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Global tracking of marine megafauna space use reveals how to achieve conservation targets

Science (New York, N.Y.) 2025年第6751期388卷 1086-1097页

作者： Ana M M Sequeira Jorge P Rodríguez Sarah A Marley Hannah J Calich Mirjam van der Mheen Michelle VanCompernolle Lucy M Arrowsmith Lauren R Peel Nuno Queiroz Marisa Vedor Ivo da Costa Gonzalo Mucientes Ana Couto Nicolas E Humphries Sara Abalo-Morla Francisco J Abascal Debra L Abercrombie Katya Abrantes F Alberto Abreu-Grobois André S Afonso Pedro Afonso Heidi Ahonen Susanne Åkesson Joanna Alfaro-Shigueto Russel D Andrews Frédéric Angelier Marina Antonopoulou Javier A Arata Gonzalo Araujo Randall Arauz José Manuel Arcos Igor Arregui Haritz Arrizabalaga Marie Auger-Méthé Steffen Bach Fred Bailleul Robin W Baird George H Balazs Susan G Barco Adam Barnett Warren Baverstock Alastair M M Baylis Annalea Beard Juan Bécares Eduardo J Belda Ian Bell Ashley Bennison Scott R Benson Diego Bernal Michael L Berumen Sandra Bessudo Natalia P A Bezerra Antonin V Blaison Gabriela S Blanco Barbara A Block Mark Bolton Mark E Bond Ramón Bonfil Camrin D Braun Annette C Broderick Michael de L Brooke Annabelle M L Brooks Edward J Brooks Ignacio M Bruno Jennifer M Burns Michael E Byrne Steven E Campana Hamish A Campbell Richard A Campbell Aaron Carlisle Ruth H Carmichael Gemma Carroll Paolo Casale Filipe R Ceia Demian D Chapman Taylor K Chapple Jean-Benoit Charrassin Andre Chiaradia John Chisholm Christopher R Clarke Thomas A Clay Christophe Cleguer Elizabeth Clingham Eric E G Clua Jesse E M Cochran Rochelle Constantine Robert W Cooper Estelle Crochelet Michelle Cronin Eduardo Cuevas Kayla P DaCosta Laurent Dagorn Ryan Daly Randall W Davis P J Nico de Bruyn Carlos Delgado-Trejo Thomas Dellinger Solène Derville Stella Diamant Andrew DiMatteo Kara L Dodge Philip D Doherty Michael C Double Alistair D M Dove Thomas K Doyle Michael J Drew Lindsay L Dubbs Clinton A J Duffy Peter H Dutton Ewan W J Edwards Luke D Einoder Mark V Erdmann Eduardo Espinoza Nicole Esteban Ana Isabel Fagundes Chris Feare Steven H Ferguson Luciana C Ferreira Francesco Ferretti John Filmalter Brittany Finucci G Chris Fischer Richard J Fitzpatrick Jorge Fontes Angela Formia Division of Ecology and Evolution Research School of Biology The Australian National University Canberra (Australian Capital Territory) Australia. UWA Oceans Institute and the School of Biological Sciences The University of Western Australia Perth (Western Australia) Australia. Instituto de Física Interdisciplinar y Sistemas Complejos (IFISC) CSIC-UIB Palma de Mallorca Spain. Instituto Mediterráneo de Estudios Avanzados (IMEDEA) CSIC-UIB Esporles Illes Balears Spain. C.A. Illes Balears Universidad Nacional de Educación a Distancia (UNED) Palma Spain. Delegación Territorial en Illes Balears Agencia Estatal de Meteorología (AEMET) Muelle de Poniente s/n Palma Spain. Scotland's Rural College (SRUC) Craibstone Estate Bucksburn Aberdeen UK. Oceans Graduate School and the UWA Oceans Institute The University of Western Australia Perth (Western Australia) Australia. School of Engineering and the UWA Oceans Institute The University of Western Australia Perth (Western Australia) Australia. Department of Biodiversity Conservation and Attractions Biodiversity and Conservation Science Kensington (Western Australia) Australia. Save Our Seas Foundation Geneva Switzerland. The Manta Trust Catemwood House Norwood Lane Corscombe Dorset UK. Centro de Investigação em Biodiversidade e Recursos Genéticos (CIBIO) InBIO Laboratório Associado Campus de Vairão Universidade do Porto Vairão Portugal. BIOPOLIS Program in Genomics Biodiversity and Land Planning Campus de Vairao Vairão Portugal. Instituto de Investigaciones Marinas Consejo Superior de Investigaciones Científicas (IIM-CSIC) Vigo Pontevedra Spain. School of Biological Sciences University of Aberdeen Aberdeen UK. Biomathematics and statistics Scotland The kings building Edinburgh Scotland. Marine Biological Association (MBA) The Laboratory Citadel Hill Plymouth UK. Instituto de Investigación para la Gestión Integrada de Zonas Costeras Universitat Politècnica de València Gandia València Spain. Instituto Español de O

