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Near optimal control of mobile robot formations

Near optimal control of mobile robot formations

引用

IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning

作者： Dierks, Travis Brenner, Bryan Jagannathan, S. Strategic Initiatives DRS Sustainment Systems Inc. St. Louis MO United States Dept. of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO United States

ISBN: (纸本)9781424498888

In this paper, the infinite horizon optimal tracking control problem is solved online and forward-in-time for leader-follower based formation control of nonholonomic mobile robots. Using the backstepping design approach, the dynamical controller inputs for the robots are approximated from nonlinear optimal control techniques in order to track the control velocities designed to keep the formation. The proposed nonlinear optimal control technique, referred to as adaptive dynamic programming, uses neural networks (NN's) to solve the optimal formation control problem in discrete-time in the presence of unknown internal dynamics and a known control coefficient matrix. All NN's are tuned online using novel weight update laws, and the stability of the entire formation is demonstrated using Lyapunov methods. Simulation results are provided to demonstrate the effectiveness of the proposed approach. © 2011 IEEE.

关键词： Multi agent systems

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Analytical Trajectory Extrapolation for Power systems

Analytical Trajectory Extrapolation for Power Systems

引用

IEEE Power and Energy Society General Meeting

作者： Shaobu Wang Ghadir Radman Gang Zheng Wenzhong Gao Center for Energy Systems Research Tennessee Technological University Dept. of Electrical and Computer Engineering Tennessee Technological University Dept. of Electrical and Computer Engineering University of Denver

ISBN: (纸本)9781457710001

Trajectory extrapolation is important for stability analysis and control of modern power systems. Many functions such as security warning and time-delay compensation for wide-area feedback control can be developed through trajectory extrapolation. But as of now, there are no effective methods to extrapolate power system trajectories except for time-consuming numerical integration methods. The difficulties for trajectory extrapolation in power systems lie within the fact that the underlying dynamic equations are nonlinear, and thus analytical solutions are not possible. In this paper, a method is proposed to approximate the analytical solution of power system dynamics, by which trajectories can be extrapolated. First, the dynamic equations of power system are modified to an equivalent set of equations by polynomial projection technique. Based on the modified equations, an approximate analytical solution is obtained using algebraic Picard iteration without integration operation. This solution depends on the initial values and can be used for on-line trajectory extrapolation. Following a disturbance, with values at the instant of disturbance clearance known (i.e. through PMU - measurements), one can easily extrapolate the system trajectory by extending the approximate analytical solution and updating initial values. Finally, some simulation results are presented to show the effectiveness of the method.

关键词： Power systems Trajectory extrapolation Analytical solution approximation Nonlinear differential equations Picard iteration power systems nonlinear differential equations trajectory Power system dynamics delay compensation approximate analysis Equation ANALYTICAL SOLUTION

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Robustness of Inverse Perturbation for Discrete Event Control

Robustness of Inverse Perturbation for Discrete Event Contro...

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Nidhal Bouaynaya Roman Shterenberg Dan Schonfeld Dept. of Systems Engineering University of Arkansas at Little Rock Dept. of Mathematics University of Alabama at Birmingham Dept. of Electrical and Computer Engineering University of Illinois at Chicago

ISBN: (纸本)9781424441211

We study the robustness of the inverse perturbation solution in discrete-time systems modeled by homogeneous Markov chains. We cast the optimal inverse perturbation control as a strictly convex optimization problem, which admits a unique global solution. We show that the optimal inverse perturbation control is robust to estimation errors in the original network. The derived results are applied to the Human melanoma gene regulatory network, where the aim is to force the network to converge to a desired steady-state distribution of gene regulation.

关键词： Finite Markov chains Perturbation theory Inverse perturbation Stability Robustness

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Application-specific codesign platform generation for digital mockups in cyber-physical systems

Application-specific codesign platform generation for digita...

