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Mobile Ad hoc Network Testbed Using Mobile Robot Technology

Journal of Physics: Conference Series 2018年第1期1019卷

作者： Farkhana Muchtar Abdul Hanan Abdullah Mohd Helmy Abd Wahab Radzi Ambar Hafizul Fahri Hanafi Siti Nor Zawani Ahmmad Faculty of Computing Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia School of Computer Sciences Universiti Sains Malaysia 11800 Gelugor Pulau Pinang Malaysia Faculty of Electronic and Electrical Engineering Universiti Tun Hussein Onn 86400 Batu Pahat Johor Malaysia Faculty of Art Computing and Creative Industry Universiti Pendidikan Sultan Idris 35900 Tanjung Malim Perak Malaysia Instrumental and Control Engineering University Kuala Lumpur MITEC Persiaran Sinaran Ilmu Bandar Seri Alam 81750 Johor Malaysia

MANET (Mobile Ad Hoc Network) researchers have shown increased interest in using mobile robot technology for their testbed platforms. Thus, the main motivation of this paper is to review various robot-based MANET testbeds that have been developed in previously reported research. Additionally, suggestions to heighten mobility mechanisms by using mobile robots to be more practical, easy and inexpensive are also included in this paper, as we unveils ToMRobot, a low-cost MANET robot created from an ordinary remote control car that is capable of performing a real system MANET testbed with the addition of only a few low-cost electronic components. Despite greatly reduced costs, the ToMRobot does not sacrifice any of the necessary MANET basic structures and will still be easily customisable and upgradeable through the use of open hardware technology like Cubieboard2 and Arduino, as its robot controller. This paper will also include guidelines to enable technically limited MANET researchers to design and develop the ToMRobot. It is hoped that this paper achieves its two pronged objectives namely (i) to facilitate other MANET researchers by providing them with a source of reference that eases their decision making for selecting the best and most suitable MANET mobile robots for real mobility in their MANET testbeds (ii) to provide MANET researchers with a prospect of building their own MANET robots that can be applied in their own MANET testbed in the future.

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Electrical Power Distribution System Reconfiguration: Case Study of a Real-life Grid in Croatia

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IFAC-PapersOnLine 2017年第1期50卷 61-66页

作者： Novoselnik B. Bolfek M. Bošković M. Baotić M. Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb HR-10000 Croatia HEP-ODS d.o.o. Elektra Koprivnica Služba za tehničke poslove Ulica Hrvatske državnosti 32 Koprivnica HR-48000 Croatia HEP-ODS d.o.o. Sektor za tehničke poslove Služba za mjerenje i obračun Ulica grada Vukovara 37 Zagreb HR-10000 Croatia

This paper describes application of a nonlinear model predictive control algorithm to the problem of dynamic reconfiguration of an electrical power distribution system with distributed generation and storage. Power distribution systems usually operate in a radial topology despite being physically built as interconnected meshed networks. The meshed structure of the network allows one to modify the network topology by changing status of the line switches (open/closed). The goal of the control algorithm is to find the optimal radial network topology and the optimal power references for the controllable generators and energy storage units that will minimize cumulative active power losses while satisfying all system constraints. Validation of the developed algorithm is conducted on a case study of a real-life distribution grid in Croatia. The realistic simulations show that large loss reductions are feasible (more than 13%), i.e. that the developed control algorithm can contribute to significant savings for the grid operator. © 2017

关键词： mixed-integer programming model predictive control power distribution system reconfiguration real-life case study

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Input optics systems of the KAGRA detector during O3GK (vol 2023, 023F01, 2023)

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PROGRESS OF THEORETICAL AND EXPERIMENTAL PHYSICS 2023年第5期2023卷

