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Mobile robot navigation for complete coverage of an environment

IFAC-PapersOnLine 2018年第22期51卷 512-517页

作者： Šelek, Ana Seder, Marija Petrovi, Ivan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Croatia

Inspired by the Spanning Tree Covering (STC) algorithm of Gabriely and Rimon, a novel algorithm of complete coverage for known environments is developed. Unlike the original STC algorithm, we detect dynamic elements of the environment and efficiently update the solution when changes are observed. The contribution is a path replanning algorithm that reduces overlapping when the part of the environment is changed. Experiments show that the proposed algorithm is capable of planning complete coverage robot paths with 70.27% coverage and without overlapping. © 2018

关键词： Mobile robots Collision avoidance Motion planning Robot programming Trees (mathematics) Complete coverages Dynamic elements Known environments Mobile Robot Navigation Novel algorithm Path re planning Robot path Spanning tree

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Scaled Consensus Tracking Under Constant Time Delay

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IFAC-PapersOnLine 2016年第22期49卷 240-243页

作者： Aghbolagh, Hassan Dehghani Ebrahimkhani, Elham Hashemzadeh, Farzad Control Engineering Department Faculty of Electrical and Computer Engineering University of Tabriz Iran

Over the past decade, various schemes such as consensus, containment, and formation have been proposed for multi-agent systems. A multi-agent systems is said to have reached consensus when all the agents agree on a common value. Recently, however, scaled consensus was introduced as a new notion in the area of multi-agent systems. With this scheme, the agents reach different initial-state-dependent values. In this paper, the problem of scaled consensus tracking under constant time delay is addressed. Firstly, time delay is introduced to the tracking problem of scaled consensus. Then, a proper Lyapunov-Krasovskii functional is employed in order to study the stability of the system. In addition, it is shown that the maximum allowable time delay may be determined via the resultant LMIs. Finally, the findings of this paper are illustrated using a numerical example. © 2016

关键词： Multi agent systems Lyapunov functions Surface discharges System stability Time delay Timing circuits Constant time delays Initial state Lyapunov Krasovskii Lyapunov Krasovskii functionals scaled consensus Tracking problem

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An Evaluation of the Dual Vectors Based Solutions for Robot-World/Hand-Eye Calibration 1

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25th International Symposium on Measurement and control in Robotics, ISMCR 2023

作者： Ganciu, Aura Burlacu, Adrian Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering "Gheorghe Asachi" Technical University of Iași Iași Romania

ISBN: (数字)9783031510854

ISBN: (纸本)9783031510847

The hand-eye calibration problem represents a major challenge in robotics, arising from the widespread usage of robotic systems along with robot-mounted sensors. Briefly, consisting of estimating the position and orientation of a visual sensor (usually a camera attached to the robot’s end-effector) with respect to the robot itself, calibration is critical in tracking rigid bodies—a common task within mixed reality applications. Hand-eye calibration implies solving the problem formulated as AX = XB or AX = YB equations. The solution lies in computing the unknown homogeneous transformation matrices X and Y, given the A and B parameterizations of rigid body motions. We present the dual vectors based approaches for AX = XB and AX = YB calibration problems, making use of the isomorphism between the special Euclidean group and the orthogonal dual tensor group. Comparisons with state-of-the-art algorithms are used to assess our obtained results. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Mixed reality

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Modelling and control of a Flexible Floating Boom: First Approach

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IFAC-PapersOnLine 2017年第1期50卷 13108-13113页

作者： Gapingsi, G.E. Korbas, R. Santos, M. Computer Architecture and Automatic Control Department Computer Science Faculty Complutense University of Madrid C/ Profesor García Santesmases 9 Madrid28040 Spain

Floating booms are useful tools in the marine world, especially for marine demarcation where some kind of contamination of sea, ocean or coastal water is present. In this work we have developed a mathematical model for a flexible floating boom which is hooked on two boats (unmanned surface vehicles). It is meant to be used for oil spill containment in marine areas. In order to simplify the model and to make possible its computer simulation, we have adopted a quasi-static approximation where we assume that the inertial forces are small compared to the drag forces applied to the boom. The simulation of this mathematical model has allowed the analysis of the behavior of the floating boom. Based on this knowledge, we have designed a control system which allows us to maintain the flexible floating boom in a specific configuration by controlling its shape. For that purpose, the control approach deals with the speed of the two ends of the floating boom. The results obtained with the implemented control system are encouraging, considering the model is a simplified discrete one and the control effort is reasonable. © 2017

关键词： Marine pollution control systems Drag Knowledge based systems Models Oil spills Unmanned surface vehicles control approach Floating boom Inertial forces Knowledge based control Modelling and controls Quasistatic approximations Simulation Spill containment

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Digital signal processing and parallel processing in the real-time simulation of a flexible manipulator system

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 1996年第6期10卷 729-745页

作者： Tokhi, MO Hossain, MA Azad, AKM Department of Automatic Control and Systems Engineering University of Sheffield Sheffield U.K. Department of Computer Science University of Dhaka Dhaka-1000 Bangladesh

This paper presents an investigation into the utilisation of digital signal processing and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation of the system is developed using a finite difference approximation to the governing dynamic equation of the manipulator. The proposed algorithm allows dynamic modification of the boundary conditions and the inclusion of a distributed actuator and sensor term in the system dynamic equation. The algorithm developed is implemented on a number of uni-processor and multi-processor, homogeneous and heterogeneous parallel architectures. The partitioning and mapping of the algorithm on the homogeneous and heterogeneous architectures is also explored. A comparison of the results of these implementations is made and discussed to establish merits of design and real-time processing requirements in the control of flexible manipulator systems. (C) 1996 Academic Press Limited

关键词： Digital signal processing

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Complex system dedicated to monitoring and control of hydroponic greenhouse environment 17

Complex system dedicated to monitoring and control of hydrop...