The recent Kunming-Montreal Global Biodiversity Framework (GBF) sets ambitious goals but no clear pathway for how zero loss of important biodiversity areas and halting human-induced extinction of threatened species will be achieved. We assembled a multi-taxa tracking dataset (11 million geopositions from 15,845 tracked individuals across 121 species) to provide a global assessment of space use of highly mobile marine megafauna, showing that 63% of the area that they cover is used 80% of the time as important migratory corridors or residence areas. The GBF 30% threshold (Target 3) will be insufficient for marine megafauna's effective conservation, leaving important areas exposed to major anthropogenic threats. Coupling area protection with mitigation strategies (e.g., fishing regulation, wildlife-traffic separation) will be essential to reach international goals and conserve biodiversity.

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Distributed multi-robot coordination for dynamic perimeter surveillance in uncertain environments

Distributed multi-robot coordination for dynamic perimeter s...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Alexander Jahn Reza Javanmard Alitappeh David Saldaña Luciano C. A. Pimenta Andre G. Santos Mario F. M. Campos Graduate Program in Electrical Engineering (PPGEE) National Institute of Science and Technology for Cooperative Autonomous Systems Applied to Security and Environment Departamento de Informatica Universidade Federal de Vicosa Computer Science Department Universidade Federal de Minas Gerais Universidade Federal de Minas Gerais Belo Horizonte MG BR

In this work, multiple robots circulate around the boundary of a desired region in order to create a virtual fence. The aim of the this fence is to avoid internal or external agents crossing through the delimited area. In this paper, we propose a distributed technique that allows a team of robots to plan the deformation of the boundary shape in order to escort the safe region from one place to a goal. Our proposal is composed of two parts. First, we present a distributed planning method for the dynamic boundary. We model the resulting plan as a twice differentiable function. Second, we use the obtained function to guide the robot team, where every member uses only local information for the controller. The robots distribute themselves along the time-varying perimeter and patrol around it. We show in simulation how the robots behave in partially/totally unknown environments with static obstacles.

关键词： Shape Robot kinematics Trajectory Planning Robot sensing systems Dynamics

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Sylabus and Matrials Design for Vocational Student and Its Dissemination Using Website

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Journal of Physics: Conference Series 2018年第1期1114卷

