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Real time control design for mobile robot fault tolerant control. Introducing the ARTEMIC powered mobile robot

Real time control design for mobile robot fault tolerant con...

引用

2010 IEEE/ASME International Conference on Mechatronic and Embedded systems and Applications, MESA 2010

作者： Axenie, Cristian Solea, Razvan Automation and Industrial Informatics Department Computer Science Faculty Dunarea de Jos University Stiintei Street Galati Romania Control Systems and Applied Informatics Computer Science Faculty Dunarea de Jos University Stiintei Street Galati Romania

ISBN: (纸本)9781424471010

Real-time applications should timely deliver synchronized data-sets, minimize latency and jitter in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. The paper focuses on design details and performance analysis at the system operation level. Some stress tests are executed during normal operation to validate the proposal. Specific design, development and implementation details will be provided in this paper. © 2010 IEEE.

关键词： Mobile robots

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Mobile Robot Fault Tolerant control. Introducing ARTEMIC

Mobile Robot Fault Tolerant Control. Introducing ARTEMIC

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2010 2nd International Conference on Education Technology and Computer(第二届IEEE教育技术与计算机国际会议 ICETC 2010)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty from "Dunarea de Jos" Univ Control Systems and Applied Informatics Computer Science Faculty from "Dunarea de Jos" Stiintei Stre

Real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Mobile Robotics Fault Tolerant control Sliding Mode EKF Real-Time Linux Distributed control

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Real Time control Design for Mobile Robot Fault Tolerant control. Introducing the ARTEMIC Powered Mobile Robot.

Real Time Control Design for Mobile Robot Fault Tolerant Con...

引用

2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Cristian Axenie Razvan Solea Automation and Industrial Informatics Department Computer Science Faculty from ”Dunarea de Jos” Univ Control Systems and Applied Informatics Computer Science Faculty from ”Dunarea de Jos” University St

关键词： Mobile Robotics Fault Tolerant control Sliding Mode EKF Real-Time Linux Distributed control

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Nontraditional Approach to XML Web Services Interactions

Nontraditional Approach to XML Web Services Interactions

引用

International Conference on Internet and Web Applications and Services (ICIW)

作者： Adriana Georgieva Bozhidar Georgiev Fac. Applied Mathematics and Informatics Technical University of Sofia Sofia Bulgaria Fac. Computer Systems and Control Technical University of Sofia Sofia Bulgaria

ISBN: (纸本)9781424467280;9780769540221

In this paper, are presented some possibilities for application of an algebraic method which handles XML hierarchical data structures and makes faster the XML search mechanism. The article briefly presents the concepts of Web Services, Service-Oriented Architecture and other modern software paradigms for organization of the processes over internet. The accelerating techniques for XML navigation through linear algebra tools are also discussed. Web Services use the internet as the communication medium and focus on the internet-based standards, which include the Simple Object Access Protocol for transmitting data, Web Services Description Language for defining services, and other message interactions. The presented paper offers one different point of view concerning the building of an algebraic formalism for navigation over XML hierarchy. This nontraditional approach, based on the linear algebra theory, leads to easier interface for XML search techniques that could eliminate some existing language constructions.

关键词： XML Web services Web and internet services Navigation Linear algebra Application software Data structures Service oriented architecture Acceleration Communication standards

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Adaptive sliding mode controller design for mobile robot fault tolerant control. introducing ARTEMIC.

Adaptive sliding mode controller design for mobile robot fau...

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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty Dunãrea de Jos Galati University Galati Romania Control Systems and Applied Informatics Computer Science Faculty Dunãrea de Jos Galati University Galati Romania

Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate an adaptive nonlinear controller for the robot operation in the presence of disturbances and modeling inaccuracies. This paper introduces an adaptive real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Sliding mode control Programmable control Adaptive control Mobile robots Fault tolerance Robot control Delay Artificial intelligence Fuzzy control Fuzzy systems

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Systematic analysis of the electric power and magnetic energy for linear electric and magnetic circuits with modifiable parameters

Systematic analysis of the electric power and magnetic energ...

