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15th International Conference on Ubiquitous Robots, UR 2018

作者： Nunez, Alberto Perez Orsag, Matko Lofaro, Daniel M. Electrical Engineering Department George Mason University United States Department of Control and Computer Engineering University of Zagreb Croatia Department of Electrical and Computer Engineering George Mason University FairfaxVA United States

ISBN: (纸本)9781538663349

When operating a submerged vehicle near the sea floor one of the primary sensors that are used are the cameras. These cameras become obstructed by silt and other debris when the ground is disturbed by the thrust from the submerged vehicles screws/thrusters. In many cases these visual sensors become useless in these conditions. This paper shows works towards creating a robot that can operate near the sea floor while keeping the area silt/debris free and viewable. Specifically, this paper shows the design of a multi-legged robot with long thin legs to reduces disturbances and vortexes caused by the robot's motion underwater. Within the design is the ability to land on its feet by being able to move its center of buoyancy during decent from the surface to the sea floor. control methods for achieving this are also included. All design choices, FEA, load analysis, and other pertinent specification requirements are also included. The result of this work is the design, fabrication, and creation of the IP-68 at 3 meters rated quadruped that has a tip to tip leg span of more than two meters. © 2018 IEEE.

关键词： Cameras

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Higher Harmonics and Power in Circuits with LED Light Sources

Higher Harmonics and Power in Circuits with LED Light Source...

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2018 Conference on Electrotechnology: Processes, Models, control and computer Science, EPMCCS 2018

作者： Straczynski, Pawel Cislik, Miroslaw W. Department of Electrical Engineering Automatic Control and Computer Science Kielce University of Technology Kielce Poland

ISBN: (纸本)9781538682555

The paper deals with a power measurement methods and higher harmonics in circuit with LED light sources. The laws on the electric power quality in Poland has been presented. Current and voltage waveforms are analysed. The frequency spectrum of the current circuit is presented. The coefficients of power quality were determined and reference to the standard. The powers in the circuit with LED lamps were calculated and analysed. © 2018 IEEE.

关键词： Timing circuits

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A Non-Stop Double Buffering Mechanism for Dataflow Architecture

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Journal of computer Science & Technology 2018年第1期33卷 145-157页

作者： Xu Tan Xiao-Wei Shen Xiao-Chun Ye Da Wang Dong-Rui Fan Lunkai Zhang Wen-Ming Li Zhi-Min Zhang Zhi-Min Tang State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi 214125 China Department of Computer Science The University of Chicago Chicago IL 60637 U.S.A.

Double buffering is an effective mechanism to hide the latency of data transfers between on-chip and off-chip memory. However, in dataflow architecture, the swapping of two buffers during the execution of many tiles decreases the performance because of repetitive filling and draining of the dataflow accelerator. In this work, we propose a non-stop double buffering mechanism for dataflow architecture. The proposed non-stop mechanism assigns tiles to the processing element array without stopping the execution of processing elements through optimizing control logic in dataflow architecture. Moreover, we propose a work-flow program to cooperate with the non-stop double buffering mechanism. After optimizations both on control logic and on work-flow program, the filling and draining of the array needs to be done only once across the execution of all tiles belonging to the same dataflow graph. Experimental results show that the proposed double buffering mechanism for dataftow architecture achieves a 16.2% average efficiency improvement over that without the optimization.

关键词： non-stop double buffering dataflow architecture high-performance computing

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Non-linear model predictive control with adaptive time-mesh refinement

Non-linear model predictive control with adaptive time-mesh ...

