This paper develops a hybrid control strategy that provides autonomous transition between hovered and leveled flights to a model-scale fixed-wing aircraft. The aircraft's closed-loop dynamics are described by mean...
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Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind...
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Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.
Traditional auto-scaling approaches are conceived as reactive automations,typically triggered when predefined thresholds are breached by resource consumption *** such rules at scale is cumbersome,especially when resou...
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Traditional auto-scaling approaches are conceived as reactive automations,typically triggered when predefined thresholds are breached by resource consumption *** such rules at scale is cumbersome,especially when resources require non-negligible time to be *** paper introduces an architecture for predictive cloud operations,which enables orchestrators to apply time-series forecasting techniques to estimate the evolution of relevant metrics and take decisions based on the predicted state of the *** this way,they can anticipate load peaks and trigger appropriate scaling actions in advance,such that new resources are available when *** proposed architecture is implemented in OpenStack,extending the monitoring capabilities of Monasca by injecting short-term forecasts of standard *** use our architecture to implement predictive scaling policies leveraging on linear regression,autoregressive integrated moving average,feed-forward,and recurrent neural networks(RNN).Then,we evaluate their performance on a synthetic workload,comparing them to those of a traditional *** assess the ability of the different models to generalize to unseen patterns,we also evaluate them on traces from a real content delivery network(CDN)*** particular,the RNN model exhibites the best overall performance in terms of prediction error,observed client-side response latency,and forecasting *** implementation of our architecture is open-source.
Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require inten...
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Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple PD controller with switchable I-part and a PD-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.
In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity ...
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In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.
During the development and maintenance of software, the size of a test suite often increases to such an extent that the costs allocated for its execution are exceeded. In this case, the test suite needs to be reduced....
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With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this ...
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With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.
In the past decades, embedded system designers moved from simple, predictable system designs towards complex systems equipped with caches. This step was necessary in order to bridge the increasingly growing gap betwee...
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In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to main...
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In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to maintain the system. The main disadvantage of not centralized architectures is having to make sure that the system will fulfill an overall or global goal. To investigate these problems, a distributed control architecture for intelligent systems was developed at the University of Karlsruhe. In this paper, the methods for dead-lock-free coordination and cooperation are explained.
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