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Eurocon

作者： Horia Andrei Fanica Spinei Ion Caciula Paul C. Andrei Control Systems and Computer Engineering Electrical Engineering Bucharest Polytechnic Institute Romania Radiating Systems Group Department of Applied Physics Faculty of Physics University of Bucharest Romania Romania Control Systems and Applied Informatics Valahia University of Targoviste Romania Department of Applied Informatics for Electrical Engineering Faculty of Electrical Engineering University of Bucharest Romania

The paper presents a new systematic analysis method in order to estimate the total absorbed power and energy in linear electric and magnetic circuits with modifiable parameters. The relation between the variation in one or all the resistances and reluctances of the networks and the variation of total absorbed power and energy are discussed using the Lagrange's method. For the considered applications the results are obtained with Mathematica and Maple useful for establishing the variation limits of absorbed power and energy.

关键词： Magnetic analysis Magnetic circuits Lagrangian functions Switching circuits H infinity control Stationary state Nonlinear systems

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Engineering methods and software support for control of Distributed Parameter systems

Engineering methods and software support for control of Dist...

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Asian control Conference

作者： G. Hulko C. Belavy P. Bucek K. Ondrejkovic P. Zajicek University Center of Control of Distributed Parameter Systems Slovak University of Technology Bratislava Bratislava Slovakia Institute of Automation Measurement and Applied Informatics Slovak University of Technology Bratislava Bratislava Slovakia

ISBN: (纸本)9781424454402

In this paper, advanced engineering methods for modeling and discrete-time control of distributed parameter systems are presented. The dynamics of these systems is modeled by means of numerical structures defined on complex-shape 3D definition domains, similarly to a vast majority of engineering analysis and software simulation tools, which are heavily utilized among the engineering community for modeling and simulation of continuum mechanics systems. Inspired by a powerful capability of these numerical software packages along with the wide acceptance and utilization of Matlab/Simulink as a control systems design environment, the package distributed parameter systems blockset for Matlab & Simulink is used for modeling and simulation of a closed-loop feedback control system. In this paper, heating of a complex-shape 3D body is presented as a practical example of a methodology stated in the text. The techniques offered are completed by an user-friendly Web service tool, suitable for interactive solution of modeling and control problems of distributed parameter systems via Internet.

关键词： Distributed control control systems Distributed parameter systems Mathematical model Power system modeling Power engineering and energy Analytical models Software packages Software tools control system synthesis

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Tire slip fuzzy control of a laboratory Anti-lock Braking System

Tire slip fuzzy control of a laboratory Anti-lock Braking Sy...

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European control Conference (ECC)

作者： Mircea-Bogdan Rădac Radu-Emil Precup Stefan Preitl József K. Tar Keith J. Burnham Department of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Budapest Hungary Control Theory and Applications Centre Coventry University Coventry UK

A tire slip fuzzy control solution is designed and implemented in the framework of an Anti-lock Braking System (ABS) comprising a highly nonlinear controlled plant. The fuzzy controllers are designed to work for locally linearized models of the plant. Their parameters are tuned by mapping from simple PI controllers in terms of the modal equivalence principle. The experience from the experiments is incorporated in the design of the rules and the stability analysis enables the controller design. The benefits of filtering the input of the fuzzy controller are highlighted in real-time experimental results.

关键词： Wheels Tires Stability analysis Actuators Friction Fuzzy control Mathematical model

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Tire slip fuzzy control of a laboratory anti-lock braking system 10

Tire slip fuzzy control of a laboratory anti-lock braking sy...

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2009 10th European control Conference, ECC 2009

作者： Radac, Mircea-Bogdan Precup, Radu-Emil Preitl, Stefan Tar, Jozsef K. Burnham, Keith J. Department of Automation and Applied Informatics 'Politehnica' University of Timisoara Bd. V. Parvan 2 Timisoara300223 Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi út 96/B Budapest1034 Hungary Control Theory and Applications Centre Coventry University Armstrong Siddeley Building Priory Street CoventryCV1 5FB United Kingdom

ISBN: (纸本)9783952417393

关键词： Fuzzy control

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