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A Study of Deadlock Avoidance Strategy in Knowledgeable Manufacturing systems

A Study of Deadlock Avoidance Strategy in Knowledgeable Manu...

The 4th International Conference on Wireless Communications, Networking and Mobile Computing(第四届IEEE无线通信、网络技术及移动计算国际会议)

作者： Hongbing Yang Hongsen Yan Qi Wu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing Jiangsu P.R.China

Based on the finite automata theory, a thinking of distributed deadlock supervisor is proposed to avoid deadlock in Knowledgeable Manufacturing systems, which is insensitive to system size and improves the efficiency of automata modeling and operating. The conception of the auto-correlation operation is presented, then the corresponding distributed deadlock supervisors are constructed, and thus the deadlock-free strategy of the knowledgeable manufacturing cell is obtained, which can be used to monitor status of the knowledge manufacturing cell in real-time and guarantees safe running of the system. Finally, a case study is presented to demonstrate the feasibility and effectiveness of the proposed strategy.

关键词： Deadlock-free Automata Distributed deadlock supervisor Knowledgeable manufacturing cell

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Induction motor flux estimation based on Artificial Neural Network left-inversion

Induction motor flux estimation based on Artificial Neural N...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Hao Zhang Xianzhong Dai Key Laboratory of Measurement and Control of Complex system of Engineering Ministry of Education South-East University Nanjing China

This paper presents a new rotor flux estimation algorithm using neural network for induction motor, based on the left-inversion method. Using the standard fifth-order model of the three-phase induction motor in a stationary two axes reference frame, the flux ldquoassumed inherent sensorrdquo is constructed and its left-invertible is validated. The artificial neural network (ANN) left-inversion flux estimator is composed of two relatively independent parts - a static ANN used to approximate the complex nonlinear function and several differentiators used to represent its dynamic behaviors, so that the ANN left-inversion is a special kind of dynamic ANN in essence. The performance of the proposed algorithm is tested through simulation and experiment, proving good behavior in both transient and steady-state operating conditions.

关键词： Induction motors Artificial neural networks Rotors Stators Equations Voltage Inductance Sensor systems Electrical resistance measurement Laboratories

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Finite-Time Tracking control of a Nonholonomic Mobile Robot

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IFAC Proceedings Volumes 2008年第2期41卷 12212-12217页

作者： Zhao Wang Shihua Li Shumin Fei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing P.R. China College of Information and Control Engineering China University of Petroleum Dongying 257061 P.R. China

In this paper, the finite-time tracking problem is investigated for a nonholonomic wheeled mobile robot in a fifth-order dynamic model. We consider the whole tracking error system as a cascaded system. Two continuous global finite-time stabilizing controllers are designed for a second-order subsystem and a third-order subsystem respectively. Then finite-time stability results for cascaded systems are employed to prove that the closed-loop system satisfies the finite-time stability. Thus the closed-loop system can track the reference trajectory in finite-time when the desired velocities satisfy some conditions. In particular, we discuss the control gains selection for the third-order finite-time controller and give sufficient conditions by using Lyapunov and backstepping techniques. Simulation results demonstrate the effectiveness of our method.

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Sensor Integration for Person Tracking and Following with Mobile Robot

Sensor Integration for Person Tracking and Following with Mo...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 3133-3660

作者： Xudong Ma Chunhua Hu Xianzhong Dai Kun Qian Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing Jiangsu Province China

ISBN: (纸本)9781424420575

The ability to detect and follow a specific person is a key prerequisite of service mobile robots in indoor environments. A novel method for tracking and following a specific person with a mobile robot by combining vision and laser range information is proposed. The vision module which integrates the color matching method using the Horizontal-Projecting Probability Histogram (HPPH) of upper body color clothes region with the Unscented Particle Filter (UPF) tracking method is developed and, at the same time, the laser module detects the pairs of legs to measure the distance from mobile robot. The information is integrated in a detection procedure that returns the direction and the distance of the target person. The proportional compensation method is utilized to enable the robot to follow the target person steadily. Experimental results validate the robust performance of the approach.

关键词： Mobile robots Persons tracking compensation method Robust control Leg

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Interaction stochasticity supports cooperation in spatial Prisoner’s dilemma

引用

Physical Review E 2008年第5期78卷 051120-051120页

作者： Xiaojie Chen Feng Fu Long Wang State Key Laboratory for Turbulence and Complex Systems Center for Systems and Control College of Engineering Peking University Beijing 100871 China Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA

Previous studies mostly assume deterministic interactions among neighboring individuals for games on graphs. In this paper, we relax this assumption by introducing stochastic interactions into the spatial Prisoner’s dilemma game, and study the effects of interaction stochasticity on the evolution of cooperation. Interestingly, simulation results show that there exists an optimal region of the intensity of interaction resulting in a maximum cooperation level. Moreover, we find good agreement between simulation results and theoretical predictions obtained from an extended pair-approximation method. We also show some typical snapshots of the system and investigate the mean payoffs for cooperators and defectors. Our results may provide some insight into understanding the emergence of cooperation in the real world where the interactions between individuals take place in an intermittent manner.