引用

Electronic System Level Synthesis Conference (ESLsyn)

作者： Bailey Miller Frank VahicK Tony Givargis Dept. Computer Science & Engineering University of California Riverside USA Dept. Computer Science & Engineering University of California Riverside Center for Embedded Computer Systems University of California Irvine USA

The testing of cyber-physical systems requires validating device functionality for a wide range of operating conditions. The environment with which the cyber-physical device interacts, such as lungs for a medical ventilator device or a busy freeway for an autonomous vehicle, may be complex and subsequently difficult to explore all possible configurations. computer simulations that utilize device and environment behavioral models may be used as a first stage of testing, but at some point development must occur using the real device running in real-time. We present a codesign framework for aiding cyber-physical device development where real devices or prototypes are connected to real-time models that simulate the interacting environment. Such test setups are known as digital mockups and allow for testing environment scenarios that are hard to capture with commonly-used but limited physical mockups. The framework supports model hardware/software codesign to enable models of varying speed and accuracy to be implemented within an embedded processor or as a custom coprocessor circuit on an FPGA. We describe an accompanying tool that generates code templates to reduce the time required to develop digital mockup test setups. We utilize the framework to build a digital mockup test setup for a commercial ventilator, and showcase codesign capabilities by implementing environmental models as both circuits and as instructions on a processor.

关键词： Integrated circuit modeling Transducers Coprocessors Mathematical model Computational modeling Real time systems Unified modeling language

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Adaptive Scanning and Handover Triggering for Mobile WiMAX

Adaptive Scanning and Handover Triggering for Mobile WiMAX

引用

2011 13th IEEE Joint International computer Science and Information Technology Conference(JICSIT 2011)

作者： Rania Elkotby Rawya Rizk Mahmoud Marie EE Dept. Port Said University Port-Said Computer Engineering and Systems Dept. El-Azhar University

ISBN: (纸本)9781424486045

Handover delay in mobile communication causes degradation in system performance, especially when implemented in real-time applications. The first and most consuming phase in the handover process is the scanning phase. This paper focuses on the trigger and the sequence in which the scanning is done to optimize this process. In this paper, a scanning and handover triggering scheme is proposed. It combines between the multi-scanning concept and the dynamic adaptation of the scanning activity triggering according to the changing down rate of the signal strength of the serving base stations. In addition, an adaptive handover threshold is considered to adapt the handover triggering. Numerical results show that the proposed scheme reduces the handover delay and enhances the resources utilization.

关键词： handover mobile WiMAX Received Signal Strength Indication (RSSI) scanning time.

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Design electronic botany worksheet generation based on bloom's taxonomy for mobile learning

Design electronic botany worksheet generation based on bloom...

引用

International Conference on Advanced Learning Technologies

作者： Kuo, Rita Ying, Keith Chang, Maiga Heh, Jia-Sheng Department of Digital Design Mingdao University ChangHua Taiwan Dept. of Information and Computer Engineering Chung-Yuan Christian University Chung-Li Taiwan School of Computing and Information Systems Athabasca University Edmonton Canada

ISBN: (纸本)9780769543468

Worksheet is a common tool for teachers guiding students learning a subject. This research designs an automatic worksheet generator for constructing a worksheet according to the results of student's online exam. We focus on the worksheet of botany observation and analyze 47 different activities in the worksheet. The relation between the worksheet activity and its cognitive ability can be used to decide what activity should be constructed based on students' test result. A simple example is demonstrated in the end of this paper. © 2011 IEEE.

关键词： Students

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A novel PSO based carrier frequency offset estimation technique for Wi-MAX uplink transmissions

A novel PSO based carrier frequency offset estimation techni...

引用

2011 11th International Conference on Hybrid Intelligent systems, HIS 2011

作者： Al-Humaidan, Fahad M. Rahoof, P.P. Sameer, S.M. Dept. of Information Systems College of Computer Science and Information Technology King Faisal University Al Ahsa-31982 Saudi Arabia Dept. of Communication and Networks College of Computer Science and Information Technology King Faisal University Al Ahsa-31982 Saudi Arabia Department of Electronics and Communication Engineering National Institute of Technology Calicut Kerala 673601 India

ISBN: (纸本)9781457721502

Carrier frequency offset (CFO) estimation is a challenging task in Wi-MAX uplink as it uses orthogonal frequency division multiple access (OFDMA) which demands extremely accurate frequency synchronization. Here each user may experience a different CFO relative to the base station reference carrier and the estimation of them turn out to be a multiple parameter estimation problem. In this paper, we propose a null subcarrier based particle swam optimization (PSO) technique that performs the estimation by minimizing a cost function. As compared to the null subcarrier based grid search algorithm available in the literature, the computational complexity of the proposed technique is very low. The mean square error of the CFO estimator and bit error rate performance of the Wi-MAX base station receiver that employs the proposed estimation method are studied through computer simulations. It has been shown that the proposed technique achieves a better performance than the grid search algorithm at low to medium signal to noise ratio (SNR) where the algorithm reliability really matters. © 2011 IEEE.