作者： Akutsu, T. Ando, M. Arai, K. Arai, Y. Araki, S. Araya, A. Aritomi, N. Asada, H. Aso, Y. Bae, S. Bae, Y. Baiotti, L. Bajpai, R. Barton, M. A. Cannon, K. Cao, Z. Capocasa, E. Chan, M. Chen, C. Chen, K. Chen, Y. Chiang, C-I Chu, H. Chu, Y-K Eguchi, S. Enomoto, Y. Flaminio, R. Fujii, Y. Fujikawa, Y. Fukunaga, M. Fukushima, M. Furuhata, T. Gao, D. Ge, G-G Ha, S. Hagiwara, A. Haino, S. Han, W-B Hasegawa, K. Hattori, K. Hayakawa, H. Hayama, K. Himemoto, Y. Hiranuma, Y. Hirata, N. Hirose, E. Hong, Z. Hsieh, B-H Huang, G-Z Huang, H-Y Huang, P. Huang, Y-C Huang, Y-J Hui, D. C. Y. Ide, S. Ikenoue, B. Imam, S. Inayoshi, K. Inoue, Y. Ioka, K. Ito, K. Itoh, Y. Izumi, K. Jeon, C. Jin, H-B Jung, K. Jung, P. Kaihotsu, K. Kajita, T. Kakizaki, M. Kamiizumi, M. Kanbara, S. Kanda, N. Kang, G. Kataoka, Y. Kawaguchi, K. Kawai, N. Kawasaki, T. Kim, C. Kim, J. Kim, J. C. Kim, Ws Kim, Y-M Kimura, N. Kita, N. Kitazawa, H. Kojima, Y. Kokeyama, K. Komori, K. Kong, A. K. H. Kotake, K. Kozakai, C. Kozu, R. Kumar, R. Kume, J. Kuo, C. Kuo, H-S Kuromiya, Y. Kuroyanagi, S. Kusayanagi, K. Kwak, K. Lee, H. K. Lee, H. W. Lee, R. Leonardi, M. Li, K. L. Lin, L. C-C Lin, C-Y Lin, F-K Lin, F-L Lin, H. L. Liu, G. C. Luo, L-W Majorana, E. Marchio, M. Michimura, Y. Mio, N. Miyakawa, O. Miyamoto, A. Miyazaki, Y. Miyo, K. Miyoki, S. Mori, Y. Morisaki, S. Moriwaki, Y. Nagano, K. Nagano, S. Nakamura, K. Nakano, H. Nakano, M. Nakashima, R. Nakayama, Y. Narikawa, T. Naticchioni, L. Negishi, R. Quynh, L. Nguyen Ni, W-T Nishizawa, A. Nozaki, S. Obuchi, Y. Ogaki, W. Oh, J. J. Oh, S. H. Ohashi, M. Ohishi, N. Ohkawa, M. Ohta, H. Okutani, Y. Okutomi, K. Oohara, K. Ooi, C. Oshino, S. Otabe, S. Pan, K-C Pang, H. Parisi, A. Park, J. Arellano, F. E. Pena Pinto, I. Sago, N. Saito, S. Saito, Y. Sakai, K. Sakai, Y. Sakuno, Y. Sato, S. Sato, T. Sawada, T. Sekiguchi, T. Sekiguchi, Y. Shao, L. Shibagaki, S. Shimizu, R. Shimoda, T. Shimode, K. Shinkai, H. Shishido, T. Shoda, A. Somiya, K. Son, E. J. Sotani, H. Sugimoto, R. Suresh, J. Suzuki, T. Suzuki, T. Tagoshi, H. Takahashi, H Gravitational Wave Science Project National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Advanced Technology Center National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Department of Physics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Research Center for the Early Universe The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research KAGRA Observatory The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa City Chiba 277-8582 Japan Accelerator Laboratory High Energy Accelerator Research Organization (KEK) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Earthquake Research Institute The University of Tokyo 1-1-1 Yayoi Bunkyo-ku Tokyo 113-0032 Japan Department of Mathematics and Physics Graduate School of Science and Technology Hirosaki University 3 Bunkyo-cho Hirosaki Aomori 036-8561 Japan Kamioka Branch National Astronomical Observatory of Japan 238 Higashi-Mozumi Kamioka-cho Hida City Gifu 506-1205 Japan The Graduate University for Advanced Studies (SOKENDAI) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Korea Institute of Science and Technology Information 245 Daehak-ro Yuseong-gu Daejeon 34141 Republic of Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 Beon-gil Yuseong-gu Daejeon 34047 Republic of Korea International College Osaka University 1-1 Machikaneyama-cho Toyonaka City Osaka 560-0043 Japan School of High Energy Accelerator Science The Graduate University for Advanced Studies (SOKENDAI) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Department of Astronomy Beijing Normal University Xinjiekouwai Street 19 Haidian District Beijing 100875 China Department of Applied Physics Fukuoka University 8-19-1 Nanakuma Jonan Fukuoka City Fukuoka 814-0180 Japan Department of Physics Tamkang University No. 151 Yingzhuan Road Danshui Dist. New Taipei City 25137 Taiwan Department of Physics

KAGRA, the underground and cryogenic gravitational-wave detector, was operated for its solo observation from February 25 to March 10, 2020, and its first joint observation with the GEO 600 detector from April 7 to April 21, 2020 (O3GK). This study presents an overview of the input optics systems of the KAGRA detector, which consist of various optical systems, such as a laser source, its intensity and frequency stabilization systems, modulators, a Faraday isolator, mode-matching telescopes, and a high-power beam dump. These optics were successfully delivered to the KAGRA interferometer and operated stably during the observations. The laser frequency noise was observed to limit the detector sensitivity above a few kilohertz, whereas the laser intensity did not significantly limit the detector sensitivity.

