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Software architecture of the Autonomous Mobile Outdoor Robot AMOR

Software architecture of the Autonomous Mobile Outdoor Robot...

引用

IEEE Symposium on Intelligent Vehicle

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

Even if outdoor robotics is gaining increasing interest, universal systems are rare to find up to now. One of them is the autonomous mobile outdoor robot (AMOR), which operates in rough terrain under arbitrary weather condition. This paper presents its software architecture and some performance figures. The whole system is designed by a modular and layered paradigm, to allow for easy reconfiguration and adaptation to new tasks. Elementary behaviours act as the fundament, which delivers the basic abilities and secures the robot. Model based components are utilized for more intelligent tasks like obstacle avoidance and local/global path planning. Robust operation in complex terrain is achieved by combining a multitude of sensors. The software architecture unifies them by introducing a virtualisation layer, which hides all hardware specific consideration from the application programmer. This way the overall system configuration can be easily adapted to the actual task without changing the high level software. Above the medium layer an object oriented system has been implemented, that is able to localise, navigate and avoid obstacles in rough terrain. The overall performance of the system has been proven by winning the first price in autonomous driving in the European Land Robot Trial (ELROB 2007) for urban and non-urban terrain. Details of the performance are given in the results.

关键词： Vehicles

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Concept and implementation of a software system on the Autonomous Mobile Outdoor Robot AMOR

Concept and implementation of a software system on the Auton...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration and utilisation by the application programmer. The higher levels of the software system realise localisation, navigation and obstacle avoidance. The overall performance of the system has been proven by winning the first prize in autonomous driving in the European land robot trial (ELROB 2007) for urban and non- urban terrain.

关键词： Robots Sensors Vehicles Sensor systems Robustness Distance measurement Planning

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A differential evolution approach to optimal generator maintenance scheduling of the nigerian power system

A differential evolution approach to optimal generator maint...

引用

IEEE General Meeting Power& Energy Society

作者： Y. Yare G. K. Venayagamoorthy Real-Time and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA

The goal of optimal generator maintenance scheduling is to evolve optimal preventive maintenance schedule of generating units for economical and reliable operation of a power system while satisfying system load demand and crew constraints. In this paper, the differential evolution (DE), an evolutionary computation algorithm that utilizes the differential information to guide its further search, is applied to effectively solve the generator maintenance scheduling (GMS) optimization problem. The proposed method can handle mixed integer discrete continuous optimization problems. Results are presented with the DE algorithm on two different case studies for Nigerian power system.

关键词： Maintenance engineering Power systems Optimization Optimal scheduling Power system dynamics Generators Evolution (biology)

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Merge-by-Wire: Algorithms and System Support

Merge-by-Wire: Algorithms and System Support

引用

real-time Systems Symposium (RTSS)

作者： Vipul Shingde Gurulingesh Raravi Ashish Gudhe Prakhar Goyal Krithi Ramamritham Embedded Real-Time Systems Laboratory Department of Computer Science and Engineering Indian Institute of Technology Bombay

Automakers are trying to make vehicles more intelligent and safe by embedding processors which can be used to implement ldquoby-wirerdquo applications for taking smart decisions on the road or assisting the driver in doing the same. Given this proliferation, there is a need to minimize the computing power required without affecting the performance and safety of the applications. The latter is especially important since these by-wire applications are distributed and real-time in nature and involve deadline bound computations on critical data gathered from the environment. These applications have stringent requirements on the freshness of data items and completion time of the tasks. Our work studies one such safety-related automotive application namely, automatic merge control (AMC) which ensures safe vehicle maneuver in the region where two or more roads *** our contributions, we (i) propose two merge algorithms for amc: head of the lane (HoL) and all feasible sequences (AFS) (ii) demonstrate how DSRC-based wireless communication protocol can be leveraged for the development of AMC (iii) present a real-time approach towards designing AMC by integrating mode-change and real-time repository concepts for reducing the processing power requirements and (iv) provide a scheduling strategy to meet AMC taskspsila timing requirements. Simulations and implementation on robotic vehicular platforms demonstrate the advantages of using our approach for constructing merge-by-wire systems.

