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Communications and control engineering 2015年第9783319151700期 1-27页

作者： Hatanaka, Takeshi Chopra, Nikhil Fujita, Masayuki Spong, Mark W. Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Department of Mechanical Engineering University of Maryland College ParkMD United States Erik Jonsson School of Engineering and Computer Science Department of Electrical Engineering University of Texas at Dallas RichardsonTX United States

This chapter first attempts to define the term "networked robotics" in the context of this book, and specifies, among a wide range of the research field, the subjects addressed in this book, namely bilateral teleoperation, visual feedback control/estimation, and cooperative control/estimation. Then, we present comprehensive literature reviews for each research field and an overview of the contents presented in this book. © 2015, Springer International Publishing Switzerland.

关键词： Visual communication

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Estimation of electromagnetic parameters of an induction motor multi-loop equivalent circuit based on the machine inductance frequency characteristic

Estimation of electromagnetic parameters of an induction mot...

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Selected Problems of Electrical engineering and Electronics (WZEE)

作者： Jaroslaw Rolek Andrzej Kaplon Grzegorz Utrata Politechnika Swietokrzyska Kielce PL Faculty of Electrical Engineering Automatic Control and Computer Science Kielce University of Technology Kielce Poland Institute of Environmental Engineering Czestochowa University of Technology Czestochowa Poland

The variability of electromagnetic parameters of induction motors with deep-bar cage or solid rotors is represented, with a satisfactory approximation, by the machine secondary multi-loop equivalent circuit with constant lumped parameters. An estimation procedure of electromagnetic parameters of such an equivalent circuit is presented in the paper. The procedure is carried out using the measured frequency characteristic determined on the basis of instantaneous values of investigated induction motor electromechanical quantities. The study has been subjected to an induction motor with a solid rotor manufactured from the magnetic material, i.e. a machine characterized by a significant skin effect occurring in rotor solid conductive elements.

关键词： Rotors Induction motors Inductance Frequency measurement Stator windings Magnetic flux

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Sensors fault diagnosis in autonomous mobile robots using observer — Based technique

Sensors fault diagnosis in autonomous mobile robots using ob...

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International Conference on control, Automation and Robotics (ICCAR)

作者： George K. Fourlas George C. Karras Kostas J. Kyriakopoulos Department of Computer Engineering Technological Educational Institute of Central Greece Lamia Greece Control Systems Laboratory National Technical University of Athens (NTUA) Athens Greece

This research investigates a sensors fault diagnosis in autonomous mobile robot. Through this study we use the observer - Kalman filter identification technique. According to this observer - based method, the experimental input-output data are being exploited for system identification. The motive is to design observers exclusively for each sensor of the system that allows generating residuals. The research goal is to provide early sensors fault diagnosis. In order to prove the efficacy of the proposed method, we investigated different type of faults and an experimental procedure was carried out using a Pioneer 3AT mobile robot.

关键词： Observers Mobile robots Wheels Robot sensing systems Fault diagnosis

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Improving Link Ranking Quality by Quasi-Common Neighbourhood

Improving Link Ranking Quality by Quasi-Common Neighbourhood

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International Conference on Computational Science and its Applications (ICCSA)

作者： Andrea Chiancone Valentina Franzoni Rajdeep Niyogi Alfredo Milani Department of Mathematics and Computer Science University of Perugia Perugia Italy Department of Computer Control and Management Engineering “Antonio Ruberti” Sapienza University Rome Italy Department of Electronics & Computer Engineering Indian Institute of Technology Roorkee Uttarakhand India Department of Computer Science Hong Kong Baptist University Honk Kong China

ISBN: (纸本)9781467373685

Most of the best performing link prediction ranking measures evaluate the common neighbourhood of a pair of nodes in a network, in order to assess the likelihood of a new link. On the other hand, the same zero rank value is given to node pairs with no common neighbourhood, which usually are a large number of potentially new links, thus resulting in very low quality overall link ranking in terms of average edit distance to the optimal rank. In this paper we introduce a general technique for improving the quality of the ranking of common neighbours-based measures. The proposed method iteratively applies any given ranking measure to the quasi-common neighbours of the node pair. Experiments held on widely accepted datasets show that QCNAA, a quasi-common neighbourhood measure derived from the well know Adamic-Adar (AA), generates rankings which generally improve the ranking quality, while maintaining the prediction capability of the original AA measure.