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Changing life expectancy in European countries 1990–2021: a subanalysis of causes and risk factors from the Global Burden of Disease Study 2021

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The Lancet Public Health 2025年第3期10卷 e172-e188页

作者： Steel, Nicholas Bauer-Staeb, Clarissa Maria Mercedes Ford, John A. Abbafati, Cristiana Abdalla, Mohammed Altigani Abdelkader, Atef Abdi, Parsa Zuñiga, Roberto Ariel Abeldaño Abiodun, Olugbenga Olusola Abolhassani, Hassan Abu-Gharbieh, Eman Abukhadijah, Hana J. Abu-Zaid, Ahmed Addo, Isaac Yeboah Addolorato, Giovanni Adekanmbi, Victor Adetunji, Juliana Bunmi Adeyeoluwa, Temitayo Esther Agardh, Emilie E. Agyemang-Duah, Williams Ahmad, Danish Ahmed, Ayman Ahmed, Syed Anees Akinosoglou, Karolina Akkaif, Mohammed Ahmed Al Awaidy, Salah Al Hasan, Syed Mahfuz Al Zaabi, Omar Ali Mohammed Aldridge, Robert W. Algammal, Abdelazeem M. Al-Gheethi, Adel Ali Saeed Ali, Abid Ali, Mohammed Usman Ali, Syed Shujait Ali, Waad Alicandro, Gianfranco Alif, Sheikh Mohammad Al-Jumaily, Adel Allebeck, Peter Alrawashdeh, Ahmad Al-Rifai, Rami H. Alsabri, Mohammed A. Alshahrani, Najim Z. Aluh, Deborah Oyine Al-Wardat, Mohammad Al-Zyoud, Walid A. Amiri, Sohrab Anderlini, Deanna Andrei, Catalina Liliana Anil, Abhishek Anvari, Saeid Anyasodor, Anayochukwu Edward Appiah, Seth Christopher Yaw Aquilano, Michele Arabloo, Jalal Arafat, Mosab Areda, Demelash Aremu, Abdulfatai Armani, Keivan Armocida, Benedetta Ärnlöv, Johan Asaduzzaman, Muhammad Astell-Burt, Thomas Aujayeb, Avinash Ausloos, Marcel Azadnajafabad, Sina Aziz, Shahkaar Azzam, Ahmed Y. Babu, Giridhara Rathnaiah Badache, Andreea Corina Badiye, Ashish D. Bahramian, Saeed Baig, Atif Amin Baker, Jennifer L. Bansal, Hansi Bärnighausen, Till Winfried Barone, Mark Thomaz Ugliara Barrow, Amadou Barteit, Sandra Bashir, Shahid Bashiru, Hameed Akande Basso, João Diogo Bastan, Mohammad-Mahdi Basu, Sanjay Batra, Kavita Bauckneht, Matteo Baune, Bernhard T. Beghi, Massimiliano Beiranvand, Maryam Béjot, Yannick Bell, Michelle L. Bello, Olorunjuwon Omolaja Belo, Luis Beloukas, Apostolos Beneke, Alice A. Bettencourt, Paulo J.G. Bhagavathula, Akshaya Srikanth Bhala, Neeraj Bhaskar, Sonu Bisulli, Francesca Bjørge, Tone Bodunrin, Aadam Olalekan Carvajal, Alejandro Botero Bouaoud, Souad Brayne, Carol Brenner, H Department of Primary Care and Public Health University of East Anglia Norwich United Kingdom Office for Health Improvement and Disparities Department of Health and Social Care London United Kingdom Department of Legal and Economic Studies La Sapienza University Rome Italy Rome Italy Hull York Medical School University of Hull Hull United Kingdom Department of Mathematics and Sciences Ajman University Ajman United Arab Emirates Department of Medicine Memorial University St. John's NL Canada Postgraduate Department University of Sierra Sur Miahuatlan de Porfirio Diaz Mexico Yhteiskuntadatatieteen keskus (Centre for Social Data Science) Helsinki Finland Department of Internal Medicine Federal Medical Centre Abuja Nigeria Research Center for Immunodeficiencies Tehran University of Medical Sciences Tehran Iran Department of Medical Biochemistry and Biophysics Karolinska Institutet (Karolinska Institute) Stockholm Sweden Department of Clinical Sciences University of Sharjah Sharjah United Arab Emirates Department of Biopharmaceutics and Clinical Pharmacy University of Jordan Amman Jordan Medical Research Center Hamad Medical Corporation Doha Qatar Department of Biochemistry and Molecular Medicine Alfaisal University Riyadh Saudi Arabia College of Graduate Health Sciences University of Tennessee Memphis TN United States School of Medicine Sydney NSW Australia Centre for Social Research in Health University of New South Wales Sydney NSW Australia Internal Medicine and Alcohol Related Disease Unit Fondazione Policlinico Universitario A. Gemelli IRCCS Rome Italy Department of Medical and Surgical Sciences Università Cattolica di Roma (Catholic University of Rome) Rome Italy Department of Obstetrics and Gynecology University of Texas Medical Branch Galveston TX United States Department of Biochemistry Osun State University Osogbo Nigeria Department of Pharmacology and Therapeutics University of Medical Sciences Ondo Ondo Nigeria Department of Veteri