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17th International Multidisciplinary Scientific Geoconference, SGEM 2017

作者： Ştefan, Mocanu Alexandru, Dumitraşcu Cosmin, Popa Department of Automatic Control and Applied Informatics Bucharest Romania Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computers UPB Bucharest Romania

ISBN: (纸本)9786197408263

Fast increase of Earth population during the last decades raised a serious problem when it came to providing fresh and good quality food (mainly vegetables) in big quantity over a short period of time. Due to relatively long lifecycles of plants when growing in gardens or fields, the best solution consisted in using greenhouses. Greenhouses proved to be a very important solution since they are capable of operating regardless of local environments if minimum requirements (heating and water) are provided. By offering optimum growing conditions for the plants, the greenhouse environments not only stimulate a shorter lifecycle but also offer almost perfect protection against pests or plants diseases. An even better solution is represented by hydroponic greenhouses which exhibit several advantages over traditional greenhouses: they do not need earth for growing plants, the size and location are less restrictive, the plant cultures can be overlapped and the nutrients and other parameters can be controlled and personalized more efficiently. However, this comes with a higher cost for implementing and using automatic control architecture. In addition to specialized sensors, efficient solutions for data transmission, control and command must be used. In this paper a hydroponic system is presented. It aims to control not only a greenhouse but a set of greenhouses by aggregating them into a complex grid alike mechanism of monitoring and control. Intermediate results prove the solution is functional but the final architecture is not yet finalized. © SGEM2017.

关键词： Embedded systems

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Quadcopter control system 19

Quadcopter control system

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19th International Conference on System Theory, control and Computing, ICSTCC 2015 - Joint Conference SINTES 19, SACCS 15, SIMSIS 19

作者： Gheorghita, Daniel Vintu, Ionut Mirea, Letitia Braescu, Catalin Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University of Iaşi Iaşi Romania

ISBN: (纸本)9781479984817

The paper presents two different types of approach for mathematical modeling of quadcopter kinematics and dynamics. The first one is based on the equations of classical mechanics and the other one is derived from Denavit-Hartenberg formalism and Lagrangian mechanics. The obtained models were used to design the control of the quadcopter motion on one rotation axis. The paper also offers some details of the physical and software implementation of the system on which tests have been made. © 2015 IEEE.

关键词： Software testing

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POWER-SYSTEM NONLINEAR ADAPTIVE-control

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ELECTRIC POWER SYSTEMS RESEARCH 1991年第3期22卷 235-242页

作者： VESELY, V MUDRONCIK, D Department of Automatic Control Systems Faculty of Electrical Engineering Slovak Technical University Ilkovic̆ova 3 812 19 Bratislava Czechoslovakia

The paper presents a new approach to non-linear adaptive control for power systems using the properties of the degree of stability and the Lyapunov function. Sufficient conditions are derived for the existence of a stabilizing adaptive control law given a non-linear varying system. These conditions are in terms of the controller parameters and apply to systems in which the parameters are not all known. Thus, the control law obtained is implemented by purely local feedback. The stability of the system with the adaptive control is illustrated by the results of a simulation of a single-machine system model.

关键词： Electric Power Systems

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On computing the L2 norm of a generalized discrete-time system 18

On computing the L2 norm of a generalized discrete-time syst...

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2014 18th International Conference on System Theory, control and Computing, ICSTCC 2014

作者： Dinicu, Claudiu Oara, Cristian Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computers Politehnica University of Bucharest Romania

ISBN: (纸本)9781479946013

We give explicit analytic formulas for computing the L2 norm of a discrete-time generalised system whose rational transfer matrix function may be improper or polynomial. The norm is expressed in terms of solutions of generalized Lyapunov equations, written down with coefficients from a special type of realisation of the underlying transfer function matrix, much in the same spirit of the standard (proper) case. The main result hints to a numerically-sound prototype algorithm that relies on standard reliable software for computing solutions of generalised Lyapunov equations. © 2014 IEEE.

关键词： Polynomials

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Real-Time Notifier for Blockchain Events 22

Real-Time Notifier for Blockchain Events

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22nd RoEduNet Conference: Networking in Education and Research, RoEduNet 2023

作者： Tanase-Paris, Cristian Carabas, Costin Tapus, Nicolae University Politehnica of Bucharest Faculty of Automatic Control and Computers Computer Science and Engineering Department Bucharest Romania

ISBN: (纸本)9798350393651

Blockchain technology gained much traction in the last few years. These decentralized databases offer security, immutability, and scalability across various applications. Decentralized applications generate vast amounts of data, known as events, that are recorded on the blockchain and are public to anyone. Some people may see opportunities for financial gains in these events and would like to know when they occur. This paper proposes a solution to process and deliver those events as real-time alerts to the users. It uses existing technologies such as message queues, multithreading, and asynchronous processing and integrates them into a scalable architecture. The results we achieved in this paper show that for an evenly distributed network traffic, which does not entirely consists of transaction bursts, the proposed solution offers reliability, efficiency, and a suitable delivery time to those wishing to integrate it into their projects. With time, this solution, or improved architectures, may form the basis of the following big-data architectures for processing blockchain events. © 2023 IEEE.

关键词： Blockchain

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