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Convergence rate analysis of distributed gradient methods for smooth optimization

Convergence rate analysis of distributed gradient methods fo...

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Telecommunications Forum (TELFOR)

作者： Dušan Jakovetić João Xavier José M. F. Moura Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Technical University of Lisbon Lisboa Portugal

We derive the convergence rate of a distributed gradient algorithm for smooth optimization in networked systems. We assume that each agent in the network has a convex cost function f i (x), known only to agent i, and the goal is to minimize the sum Σ N i=1 fi(x) of all agents' costs; such problem formulation arises in various networked applications, like, e.g., distributed inference or source localization in sensor networks. With the distributed gradient algorithm under study, each agent, at each iteration k, performs a weighted average of its own and its neighbors' solution estimates, and performs a step in the direction of the negative of its local function's gradient. We establish a novel result that the distributed gradient algorithm has the convergence rate O(1/k 2/3 ), in terms of the cost function optimality gap, under the assumption of convex f i 's with Lipschitz continuous and bounded gradients.

关键词： Convergence Gradient methods Algorithm design and analysis Upper bound Cost function Educational institutions

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Disturbance rejection using an intelligent computing control technique for a biped robot

Disturbance rejection using an intelligent computing control...

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Proceedings of the Biannual World Automation Congress

作者： João P. Ferreira Manuel Crisóstomo A. Paulo Coimbra Department of Electrical Engineering Superior Institute of Engineering of Coimbra Coimbra Portugal Institute of Systems and Robotics University of Coimbra Coimbra Portugal

The real-time balance control of an 8-link biped robot using a zero moment point (ZMP) dynamic model is difficult due to the processing time of the corresponding equations.

关键词： Legged locomotion Torso Robot sensing systems Trajectory Force Real-time systems

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Reconstruction of 3D lines from a single axial catadioptric image using cross-ratio

Reconstruction of 3D lines from a single axial catadioptric ...

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International Conference on Pattern Recognition

作者： Luis Perdigoto Helder Araujo Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal ESTG Polytechnic Institute of Leiria Leiria Portugal

ISBN: (纸本)9781467322164

It has been shown, in previous work, that the 3D position of a line can be reconstructed from a single image in vision systems that do not possess a single viewpoint. We present a new method that, in a non-central axial catadioptric system, can achieve line spacial reconstruction from 3 or more image points, given the distance ratio of 3 points in the line (a fair assumption in, for example, structured environment with repetitive architectural features). We use cross-ratio as an invariant to constrain the line localization and perform the reconstruction from a set of image points through non-linear optimization. Experimental results are presented.

关键词： Image reconstruction Mirrors Cameras Geometry Vectors Noise Calibration

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An adaptive multi-controller architecture using particle filtering

An adaptive multi-controller architecture using particle fil...

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Australian Control Conference (AUCC)

作者： Nicolò Malagutti Vahid Hassani Arvin Dehghani Research School of Engineering Australian National University Canberra Australia Institute for System and Robotics (ISR) Istituto Superior Tecnico Lisbon Portugal Department of Electrical and Electronic Engineering University of Melbourne Melbourne Australia

We propose a method for the supervision of a multi-controller robust adaptive control architecture based on particle filtering, and apply it to control a two-input two-output plant characterised by parametric uncertainty and potential time-variability of the uncertain parameters. The state variables are augmented to include the time evolution of the uncertain parameters; moreover, the probability distribution of the state estimate given by the particle filter is used to weight the control action of a bank of robustly designed controllers. Monte-Carlo simulations are used to compare the performance of the new approach with that of a robust non-adaptive controller, an extended Kalman filter approach, and a hypothetical system capable of perfect plant identification. Results indicate that the particle filter supervisor delivers comparable performance with other approaches both in the presence of constant uncertain parameters and fast parameter variations.

关键词： Uncertainty Robustness Computational modeling Kalman filters Computer architecture Approximation methods Adaptive control

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Behavioral modeling and testing of a CMOS-MEMS parametric resonator governed by the nonlinear Mathieu equation

Behavioral modeling and testing of a CMOS-MEMS parametric re...

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IEEE International Conference on Micro Electro Mechanical systems

作者： Congzhong Guo Gary K. Fedder Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Institute for Complex Engineered Systems The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Modeling and simulation of complex phenomena in environments that emulate end applications demonstrate the effectiveness of MEMS composable design methodologies. A CMOS-MEMS nonlinear resonator featuring parametric excitation driven by an oscillating voltage applied across the non-interdigitated comb fingers has been targeted as a demonstration vehicle. This paper reports the schematic-based parameterized behavioral modeling and vibration testbed of parametric resonators governed by the nonlinear Mathieu equation. The linear and cubic stiffness of the electrostatic force and the folded flexure are modeled by Verilog-A MEMS behavioral models. The transition frequencies and the jump amplitudes are characterized optically by sweeping the frequency bi-directionally. The observed parametric resonance, occurring near excitation frequency of twice the resonant frequency, is verified by perturbation solution of Mathieu equation, and validated by circuit-level behavioral model simulation matching to 0.6%. The dynamic behavior and its dependence on system parameters are also analyzed.

