This paper presents a new nondeterministic motion planning algorithm for nonholonomic systems. Such systems are represented by a driftless control system with outputs. The presented approach combines two different met...
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Border Gateway Protocol (BGP) is the de facto inter-domain routing protocol. There have been many incidents of IP prefix hijacking by BGP protocol in the Internet. Attacks may hijack victim's address space to disr...
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An approach for trajectory optimization for vehicles maneuvering in a constrained environment is developed. Within this framework, a benchmark problem, the minimimzation of the transit time of a point mass vehicle thr...
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ISBN:
(纸本)9781467320658
An approach for trajectory optimization for vehicles maneuvering in a constrained environment is developed. Within this framework, a benchmark problem, the minimimzation of the transit time of a point mass vehicle through a chicane is proposed. This problem is solved using the projection operator Newton method with barrier functions to manage the acceleration and roadwidth constraints. The numerical solution of the benchmark problem is analyzed in detail as is the characteristics of the solution itself.
The central goal in multi-agent systems is to engineer a decision making architecture where agents make independent decisions in response to local information while ensuring that the emergent global behavior is desira...
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ISBN:
(纸本)9781467320658
The central goal in multi-agent systems is to engineer a decision making architecture where agents make independent decisions in response to local information while ensuring that the emergent global behavior is desirable with respect to a given system level objective. Our previous work identified a systematic methodology for such a task using the framework of state based games. One core advantage of the approach is that it provides a two step process that can be decoupled by utilizing specific classes of games. Exploiting this decomposition could lead to a rich class of distributed learning algorithm. However, a drawback of our previous approach is the dependence on a time-invariant and connected communication graph. These conditions are not practical for a wide variety of multi-agent systems. In this paper we propose a new game theoretical approach for addressing distributed optimization problems that permits relaxations in the structure of the communication graph.
AADL (Architecture Analysis Design Language) is a standardized and hierarchical modeling language which contributes to designing and analyzing architectures of both software and hardware of Embedded Real-Time Systems....
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AADL (Architecture Analysis Design Language) is a standardized and hierarchical modeling language which contributes to designing and analyzing architectures of both software and hardware of Embedded Real-Time Systems. However, the problems of AADL models are unenforceability and the absence of formal semantics, which limit formal analysis of attributes in AADL models. This paper proposes an approach to build formal semantics to AADL's software component models. We use Machine-Readable CSP as the formal language. Comparing with behaviors and relationships of processes in Machine-Readable CSP, we analyze features and interactions of various kinds of AADL software component. Some descriptive rules are made for certain applications of AADL software component. A case study illustrated by MBS (Multiple Buffering System) will be given to validate the feasibility. Properties of MBS such as deadlock, live lock, failure divergence relationship between specification and implementation are checked by the tool FDR.
The paper presents a collision mitigation method in which the aim is to stabilize the motion of the vehicle after a light impact has occurred. A yaw rate servo control based on the bicycle model is applied for control...
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ISBN:
(纸本)9789633131022
The paper presents a collision mitigation method in which the aim is to stabilize the motion of the vehicle after a light impact has occurred. A yaw rate servo control based on the bicycle model is applied for control purposes. The collision is assumed to have been detected by a passive safety system, e.g., airbag sensors. The control system is activated by the monitoring signal. After the collision has occurred the motion of the vehicle and the operation of the control system are illustrated through CarSim simulation examples. Two control solutions are analyzed: in the first case active steering is used while in the second case steering is combined with differential braking. With the knowledge of certain vehicle parameters and the impact force and direction, post impact vehicle states (yaw rate, velocities, roll rate) can be analyzed. A sensitivity analysis is carried out to determine the validity range of the vehicle model in the presence of uncertainties and different kinds of impact forces. Several software packages are used for the design and analysis of the controlled system. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.
The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to...
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A great variety of computer vision tasks, such as rigid/nonrigid structure from motion and photometric stereo, can be unified into the problem of approximating a low-rank data matrix in the presence of missing data an...
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A great variety of computer vision tasks, such as rigid/nonrigid structure from motion and photometric stereo, can be unified into the problem of approximating a low-rank data matrix in the presence of missing data and outliers. To improve robustness, the L 1 -norm measurement has long been recommended. Unfortunately, existing methods usually fail to minimize the L 1 -based nonconvex objective function sufficiently. In this work, we propose to add a convex trace-norm regularization term to improve convergence, without introducing too much heterogenous information. We also customize a scalable first-order optimization algorithm to solve the regularized formulation on the basis of the augmented Lagrange multiplier (ALM) method. Extensive experimental results verify that our regularized formulation is reasonable, and the solving algorithm is very efficient, insensitive to initialization and robust to high percentage of missing data and/or outliers 1 .
Mutation analysis is widely employed to evaluate the effectiveness of various software testing techniques. In most situations, mutation operators are uniformly applied to the original programs, while the faults tend t...
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This paper presents a novel design for high performance positioning stage, an representative application of such positioning stage is in semi conductor packing process, whose requirements are high precision and high a...
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This paper presents a novel design for high performance positioning stage, an representative application of such positioning stage is in semi conductor packing process, whose requirements are high precision and high acceleration. However, with the increase of motion acceleration(>10g), the traditional linear stage with fixed stator structure can't suppress the base vibration caused by reactive force, then the stage accuracy decreases seriously. In this design, a floating stator structure for linear stage is proposed. The main goal is to reduce the effect of the reaction force on the stage from accelerating the mover. For the optimal structure variables, the model of single axis stage with floating stator is first developed. Then three application requirements are converted to performance indices, by taking the mechanical structure variables as optimal variable, optimization problem is formulated and solved by using Differential Evolution method. The performance of proposed structure is verified by simulations. Then a prototype of 2-DOF linear stage with floating stator is constructed, the concerned performance of high acceleration, high accuracy and low vibration is validated by numerous experiments.
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