作者： Astro Julida Harahap Erianto Ongko Hotler Manurung Dian Kurnia H Hartono Dahlan Abdullah Cut Ita Erliana Hardianto Djanggih Kundharu Saddhono Dian Rianita Muhammad Ikhsan Setiawan Yuliyanto Budi Setiawan Rosida Tiurma Manurung S Sriadhi Mangasi Sinurat Aisyah Siregar Rapat Piter Soni Hutauruk Nico Benjamain Sibarani Department of Informatics Akademi Teknologi Industri Immanuel Medan Indonesia Department of Computer Systems Universitas Pancabudi Medan Indonesia Department of Computer Science STMIK IBBI Medan Indonesia Department of Informatics Universitas Malikussaleh Aceh Indonesia Department of Industrial Engineering Universitas Malikussaleh Aceh Indonesia Department of Law Universitas Tompotika Luwuk Banggai Indonesia Graduate Program Universitas Sebelas Maret Surakarta Indonesia Department of Administration University of Lancang Kuning Pekanbaru Indonesia Department of Civil Engineering Narotama University Surabaya Indonesia Study Program of Communication Studies Universitas Semarang Indonesia Graduate Program in Scientific Psychology Universitas Kristen Maranatha Indonesia Department of Electrical Engineering Universitas Negeri Medan Indonesia STIE Bina Karya Tebing Tinggi Indonesia

The learners' needs are an important factor in designing syllabus and materials design, this research deals with the syllabus and material design based on the professional's needs. It is expected that the syllabus and materials designes are communicatively applicable to the professional academy. Descriptive method is applied in this research. The sample of this research is 30 students of ATII Immanuel Academy Medan. They were selected by random sampling to get the data, the questioners were administered to students. the questioners consisted of 54 items and the semi structured interview consisted of 5 questions, the finding indicated that learners' needs were focused on reading and speaking skills. With reference appropriately and proportionally derived for students of the Professional Academy. Further on the basis of the syllabus, materials are designed in which the skills of using language become a priority. The results of this research will be disseminated using the website

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Overview of KAGRA : Data transfer and management

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Progress of Theoretical and Experimental Physics 2023年第10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-Y Chu, H Chu, Y-K Eguchi, S Enomoto, Y Flaminio, R Fujii, Y Fujikawa, Y Fukunaga, M Fukushima, M Gao, D Ge, 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 Huang, G-Z Huang, H-Y Huang, P Huang, Y-C Huang, Y 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 Kanda, N Kang, G Kawaguchi, K Kawai, N Kawasaki, T Kim, C Kim, J Kim, J C Kim, W S Kim, Y-M Kimura, N Kita, N Kitazawa, H Kobayashi, Y 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, K Oh, S H Ohashi, M Ohashi, T Ohishi, N Ohkawa, M Ohta, H Okutani, Y Okutomi, K Oohara, K Ooi, C Oshino, S Otabe, S Pan, K Pang, H Parisi, A Park, J Arellano, F E Peña Pinto, I Sago, N Saito, S Saito, Y Sakai, K Sakai, Y Sakuno, Y Sasaki, 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 Tagoshi, H Takahashi, H Takahashi, R Takamori, A Takano, S Takeda, H Takeda, M Tanaka, H Tanaka, K Tanaka, T Tanioka, S Martin, E N Tapia San Telada, S Tomaru, T Tomigami, Y Tomura, T Travasso, F Trozzo, L Tsang, T Ts Gravitational Wave Science Project National Astronomical Observatory of Japan (NAOJ) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Advanced Technology Center National Astronomical Observatory of Japan (NAOJ) 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 (RESCEU) The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research (ICRR) 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 Hirosaki University 3 Bunkyo-cho Hirosaki City Aomori 036-8561 Japan Kamioka Branch National Astronomical Observatory of Japan (NAOJ) 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 (KISTI) 245 Daehak-ro Yuseong-gu Daejeon 34141 Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 Beon-gil Yuseong-gu Daejeon 34047 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 No. 19 Xinjiekou Street 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 Rd. Danshui Dist. New Taipei City 25137 Taiwan Department of Physics and Institute of Astronomy Nation