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2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2018

作者： Potena, Ciro Corte, Bartolomeo Della Nardi, Daniele Grisetti, Giorgio Pretto, Alberto Sapienza University of Rome Department of Computer Control and Management Engineering Antonio Ruberti Rome Italy

ISBN: (纸本)9781538659748

In this paper, we present a novel solution for real-time, Non-Linear Model Predictive control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal control Problem (OCP) in terms of flat outputs over an adaptive lattice. In common approximated OCP solutions, the number of discretization points composing the lattice represents a critical upper bound for real-time applications. The proposed NMPC-based technique refines the initially uniform time horizon by adding time steps with a sampling criterion that aims to reduce the discretization error. This enables a higher accuracy in the initial part of the receding horizon, which is more relevant to NMPC, while keeping bounded the number of discretization points. By combining this feature with an efficient Least Square formulation, our solver is also extremely time-efficient, generating trajectories of multiple seconds within only a few milliseconds. The performance of the proposed approach has been validated in a high fidelity simulation environment, by using an UAV platform. We also released our implementation as open source C++ code. © 2018 IEEE.

关键词： Mesh generation

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control in the operational space of bilateral teleoperators with time-delays and without velocity measurements

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IFAC-PapersOnLine 2018年第13期51卷 204-209页

作者： Aldana, Carlos I. Cruz, Emmanuel Nuño, Emmanuel Basañez, Luis Department of Computer Science CUCEI University of Guadalajara GuadalajaraJAL44430 Mexico Institute of Industrial and Control Engineering Technical University of Catalonia Barcelona08028 Spain

This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable time-delays in the interconnection. The proposed control scheme use a second order dynamical controller that back-propagates damping to the local and the remote manipulators. Under the assumptions that the human operator and the environment define passive maps from force to velocity, it is proved that velocities and pose (position and orientation) errors between the local and the remote manipulators are bounded. Moreover, in the case that the human and the environment forces are zero, the velocities and pose errors converge asymptotically to zero. The proposed approach employs, the singularity-free, unit-quaternions to represent the orientation of the end-effectors. The performance of the proposed controller is illustrated via simulations with a teleoperation system composed of robots with 3-DoF and 7-DoF. © 2018

关键词： controllers

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Workload Allocation Based on User Mobility in Mobile Edge Computing

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Journal on Big Data 2020年第3期2卷 105-115页

作者： Tengfei Yang Xiaojun Shi Yangyang Li Binbin Huang Haiyong Xie Yanting Shen National Engineering Laboratory for Public Safety Risk Perception and Control by Big Data(NEL-PSRPC) BeijingChina National Computer Network Emergency Response Technical Team Coordination Center of China BeijingChina Department of Science and Technology China Electronics Technology Group CorporationBeijingChina School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhouChina University of Science and Technology of China HefeiChina

Mobile Edge Computing(MEC)has become the most possible network architecture to realize the vision of interconnection of all *** offloading compute-intensive or latency-sensitive applications to nearby small cell base stations(sBSs),the execution latency and device power consumption can be reduced on resource-constrained mobile ***,computation delay of Mobile Edge Network(MEN)tasks are neglected while the unloading decision-making is studied in *** this paper,we propose a workload allocation scheme which combines the task allocation optimization of mobile edge network with the actual user behavior activities to predict the task allocation of single *** obtain the next possible location through the user's past location information,and receive the next access server according to the grid ***,the next time task sequence is calculated on the base of the historical time task sequence,and the server is chosen to preload the *** the experiments,the results demonstrate a high accuracy of our proposed model.

关键词： Edge computing workload allocation social-LSTM context-sensitive user mobility

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A Chattering Free Sliding Mode Observer with Application to DC Motor Speed control 3

A Chattering Free Sliding Mode Observer with Application to ...

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3rd Scientific Conference of Electrical engineering, SCEE 2018

作者： Al-Samarraie, Shibly Ahmed Hussein Mishary Me, Mustafa Department of Control and Systems Engineering University of Technology-Iraq Baghdad Iraq Department of Computer Engineering University of Technology-Iraq Baghdad Iraq

ISBN: (纸本)9781728115870

The main drawback of the classical sliding mode observer is the chattering problem which eliminated in the present via replacing the signum function with an approximation to get approximate classical sliding mode observer. When the signum function is replaced with an approximating one, the estimation error will not go to zero anymore, but it will go to the bounded region around the origin. In this paper, the bounded region is obtained and controlled by adjusting the parameters of the proposed observer. The DC motor system suffers from a perturbation vector, and unmeasured angular acceleration is utilized as an application to a nonlinear controller based on the proposed observer. © 2018 IEEE.

