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A genetic approach to optimize the coverage performance of multiple random path-planning robots

引用

12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Habib, Ahsan Alam, M.S. Aldebrez, F.M. Siddique, N.H. Dept. of Applied Physics Electronics and Communication Engineering University of Dhaka Bangladesh Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom School of Computing and Intelligent Systems University of Ulster United Kingdom

ISBN: (纸本)9814291269

This paper presents a new approach to multi-agent coverage path planning problem. This algorithm enables multiple robots with limited sensor capabilities to perform coverage efficiently over a shared territory. Each robot is assigned with an exclusive route, which enables it to carry out its cleaning process simultaneously with minimal path overlapping. The objectives of this work are (i) Identify a path for each robot such that each robot is responsible for covering a different region. In this way, there will be minimal overlap between coverage of the robots, (ii) the methods and procedures must be applicable to a group of simple mobile robots with very few sensors to guarantee their industrial interest.

关键词： Motion planning

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Optimized fractional order conditional integrator

Optimized fractional order conditional integrator

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作者： Luo, Ying Chen, YangQuan Pi, Youguo Monje, Concepción A. Vinagre, Blas M. Dept. of Automation Science and Engineering South China University of Technology Guangzhou China Dept. of Electrical and Computer Engineering Utah State University Logan UT United States Dept. of System Engineering and Automatics Higher Technical School University Carlos III of Madrid Madrid Spain Dept. of Electrical Electronic and Automatic Engineering Industrial Engineering School University of Extremadura Spain

ISBN: (纸本)9781424474264

In this paper, an optimized fractional order conditional integrator (OFOCI) is proposed. The key feature of this OFOCI is that, the fractional order α and the parameter κ for the "hold" value in the course of integration can be tuned following the analytical optimality design specifications, to achieve the optimized performance not achievable using integer order conditional integrators. The proposed optimality specifications are given to satisfy the desired phase delay, and minimize the preferred magnitude ratio, which can be calculated from the high order harmonic magnitudes divided by the magnitude of the fundamental wave. The numerical solution of calculating the optimized parameters α and κ of the OFOCI is introduced. The phase delays and magnitude ratios of four designed OFOCIs are compared with the integer order conditional integrators. Simulation results with the FFT spectra are also presented to validate the theoretical analysis. © 2010 AACC.

关键词： Specifications

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A phase-disposition PWM method for DC voltage balance in cascaded h-bridge rectifier

A phase-disposition PWM method for DC voltage balance in cas...

引用

2010 International Conference on Electrical Machines and systems, ICEMS2010

作者： Tao, Xinghua Li, Yongdong Sun, Min State Key Lab of Control and Simulation of Power System and Generation Equipments Dept. of Electrical Engineering Tsinghua University China Dept. of Electrical Engineering Naval Engineering University China

In this paper, a novel control scheme for cascaded H-Bridge rectifier (CHBR), which can be used as the primary end of high voltage high power multilevel converters, is presented. The controller is similar with the one for single phase rectifier. To improve the performance of the controller, notch filter and proportion resonance (PR) controller are employed and the discrete methods for them are discussed in detail. The different function of CHBR controller from the single rectifier is for voltage balancing. Therefore, the phase-disposition technology, which is used in the multilevel converter, is introduced to eliminate the voltage error from the expected value. With this approach, the states of the switches of the CHBR are decided correctly by the practical condition and then the DC-link capacitors of the cells are controlled to charge or discharge in the way which results to voltage balancing. The effectiveness of the proposed approach is verified by experimental results.

