spl infin// control of linear parameter-dependent state-delayed systems

H//sub/spl infin// control of linear parameter-dependent sta...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： H.R. Karimi B. Moshiri P.J. Maralani B. Lohmann Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Institute of Automatic Control Technical University of Munich Munich Germany

In this paper, we deal with the issue of robust delay-independent asymptotic stability and robust disturbance attenuation problem for linear parameter-dependent systems. Using Hamiltonian-Jacoby-Isaac approach, a parameter-dependent LMI optimization is obtained. It is shown that by utilizing polynomial parameter-dependent quadratic Lyapunov functions, a parameter-dependent LMI optimization problem is derived. Therefore, state feedback control is determined by solving a parameter-independent LMI. Finally, the applicability of the proposed design is illustrated on a simple example

关键词： Control systems Lyapunov method Robust stability Process control Polynomials Attenuation Linear systems Sufficient conditions Vectors Intelligent control

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