关键词： Game theory

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Consensus of population systems with community structures

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Physical Review E 2008年第5期78卷 051923-051923页

作者： Jing Wang Bin Wu Long Wang Feng Fu Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Program for Evolutionary Dynamics Harvard University One Brattle Square Cambridge Massachusetts 02138 USA

Multicommunity population systems may reach a consensus state where the fractions of each species in different communities agree on a common value. In this paper, by analyzing the evolutionary dynamics based on an extended replicator equation incorporating community effects, the consensus problem of population systems with n communities is studied. In particular, the simple case of two communities is investigated in detail. In general, for n communities, a sufficient and necessary condition for population systems to reach a consensus of coexistent state is provided. Regarding the population dynamics for the four different types of games, whether the population systems can achieve consensus is determined. The dynamics of community-structured populations shows richer features than nonstructured populations, and some nontrivial phenomena arising from different community-structured population systems are illustrated with concrete numerical examples.

关键词： Population dynamics

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Welded joint localization based on model matching with structured-light vision sensing

引用

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008年第SUPPL. 1期36卷 76-79页

作者： Gong, Yefei Dai, Xianzhong Li, Xinde Gan, Yahui Key Laboratory of Measurement and Control of Complex Systems of Engreering School of Automation Southeast University Nanjing 210096 China

A model-based matching method is proposed for welded joint localization and recognition. Simple parameterized joint models are defined, which approach the actual joint pose fast in a iterative style by using the partial Hausdorff distance (PHD) as the similarity measurement. Statistical analysis is employed to determine the matching parameters adaptively, and the dimension of parameter space is decreased by performing the estimation on the structured light plane, which make a robust and real-time performance. Experiments show that accurate result can be acquired in real time, which meets the actual applications' requirements.

关键词： Computer vision

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Stabilizability of Networked control systems via Packet-loss Dependent Output Feedback controllers

Stabilizability of Networked Control Systems via Packet-loss...

引用

2008 American control Conference (ACC), vol.9

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Beijing China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China

We consider the output feedback stabilizability of networked control systems with bounded packet loss. A packet-loss dependent Lyapunov function is adopted to design packet-loss dependent stabilizing output feedback controllers by resolving some linear matrix inequalities. Moreover, two types of packet-loss processes are discussed: one is the arbitrary packet-loss process, and the other is the Markovian packet-loss process. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： Networked control systems Output feedback control systems Switched systems State feedback Lyapunov method Linear matrix inequalities Electrical equipment industry Industrial control Sufficient conditions

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Packet-loss dependent controller design for networked control systems via switched system approach

Packet-loss dependent controller design for networked contro...

引用

IEEE Conference on Decision and control

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Zhuxinzhuang Beijing China The Seventh Research Division Beihang University Beijing China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9781424431236

The stabilization problem of networked control systems with bounded packet loss is addressed. We model such networked control systems as a class of switched systems, and present sufficient conditions for the stabilization by using a packet-loss dependent Lyapunov function. Moreover, different from existing results, we propose the design for packet-loss dependent stabilizing controllers for two types of packet-loss processes: one is a arbitrary packet-loss process, and the other is a Markovian packet-loss process. Several numerical examples and simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： control systems Networked control systems Switched systems Sufficient conditions Optimal control Delay effects Communication system control Communication system traffic control Feedback control Electrical equipment industry

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Solution to the Generalized Champagne Problem on simultaneous stabilization of linear systems

引用

Science in China(Series F) 2007年第5期50卷 719-731页

作者： GUAN Qiang WANG Long XIA BiCan YANG Lu YU WenSheng ZENG ZhenBing Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Center for Systems and Control College of Engineering Peking University Beijing 100871 China LMAM and School of Mathematical Sciences Peking University Beijing 100871 China Shanghai Institute of Theoretical Computing Software Engineering Institute East China Normal University Shanghai 200062 China National Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel et al., which automatically includes the solution to the original Champagne Problem. Based on the recent development in automated inequality-type theorem proving, a new stabilizing controller design method is established. Our numerical examples significantly improve the relevant results in the literature.

关键词： linear systems stabilization simultaneous stabilization Champagne Problem Generalized Champagne Problem,complex analysis inequality-type theorem automated theorem proving

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