Al planning systems must be able to update their internal model of the domain in order to determine the effects of a possible action. The most widely used update method is the STRIPS operator. STRIPS operators are ext...
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Current computer aided control system design environments seldom support optimization methods for controller design in a truly interactive manner. A prototype tool, called PARSIM, supporting parallel processing, optim...
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Current computer aided control system design environments seldom support optimization methods for controller design in a truly interactive manner. A prototype tool, called PARSIM, supporting parallel processing, optimization and a graphical user interface is presented addressing many of the problems inherent in current approaches to multiobjective optimization based design methods. An XWindows interface is used to simplify problem formulation and control the optimization processes. Using a previously developed interface, the computational burden may be alleviated by parallel processing.< >
Autonomous navigation in outdoor environments is a complex task that until today is realized with high cost systems. This paper presents a system for autonomous navigation in weakly structured and outdoor environments...
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Autonomous navigation in outdoor environments is a complex task that until today is realized with high cost systems. This paper presents a system for autonomous navigation in weakly structured and outdoor environments like mountain ways. The main goals are to design a robust, cheap and fast system. The proposed solution constructs a simple scene description by region segmentation and analysis of the region variation in a sequence of color images. Then, reflexive planning calculates a locally optimal travel direction from the available information.
This paper presents a vision system that can be used as a robot's visual compass in indoors environments. The robot uses a zenithal-looking camera. From the image so obtained the vision system is able to obtain th...
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Design and implementation of an autopilot for ships using multiple control strategies are discussed in this paper. Both course-keeping and track-keeping problems are involved, the course-keeping controller is the esse...
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Design and implementation of an autopilot for ships using multiple control strategies are discussed in this paper. Both course-keeping and track-keeping problems are involved, the course-keeping controller is the essential part of the track-keeping project, and the track-keeping controller is in fact a heading error calculator and transmitter. A self tuning regulator (STR) of the generalized minimum variance (GMV) type is taken as the principal controller, to which an integral controller (I) and a linear quadratic gaussian controller (LQG) are superposed to improve the performance of ship motion control and to enhance the energy saving outcomes. When the heading error exceeds a certain threshold a PlO controller or a knowledge-based multi-mode controller (MC), depending on the control is in course-keeping or track-keeping mode, will take over the heading control to overcome the severe environment disturbances or to speed up the track-following processes. Laboratory simulations and full scale sea trials have been performed, the main results are briefly reported.
A robust discrete-time PI controller can be designed for stable systems based on a simple model. The controller has three tuning parameters, one of them being the sampling period, which can be chosen from the step res...
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A robust discrete-time PI controller can be designed for stable systems based on a simple model. The controller has three tuning parameters, one of them being the sampling period, which can be chosen from the step response of the plant. The relationships between the parameters assuring the stability of the system are derived. The structure of the controller is a particular case of Internal Model control (IMC) (Morari and Zafiriou, 1989), and can also be used to control processes with large dead times. The paper establishes the model and derives the discrete controller. The conditions for asymptotic stability of the closed-loop system for an unknown stable plant are derived. The paper applies the proposed scheme to plant with large dead times and its relationship with the predictive PI controller of (Hagglund, 1992) is shown.< >
The problem of correctness and timing of reactions of an agent in interaction with a physical environment is addressed. To this end, a method based on composition of separate models of the software and the environment...
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The problem of correctness and timing of reactions of an agent in interaction with a physical environment is addressed. To this end, a method based on composition of separate models of the software and the environment is used. To use available methods within the field of software verification, discrete representations of the continuous components are described systematically. A nontrivial case study within the domain of road traffic is used to illustrate the derivation of discrete models without losing information relevant to the verification task. The different modeling stages involved are shown first within an untimed formalism, and then in a formalism incorporating quantitative time.< >
Introduced in this paper is a land-based automatic vehicle location (AVL) expert system in the city and the suburbs environment of Beijing, China. Some issues about the data structure and graphic display are taken int...
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Introduced in this paper is a land-based automatic vehicle location (AVL) expert system in the city and the suburbs environment of Beijing, China. Some issues about the data structure and graphic display are taken into account. A variety of expert knowledges and rules are stored in static or dynamic data bases for applications. A* algorithm is applied to determine the minimum cost route between the start and goal nodes. An example on route finding is given to show the effectiveness of A* algorithm. The route guidance functions are discussed in some detail. It is shown that the expert system of AVL developed in this paper is successful.< >
In this paper, we consider the problem of robust pole placement using fixed-order compensation. It is assumed that the coefficients of the numerator and denominator polynomials of the uncertain plant depend muitilinea...
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In this paper, we consider the problem of robust pole placement using fixed-order compensation. It is assumed that the coefficients of the numerator and denominator polynomials of the uncertain plant depend muitilinearly on the "parameters" and that the design specifications are given in the form of a two-pole dominant model. We present a design methodology for choosing a fixed-order compensator which ensures that all the roots of the closed loop polynomial lie in the regions prescribed by the two-pole dominant model.
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