关键词： Social network services Collaboration Mathematics computer science Benchmark testing Indexes Physics

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Discrete-event controller synthesis based on state space models

Discrete-event controller synthesis based on state space mod...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Jiliang Luo Qi Zhao Yi-Sheng Huang Mengchu Zhou Department of Control Science and Engineering Huaqiao University Xiamen China Department of Electrical Engineering National Ilan University Ilan Taiwan USA The Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ

Given partially-controllable and partially-observable discrete-event systems, an approach is proposed to model their control system and to design a controller. Via the Petri-net tool, two state-space models are obtained for them based on state-feedback and event-feedback, respectively. According to the former, the maximally-permissive controller is designed when a plant to be controlled is observable and partially-controllable. According to the latter, the maximally-permissive controller is designed when a plant is partially observable. An example is used to illustrate the theoretic results.

关键词： control systems Petri nets Law Imaging Discrete-event systems Transforms

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Critical Sampling Rate for Sampled-Data Consensus over Random Networks

Critical Sampling Rate for Sampled-Data Consensus over Rando...

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IEEE Annual Conference on Decision and control

作者： Junfeng Wu Ziyang Meng Tao Yang Guodong Shi Karl Henrik Johansson ACCESS Linnaeus Center School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Institute for Information-Oriented Control Technische Universitat Munchen Munich Germany College of Engineering and Computer Science The Australian National University Canberra Australia

ISBN: (纸本)9781479978878

In this paper, we consider the consensus problem for a network of nodes with random interactions and sampled-data control actions. Each node independently samples its neighbors in a random manner over a directed graph underlying the information exchange of different nodes. The relationship between the sampling rate and the achievement of consensus is studied. We first establish a sufficient condition, in terms of the inter-sampling interval, such that consensus in expectation, in mean square, and in almost sure sense are simultaneously achieved provided a mild connectivity assumption for the underlying graph. Necessary and sufficient conditions for mean-square consensus are derived in terms of the spectral radius of the corresponding state transition matrix. These conditions are then interpreted as the existence of a critical value on the inter-sampling interval, below which global mean-square consensus is achieved and above which the system diverges in mean-square sense for some initial states. Finally, we establish an upper bound of the inter-sampling interval, below which almost sure consensus is reached, and a lower bound, above which almost sure divergence is reached. An numerical example is given to validate the theoretical results.

关键词： Sufficient conditions Random Network sampling rate Data sampling information exchange mean square state transition matrix spectral radius numerical example Ganglia

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A decomposition approach to colored traveling salesman problems

A decomposition approach to colored traveling salesman probl...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Jun Li Xing Dai Huaxuan Liu MengChu Zhou Ministry of Education Key Laboratory of Measurement and Control of CSE (Complex Systems of Engineering) Southeast University Nanjing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

As a well-known combinatorial optimization problem, multiple traveling salesman problem (MTSP) fails to characterize some application problems where cities may have different accessibility for some but not necessarily all salesmen. This work proposes a colored traveling salesman problem (CTSP) in which a city has one to multiple colors allowing any salesman with the same color to visit. It presents a decomposition approach that converts CTSP into a combination of several individual traveling salesman problems (TSPs) and one MTSP for an important class of CTSP. To solve the transformed one, this work proposes a modified greedy algorithm allowing multi-colored city assignment during city search and adopts the formerly presented simulated annealing genetic algorithm. A dual-bridge waterjet cutting example is utilized to compare the presented decomposition approach and direct one. The results show that the former can achieve a better solution than the latter if the cities of same color(s) are clumped.