关键词： Intelligent vehicles Road vehicles Vehicle safety Vehicle driving Distributed computing Automotive applications Automatic control Communication system control Scheduling algorithm Wireless communication

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Implementation of a PSO based online design of an optimal excitation controller

Implementation of a PSO based online design of an optimal ex...

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IEEE Swarm Intelligence Symposium, SIS

作者： Chuan Yan Ganesh K. Venayagamoorthy Keith A. Corzine Real-time Power and Intelligent systems (RTPIS) laboratory in the Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA Real-timePower and Intelligent systems (RTPIS) laboratory in the Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

The Navypsilas future electric ships will contain a number of pulsed power loads for high-energy applications such as radar, railguns, and advanced weapons. This pulse energy demand has to be provided by the ship energy sources, while not impacting the operation of the rest of the system. It is clear from studies carried out earlier that disturbances are created at the generator ac bus. This paper describes an online design and laboratory hardware implementation of an optimal excitation controller using particle swarm optimization (PSO) to minimize the effects of pulsed loads. The PSO algorithm has been implemented on a digital signal processor. laboratory results show that the PSO designed excitation controller provides an effective control of a generatorpsilas terminal voltage during pulsed loads, restoring and stabilizing it quickly.

关键词： Optimal control Marine vehicles Laboratories Voltage control Radar applications Railguns Weapons AC generators Hardware Particle swarm optimization

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Distributed Resource Kernels: OS Support for End-To-End Resource Isolation

Distributed Resource Kernels: OS Support for End-To-End Reso...

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IEEE Symposium on real-time and Embedded Technology and Applications

作者： Karthik Lakshmanan Raj Rajkumar Real Time and Multimedia Systems Laboratory Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The notion of resource reservation for obtaining real-time scheduling guarantees and enforcement of resource usage has gained strong support in recent years. However, much work on resource reservation has primarily focused on single-processor systems. In this paper, we propose the distributed resource kernel frame wo rk to deploy distributed real-time applications with end-to-end timing constraints, and to efficiently enforce and monitor their usage. Modern distributed real-time systems host multiple applications, where each application can span two or more processors. Timing bugs in one distributed application can affect the timing properties of other applications in the system. Our framework introduces the abstraction of a distributed resource container as an isolated virtual operating environment for a distributed real-time application. We have implemented this framework by extending our open-source single- node Linux/RK platform (R. Rajkumar et al., 1998). A deployment and monitoring tool called dMon is also provided. We evaluate the framework's ability to provide timing guarantees by stress-testing the system using the Distributed Hartstone benchmarks. An audio processing pipeline is then used to illustrate the temporal isolation support provided by the Distributed RK framework. The distributed container abstraction can also be extended in the future to support security and fault-tolerance attributes.

关键词： Kernel Timing Containers real time systems computer bugs Open source software Linux Pipelines Security Fault tolerance

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Intelligent Scheduling of Hybrid and Electric Vehicle Storage Capacity in a Parking Lot for Profit Maximization in Grid Power Transactions

Intelligent Scheduling of Hybrid and Electric Vehicle Storag...

引用

IEEE Energy 2030 Conference, ENERGY

作者： Chris Hutson Ganesh Kumar Venayagamoorthy Keith A. Corzine Real-Time Power and Intelligent Systems (RTPIS) Laboratory mDepartment of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

This paper proposes an intelligent method for scheduling usage of available energy storage capacity from plug-in hybrid electric vehicles (PHEV) and electric vehicles (EV). The batteries on these vehicles can either provide power to the grid when parked, known as vehicle-to-grid (V2G) concept or take power from the grid to charge the batteries on the vehicles. A scalable parking lot model is developed with different parameters assigned to fleets of vehicles. The size of the parking lot is assumed to be large enough to accommodate the number of vehicles performing grid transactions. In order to figure out the appropriate charge and discharge times throughout the day, binary particle swarm optimization is applied. Price curves from the California ISO database are used in this study to have realistic price fluctuations. Finding optimal solutions that maximize profits to vehicle owners while satisfying system and vehicle owners constraints is the objective of this study. Different fleets of vehicles are used to approximate varying customer base and demonstrate the scalability of parking lots for V2G. The results are compared for consistency and scalability. Discussions on how this technique can be applied to other grid issues such as peaking power are included at the end.

