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AIAA Modeling and Simulation Technologies Conference 2011

作者： Ippolito, Corey A. Mokaya, Frank Lohn, Jason Intelligent Systems Division NASA Ames Research Center MS 269-1 Moffett Field CA 94035 United States Electrical and Computer Engineering Department Carnegie Mellon University Silicon Valley Campus Moffett Field CA 94035 United States

ISBN: (纸本)9781624101540

Buildings are pervasive in our society, but inefficiencies in operation and control make buildings significant sources of pollution, emissions, and significant consumers of resources. Recent advances in real-time multi-objective control optimization allow models of increasing fidelity to be used in control of large-scale multiple-input multiple-output systems with overlapping actuation and coupled non-linear dynamics. Unfortunately, current building system modeling and simulation tools lack the necessary functionality or appropriate fidelity for real-time control and planning of a building system. In this paper we present Savant-ML - a finite element aero-thermal model and software library for creating models of total building systems that is designed for online estimation, optimal planning and real-time control in an integrated full-building control system. We present the current model formulation using a finite-volume discretization scheme of the Navier-Stokes equations, describe the software implementation and organization, and present initial experimental results using data from an instrumented smart-building experiment to estimate the states and parameters in the model.

关键词： Finite element method

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Characterizing long memories in electric water heater power consumption time series

Characterizing long memories in electric water heater power ...

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AFRICON Conference

作者： Xianming Ye Xiaohua Xia Jiangfeng Zhang YangQuan Chen Center of New Energy Systems (CNES) Department of Electrical Electronic & Computer Engineering University of Pretoria Pretoria South Africa Center of Self-Organizing & Intelligent Systems (CSOIS) Electrical & Computer Engineering Department Utah State University Logan UT USA

This paper presents some empirical studies on the long memory properties in the time series of averaged electric water heater power consumption in an assemble of communities in two different geographical locations in South Africa. The long memory property in the power consumption time series is characterized by using the fractional order signal processing method. Results shows that the memory parameters in different communities in two different geographical locations are distinct.

关键词： Water heating Sea measurements Time series analysis Load modeling Temperature distribution Resistance heating

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Fractional Sliding Mode Observer Design for a Class of Uncertain Fractional Order Nonlinear systems

Fractional Sliding Mode Observer Design for a Class of Uncer...

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IEEE Conference on Decision and Control

作者： Sara Dadras Hamid Reza Momeni Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan Utah USA Electrical and Computer Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781612848006

This paper investigates the problem of state estimation for a class of fractional order nonlinear systems with uncertainty, using sliding mode technique. In other words, the purpose of the problem is to develop a fractional order sliding mode observer. Through the fractional order extension of the Lyapunov stability criterion, the stability analysis of the error system is completed and it is showed that the observer design guarantees the convergence of the estimation error. Two illustrative examples are provided to approve the theoretical results.

关键词： fractional order State estimation system uncertainties sliding mode observer error system Sliding mode technique Fractional order control system Stability analysis Uncertainty

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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SPC and Kalman filter-based fault detection and diagnosis for an air-cooled chiller

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Frontiers of electrical and Electronic engineering in China 2011年第3期6卷 412-423页

作者： Biao SUN Peter B.LUH Zheng O’NEILL Center for Intelligent and Networked Systems Department of AutomationTsinghua UniversityBeijing 100084China The Tsinghua-UTC Research Institute for Integrated Building Energy Safety and Control SystemTsinghua UniversityBeijing 100084China Department of Electrical and Computer Engineering University of ConnecticutStorrsCT 06269USA United Technology Research Center United Technologies CorporationHartfordCT 06108USA

Buildings worldwide account for nearly 40%of global energy *** biggest energy consumer in buildings is the heating,ventilation and air conditioning(HVAC)*** HVAC systems,chillers account for a major portion of the energy *** chillers in good conditions through early fault detection and diagnosis is thus a critical *** this paper,the fault detection and diagnosis for an air-cooled chiller with air coming from outside in variable flow rates is *** problem is difficult since the air-cooled chiller is operating under major uncertainties including the cooling load,and the air temperature and flow rate.A potential method to overcome the difficulty caused by the uncertainties is to perform fault detection and diagnosis based on a gray-box model with parameters regarded as *** method is developed and verified by us in another paper for a water-cooled chiller with the uncertainty of cooling *** verification used a Kalman filter to predict parameters of a gray-box model and statistical process control(SPC)for measuring and analyzing their variations for fault detection and *** gray-box model in the method,however,requires that the air temperature and flow rate be nearly *** introducing two new parameters and deleting data points with low air flow rate,the requirement can be satisfied and the method can then be applicable for an air-cooled *** simulation results show that the method with the revised model and some data points dropped improved the fault detection and diagnosis(FDD)performance *** can detect both sudden and gradual air-cooled chiller capacity degradation and sensor faults as well as their recoveries.

关键词： air-cooled chiller fault detection and diagnosis(FDD) statistical process control(SPC) Kalman filter

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Statics and Dynamics of Re-entrant Production Lines

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IFAC Proceedings Volumes 2011年第1期44卷 11628-11635页

作者： Michael Hassoun Semyon M. Meerkov Chao-Bo Yan Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor xs 48109-2122 USA Center for Intelligent and Networked Systems (CFINS) Department of Automation and TNList Tsinghua University Beijing 100084 China

Abstract A model of a re-entrant line, consisting of the bottleneck workcenter and time delays representing other workcenters, is considered. Its mathematical description is provided and performance metrics are introduced. The steady states of this model and their stability properties are investigated under two dispatch policies – First Buffer First Served (FBFS) and Last Buffer First Served (LBFS) – and under constant release rate. The transients due to machine downtime are also analyzed. It is shown that, although LBFS may be viewed as having superior steady state characteristics, it induces longer and more volatile transients than FBFS and, in some cases, periodic and chaotic regimes.

关键词： Re-entrant production lines Nonlinear models Stability analysis Transient responses Chaotic behavior Throughput variability

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Introduction

Communications and Control Engineering

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Communications and Control engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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Adaptive Control of Linear Modal systems using Residual Mode Filters and a Simple Disturbance Estimator

Adaptive Control of Linear Modal Systems using Residual Mode...

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2011 American Control Conference (ACC)

作者： Mark J. Balas Susan A. Frost Department of Electrical and Computer Engineering University of Wurzburg Laramie WY USA Intelligent Systems Division NASA Ames Research Center Moffett Field CA USA

Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter.

关键词： Adaptive control Flexible structures Filtering theory Adaptation models Generators Stability analysis Vectors

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on Control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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