关键词： Cascaded H-bridge rectifier Phase-disposition PWM PR controller Voltage balance

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A novel fiber CAN hub and its networking schemes

A novel fiber CAN hub and its networking schemes

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2010 International Conference on Optoelectronics and Image Processing, ICOIP 2010

作者： Wei, Feng Qian, Zhiwei Ding, Honglin Dept. Oi Automatic Control Science and Engineering Huazhong Univ. of Science and Technology Wuhan Hubei 430074 China AVIC the First Aircraft Institute Xian Shanxi 710089 China

ISBN: (纸本)9780769542522

The overall behavior of some twisted-pair CAN systems may be improved by use of optical fiber as physical medium. In this paper, a novel fiber CAN hub and the schemes of constructing CAN network based on it are proposed. The working principle of the hub is discussed in detail. WDM (Wavelength Division Multiplexing) technology is utilized to realize duplex signal transmission on one fiber link. By replacing the 'Wired-AND' in twisted-pair CAN bus with the logic 'AND' in CPLD (Complex Programmable Logic Device) and ensuring each node's bus monitoring function by sending the 'ANDed' signal back, the fiber CAN network thus formed is fully compatible with the CAN standard above physical layer. Methods of expanding fiber CAN network are also discussed. An eight-port prototype hub is implemented and tested to prove the feasibility and practicability of the proposed schemes. Features of the fiber CAN network are summarized and future works are pointed out. © 2010 IEEE.

关键词： Optical fibers

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3D object measurement by shadow Moiré

3D object measurement by shadow Moiré

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作者： Lay, Yun-Long Yang, Hui-Jen Lin, Chern-Sheng Chen, Wei-Yu Dept. of Electronic Engineering National Chin-Yi University of Technology Taichung Taiwan Dept. of Information Management National Chin-Yi University of Technology Taichung Taiwan Institute of Automatic Control Engineering Feng Chia University Taichung Taiwan

ISBN: (纸本)9789898425256

In order to get the 3 dimensional data of an object, this research applied a shadow Moiré method to build an optical measurement system without touching the object to measure the contour for getting a 3D data. A digital camera was used to capture the Moiré images through an image processing to get the texture of each contour line. After calculated the texture of each contour line, the correspondence values are then filled. Each correspondence value will make smooth contour interpolation and then three-dimensional image of the object was plotted. This method for 3D measurement is simple and does not need an expensive measurement device to get precisely image information for a 3D rebuilt implementation.

关键词： Optical data processing

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Parameter estimation of thrust models of uninhabited airborne systems

Parameter estimation of thrust models of uninhabited airborn...

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作者： Perez, Tristan De Lamberterie, Pierre Donaire, Alejandro Herrero, Elias Revestido School of Engineering Discipline of Mechanics and Mechatronics University of Newcastle Callaghan NSW 2308 Australia University of Newcastle Callaghan NSW 2308 Australia Dept. of Electronic Technology Systems Engineering and Automatic Control University of Cantabria Spain

ISBN: (纸本)9783902661876

This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify the estimation. The proposed estimation method is based on three steps. The first step uses a regression model in which the thrust is assumed constant. This allows us to obtain biased initial estimates of the aerodynamic coefficients of the surge model. In the second step, a robust nonlinear state estimator is implemented using the initial parameter estimates, and the model is augmented by considering the thrust as random walk. In the third step, the estimate of the thrust obtained by the observer is used to fit a polynomial model in terms of the propeller advanced ratio. We consider a numerical example based on Monte-Carlo simulations to quantify the sampling properties of the proposed estimator given realistic flight conditions.

关键词： Parameter estimation

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Multi objective optimization for piloting a Quality Management system: Study case

Multi objective optimization for piloting a Quality Manageme...

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2010 International Conference on system Science and engineering, ICSSE 2010

作者： Mahmoud, H. Ben Ketata, R. Romdhane, T. Ben Ahmed, S. Ben Dept. of Physics and Instrwnentation Engineering INSAT: National Institute of Applied Science and Technology Tunis Tunisia Dept. of Physics and Instrwnentation Engineering ICOS: Research Unit on Intelligent Control Design and Optimization of Complex System Tunis Tunisia Dept. of Physics and Instrumentation Engineering MOSIC Research Unit on Methods and Tools for Complex Computer Systems Tunis Tunisia

ISBN: (纸本)9781424464746

This paper presents a decision support tool for the effectiveness of a Quality Management system (QMS) in a company. To develop this tool, a new approach PAHP based on the combination of the Pareto Optimality Concept (Poq and the Analytical Hierarchy Process (AHP). This approach is used to model and optimize the multi-objective function of real company which presents a major problem for controlling the quality level of production. © 2010 IEEE.