Background: Decades of steady improvements in life expectancy in Europe slowed down from around 2011, well before the COVID-19 pandemic, for reasons which remain disputed. We aimed to assess how changes in risk factors and cause-specific death rates in different European countries related to changes in life expectancy in those countries before and during the COVID-19 pandemic. Methods: We used data and methods from the Global Burden of Diseases, Injuries, and Risk Factors Study 2021 to compare changes in life expectancy at birth, causes of death, and population exposure to risk factors in 16 European Economic Area countries (Austria, Belgium, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, the Netherlands, Norway, Portugal, Spain, and Sweden) and the four UK nations (England, Northern Ireland, Scotland, and Wales) for three time periods: 1990–2011, 2011–19, and 2019–21. Changes in life expectancy and causes of death were estimated with an established life expectancy cause-specific decomposition method, and compared with summary exposure values of risk factors for the major causes of death influencing life expectancy. Findings: All countries showed mean annual improvements in life expectancy in both 1990–2011 (overall mean 0·23 years [95% uncertainty interval [UI] 0·23 to 0·24]) and 2011–19 (overall mean 0·15 years [0·13 to 0·16]). The rate of improvement was lower in 2011–19 than in 1990–2011 in all countries except for Norway, where the mean annual increase in life expectancy rose from 0·21 years (95% UI 0·20 to 0·22) in 1990–2011 to 0·23 years (0·21 to 0·26) in 2011–19 (difference of 0·03 years). In other countries, the difference in mean annual improvement between these periods ranged from –0·01 years in Iceland (0·19 years [95% UI 0·16 to 0·21] vs 0·18 years [0·09 to 0·26]), to –0·18 years in England (0·25 years [0·24 to 0·25] vs 0·07 years [0·06 to 0·08]). In 2019–21, there was an overall decrease in mean annual life expectancy a

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Dynamic modeling and simulation of a bicycle stabilized by LQR control

Dynamic modeling and simulation of a bicycle stabilized by L...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Adam Owczarkowski Dariusz Horla Piotr Kozierski Talar Sadalla Faculty of Electrical Engineering Institute of Control and Information Engineering Faculty of Computing Chair of Control and Systems Engineering Poznan University of Technology Poznan

In this paper, we present a new approach to mathematical modeling of the bicycle. It is based on the detailed nonlinear Whipple scientific description. We are focused on the state space representation which we use to solve the control law and we test the optimal linear quadratic control which finally gives satisfactory results. The article includes a several computer simulations of the single-track vehicle motion. We indicate when the bicycle is self-stable. The results are useful to make further research on the bicycle modelling.

关键词： Bicycles Mathematical model Computational modeling Computer simulation Wheels control systems

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Euclidean Proximity Function in Image Processing

Euclidean Proximity Function in Image Processing

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IEEE Signal Processing Algorithms, Architectures, Arrangements, and Applications Conference

作者： Pawel M. Stasik Poznan University of Technology Faculty of Computing Science Chair of Control and Systems Engineering

ISBN: (纸本)9781509026616

In image processing measuring and valuing a distance between two points is important. The obtained values can be used for determining whether two points are close to each other or to define weights for a filter concentrated around a central element. While there are measures of proximity, neither of them was defined with a such use in mind, mostly concentrating on problem of an optimization. The idea is to turn the Euclidean distance between two points into a measure of how close (or far) two points are from each other, basing on two given ranges. The function was mostly obtained by a theoretical analysis supported with a mathematical calculation and examples of use. As it was proven in the work, the obtained function can be implemented not only to measure proximity, but also as a flexible kernel for image filters, allowing for blurring or edge-detection.

