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American Control Conference

作者： Hosein Mahjoubi Katie Byl Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 USA

ISBN: (纸本)9781479932757

Research on bio-inspired flapping-wing micro-aerial vehicles (MAVs) has experienced a steady growth over the past two decades. In particular, experiments on insect flight dynamics may provide new solutions for various challenges ranging from morphological design to force control mechanisms. A significant amount of research in this area is focused on modeling and simulation of such dynamics;however, mass of the wings and corresponding inertia effects are often ignored for simplification purposes. In this paper, the MAV is considered to be a structure with three rigid bodies, i.e., a main body and two wings. Wing strokes are limited within the body's transverse plane, though each wing can also passively pitch around its lateral axis. Using the Lagrangian, a dynamic multibody model of this system is developed to ?1? analyze the significance of wing mass in flight dynamics and ?2? simulate flight control experiments. The employed control approach is based on investigated relationships between mechanical impedance properties of the wing pitch joints and average values of aerodynamic forces. The results suggest that the wings' mass and mechanical impedance properties of the joints can be optimized together to enhance lift/thrust production. In addition, simulations of various flight maneuvers with the optimized model and proposed control approach always demonstrate an agile and stable behavior.

关键词： Insect Flight Multibody Systems Micro-Aerial Vehicles Simulations Flapping-Wing Tunable Impedance Passive Dynamics Maneuverability Flapping wings maneuverability bar linkage Wings simulating flying insect Flight maneuvers MECHANICAL CONTROL SYSTEMS lateral axis dynamics Aircraft control Characteristic impedance

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Program-based and model-based PLC design environment for multicore FPGA architectures 11

Program-based and model-based PLC design environment for mul...

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11th International Conference on Informatics in Control, automation and robotics, ICINCO 2014

作者： Economakos, Christoforos Skarpetis, Michael Economakos, George Technological Educational Institution of Sterea Ellada Department of Automation Engineering Psahna EviaGR34400 Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Heroon Polytechniou 9 Zografou AthensGR15780 Greece

ISBN: (纸本)9789897580390

Digital design has been growing rapidly during the last years, offering advanced implementation solutions for a diversity of appliances and instruments, integrating different sensors and actuators. This has a great impact on embedded automation, where traditional Programmable Logic Controllers (PLCs) have been gradually replaced by high performance Embedded Controllers, Digital Signal Processor (DSP) chips and, more recently, power efficient Field Programmable Gate Arrays (FPGAs). Such new implementation platforms bring together efficient design methodologies, like model-based design and high-level or C level program-based design. In their turn, new design methodologies are accompanied by new design technologies like Intellectual Property (IP) based design and High-Level Synthesis (HLS). This paper presents a design environment that utilizes program-based and model-based design, for the development of PLC applications. Specifically, a tool flow is constructed that supports either the design of new control algorithms or the translation of existing algorithms into C. Then, HLS and FPGA implementation tools are adopted, to implement the selected algorithms as mul-ticore, embedded designs, offering performance improvements and hardware utilization efficiency. Overall, the proposed methodology and underlying tool flow support a novel high productivity prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Programmable logic controllers

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Vibration control design for a flexible string with input saturation

Vibration control design for a flexible string with input sa...

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World Congress on Intelligent Control and automation (WCICA)

作者： Wei He Chen Sun Shuzhi Sam Ge Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical & Computer Engineering National University of Singapore Singapore Singapore

In this paper, we consider the vibration control problem of a flexible string system in the presence of input saturation. The dynamics of the string system are represented by the coupled partial differential equation (PDE) and ordinary differential equation (ODE). In order to suppress the transverse vibration of the flexible string system, boundary control is proposed by introducing a well-defined integral Lyapunov function. An auxiliary system is introduced to handle the effect of input saturation, and the proof for the existence and the uniqueness of the solution of the closed-loop system is presented. The exponential stability is achieved through rigorous analysis without any simplification of the dynamics. The results are illustrated with numerical simulations for verifying the control performance.

关键词： Vibrations Closed loop systems Boundary conditions Equations Stability analysis Educational institutions

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Robust control reconfiguration of resource allocation systems with Petri nets and integer programming

Robust control reconfiguration of resource allocation system...