KAGRA is a newly built gravitational wave observatory, a laser interferometer with a 3 km arm length, located in Kamioka, Gifu prefecture, Japan. In this article, we describe the KAGRA data management system, i.e., recording of data, transfer from the KAGRA experiment site to computing resources, as well as data distribution to tier sites, including international sites in Taiwan and Korea. The amount of KAGRA data exceeded 1.0 PiB and increased by about 1.5 TB per day during operation in 2020. Our system has succeeded in data management, and has achieved performance that can withstand observations after 2023, that is, a transfer rate of 20 MB s-1or more and file storage of sufficient capacity for petabyte class. We also discuss the sharing of data between the global gravitational-wave detector network with other experiments, namely LIGO and Virgo. The latency, which consists of calculation of calibrated strain data and transfer time within the global network, is very important from the view of multi-messenger astronomy using gravitational waves. Real-time calbrated data delivered from the KAGRA detector site and other detectors to our computing system arrive with about 4–15 seconds of latency. These latencies are sufficiently short compared to the time taken for gravitational wave event search computations. We also established a high-latency exchange of offline calibrated data that was aggregated with a better accuracy compared with real-time data.

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Framework of decision in data modeling for quality improvement

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TQM Journal 2015年第1期27卷 135-149页

作者： Sant'Anna, Ângelo Márcio Oliveira Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Brazil

Purpose - The purpose of this paper is to propose a framework of decision making to aid practitioners in modeling and optimization experimental data for improvement quality of industrial processes, reinforcing idea that planning and conducting data modeling are as important as formal ***/methodology/approach - The paper presents an application was carried out about the modeling of experimental data at mining company, with support at Catholic University from partnership projects. The literature seems to be more focussed on the data analysis than on providing a sequence of operational steps or decision support which would lead to the best regression model given for the problem that researcher is confronted with. The authors use the concept of statistical regression technique called generalized linear ***/value - An essential point is that the study is based on the feedback from practitioners and industrial managers, which makes the analyses and conclusions from practical points of view, without relevant theoretical knowledge of relationship among the process variables. Regression model has its own characteristics related to response variable and factors, and misspecification of the regression model or their components can yield inappropriate inferences and erroneous experimental *** - The authors analyze the relevant case study in mining company, based on best statistical regression models. Starting from this analysis, the results of the industrial case study illustrates the strong relationship of the improvement process with the presented framework approach into practice. Moreover, the case study consolidating a fundamental advantage of regression models: modeling guided provides more knowledge about products, processes and technologies, even in unsuccessful case *** limitations/implications - The study advances in regression model for data modeling are applicable in several types of industrial processes and phenom

关键词： Regression analysis

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An efficient method to estimate sorption isotherm curve coefficients

arXiv

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arXiv 2017年

作者： Berger, Julien. Busser, Thomas Dutykh, Denys Key, Nathan Mendes LOCIE 5271 CNRS Université Savoie Mont Blanc Le Bourget-du-Lac CedexF-73376 Grenoble Alpes Univ. Savoie Mont Blanc CNRS LAMA Chambéry73000 Thermal Systems Laboratory Mechanical Engineering Graduate Program Pontifical Catholic University of Paraná Rua Imaculada Conceicaõ Curitiba-Paraná1155

This paper deals with an inverse problem applied to the field of building physics to experimentally estimate three sorption isotherm coefficients of a wood fiber material. First, the mathematical model, based on convective transport of moisture, the Optimal Experiment Design (OED) and the experimental set-up are presented. Then measurements of relative humidity within the material are carried out, after searching the OED, which is based on the computation of the sensitivity functions and a priori values of the unknown parameters employed in the mathematical model. The OED enables to plan the experimental conditions in terms of sensor positioning and boundary conditions out of 20 possible designs, ensuring the best accuracy for the identification method and, thus, for the estimated parameter. Two experimental procedures were identified: I) single step of relative humidity from 10% to 75% and ii) multiple steps of relative humidity 10-75-33-75% with an 8-day duration period for each step. For both experiment designs, it has been shown that the sensor has to be placed near the impermeable boundary. After the measurements, the parameter estimation problem is solved using an interior point algorithm to minimize the cost function. Several tests are performed for the definition of the cost function, by using the L2or L∞norm and considering the experiments separately or at the same time. It has been found out that the residual between the experimental data and the numerical model is minimized when considering the discrete Euclidean norm and both experiments separately. It means that two parameters are estimated using one experiment while the third parameter is determined with the other experiment. Two cost functions are defined and minimized for this approach. Moreover, the algorithm requires less than 100 computations of the direct model to obtain the solution. In addition, the OED sensitivity functions enable to capture an approximation of the probability distribution fun