关键词： Image edge detection Euclidean distance Fuzzy logic Limiting Hypercubes Optimization Edge detection Euclidean distance Hypercube Limiting Fuzzy logic Image processing image filtering Proximity central element Function BLURRING

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A novel concept of attitude control for large multirotor-UAVs based on moving mass control

A novel concept of attitude control for large multirotor-UAV...

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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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Stability analysis and tracking performance of fractional-order PI controller for a second-order oscillatory system with time-delay

Stability analysis and tracking performance of fractional-or...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Talar Sadalla Dariusz Horla Wojciech Giernacki Piotr Kozierski Faculty of Electrical Engineering Institute of Control and Information Engineering Piotrowo Poznan Faculty of Computing Poznan University of Technology Piotrowo Poznan

The main aim of this paper is to present the analysis of stability regions and tracking performance for the closed-loop system with second-order plant with time-delay and continuous fractional-order PI controller. It is a trial to extend the results and methodology presented in [11] to non-integer order systems. The tracking performance is based on two quality indices IAE and ISE. The tuning method of fractional PI controller is with respect to Hermite-Biehler and Pontryagin Theorems.

关键词： Stability criteria Mathematical model Closed loop systems Tuning Analytical models

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Taming the big to small: efficient selfish task allocation in mobile crowdsourcing systems

Taming the big to small: efficient selfish task allocation i...

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作者： Li, Qingyu Yang, Panlong Fan, Xiaochen Tang, Shaojie Xiang, Chaocan Guo, Deke Li, Fan China Satellite Maritime Tracking and Control Department Jiangyin China College of Communications Engineering PLA University of Science and Technology Nanjing China University of Texas at Dallas RichardsonTX United States Logistic Engineering University of PLA Chongqing China National University of Defense Technology Changsha China Beijing Institute of Technology Beijing China School of Computer Science and Technology University of Science and Technology of China Hefei China School of Computer and Software Nanjing University of Information Science and Technology Nanjing China School of Computing and Communications Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW Australia

This paper investigates the selfish load balancing problem in mobile distributed crowdsourcing networks. Conventional methods heavily relied on cooperation among users to achieve balanced resource utilization in a platform-centric view. In achieving fairly low communication and computational overhead, this work leverages the d-choice method based on Ball and Bin theory for effective balancing under limited information and the Proportional Allocation scheme for selfish load balancing, maintaining good load balancing property among selfish users. Even with limited information, the balancing performance could be improved significantly. Moreover, theoretical analysis has been presented in convergence property. Extensive evaluations have been made to show that Chance-Choice outperforms several existing algorithms. Typically, comparing with Proportional Allocation scheme, it could decrease the load gap between the maximum and the minimal in system by 50% to 80% and reduce the overhead complexity from O(n) to O(1) comparing with the Max-weight Best Response algorithm, where n denotes the number of mobile users in a crowdsourcing system. Copyright © 2017 John Wiley & Sons, Ltd. Copyright © 2017 John Wiley & Sons, Ltd.

关键词： Crowdsourcing

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Stability analysis of simple anti-windup compensation in approximate pole-placement control of a second order oscillatory system with time delay

Stability analysis of simple anti-windup compensation in app...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Talar Sadalla Dariusz Horla Piotr Kozierski Adam Owczarkowski Faculty of Electrical Engineering Poznan University of Technology Poznan Faculty of Computing Chair of Control and Systems Engineering Poznan University of Technology Poznan

The main purpose of this paper, is to analyze the stability of anti-windup compensation impact on tracking performance for a second order plant with time delay and continuous-time PID controller tuned by pole-placement. The paper present results of the research that extends the output from the previous MMAR paper, and is mainly focused on analyzing the stability interplay with open-loop parameters, to show the application limits of the already proposed control law. In the paper, the non-Pade approximation of time delay is used in order to obtain a solution of Diophantine equation. The performance evaluation of the system is based on comparison between integral of absolute and squared tracking errors for system with and without compensation. On the other hand the BIBO stability test of the system is based on computation of the differences between consecutive peaks of possibly diverging output signal. The control system quality is described on the basis of two quality indices in case of stable oscillatory second-order plant with step function reference signal. The main contribution of the paper, is a given rule of thumb that defines the limits of requirements imposed on the dynamics of the closed-loop system with respect to anti-windup compensation scheme applied and modes of the plant and is a natural extension to the results presented before, where the control law has been derived with comments about its performance.

关键词： Stability criteria Delay effects Mathematical model Transfer functions Closed loop systems

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