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4th Annual Conference on AI, Simulation, and Planning in High Autonomy Systems, AIS 1993

作者： Nadjm-Tehrani, S. Stromberg, J.-E. Dept. of Computer and Information Science Linkoping University LinkopingS-58183 Sweden Div. of Automatic Control Dept. of Electrical Engineering Linkoping University LinkopingS-58183 Sweden

ISBN: (纸本)0818640200

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. © 1993 IEEE.

关键词： Hybrid systems

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LPV non-integer order model and control of an irrigation canal using gain scheduling technique

LPV non-integer order model and control of an irrigation can...

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35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

作者： Martínez, Rubén Bolea, Yolanda Grau, Antoni Martínez, Herminio Automatic Control Dept. Technical University of Catalonia Barcelona Spain Electronics Engineering Dept. Technical University of Catalonia Barcelona Spain

In this paper, a novel method for controlling main irrigation canals with variable dynamic parameters is proposed. A non-integer order based gain-scheduling controller for canal systems is presented. This controller takes into account the variations of parameters in each operating point by using a linear parameter variable (LPV) non-integer order model obtained by fractional LPV identification. This non-integer controller has been designed in accordance with the control input bound and assure closed loop poles placement desired in all the working operation canal range. This approach is validated in a pilot canal plant. control results guarantee the desired performance and stability for slow parameters variation in the whole operation canal range. ©2009 IEEE.

关键词： Irrigation canals

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Towards new real-time processor: The multioperand MSB-first real-time adder

Towards new real-time processor: The multioperand MSB-first ...

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Proceedings of the EUROMICRO Systems on Digital System Design, DSD 2004

作者： Kuspriyanto Kerlooza, Yusrila Y. Lab. of Computer and Control System Dept. of Electrical Engineering Bandung Institute of Technology Hardware Laboratory Dept. of Computer Engineering Indonesian Computer University

ISBN: (纸本)0769522033

Arithmetic operation's execution time in real-time system is bounded by deadlines. The method commonly used to meet these deadlines is by employing any suitable process-scheduling algorithm, which may contain a potential weakness. If time needed to operate is longer than its deadline, then the result's quality will be poor. This is mainly caused by the algorithms of the arithmetic operations commonly used nowadays do not choose the most significant data to be processed first. This research tries to design new algorithm and its processing unit that works based on real-time principles, which starts its computation process from the highest valued digit and provides its intermediate-results that can be accessed anytime during the process. Designing tool used in this research is MAX+plus II Baseline 10.2 software. This research accomplishes in showing the performance of the new algorithm and its processing unit, which is better than the performance of the conventional algorithm.

关键词： Real time systems

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An Efficient GPU-based Implementation for Noise Robust Sound Source Localization

arXiv

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arXiv 2025年

作者： Lin, Zirui Takigahira, Masayuki Terakado, Naoya Gulzar, Haris Busto, Monikka Roslianna Eda, Takeharu Itoyama, Katsutoshi Nakadai, Kazuhiro Amano, Hideharu Dept. of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Honda Research Institute Japan Co. Ltd. Saitama Japan NTT Software Innovation Center Tokyo Japan Dept. of Information and Computer Science Keio University Kanagawa Japan

Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their wide applicability, processing multi-channel audio signals from microphone arrays in SSL involves computationally intensive matrix operations, which can hinder efficient deployment on Central Processing Units (CPUs), particularly in embedded systems with limited CPU resources. This paper introduces a GPU-based implementation of SSL for robot audition, utilizing the Generalized Singular Value Decomposition-based Multiple Signal Classification (GSVD-MUSIC), a noise-robust algorithm, within the HARK platform, an open-source software suite. For a 60-channel microphone array, the proposed implementation achieves significant performance improvements. On the Jetson AGX Orin, an embedded device powered by an NVIDIA GPU and ARM®Cortex™-A78AE v8.2 64-bit CPUs, we observe speedups of 4645.1× for GSVD calculations and 8.8× for the SSL module, while speedups of 2223.4× for GSVD calculation and 8.95× for the entire SSL module on a server configured with an NVIDIA A100 GPU and AMD EPYC™ 7352 CPUs, making real-time processing feasible for large-scale microphone arrays and providing ample capacity for real-time processing of potential subsequent machine learning or deep learning tasks. © 2025, CC BY-NC-ND.

关键词： Acoustic generators

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Robust LMI control of a buck-boost converter with low ripple propagation

Robust LMI control of a buck-boost converter with low ripple...

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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Ingles, J.V. Garces, P. Leyva, R. Dept. of Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili 43007 Tarragona Spain

ISBN: (纸本)9781467325318

This paper proposes a new robust control strategy to prevent the current ripple propagation into the dc-dc converter input, thus avoiding converter malfunctions. Concretely, we apply the new strategy to a buck-boost converter. The strategy is based on LMI control and use readily, fast convex optimization algorithms to obtain the solution. The control objective is maximizing the current disturbance rejection, where current ripple propagation and usual, prescribed dynamic performances are ensured. The paper describes the control design procedure, besides an illustrative example and simulation verifications. Simulation waveforms are in perfect agreement with objective function and performances constraints of the control design. That is, the current ripple propagation is almost zero and other prescribed constraints are satisfied. © 2012 IEEE.

