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IEEE Conference on Decision and control

作者： Stephen L. Smith Marco Pavone Francesco Bullo Emilio Frazzoli Center for Control Dynamical Systems and Computation Department of Mechanical University of California Santa Barbara CA USA Aeronautics and Astronautics Department Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781424431236

In this paper we study a variation of the Dynamic Traveling Repairperson Problem (DTRP) in which there are two classes of demands; high priority, and low priority. In the problem, demands arrive in the environment randomly over time and assume a random location and on-site service requirement. A service vehicle must travel to each demand location and provide the required on-site service. The quality of service provided to each class of demands is measured by the expected delay between a demand¿s arrival and its service completion. The goal is to design policies for the service vehicle which minimize a convex combination of the delays for each class. We provide a lower bound on the achievable delay for this problem, and propose a policy which performs within a known constant factor of the optimal in heavy load (i.e., when the fraction of time the service vehicle spends performing on-site service approaches one). The problem studied in this paper is analogous to the multi-class queuing problem in classical queuing theory.

关键词： Vehicle dynamics Vehicles Routing Queueing analysis Quality of service Delay effects Stability Customer service Optimal control control systems

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Using noise transmission properties to identify stochastic gene regulatory networks

Using noise transmission properties to identify stochastic g...

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IEEE Conference on Decision and control

作者： Brian Munsky Mustafa Khammash Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Computational and Statistical Sciences Division at Los Alamos National Laboratory Center for Nonlinear Science and Computer Los Alamos NM USA

ISBN: (纸本)9781424431236

Gene regulatory networks often occur at such small scales that their dynamics are controlled by individual molecular events. This discrete behavior causes significant quantities of intrinsic noise. In some cases, mechanisms exist in the system to repress this noise. With different parameters, the same mechanisms may amplify the noise. By examining the properties of how noise is transmitted through the system, one can gather significant information about the system and aid researchers to identify system properties. In this paper, we consider a few simple analytical schemes to identify the parameters of gene transcription and translation processes with feedback regulation. While protein distributions can be measured with fluorescent protein tagging and flow cytometry, it is much more difficult to measure the quantities of messenger RNAs in a single cell. We show that with the right experimental procedures involving measurements of proteins alone, one can identify transcription and translation parameters.

关键词： Stochastic resonance Proteins Stochastic systems Feedback Fluid flow measurement RNA Military computing Fluorescence Tagging Chemical processes

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Guaranteed minimum-rank solutions of linear matrix equations via nuclear norm minimization 45

Guaranteed minimum-rank solutions of linear matrix equations...

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45th Annual Allerton Conference on Communication, control, and Computing 2007

作者： Recht, Benjamin Fazel, Maryam Parrilo, Pablo A. Center for the Mathematics of Information California Institute of Technology Control and Dynamical Systems California Institute of Technology Laboratory for Information and Decision Systems Massachusetts Institute of Technology

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Sliding mode control for a membrane mirror strip actuated using multiple smart actuators

Sliding mode control for a membrane mirror strip actuated us...

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ASME 2007 International Mechanical Engineering Congress and Exposition, IMECE 2007

作者： Renno, Jamil M. Reddy, C. Konda Inman, Daniel J. Ruggiero, Eric J. Center for Intelligent Material Systems and Structures United States Nonlinear Systems Lab Virginia Polytechnic Institute and State University United States GE Global Research Center Performance Technologies Laboratory NiskayunaNY12309 United States Control and Dynamical Systems California Institute of Technology United States

ISBN: (纸本)0791843041

The sliding mode technique is used to control the deformation of a membrane mirror strip. A membrane mirror strip is augmented with two macro fiber composite (MFC) bimorphs. The first bimorph is actuated in bending whereas the second is actuated in tension. Membrane strips are usually tensioned uniformly. However, the presence of the tension bimorphs induces a local tension at its location. The membrane strip is modeled as an Euler-Bernoulli beam under tensile load, whereas the MFCs are modeled as monolithic piezoceramics. To cast the system into a finite dimensional state space form, the finite elements method (FEM) is used. The control action is switched when the membrane strip approaches its original undeformed shape. Simulation results demonstrate the effectiveness of the proposed control law. Copyright © 2007 by ASME.