关键词： Sorption

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Retraction: Sylabus and Matrials Design for Vocational Student and Its Dissemination Using Website (J. Phys.: Conf. Ser. 1114 012023)

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Journal of Physics: Conference Series 2018年第1期1114卷

作者： Astro Julida Harahap Ongko, Erianto Manurung, Hotler Kurnia, Dian Hartono, H Dahlan Abdullah Cut Ita Erliana Saddhono, Kundharu Rianita, Dian Setiawan, Muhammad Ikhsan Yuliyanto, Budi Setiawan Manurung, Rosida Tiurma Sriadhi, S Sinurat, Mangasi Siregar, Aisyah Rapat Piter Soni Hutauruk Sibarani, Nico Benjamain 1 Department of Informatics Akademi Teknologi Industri Immanuel Medan Indonesia Department of Computer Systems Universitas Pancabudi Medan Indonesia Department of Computer Science STMIK IBBI Medan Indonesia Department of Informatics Universitas Malikussaleh Aceh Indonesia Department of Industrial Engineering Universitas Malikussaleh Aceh Indonesia Graduate Program Universitas Sebelas Maret Surakarta Indonesia Department of Administration University of Lancang Kuning Pekanbaru Indonesia Department of Law Universitas Tompotika Luwuk Banggai Indonesia Study Program of Communication Studies Universitas Semarang Indonesia Graduate Program in Scientific Psychology Universitas Kristen Maranatha Indonesia Department of Electrical Engineering Universitas Negeri Medan Indonesia STIE Bina Karya Tebing Tinggi Indonesia

This paper was retracted by IOP Publishing on 12 December 2018. This paper was published due to a technical error and was not intended to be included in this journal.Retraction published: 8 February 2019

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Patient-Centric Healthcare Service systems: Evidence-Based Medicine as Architecturally Significant Requirement

Patient-Centric Healthcare Service Systems: Evidence-Based M...

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IEEE/ACM International Workshop on Software engineering in Healthcare systems (SEHS)

作者： Patrick Letouze Valeria Martins da Silva Jose I.M. de Souza Jùnior Graduate Program of Computational Modeling of Systems Universidade Federal do Tocantins - UFT Palmas Brazil Graduate Program of Systems' Engineering and Computation - PESC Universidade Federal do Rio de Janeiro Rio de Janeiro Brazil

ISBN: (纸本)9781509022076

Healthcare Service systems may use and support evidence-based medicine, and to accomplish that, their design has to be patient-centered focusing on quality of evidence and strength of recommendation. Hence, this paper intends to promote the debate on the design of Healthcare Service systems. We propose a framework that attempts to systematize the design and development of Healthcare Service systems, especially in terms of software engineering. The framework is intended to support the design of Healthcare Service systems by understanding a complex health treatment as a project, which would provide naturally patient-centeredness, and by considering Evidence-Based Medicine guidelines and recommendations as architecturally significant requirements in the design of Healthcare Service systems, which would provide focus on quality of evidence and strength of recommendation. Therefore, we would have a SOA user-centric approach and a systematic service design.

