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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Maggio, Martina Klein, Cristian Årzén, Karl-Erik Department of Automatic Control Lund University Sweden Department of Computing Science Umeå University Sweden

ISBN: (纸本)9783902823625

Cloud computing is an application hosting model providing the illusion of infinite computing power. However, even the largest datacenters have finite computing capacity, thus cloud infrastructures have experienced overload due to overbooking or transient failures. The topic of this paper is the comparison of different control strategies to mitigate overload for datacenters, that assume that the running cloud applications are cooperative and help the infrastructure in recovering from critical events. Specifically, the paper investigates the behavior of different controllers when they have to keep the average response time of a cloud application below a certain threshold by acting on the probability of serving requests with optional computations disabled, where the pressure exerted by each request on the infrastructure is diminished, at the expense of user experience. © IFAC.

关键词： Computer control systems

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Fast Constrained Generalized Predictive control with ADMM Embedded in an FPGA

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IEEE LATIN AMERICA TRANSACTIONS 2020年第2期18卷 422-429页

作者： Berndsen, V Martins, D. Costa, R. Normey, J. Department of Automation and Systems Federal University of Santa Catarina Florianópolis Santa Catarina Brazil Department of Control Automation and Computing Federal University of Santa Catarina Blumenau Santa Catarina Brazil

Constrained model predictive control (MPC) usually requires the computation of a quadratic programming problem (QP) at each sampling instant. This is computationally expensive and becomes a limitation to embed and use MPC in plants with fast sampling rates. Several special solvers for MPC problems have been proposed in the last years, but most of them focus on state-space formulations, which are very popular in academia. This paper proposes a solution based on alternated direction method of multipliers, tailored for embedded systems and applied to generalized predictive control (GPC), which is a very popular formulation in industry. Implementations issues of parallel computation are discussed in order to accelerate the time required for the operations. The implementation in an FPGA proved to be quite fast, with the observed worst case execution time of 11,54 mu s for the presented example. These results contribute to embed GPC applications in processes that are typically controlled by classical controllers because of their fast dynamics.

关键词： Alternated direction method of multipliers embedded MPC fast GPC FPGA application

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Angular Speed control of Brushed DC Motor Using Nonlinear Method: Design and Experiment 35

Angular Speed Control of Brushed DC Motor Using Nonlinear Me...

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第35届中国控制会议

作者： ZHANG Sen GU Wanli HU Yunfeng DU Juan CHEN Hong Department of Control Science and Engineering Jilin University State Key Laboratory of Automotive Simulation and Control Jilin University Computing Center of Jilin Province

ISBN: (纸本)9781509009107

The major concentration of this study is on developing a novel control system with response and tracking accuracy features capable of precise angular speed regulation of brushed DC motor. Towards this objective, speed loop controller of brushed DC motor based on Triple-step nonlinear method has been designed. The Triple-step nonlinear method consists of the steady-state control, the reference variation-based feed-forward control, the error feedback control. The designed nonlinear controller has the advantage of concision and specific signification. The controller can greatly enhance the transient response performance of brushed DC motor. When a brushed DC motor running at low angular speed, the system appears the speed fluctuation and dead-zone characteristic. Therefore, the friction model of motor is considered in the design of controller. Current dynamic is neglected due to the fast electric response, the commonly used feedforward controller and PI feedback controller is designed. The effectiveness of the control method compared with conventional PID controllers is verified through experiments.

关键词： Brushed DC Motor Triple-step Method Friction model Angular Speed control

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Robotic Nanowire Handling for Prototypic NEMS Devices

Robotic Nanowire Handling for Prototypic NEMS Devices

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Bartenwerfer, Malte Fatikow, Sergej Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg D-26129 Oldenburg Germany

ISBN: (纸本)9781467356411;9781467356435

This paper presents the usage of a nanorobotic handling technique for the transfer of individual copper-nanowires with diameters between 150nm and 400nm and length of about 10 mu m. Handling and assembly are inside the SEM and use electron beam induced deposition as well as focused ion beam milling. The handled nanowires are used to assembly a NEMS device, namely an electrostatic switch design, where the nanowire acts as switching contact. Working principle, reproducibility and specific values of the switches are investigated, as well as the conductivity of the nanowires themself.

关键词： electron beam deposition electrostatic devices microassembling microrobots nanoelectromechanical devices nanowires robotic assembly

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Policy Trade-Offs in the NIESR Model: Exercises Using Optimal control

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National Institute Economic Review 1983年第1期105卷 36-45页

作者： Brooks, Simon Henry, Brian Karakitsos, Elias National Institute of Economic and Social Research Department of Computing and Control Imperial College London United Kingdom

