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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Simon Perathoner Lothar Thiele Jian-Jia Chen Computer Engineering and Networks Laboratory (TIK) Swiss Federal Institute of Technology Zurich Switzerland Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

Dynamic Voltage Scaling (DVS) has been widely used for decreasing the dynamic power dissipation of processors. For real-time systems, DVS techniques have been developed that permit to meet the timing constraints of multiple real-time tasks and at the same time reduce the overall dynamic energy consumption. Known methods for static priority DVS scheduling are, however, either restricted to simple periodic/sporadic task release patterns or presume full a priori knowledge of task release times. Moreover, none of the present approaches considers the optimization of task priorities for reducing the energy consumption. In this paper we explore how to determine the static priorities and individual execution speeds (supply voltages) of multiple tasks with non-deterministic release times bounded by arrival curves such that the energy consumption is reduced and the real-time constraints are met. The result are different heuristics for the design of DVS-based real-time systems with static priorities. We show that the proposed methodology leads to energy-efficient system designs and demonstrate the applicability of the approach by means of experiments.

关键词： Voltage control Energy consumption Real time systems Processor scheduling Program processors Jitter Algorithm design and analysis

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The new golf neighborhood for the exible job shop problem

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Procedia computer Science 2010年第1期1卷 289-296页

作者： Wojciech Bożejko Mariusz Uchroński Mieczysław Wodecki Institute of Computer Engineering Control and Robotics Wrocław University of Technology Janiszewskiego 11-17 50-372 Wrocław Poland Institute of Computer Science University of Wrocław Joliot-Curie 15 50-383 Wrocław Poland

job shop problem. A main idea of the proposed neighborhood is to execute a ‘long shot’ of an operation from the current operation’s machine to another machine of the same type, and then to the make a small move by using a local optimization algorithm without changing operationsto-machines assignment. We call this method ‘the golf neighborhood’. Computational experiments executed on the benchmark instances from the literature show the efficiency of this solution.

关键词： 90B36 90C35 Scheduling Flexible job shop Metaheuristics

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Bell-shaped potential functions for multi-agent formation control in cluttered environment

Bell-shaped potential functions for multi-agent formation co...

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Mediterranean Conference on control and Automation (MED)

作者： Kristian Hengster-Movrić Stjepan Bogdan Ivica Draganjac Automation & Robotics Research Institute University of Texas Arlington USA Automatin&Robotics Research Institute University of Texas at Arilington USA Dept. of Control and Computer Engineering University of Zagreb CROATIA Croatia

In this paper we analyze stability properties of multi-agent control system in a cluttered environment with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form which allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure of formation potential is invariant to the interchange of agents configurations, hence, target in which particular agent would eventually end up, depends only on formation initial condition and environment structure (obstacles). We show that position of unwanted stable equilibria can be controlled by parameters that define elementary potential functions. This fact has been used for synthesis of an adaptation algorithm, such that arrival of agents at required formation is guarantied. Simulation results, presented at the end of the paper, confirm correctness of the proposed control scheme.

关键词： Navigation Stability analysis Force Lead Trajectory Geometry

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An Electric Ray Inspired Biomimetic Autonomous Underwater Vehicle

An Electric Ray Inspired Biomimetic Autonomous Underwater Ve...

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American control Conference

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of NYU Brooklyn NY 11201 Vassar College Poughkeepsie NY 12604

ISBN: (纸本)9781424474264

The development of a novel Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicle (BAUV) inspired by the Pacific electric ray is addressed. The design and hardware implementation of experimental prototypes of the "RayBot" BAUV are described. Extensive observations of live electric rays provided key biological inspirations in the development of the BAUV. As part of the effort, a six degree-of-freedom impulse-based multi-body approach for modeling and simulation of BAUVs was also developed and validated through comparison with experimental data.

关键词： Torpedinidae Autonomous underwater vehicles underwater vehicles Biomimetics

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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Nonlinear control and geometric constraint enforcement for teleoperated task execution

Nonlinear control and geometric constraint enforcement for t...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Adolfo Rodríguez Emmanuel Nuño Leopold Palomo Luis Basañez PAL Robotics S.L. Barcelona Spain Institute of Industrial and Control Engineering (IOC) Technical University of Catalonia (UPC) 08028 Barcelona Barcelona Spain Department of Computer Science University of Guadalajara Guadalajara Mexico

This work presents a multimodal teleoperation framework that makes use of novel tools and techniques, such as: nonlinear teleoperators control, for ensuring position tracking in the presence of variable time-delays; relational positioning, for increasing operator performance on precise movement execution by visually and haptically displaying geometric constraints; and augmented reality, for visually combining real and virtual information in a compelling way. Experimental evidence is presented that validates the aptitude of the different components of the proposed framework.

关键词： Force Friction

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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp Intelligent robots control systems Laboratories

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

关键词： Friction

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