关键词： DC motors

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Bi-level Day Ahead Optimization of V2G Dispatch Strategy Based on the Dynamic Discharging Electricity Price

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IFAC-PapersOnLine 2018年第28期51卷 462-467页

作者： Shi, Ruifeng Yang, Yang Shi, Lili Lee, Kwang Y. School of Control and Computer Engineering North China Electric Power University Beijing China School of Mathematics and Physics North China Electric Power University Beijing China Department of Electrical and Computer Engineering Baylor University TX76798 United States

During the past decade, energy imbalance problem between supply and demand, together with the integration of renewable energy, have drawn much attention. Vehicle-to-Grid (V2G) technology, which aims at storing the electric power in the load valley period and supporting the grid at the load peak time, is considered as one of the most promising way to solve the energy imbalance problem. However, due to the random distribution characteristics of electric vehicles (EVs), the scale of interconnection may cause threat to the safety and economy of the power grid operation. A time-of-day price incentive mechanism is employed in this paper to address the problem, which helps to guide the EV users to shift their charging/discharging behaviors during the valley/peak period to achieve a reasonable scheduling strategy based on the dynamic discharging electricity price. Besides, mathematical analysis has been carried out to demonstrate the convergence of the proposed coordination strategy, and a case study shows that the strategy is effective. © 2018

关键词： Electric load dispatching Economics Electric power distribution Electric power system economics Electric power transmission networks Vehicle to grid Coordination strategy Electric Vehicles (EVs) Integration of renewable energies Load dispatch Mathematical analysis Power grid operations Scheduling strategies Time of use price

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ATT: Attention-based Timbre Transfer

ATT: Attention-based Timbre Transfer

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International Joint Conference on Neural Networks (IJCNN)

作者： Deepak Kumar Jain Akshi Kumar Linqin Cai Siddharth Singhal Vaibhav Kumar Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing China Department of Computer Science and Engineering Delhi Technological University New Delhi India Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (数字)9781728169262

ISBN: (纸本)9781728169279

In this paper, we tackle the issue of timbre transfer on a given monophonic music sample. The objective is to change the timbre of source audio from one instrument to another while preserving features such as loudness, pitch, and rhythm. Existing approaches use image-to-image translation techniques on the entire region of time-frequency representations of the raw audio wave, which may lead to the addition of unwanted elements in the final audio waveform. We propose Attention-based Timbre Transfer (ATT), an attention-based pipeline for transferring timbre. To the best of our knowledge, ATT is the first approach which leverages attention for achieving timbre transfer. Further, ATT uses MelGAN for spectrogram inversion, which provides a fast and parallel alternative to other autoregressive music generation approaches, without compromising on the quality. ATT shows promising results, thus efficaciously transferring timbre with minimal offset to other physical characteristics.

关键词： Timbre Spectrogram Generative adversarial networks Gallium nitride Instruments Time-frequency analysis

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An Elegant Home Automation System Using GSM and ARM-Based Architecture

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IEEE Potentials 2018年第5期37卷 43-48页

作者： Manda, V.L.K. Bharadwaj Kushal, Voona Ramasubramanian, N. Department of Engineering Design National Institute of Technology Madras Tiruchirappalli Tamil Nadu India Department of Instrumentation and Control Engineering National Institute of Technology Madras Tiruchirappalli Tamil Nadu India Department of Computer Science and Engineering National Institute of Technology Tiruchirappalli Tamil Nadu India

Home automation systems have been developed recently using various technologies, such as the Internet, wireless networks, Bluetooth, and voice commands, among others. Our proposed research provides a cost-effective system that helps know and control the status of different home appliances. The technology here is the Global System for Mobile Communication (known as GSM), and the central processing unit of this system is the NXP LPC11U24 microcontroller unit (the ARM "mbed" microcontroller), which is designed especially to prototype low-cost Universal Serial Bus (USB) devices and other applications that are battery powered. © 2018 IEEE.

关键词： Domestic appliances

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