This article investigates the consequences of alternative fiscal packages by applying optimal control techniques to the National Institute econometric model. Britton (1983) provides an assessment of alternative packages by using ready reckoners derived from simulations of the NIESR model reported in Brooks and Henry (1983). The present investigation may be seen as a more systematic analysis, using the techniques of optimal control. Such an assessment inevitably concerns the measurement of trade-offs between the major objectives of government policy, an issue which has generated much controversy over the last decade. Early interpretations of the Phillips Curve for example tended to regard the empirical finding of an inverse relation between inflation and unemployment as providing a menu for policy choice. According to this interpretation, aggregate demand policy could be used to select the best combination of inflation and unemployment rates available subject to the constraint set by the Phillips Curve. Since that time, parallel developments in the theory of wage inflation, expectations formation, and macroeconomic policy have produced considerable scepticism about the existence of this trade-off, questioning whether the implied choice between alternative combinations of inflation and unemployment is open to governments using aggregate demand policy. Much of this scepticism was coincident with growing dissatisfaction with the Phillips Curve as a statistical representation of wage inflation, but we will not be directly concerned with this aspect of the argument here. Two points however do arise from this debate which are of direct relevance to the subject matter of this article. The first is that a trade-off between inflation and unemployment may exist even if the labour market is not characterised by a Phillips Curve. The second is the central role played by natural rate concepts in the debate on the effectiveness of aggregate demand policy.

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An Elementary Derivation of Rosenbrock's Minimal Realization Algorithm

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IEEE Transactions on Automatic control 1973年第3期AC-18卷 306-306页

作者： Mayne, D.Q. Department of Computing and Control Imperial COllege of Science and Technology London Exhibition Road United Kingdom

关键词： control systems Systems engineering and theory State-space methods controllability Eigenvalues and eigenfunctions Symmetric matrices control system analysis Linear systems control theory Process control

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Efficient Rate control Algorithm for Hierarchical Video Coding

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Journal of Donghua University(English Edition) 2012年第3期29卷 222-226页

作者：陆千里岑锋许维胜朱芳来 The Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji University Department of Control Science&Engineering Tongji University

For rate control (RC) of hierarchical structure coding, an independent rate-quantization (R-Q) model was proposed based on mean absolute differences (MADs) in different temporal levels (TLs). In the proposed R-Q model, a novel MAD model was developed according to the hierarchical structure. The experimental results demonstrate that the proposed algorithm provides better performance, in terms of average peak signal-to-noise ratio (PSNR) and quality smoothness, than the H.264 reference model, JM14.2, under various sequences.

关键词： rate-quantization (R-Q) model rate control(RC) video coding peak signal-to-noise ratio (PSNR) hierarchical structure

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Enhanced Discrete-Time Differentiators for State Observers of Sensorless Permanent Magnetic Synchronous Motor Drives 8

Enhanced Discrete-Time Differentiators for State Observers o...

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8th Southern Power Electronics Conference and the 17th Brazilian Power Electronics Conference, SPEC / COBEP 2023

作者： Curi Busarello, Tiago Davi Federal University of Santa Catarina Department of Control Automation and Computing Engineering Blumenau Brazil

ISBN: (纸本)9798350321128

In sensorless motor drive applications, the rotor and the speed of the rotor are usually estimated through state observer algorithms. A key part of such algorithm is the computation of the derivative of the rotor position, resulting in the estimated rotor speed. computing derivatives brings challenges due to their inherent noise amplification characteristic. This paper presents enhanced discrete-time differentiators for state observers of sensorless permanent magnetic synchronous motor drives. A class of discrete-time differentiators based on finite impulse response filters and one based on Kalman filter are proposed. Details about how to obtain the coefficients of the differentiators are presented. To verify the performance of the proposed differentiators, all of them were executed in F28379D LaunchPad microcontroller. Results show that the proposed discrete-time differentiators compute the derivative of the rotor position signal in a satisfactory manner, even in the presence of noise. © 2023 IEEE.

关键词： Differentiators digital filters Kalman filter state observer

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Ontology-based design pattern recognition

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12th International Conference on Knowledge-Based Intelligent Information and Engineering Systems

作者： Kirasic, Damir Basch, Danko Information Support Center University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Faculty of Electrical Engineering and Computing

ISBN: (纸本)9783540855620

This paper presents ontlology-based architecture for pattern recognition in the context of static source code analysis. The proposed system has three subsystems: parser, OWL ontologies and analyser. The parser subsystem translates the input coded to AST that is constructed as an XML tree. The OWL ontologies define code patterns and general programming concepts. The analyser subsystem constructs instances of the input code as ontology individuals and asks the reasoner to classify them. The experience gained in the implementation of the proposed system and some practical issues are discussed. The recognition system successfully integrates the knowledge representation field and static code analysis. resulting in greater flexibility of the recognition system.

关键词： knowledge-based system ontology-based system static code analysis description logics OWL application formal pattern definition

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Complete coverage D*;Algorithm for path planning of a floor-cleaning mobile robot

Complete coverage D*;Algorithm for path planning of a floor-...

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作者： Dakulović, Marija Horvatić, Sanja Petrović, Ivan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Croatia

ISBN: (纸本)9783902661937

Inspired by the path transform (PT) algorithm of Zelinsky et al. the novel algorithm of complete coverage called complete coverage D*;(CCD*;) algorithm is developed, based on the D*;search of the two-dimensional occupancy grid map of the environment. Unlike the original PT algorithm the CCD*;algorithm takes the robot's dimension into account, with emphasis on safety of motion and reductions of path length and search time. Additionally, the proposed CCD*;algorithm has ability to produce new complete coverage path as the environment changes. The algorithms were tested on a Pioneer 3DX mobile robot equipped with a laser range finder. © 2011 IFAC.

关键词： Mobile robots

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