关键词： Multiobjective optimization

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A nonlinear model predictive control scheme with multirate integral sliding mode

A nonlinear model predictive control scheme with multirate i...

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作者： Rubagotti, Matteo Raimondo, Davide M. Jones, Colin N. Magni, Lalo Ferrara, Antonella Morari, Manfred Dept. of Mechanical and Structural Engineering University of Trento Via Mesiano 77 38123 Trento Italy Automatic Control Laboratory ETH Zürich Physikstrasse 3 8092 Zürich Switzerland Dept. of Computer Engineering and Systems Science University of Pavia Via Ferrata 1 27100 Pavia Italy

ISBN: (纸本)9783902661807

In this paper, a hierarchical multirate control scheme for nonlinear discrete-time systems is proposed, composed of a robust model predictive controller (MPC) and a multirate integral sliding mode (MISM) controller. In particular, the MISM controller acts at a faster sampling time than the MPC controller, and reduces the effect of model uncertainties and external disturbances, in order to obtain, at the next sampling instant of the MPC controller, a value of the system state that is as close as possible to the nominal one. To obtain this result, the control variable is composed of two parts: one generated by the MPC controller, and the other by the MISM controller. The a-priori reduction of the disturbance terms turns out to be very useful in order to improve the convergence properties of the MPC controller. © 2010 IFAC.

关键词： controllers

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Ride through of OWC-based wave power generation plant with air flow control under symmetrical voltage dips

Ride through of OWC-based wave power generation plant with a...

引用

Mediterranean Conference on control and Automation (MED)

作者： M. Alberdi M. Amundarain AJ. Garrido I. Garrido Department Automatic Control and Systems Engineering University of Basque Country (UPV-EHU) Bilbao Spain Dept. Automatic Control and Systems Engineering University of the Basque Country Bilbao SPAIN

The suitability of distributed power generation systems working at medium and high capacity as it is the case of wave power generation plants, requires a reliable Fault-Ride-Through capability. When a grid fault occurs on the transmission system, the speed of the turbo-generator group increases uncontrolled, the induction generator injects large peak currents that can potentially damage the rotor converters and the plant tends to increase the reactive power consumption, so that it might intensify the voltage dip and contribute to the collapse of the power network. A simple solution would be the automatic disconnection of the plant from the grid in response to the power fault, but this policy could lead to a series of chain disconnections that would produce a massive power network failure. This is why new Grid Codes oblige the distributed power generation systems to remain connected to the power network, even in case of balanced voltage dips. In this paper, an Oscillating Water Column (OWC)-based wave power generation plant equipped with a Doubly Fed Induction Generator is modeled and controlled to overcome these balanced grid faults. The improvement relays on the implementation of a control scheme that suitably coordinates the air flow control, the crowbar, the rotor and the grid side converters to allow the plant to remain in service during the grid fault, and to contribute to its attenuation by supplying reactive power to the network. The simulated results show how it is obtained a great reduction in the rotor currents, improving the transient power stability and avoiding the rotor acceleration, complying with new Grid Codes requirements.

关键词： Rotors Reactive power Stators Circuit faults Wind turbines Valves

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A method for testing AQM controllers with probability guaranteed properties

A method for testing AQM controllers with probability guaran...

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作者： Maestre, José M. Alvarez, Teresa Salim, Anuar Álamo, Teodoro Department of Engineering Science and Automatic Control School of Industrial Engineering University of Valladolid Valladolid Spain Dept. de Ingeniería de Sistemas y Automática Escuela Superior de Ingenieros University of Seville Spain

ISBN: (纸本)9789881821089

Internet users rely on the good capabilities of TCP/IP networks for dealing with congestion. The network delay and the number of users change constantly, which might lead to transmission problems. Usually, these problems are solved following a data communication approach such as drop tail or random early detection (RED) algorithms. Recently, more involved techniques based on an active queue management (AQM) control system have been proposed. This paper presents a probabilistic methodology to test whether a given AQM feedback controller satisfies a predefined set of requirements when dealing with control congestion under a variety of network configurations with a certain degree of confidence. The proposed technique is demonstrated through simulation in NS-2.

关键词： controllers

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