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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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Design and implementation of a range-based formation controller for marine robots 1

Design and implementation of a range-based formation control...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Department of Electrical and Computer Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal LausanneCH-1015 Switzerland

ISBN: (纸本)9783319034126

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites. However, the constraints placed by the underwater medium make it hard to both communicate and localise the vehicles, even in relation to each other, let alone maintain them in a formation. As a contribution to overcoming some of these problems, this paper deals with the problem of keeping an autonomous marine vehicle in a moving triangular formation with respect to two leader vehicles. Simple feedback laws are derived to drive a controlled vehicle to its intended position in the formation using acoustic ranges obtained to the leading vehicles with no knowledge of the formation path. The paper discusses the implementation of this solution in the MEDUSA class of autonomous marine vehicles operated by IST and describes the results of trials with these vehicles exchanging information and ranges over an acoustic network. © Springer International Publishing Switzerland 2014.

关键词： Machine design

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A new graphical representation of protein sequences based on dual-vector model

Communications in Computer and Information Science

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Communications in computer and Information Science 2014年 472卷 629-632页

作者： Zhang, Zhujin Zeng, Xiangxiang Chen, Zhihua Wang, Eric Ke School of electrical engineering and information Sichuan University Chengdu610065 China Department of Computer Science Xiamen University Xiamen361005 China School of Automation Huazhong University of Science & Technology Wuhan Hubei430074 China Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China Shenzhen Key Laboratory of Internet Information Collaboration Shenzhen518055 China

ISBN: (纸本)9783662450482

Graphical representation of protein sequences is an important method of sequences analysis. We propose a new graphical representation of protein sequences with Virtual DNA Codon and DV-Curve. With virtual DNA codon, we successfully retranslate a protein sequence to a virtual DNA sequence. And then we use DV-Curve to visualize the virtual DNA sequence. The new graphical representation avoids degeneracy and loss of information. It also has good visualization even sequences are long, and avoids the difficulty of observing in multi-dimensional graph. © Springer-Verlag Berlin Heidelberg 2014.

关键词： DNA sequences

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

Cooperative and Geometric Learning Algorithm (CGLA) for path...

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作者： Zhang, Baochang Liu, Wanquan Mao, Zhili Liu, Jianzhuang Shen, Linlin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China Department of Computing Curtin University Perth WA 6102 Australia Shenzhen Key Laboratory of Spatial Smart Sensing and Services School of Computer Science and Software Engineering Shenzhen University China Media Laboratory Huawei Technologies Co.Ltd. Shenzhen 518129 China

In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs. © 2014 Elsevier Ltd. All rights reserved.

关键词： Motion planning

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Call for papers Special issue on Learning and control in cooperative multi-agent systems

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Control Theory and Technology 2014年第2期12卷 215-216页

作者： Frank L. Lewis Zhong-Ping Jiang Tengfei Liu UTA Research Institute The University of Texas at Arlington Texas U.S.A. Department of Electrical and Computer Engineering Polytechnic Institute of NYU BrooklynNY U.S.A. State Key Laboratory of Synthetical Process Automation Northeast University Shenyang China

Cooperative control of multi-agent systems linked by communication networks is a well-developed and still growing field. The interplay of the individual agent dynamics and the communication graph topology results in intriguing and often surprising behaviors that are not manifested in the study of control systems for single-agent dynamics. This field brings systems theory, feedback control, graph theory, communication systems, complex systems theory to provide rigorous analysis and design for multiple dynamical systems interconnected by a graph information flow structure. Applications have been made to vehicle formation control, coordinated multi-satellite control, electric power system control, robotics, autonomous airborne systems, manufacturing production lines, and the synchronization of dynamical processes in chemistry, physics, biology, and chaotic systems.

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Viewpoint selection for vision systems in industrial inspection

Viewpoint selection for vision systems in industrial inspect...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jose Luis Alarcon-Herrera Xiang Chen Xuebo Zhang Department of Electrical and Computer Engineering University of Windsor Windsor Ontario Canada Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

An automatic method for solving the problem of view planning in high-resolution industrial inspection is presented. The method's goal is to maximize the visual coverage, and to minimize the number of cameras used for inspection. Using a CAD model of the object of interest, we define the scene-points and the viewpoints, with the later being the solution space. The problem formulation accurately encapsulates all the vision- and task-related requirements of the design process for inspection systems. We use a graph-based approach to formulate a solution for the problem. The solution is implemented as a greedy algorithm, and the method is validated through experiments.

关键词： Cameras Inspection Lenses Solid modeling Visualization Image resolution Robot vision systems

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