关键词： Guidelines Medical services Medical diagnostic imaging Protocols Systematics Standards Electrocardiography

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Author Correction: An atlas of dynamic chromatin landscapes in mouse fetal development

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Nature 2020年第7831期586卷 E31页

作者： David U Gorkin Iros Barozzi Yuan Zhao Yanxiao Zhang Hui Huang Ah Young Lee Bin Li Joshua Chiou Andre Wildberg Bo Ding Bo Zhang Mengchi Wang J Seth Strattan Jean M Davidson Yunjiang Qiu Veena Afzal Jennifer A Akiyama Ingrid Plajzer-Frick Catherine S Novak Momoe Kato Tyler H Garvin Quan T Pham Anne N Harrington Brandon J Mannion Elizabeth A Lee Yoko Fukuda-Yuzawa Yupeng He Sebastian Preissl Sora Chee Jee Yun Han Brian A Williams Diane Trout Henry Amrhein Hongbo Yang J Michael Cherry Wei Wang Kyle Gaulton Joseph R Ecker Yin Shen Diane E Dickel Axel Visel Len A Pennacchio Bing Ren Ludwig Institute for Cancer Research La Jolla CA USA. Center for Epigenomics University of California San Diego School of Medicine La Jolla CA USA. Environmental Genomics and Systems Biology Division Lawrence Berkeley National Laboratory Berkeley CA USA. Department of Surgery and Cancer Imperial College London London UK. Bioinformatics and Systems Biology Graduate Program University of California San Diego La Jolla CA USA. Biomedical Sciences Graduate Program University of California San Diego School of Medicine La Jolla CA USA. Department of Pediatrics University of California San Diego School of Medicine La Jolla CA USA. Department of Cellular and Molecular Medicine University of California San Diego School of Medicine La Jolla CA USA. Department of Biochemistry and Molecular Biology Penn State School of Medicine Hershey PA USA. Stanford University School of Medicine Department of Genetics Stanford CA USA. Genomic Analysis Laboratory Salk Institute for Biological Studies La Jolla CA USA. Division of Biology and Biological Engineering California Institute of Technology Pasadena CA USA. Howard Hughes Medical Institute Salk Institute for Biological Studies La Jolla CA USA. Institute for Human Genetics and University of California San Francisco San Francisco CA USA. Department of Neurology University of California San Francisco San Francisco CA USA. Environmental Genomics and Systems Biology Division Lawrence Berkeley National Laboratory Berkeley CA USA. avisel@lbl.gov. US Department of Energy Joint Genome Institute Berkeley CA USA. avisel@lbl.gov. School of Natural Sciences University of California Merced Merced CA USA. avisel@lbl.gov. Environmental Genomics and Systems Biology Division Lawrence Berkeley National Laboratory Berkeley CA USA. lapennacchio@lbl.gov. US Department of Energy Joint Genome Institute Berkeley CA USA. lapennacchio@lbl.gov. Comparative Biochemistry Program University of California Berkeley Berkeley CA USA

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Nonlinear model predictive control hardware implementation with custom-precision floating point operations

Nonlinear model predictive control hardware implementation w...

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Mediterranean Conference on Control and Automation (MED)

作者： Helon Ayala Renato Sampaio Daniel M. Muñoz Carlos Llanos Leandro Coelho Ricardo Jacobi Industrial and Systems Graduate Program Pontifical Catholic University of Parana Brazil Department of Mechanical Engineering University of Brasilia Brazil

Model predictive control (MPC) based techniques have found many applications both in academia and in industry. Its reach, however, may not be compared to classical control techniques due to e.g. the difficulty of solving an optimization problem at each sampling interval with real-time requirements. Most of the efforts to make the application of MPC viable address this problem with more efficient solvers. This paper, in contrast, proposes a new approach for a real-time MPC solution by mapping an approximate off-line solution into an artificial neural network in a FPGA (Field programmable Gate Array). We implemented a radial basis function artificial neural network on a low cost FPGA using custom precision floating point operations and tested the control on a single-link robotic manipulator. The amount of time used to calculate the control action at each time instant is in around one microsecond. The comparison between the offline and the approximate solution shows the soundness of the idea. We provide an analysis of hardware usage and execution time in order to achieve the best compromise considering the precision for a given application.

关键词： Hardware Field programmable gate arrays Optimization Real-time systems Neurons Predictive control Neural networks

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