This paper introduces a framework of tools which allow the design of distributed, potentially fault-tolerant, real-time control software. This framework takes a system specified in the controlengineering domain and t...
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This paper introduces a framework of tools which allow the design of distributed, potentially fault-tolerant, real-time control software. This framework takes a system specified in the controlengineering domain and translates this application-oriented representation into a software engineering representation. From this new representation, automatic code generation tools have been developed to create a complete, executable control system implementation.< >
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.< >
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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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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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.
We present a generalization of the MODE direction finding algorithm, using the interpolated array approach. The proposed algorithm is statistically efficient for uncorrelated, correlated and even coherent sources, and...
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We present a generalization of the MODE direction finding algorithm, using the interpolated array approach. The proposed algorithm is statistically efficient for uncorrelated, correlated and even coherent sources, and requires only a modest amount of computations. The use of array interpolation makes it possible to easily incorporate calibration data into the estimation procedure. The performance of the algorithm is evaluated by computer simulation, verifying its statistical efficiency.< >
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