关键词： Buck-Boost converter

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Research group on fuzzy and probabilistic set theories and their applications, Gliwice (Poland)

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Fuzzy Sets and Systems 1988年第3期28卷 397-398页

作者： Czogala, Ernest Technical University Silesia Dept. of Automatic Control 44-101 Gliwice Electronics and Computer Sci. Pstrowskiego 16 Poland

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Online Adaption of Motion Paths to Time-Varying Constraints using Homotopies

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IFAC-PapersOnLine 2017年第1期50卷 3331-3337页

作者： Kontny D. Stursberg O. Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany

This paper presents a method for optimal point-to-point control of linear discrete-time systems with time-varying non-convex state constraints, as arising for problems of avoiding moving obstacles. While common approaches like MPC with mixed-integer programming (MIP) can quickly become time-demanding, the presented approach efficiently computes circumventing near-optimal trajectories by using homotopy properties. In a first step, a range of offline selected trajectories is used to span a region of homotopic trajectories, for which the transitioning behavior between these is determined by semi-definite programming (SDP). The online part then determines with low computational effort a collision-free and near-optimal homotopic trajectory. The procedure maps the moving obstacles for relevant collision-critical time steps into the homotopy space, and determines a suitable trajectory by a tree-search of moderate size. The circumventing trajectories and the resulting computation times are illustrated by simulation. © 2017

关键词： constrained control model predictive control non-convex optimization obstacle avoidance optimal trajectory Real-time control

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The challenge of cloud control 8

The challenge of cloud control

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8th International Workshop on Feedback Computing

作者： Kihl, Maria Elmroth, Erik Tordsson, Johan Årzén, Karl Erik Robertsson, Anders Dept. of Electrical and Information Technology Lund University Sweden Dept. of Computer Science Umeå University Sweden Dept of Automatic Control Lund University Sweden

Today's cloud data center infrastructures are not even near being able to cope with the enormous and rapidly varying capacity demands that will be reality in a near future. So far, very little is understood about how to transform today's data centers (being large, power-hungry facilities, and operated through heroic efforts by numerous administrators) into a self-managed, dynamic, and dependable infrastructure, constantly delivering expected QoS with reasonable operation costs and acceptable carbon footprint for large-scale services with sometimes dramatic variations in capacity demands. In this paper, we discuss some of the major challenges for resource-optimized cloud data center. We propose a new research area called Cloud control, which is a control theoretic approach to a range of cloud management problems, aiming to transform todaýs static and energy consuming cloud data centers into self-managed, dynamic, and dependable infrastructures, constantly delivering expected quality of service with acceptable operation costs and carbon footprint for large-scale services with varying capacity demands. © 8th International Workshop on Feedback Computing 2013. All rights reserved.

关键词： Carbon footprint

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Particle filter-based Gaussian process optimisation for parameter inference 19

Particle filter-based Gaussian process optimisation for para...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Dahlin, Johan Lindsten, Fredrik Division of Automatic Control Linköping University Sweden Dept. of Engineering University of Cambridge United Kingdom

ISBN: (纸本)9783902823625

We propose a novel method for maximum-likelihood-based parameter inference in nonlinear and/or non-Gaussian state space models. The method is an iterative procedure with three steps. At each iteration a particle filter is used to estimate the value of the log-likelihood function at the current parameter iterate. Using these log-likelihood estimates, a surrogate objective function is created by utilizing a Gaussian process model. Finally, we use a heuristic procedure to obtain a revised parameter iterate, providing an automatic trade-off between exploration and exploitation of the surrogate model. The method is profiled on two state space models with good performance both considering accuracy and computational cost. © IFAC.

关键词： Gaussian distribution

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BLOCK DIAGONAL FORM AND BLOCK DIAGONAL controlLER OF NONLINEAR SYSTEMS

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Chinese Journal of Aeronautics 1997年第1期10卷 51-57页

作者： Zhao Guorong Zhang Fuen(dept. of automatic control, Harbin Institute of Technology, Harbin, China, 150001)Gu Wenjing(Naval Aeronautical engineering Academy, Yantai, Shantong, China, 264001) Dept. of Automatic Control Harbin Institute of Technology Harbin 150001 China Nav. Aero. Engineering Academy Yantai Shantong 264001 China

A block diagonal form about a nonlinear system is defined. Based on the de finition, a design method ca1led block diagonal controller (BDC) is proPOsed bo feedbacklinearization. Thus, a linearization design of a class of nonlinear system can be simply re-alized. The result of design has been proved by mathematical simulation of a certain anti-ship missile.

关键词： feedback linearization nonlinear systems flight control controllers

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