关键词： Sliding mode control

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Nonlinear control of a Novel Two-Link Pendulum

Nonlinear Control of a Novel Two-Link Pendulum

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American control Conference (ACC)

作者： Laszlo Techy C. Konda Reddy Craig A. Woolsey Chengyu Cao Naira Hovakimyan Nonlinear Systems Laboratory Aerospace and Ocean Engineering Virginia Technology Blacksburg VA USA Control and Dynamical Systems Pasadena CA USA

This paper describes nonlinear control of a two degree of freedom mechanical system which models a bird perched on a branch or cable. The primary contribution is the implementation, in a controlled laboratory experiment, of the recently developed C\ adaptive control approach. This technique, which allows fast adaptation with guaranteed stability margins, has been proposed for use in a variety of more sophisticated applications. Experimental results for this simple mechanical control system provide further motivation to pursue those applications. The system being considered is a variation of Spong's "Acrobot", a classic example of an underactuated mechanical control system. In addition to the C\ controller, a swing-up controller based on Spong's original work on collocated partial feedback linearization is implemented with switching logic.

关键词： control systems Linear feedback control systems Nonlinear control systems Mechanical systems Birds Mechanical cables Laboratories Adaptive control Stability Logic

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A Mission controller for High Level control of Autonomous and Semi-Autonomous Underwater Vehicles

A Mission Controller for High Level Control of Autonomous an...

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OCEANS

作者： Stephen C. Martin Louis L. Whitcomb Dana Yoerger Hanumaunt Singh Dynamical Systems and Control Laboratory Department of Mechanical Engineering Johns Hopkins University USA Deep Submergence Laboratory Woods Hole Oceanographic Institution USA

This paper reports the development of a new mission controller to provide high-level control for autonomous and semi-autonomous vehicle operation. The mission controller is capable of: (a) the continuous monitor, detection and response to vehicle subsystem status, (b) the detection and response to the availability of a tethered (fiber optic) or untethered (acoustic) telemetry link, and (c) the ability to dynamically load and executing new mission scripts based upon commands sent via an acoustic or fiber telemetry link or from within a mission script, (d) support for real-time and fast-time simulated missions with simulated message traffic to the low level controller. Mission scripts support the programming functionality of: (a) "For" and "While" Loops, (b) "If/Else" conditionals, (c) variable declarations, (d) subroutines defined within the mission script that are accessible by the mission controller, (e) usage and alteration of variables defined within the mission controller. This mission controller is designed to provide high-level control to underwater vehicles including fully autonomous AUVs, acoustically controlled AUVs and a new class of hybrid vehicle capable of operating both as an ROV and as an AUV built upon, but not exclusive to, the existing Jason II control system architecture. This mission controller is currently operational on the Johns Hopkins University Remotely Operated Vehicle (JHU ROV) and the Woods Hole Oceanographic Institution's (WHOI's) Sentry AUV. We expect it to be operational on WHOI's Hybrid Remotely Operated Vehicle in May 2007. We report the results of preliminary engineering trials of the mission controller in operation on the WHOI's Sentry AUV

关键词： Level control Underwater vehicles Remotely operated vehicles control systems Mobile robots Optical control Acoustic signal detection Vehicle detection Telemetry Monitoring

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A system for real-time spatio-temporal 3-D data visualization in underwater robotic exploration

A system for real-time spatio-temporal 3-D data visualizatio...

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2005 IEEE International Conference on Robotics and Automation

作者： Martin, Stephen C. Whitcomb, Louis L. Arsenault, Roland Plumlee, Matthew Ware, Colin Dynamical Systems and Control Laboratory Department of Mechanical Engineering Johns Hopkins University Data Visualization Research Laboratory Center for Coastal and Ocean Mapping University of New Hampshire

ISBN: (纸本)078038914X

This paper reports the development of a real-time human-computer interface (HCI) system that enables a human operator to more effectively utilize the large volume of quantitative data (navigation, scientific, and vehicle status) generated in real-time by the sensor suites of underwater robotic vehicles. The system provides interactive 3-D graphical interfaces that display, under user control, the quantitative spatial and temporal sensor data presently available to pilots and users only as two-dimensional plots and numerical displays. The system can presently display real-time bathymetric renderings of the sea-floor based upon vehicle navigation and sonar sensor data;vehicle trajectory data;a variety of scalar valued sensor data;and geo-referenced targets and waypoints. We report the accuracy of the real-time navigation and bathymetric sonar data processing by comparing the real-time sonar bathymetry of our test tank floor to a highresolution laser scan of the same tank floor. The real-time sonar bathymetry is shown to compare favorably to the laser scan data ©2005 IEEE.