关键词： Cities and towns Color Traveling salesman problems Simulated annealing Genetic algorithms Greedy algorithms

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Cloud Service - Cyber Social Democracy and Smart University

Cloud Service - Cyber Social Democracy and Smart University

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IEEE East-West Design & Test Symposium

作者： Vugar Abdullayev Vladimir Hahanov Eugenia Litvinova Dahiri Farid Anton Arefiev Yulia Hahanova Azerbaijan State Oil Academy Azerbaijan National Academy of Sciences Institute of Control Systems Baku Azerbaijan Computer Engineering Faculty National University of Radioelectronics Kharkov Ukraine

ISBN: (纸本)9781467377775

The system of cloud services CyUni for active monitoring and management of digitized scientific and educational processes, primary and secondary departments of the university is proposed. CyUni is based on the technological culture IoT, having the hierarchy structure Cloud - Fog Networks - Mobile [1-4], which excludes the paper carriers, and dependence on subjectivism of academic officials. Socially significant model for human-free cyber monitoring the state structures is created;it allows depriving an authoritarian leader from the functionality of subjective managing resources and processes. The models of the harmonious interaction of the democratic voting rules and cyber monitoring for decision-making in public universities and organizations are developed [5-8]. Market feasibility of the CyUni-service is defined;it is determined by the trend of global enter of cyber services in the state scientific and educational structures focused on initiating of activity of the teaching staff that can improve productivity of scientists, at least twice.

关键词： initiating activity teaching

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Effects of bursty event traffic on synchrophasor delays in IEEE C37.118, IEC61850, and IEC60870

Effects of bursty event traffic on synchrophasor delays in I...

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IEEE International Conference on Smart Grid Communications (SmartGridComm)

作者： Yiming Wu Lars Nordström David E. Bakken Industrial Information and Control Systems KTH-Royal Institute of Technology Stockholm Sweden The School of Electrical Engineering and Computer Science Washington State University Pullman Washington USA

Electric grids are increasingly relying on communication as grids get more stressed due to increasing penetration of renewables, inadequate transmission growth, and other factors. The IEEE detailed power system models have been widely used in power research. But lack of communication topologies or requirements leads to difficulties for results comparison or guidelines for utilities. Further, power grid communication often meet latency requirement by application during the steady state since in such state light traffic are generated. However, identical requirements can be stringent in the bulk power system over hundreds of miles especially when bursty aperiodic event messages are generated during a power disturbance. To address these shortcomings, this paper presents a detailed model of realistic communication for IEEE-14 bus system. Simulation measurement shows significant effects of bursty traffic from GOOSE disturbance event message over Wide Area Network on the delays suffered by other periodic traffic such as synchrophasor data, SCADA polling data, and Sampled Value exchanged between substations. The results also reveals significant scalability issues of centralized control center architecture.

关键词： Substations Smart grids Topology Power transmission lines Quality of service Wide area networks

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Job scheduling and collision resolution of multi-bridge processing systems

Job scheduling and collision resolution of multi-bridge proc...

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IEEE International Conference on Networking, Sensing and control

作者： Jun Li Xianghu Meng MengChu Zhou MOE Key Laboratory of Measurement and Control of CSE Southeast University Nanjing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (纸本)9781479980703

A multi-bridge processing system (MBPS) has multiple bridge machines working at their serially arranged and partially overlapping workspaces. Its job scheduling can be abstracted as a colored travelling salesman problem (CTSP). CTSP is a new type of multiple traveling salesman problems in which each salesman must visit his exclusive cities and may visit some shared cities. This work presents a two-stage method for scheduling multi-bridge jobs first and resolve inter-bridge collision next. First, it proposes a population-based incremental learning (PBIL) algorithm to solve a serial-CTSP and the job scheduling problem of MBPS. PBIL processes two types of possibility vectors for city assignment/selection and a local search operation for improving its search ability. Second, this work designs a mechanism of collision resolution to remove potential inter-bridge collision contained in the obtained schedule. Finally, this work applies the proposed method to a triple-bridge waterjet cutting process to show its validity.

关键词： Cities and towns Bridges Sociology Statistics Path planning Mathematical model Traveling salesman problems

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