关键词： Mean square error

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Quasi-Z source inverter based pole-phase modulation machine drive system

Quasi-Z source inverter based pole-phase modulation machine ...

引用

2011 International Conference on Electrical Machines and systems, ICEMS 2011

作者： Dongsen, Sun Baoming, Ge Weiliang, Wu Daqiang, Bi Peng, Fang Zheng Haitham, Abu Rub School of Electrical Engineering Beijing Jiaotong University Beijing China State Key Lab. of Power Systems Dept. of Electrical Engineering Tsinghua University Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI United States Department of Electrical and Computer Engineering Texas A and M University at Qatar Doha Qatar

ISBN: (纸本)9781457710445

This paper presents a motor drive system based on the quasi-Z source inverter (qZSI) to control the pole-phase modulation (PPM) machines. With the inductor-capacitor (LC) impedance network, the qZSI can advantageously use the shoot-through state to obtain any desired output ac voltage. In this paper, the capacitor voltage of the quasi-Z source (qZS) network is controlled to obtain the constant dc-link peak voltage. The double vector control algorithms are developed for the PPM induction machine (IM), where one for 3-phase with 12-pole mode, and another for 9-phase with 4-pole mode. The drive system, including the PPM-IM model and the proposed control scheme, is built in MATLAB/ SIMULINK. Three operating modes of the system, i.e., 3-phase with 12-pole, 9-phase with 4-pole, and pole-changing transient process are tested in the simulations. Simulated results verify the proposed drive system. © 2011 IEEE.

关键词： Poles

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Tuning graded possibilistic clustering by visual stability analysis

引用

9th International Workshop on Fuzzy Logic and Applications, WILF 2011

作者： Rovetta, Stefano Masulli, Francesco Adel, Tameem Dipartimento di Informatica e Scienze dell’Informazione Università di Genova Italy Center for Biotechnology Temple University Philadelphia United States Computer and Systems Engineering Dept. University of Alexandria Alexandria Egypt

ISBN: (纸本)9783642237126

When compared to crisp clustering, fuzzy clustering provides more flexible and powerful data representation. However, most fuzzy methods require setting some parameters, as is the case for our Graded Possibilistic c-Means clustering method, which has two parameters in addition to number of centroids. However, for this model selection task there is no well established criterion available. Building on our own previous work on fuzzy clustering similarity indexes, we introduce a technique to evaluate the stability of clusterings by using the fuzzy Jaccard index, and use this procedure to select the most suitable values of parameters. The experiments indicate that the procedure is effective. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Fuzzy clustering

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Neonatal mortality prediction using real-time medical measurements

Neonatal mortality prediction using real-time medical measur...

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作者： Gilchrist, Jeff Ennett, Colleen M. Frize, Monique Bariciak, Erika Dept. Systems and Computer Engineering Carleton University Ottawa Canada Dept. Controls Communication and Healthcare Informatics Philips Research North America Briarcliff Manor NY United States School of Information Technology and Engineering University of Ottawa Ottawa Canada Faculty of Medicine University of Ottawa Children's Hospital of Eastern Ontario Ottawa Canada

ISBN: (纸本)9781424493388

Current neonatal illness scoring systems are not designed to predict outcomes for individual patients, but rather can provide an overview of a population of patients for objective comparison when reporting outcomes. Having more patient-specific predictions may help physicians make better treatment decisions in a Neonatal Intensive Care Unit (NICU) environment. We developed neonatal mortality prediction models using C5.0 decision tree software that met criteria for clinically useful results (50-60% sensitivity, 90% specificity) for individual patients using data from real-time medical measurement devices. The models were evaluated to identify: (1) the model with the best performance based on minimizing false positives, and (2) the attributes used most often in the best clinically useful models. Performance results showed that the mortality model using summary data during the first 48 hours after NICU admission provided, on average, the highest sensitivity and specificity with the least number of false positives (sensitivity=63%, specificity=94%, positive predictive value=38%), exceeding the performance criteria requested by our clinical partners. The attributes used most often in the best models for predicting mortality with our data were: mean blood pressure, serum pH, immature/total neutrophil ratio, serum sodium, serum glucose, respiratory rate, heart rate, and pO2 blood oxygen level. © 2011 IEEE.

关键词： Decision support systems

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