关键词： Robotics

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SOSTOOLS and its control applications

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2005年 312卷 273-292页

作者： Prajna, Stephen Papachristodoulou, Antonis Seiler, Peter Parrilo, Pablo A. Control and Dynamical Systems California Institute of Technology Pasadena CA 91125 United States Mechanical and Industrial Engineering Dept. University of Illinois at Urbana-Champaign Urbana IL 61801 United States Automatic Control Laboratory Swiss Federal Institute of Technology CH-8092 Zürich Switzerland

In this chapter we present SOSTOOLS, a third-party MATLAB toolbox for formulating and solving sum of squares optimization problems. Sum of squares optimization forms a basis for formulating convex relaxations to computationally hard problems such as some that appear in systems and control. Currently, sum of squares programs are solved by casting them as semidefinite programs, which can in turn be solved using interior-point based numerical methods. SOSTOOLS helps this translation in such a way that the underlying computations are abstracted from the user. Here we give a brief description of the toolbox, its features and capabilities (with emphasis on the recently added ones), as well as show how it can be applied to solving problems of interest in systems and control. © Springer-Verlag Berlin Heidelberg 2005.

关键词： MATLAB

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Announcements, comments, and acknowledgments

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AIAA Journal 2006年第1期44卷 1-10页

作者： Oran, Elaine Kailasanath, Kazhikathra Aggarwal, Suresh K. Ahmadian, Mehdi Alexandrov, Natalia Auweter-Kurtz, Monika Bailly, Christophe Balachandran, Balakumar Berman, Alex Candler, Graham V. Chelliah, Harsha K. Chokani, Ndaona Fujii, Kozo Gaitonde, Datta V. Ghia, Kirti Karman N. Givi, Peyman Gore, Jay P. Kaplan, Carolyn R. Livne, Eli Lucht, Robert P. Messac, Achille Wing, N.G. Palazotto, Anthony N. Pierre, Christophe Plotkin, Allen Roy, Ajit K. Saigal, Sunil Sforza, Pasquale M. Shivakumar, Kunigal N. So, Ronald M.C. Springer, Anthony M. Anatolitumin, Anthony M. Zhong, Xiaolin United States Division of Computational Physics United States United States AIAA United States APS United States National Academy of Engineering United States Center for Reactive Flow and Dynamical Systems Naval Research Laboratory United States Institute of Physics Department of Mechanical Engineering University of Illinois at Chicago United States ASME Combustion Institute Department of Mechanical Engineering Virginia Polytechnic Institute State University United States Aeronautics Systems Analysis Branch NASA Langley Research Center United States SIAM ISSMO Aerospace Engineering Institute of Space Systems Universität Stuttgart Germany Amelia Earhart Italy International Amelia Earhart Award Committee Italy France France Mechanical Engineering University of Maryland College Park United States AAM SPIE ASA ASME Technical Committees of Multi-Body Systems Nonlinear Dynamics Dynamics and Control of Structures and Systems American Helicopter Society United States Aerospace Engineering and Mechanics University of Minnesota United States AIAA Thermophysics Technical Committee Mechanical and Aerospace Engineering University of Virginia United States AIAA Propellants and Combustion Technical Committee AIAA's Transition Study Group Aerodynamics Measurement Technology Technical Committee Thermophysics Technical Committee Japan MOSAIC project on the Technology Pressure-sensitive Paint Measurement System Japan High-Speed Flows Group Air Vehicles Directorate Air Force Research Laboratory Wright-Patterson Air Force Base United States Wright State University United States Aerospace Engineering and Engineering Mechanics United States United States Mechanical Engineering University of Pittsburgh United States School of Mechanical Engineering Purdue University United States Committee on Heat Transfer in Fire and Combustion Systems Japan Board of Advisors Central States Section Combustion Institute United States AIChE United States Tau Beta Pi United States

No abstract available

关键词： Institute of Space and Astronautical Science American Society of Mechanical Engineers Direct Numerical Simulation Aerospace Engineering MDO Propellant Air Forces Aerodynamics Heterogeneous Combustion NASA Langley Research Center

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Application of dynamical systems theory to a very low energy transfer

Application of dynamical systems theory to a very low energy...

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作者： Ross, S.D. Koon, W.S. Lo, M.W. Marsden, J.E. Control and Dynamical Systems California Institute of Technology MC 107-81 Pasadena CA 91125 United States Navigation and Mission Design Section Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States

We use lobe dynamics in the restricted three-body problem to design orbits with prescribed itineraries with respect to the resonance regions within a Hill's region. The application we envision is the design of a low energy trajectory to orbit three of Jupiter's moons using the patched three-body approximation (P3BA). We introduce the "switching region," the P3BA analogue to the "sphere of influence." Numerical results are given for the problem of finding the fastest trajectory from an initial region of phase space (escape orbits from moon A) to a target region (orbits captured by moon B) using small controls.

关键词： Dynamics

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