关键词： Intelligent vehicles Hybrid electric vehicles Battery powered vehicles Particle swarm optimization Iterative algorithms USA Councils Processor scheduling Energy storage Scalability Wind energy

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Economic load dispatch using bacterial foraging technique with particle swarm optimization biased evolution

Economic load dispatch using bacterial foraging technique wi...

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Ahmed Y. Saber Ganesh K. Venayagamoorthy Department of Electrical and Computer Engineering King Abdulaziz University Jeddah Saudi Arabia Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology MO USA

This paper presents a novel modified bacterial foraging technique (BFT) to solve economic load dispatch (ELD) problems. BFT is already used for optimization problems, and performance of basic BFT for small problems with moderate dimension and searching space is satisfactory. Search space and complexity grow exponentially in scalable ELD problems, and the basic BFT is not suitable to solve the high dimensional ELD problems, as cells move randomly in basic BFT, and swarming is not sufficiently achieved by cell-to-cell attraction and repelling effects for ELD. However, chemotaxis, swimming, reproduction and elimination-dispersal steps of BFT are very promising. On the other hand, particles move toward promising locations depending on best values from memory and knowledge in particle swarm optimization (PSO). Therefore, best cell (or particle) biased velocity (vector) is added to the random velocity of BFT to reduce randomness in movement (evolution) and to increase swarming in the proposed method to solve ELD. Finally, a data set from a benchmark system is used to show the effectiveness of the proposed method and the results are compared with other methods.

关键词： Microorganisms Particle swarm optimization Power generation economics Space technology USA Councils Power system economics Optimization methods Gradient methods Neural networks Hopfield neural networks

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Particle Swarm Optimization with Quantum Infusion for the design of digital filters

Particle Swarm Optimization with Quantum Infusion for the de...

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Bipul Luitel Ganesh Kumar Venayagamoorthy The Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO USA Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

In this paper, particle swarm optimization with quantum infusion (PSO-QI) has been applied for the design of digital filters. In PSO-QI, Global best (gbest) particle (in PSO star topology) obtained from particle swarm optimization is enhanced by doing a tournament with an offspring produced by quantum behaved PSO, and selecting the winner as the new gbest. Filters are designed based on the best approximation to the ideal response by minimizing the maximum ripples in passband and stopband of the filter response. PSO-QI, as is shown in the paper, converges to a better fitness. This new algorithm is implemented in the design of finite impulse response (FIR) and infinite impulse response (IIR) filter.

关键词： Particle swarm optimization Digital filters Finite impulse response filter IIR filters Algorithm design and analysis Chebyshev approximation Frequency Passband Signal processing algorithms Band pass filters

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real-time Collaborative Routing Algorithm for Wireless Sensor Network Longevity

Real-Time Collaborative Routing Algorithm for Wireless Senso...

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： Shishir Bashyal Ganesh Kumar Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department ofElectrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA

ISBN: (纸本)9781424422241

Wireless sensor networks are being used in different scenarios including safety critical applications that require real-time communication framework such that the events detected by sensor nodes reach the base station within a limited timeframe. The ad-hoc nature of the sensor network makes it impossible to develop a static communication scheme that works well throughout the network lifetime. The network needs to be capable of adapting to the changes due to node failures and traffic congestions. This paper proposes an ant inspired dynamic routing algorithm in which individual sensor nodes collaborate with each other to discover a route that optimizes the network longevity while maintaining network delays to an acceptable level. Fuzzy logic is used to develop ant-like ability in sensor nodes to determine the suitability of the node to act as the cluster head. Using this algorithm, the nodes that are in the energy-rich region and have low end-to-end delay are more likely to be the cluster heads and thus the overall route offers lower communication delays and longer network life in terms of effective performance. As the algorithm relies on local collaboration for the route formation, the algorithm is highly scalable. Better end-to-end delay is achieved in simulation using this algorithm.

关键词： Availability Wireless sensor networks Delay Batteries Clustering algorithms Robot sensing systems Collaboration

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