关键词： Mathematical model Resonant frequency Fingers Analytical models Frequency measurement Electrostatics Force

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ADMM For Consensus On Colored Networks

ADMM For Consensus On Colored Networks

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IEEE Annual Conference on Decision and Control

作者： Joao F. C. Mota Joao M. F. Xavier Pedro M. Q. Aguiar Markus Puschel Department of Electrical and Computer Engineering Carnegie Mellon University Institute of Systems and Robotics Instituto Superior Tecnico Technical University of Lisbon Department of Computer Science

ISBN: (纸本)9781467320658

We propose a novel distributed algorithm for one of the most fundamental problems in networks: the average consensus. We view the average consensus as an optimization problem, which allows us to use recent techniques and results from the optimization area. Based on the assumption that a coloring scheme of the network is available, we derive a decentralized, asynchronous, and communication-efficient algorithm that is based on the Alternating Direction Method of Multipliers (ADMM). Our simulations with other state-of-the-art consensus algorithms show that the proposed algorithm is the one exhibiting the most stable performance across several network models.

关键词： distributed algorithms Network network model simulating

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Herb 2.0: Lessons learned from developing a mobile manipulator for the home

Herb 2.0: Lessons learned from developing a mobile manipulat...

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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Lifelong education in robotics and mechatronics

Lifelong education in robotics and mechatronics

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Andreja Rojko Krzysztof Kozłowski Institute of Robotics / Department of Electrical Sustainable Energ FERI University of Maribor Maribor Slovenia Institute of Robotics / Department of Electrical Sustainable Energ FERI Delft University of Technology Delft Netherlands Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland

Livelong education in electro-mechanical industry is increasingly important as it allows practicing engineers and technicians to gain the knowledge necessary to cope with the fast development and consequently with higher demands on their workplaces. This paper addresses different aspects of development and execution of such industrial training. Concrete solutions and results are presented including: (1) extensive international knowledge needs analysis in electro-mechanical sector, (2) e-learning solutions for industry including learning management systems and application of remote working stations/experiments for practical part of the training and (3) examples of the training modules from robotics developed for industry. Applied solutions and education methodology is evaluated by feedback obtained from the training participants. Based on a gained experience a long-term perspective and possible further development direction of modern industrial education is also addressed.

关键词： Training Service robots Educational institutions Mechatronics Companies

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Genetic algorithm based design optimization of a three-phase multiflux Induction Motor

Genetic algorithm based design optimization of a three-phase...

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International Conference on electrical Machines, ICEM

作者： S. S. Sivaraju Fernando J. T. E. Ferreira N. Devarajan Department of Electrical and Electronics Engineering RVS College of Engineering and Technology Coimbatore Tamil Nadu India Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department Electrical Engineering Polytechnic Institute of Coimbra Coimbra Portugal Department of Electrical and Electronics Engineering Government College of Technology Coimbatore Tamil Nadu India

More than 80% of three-phase Squirrel Cage Induction Motors(SCIMs) are widely used in industrial and domestic applications because of the relatively low cost and high reliability. When oversized, most of these motors operate with low efficiency. The objective of this paper is to develop a unique design for a three phase, multi-flux, stator winding SCIM to improve the efficiency. Adjustable flux motors with multiple winding connections can be an energy efficient solution in variable and fixed load applications, improving the efficiency by means of properly adapting motor flux to the actual load. In this paper, a design optimization method is proposed. The optimal design of multiconnection, multiflux stator winding to improve motor efficiency in a wide load range is proposed using Genetic Algorithm (GA). This algorithm is a population-based search algorithm characterized as conceptually simple, easy to implement and computationally efficient. A parameter-less loss approach is incorporated in the proposed algorithm to handle the constraints effectively. A comparison of the final optimum designs with the existing design for a 7.5-kW motor is presented, demonstrating that the optimal designs produce larger efficiency in all load range. The importance of this work is highlighted by the recent concerns about the need to achieve energy savings in industry.

关键词： Induction motors Stator cores Genetic algorithms Stator windings Optimization Rotors

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Distributed ADMM for Model Predictive Control and Congestion Control

Distributed ADMM for Model Predictive Control and Congestion...

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IEEE Annual Conference on Decision and Control

ISBN: (纸本)9781467320658

Many problems in control can be modeled as an optimization problem over a network of nodes. Solving them with distributed algorithms provides advantages over centralized solutions, such as privacy and the ability to process data locally. In this paper, we solve optimization problems in networks where each node requires only partial knowledge of the problem's solution. We explore this feature to design a decentralized algorithm that allows a significant reduction in the total number of communications. Our algorithm is based on the Alternating Direction of Multipliers (ADMM), and we apply it to distributed Model Predictive Control (MPC) and TCP/IP congestion control. Simulation results show that the proposed algorithm requires less communications than previous work for the same solution accuracy.

关键词： distributed model predictive control Communication Research PROBLEM SOLUTION Model predictive control Predictive control distributed algorithms Privacy nonlinear model predictive control Batch data processing control simulation Solutions Standing Orders Ganglia

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