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Motion planning of nonholonomic systems - Nondeterministic endogenous configuration space approach

Lecture Notes in control and Information Sciences 2012年 422卷 305-315页

作者： Janiak, Mariusz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9781447123422

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 methods: the endogenous configuration space approach and the Particle Filters. The former, fully deterministic, was originally dedicated to the motion planning problem for mobile manipulators. The latter, of stochastic approach, was designed for solving optimal estimation problems in non-linear non-Gaussian systems. A mixture of these methods results in a nondeterministic endogenous configuration space approach that outperforms the traditional one in regions where the classical inverse Jacobian algorithm loses convergence. In accordance with the Particle Filters approach the new algorithm consists of three major steps: prediction, update, and resampling. In contrast to its original version, the presented algorithm contains an additional step of dividing the particles into different subsets. Each subset is processed in a different way during the prediction phase. The performance of the new algorithm is illustrated by solving the motion planning problem for a rolling ball. © 2012 Springer London.

关键词： Motion planning

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The relation on prefix hijacking and the internet hierarchy

The relation on prefix hijacking and the internet hierarchy

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6th International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing, IMIS 2012

作者： Zhao, Jinjing Wen, Yan Li, Xiang Peng, Wei Zhao, Feng Beijing Institute of System Engineering Beijing China National Key Laboratory of Science and Technology on Information System Security Beijing China Beijing Aerospace Control Center Beijing China National University of Defense Technology Computer School Changsha China

ISBN: (纸本)9780769546841

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 disrupt network services or perpetrate malicious activities such as spamming and DoS attacks without disclosing identity. The relation on prefix hijacking and the Internet hierarchy is presented in this paper. The Internet is classified into three hierarchies based on the power-law and commercial relations of autonomous systems. The relation of network topology and prefix hijacking influence is presented for all sorts of hijacking events in different layers. The result shows that the hierarchical nature of network influences the prefix hijacking greatly. © 2012 IEEE.

关键词： Border Gateway Protocol

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Trajectory Optimization for Vehicles in a Constrained Environment

Trajectory Optimization for Vehicles in a Constrained Enviro...

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IEEE Annual Conference on Decision and control

作者： Florian Bayer John Hauser Institute for Systems Theory and Automatic Control University of Stuttgart Department of Electrical Computer and Energy Engineering University of Colorado

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.

关键词： Benchmark testing trajectory optimization vehicle Digestion TRANSIT TIME Environments

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Designing Games for Distributed Optimization with a time varying communication graph

Designing Games for Distributed Optimization with a time var...

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IEEE Annual Conference on Decision and control

作者： Na Li Jason R. Marden Control and Dynamical Systems California Institute of Technology Department of Electrical Computer & Energy Engineering University of Colorado at Boulder

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.

关键词： Game theory Multi-agent systems Line graph Communication Research time-invariant local information. time varying system level Distribute

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Formal Semantics of AADL Models with Machine-Readable CSP

Formal Semantics of AADL Models with Machine-Readable CSP

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International Conference on computer and Information Science (ACIS)

作者： Chunxin Yang Yunwei Dong Fan Zhang Ehsan Ahmad Bin Gu School of Computer Science and Engineering Northwestern Polytechnical University Xi'an P.R. China Institute of Control Engineering Beijing China

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.

关键词： Message systems Semantics Analytical models computer architecture Real time systems Instruction sets

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Principles of the active collision mitigation system for vehicles involved in light impact 13

Principles of the active collision mitigation system for veh...

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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Mihály, András Gáspár, Péter Szabó, Zoltán Sename, Oliver Dugard, Luc Department of Control and Transport Automation Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Bertalan L. U. 2. Budapest Hungary Computer and Automation Research Institute Systems and Control Laboratory Kende U. 13-17 Budapest Hungary Control Systems Department GIPSA-Lab 11 Rue des Mathématiques ENSE3 BP 46 St martin d'Hrescedex GrenobleF-38402 France

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.

关键词： Automobile steering equipment

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

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 the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Practical low-rank matrix approximation under robust L1-norm

Practical low-rank matrix approximation under robust L1-norm

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Yinqiang Zheng Guangcan Liu Shigeki Sugimoto Shuicheng Yan Masatoshi Okutomi Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign USA Department of Electrical and Computer Engineering National University of Singapore Singapore

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 .

关键词： Robustness Optimization Convergence computer vision Approximation algorithms Least squares approximation

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Distribution-aware mutation analysis

Distribution-aware mutation analysis

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36th Annual IEEE International computer Software and Applications Conference Workshops, COMPSACW 2012

作者： Sun, Chang-Ai Wang, Guan Cai, Kai-Yuan Chen, Tsong Yueh School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Department of Automatic Control Beijing University of Aeronautics and Astronautics Beijing China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Science Beijing China Facuity of Information and Communication Technologies Swinburne University of Technology Melbourne VIC Australia

ISBN: (纸本)9780769547589

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 to be clustered in practice. This may result in the inappropriate simulation of faults, and thus cannot deliver the reliable evaluation results. To overcome this, we propose a distribution-aware mutation analysis technique and conducted empirical studies to investigate the impact of the mutation distribution on the effectiveness evaluation of testing techniques. As an illustration, we select the commonly practiced random testing technique and two versions of dynamic random testing techniques and apply them to testing Web services. Results of empirical studies suggest that the mutation distribution significantly affects the evaluation results. This observation further indicates that the effectiveness of testing techniques previously evaluated with the uniform mutation analysis needs further realignments. © 2012 IEEE.

关键词： Software testing

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Design of a high performance linear stage with floating stator

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2012年第6期33卷 553-563页

作者： Wang, Hong Li, Zexiang Department of Mechanical and Control Engineering Shenzhen Graduate School Harbin Institute of Technology China Department of Electrical and Computer Engineering Hong Kong University of Science and Technology Hong Kong

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.

关键词： Stators

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