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检索条件"机构=Robotics and Control Laboratory Computer Engineering Division"

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Lane Keeping control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject ...

引用

American control Conference

作者： Changfang Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecom-munications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

关键词： Wheels Vehicles Roads Tires Friction Aerodynamics Vehicle dynamics

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Dynamic counters and the efficient and effective online power management of embedded real-time systems 11

Dynamic counters and the efficient and effective online powe...

引用

Embedded Systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Lampka, Kai Huang, Kai Chen, Jian-Jia Computer Engineering and Networks Laboratory ETH Zurich Switzerland Fortiss GmbH Guerickestr. 25 80805 Munich Germany Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781450307154

Energy consumption has become an important issue for modern embedded systems. This is because, one does not only like to deploy high-performance systems and provide guaranteed services, but also request system deployments to last as long as possible. With online dynamic power management (DPM), one adaptively changes the system's power mode, i. e., schedules when to turn on and off on-the-fly, to achieve energy savings. This paper introduces dynamic counters and discusses their usage in the context of (online) DPM in a setting where systems have to fulfill hard real-time requirements. The proposed scheme enables one to conservatively bound the future workload and thereby to safely schedule on- and off-periods of devices. Simulation results indicate that the proposed technique is more efficient and more effective with respect to energy savings, compared to previous work. Copyright 2011 ACM.

关键词： Real time systems

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Modeling, Simulation and control of a Spincopter

Modeling, Simulation and Control of a Spincopter

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

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Temperature-Aided Fingerprinting for localization in wireless local area networks

Temperature-Aided Fingerprinting for localization in wireles...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Kave Aryanpoo Hadi Moradi Robotics and AI Laboratory School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.

关键词： Fingerprint recognition Temperature distribution Educational institutions Buildings Temperature sensors Temperature measurement

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Adaptive output-feedback control of planar hybrid step motors using position-only feedback

Adaptive output-feedback control of planar hybrid step motor...

引用

International Conference on control and Automation (ICCA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. The proposed controller utilizes only position measurements in each axis, and achieves practical stabilization of position tracking errors. Velocity and current measurements are not required for feedback. Furthermore, the only electromechanical motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized to remove requirement of knowledge of any other electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also corrects for the yaw rotation to achieve synchrony of motor and rotor teeth.

关键词： Permanent magnet motors Reluctance motors Observers Force Windings Robustness Current measurement

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Adaptive backstepping and θ-D based controllers for a tilt-rotor aircraft

Adaptive backstepping and θ-D based controllers for a tilt-...

引用

Mediterranean Conference on control and Automation (MED)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.

关键词： Aerodynamics Aircraft Rotors Atmospheric modeling Attitude control control design

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Nonverbal communication with a multimodal agent via facial expression recognition

Nonverbal communication with a multimodal agent via facial e...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Samuel Marcos Jaime Gómez-García-Bermejo Eduardo Zalama Joaquín López Robotics and Computer Vision Division CARTIF Centro Tecnológico Valladolid Spain Department of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain

Based on our previous work in the development of a multimodal animated avatar oriented to human-machine interaction and social robotics, a facial expression recognition system is presented in this paper. Both the avatar's architecture and facial recognition system have been oriented to FACS Action Units recognition and generation, so they can be easily integrated. The resulting animated system is able to maintain nonverbal and verbal bidirectional communication, enhancing the interaction with the avatar and making it more natural for the users.

关键词： Gabor filters Face Mouth Shape Eyebrows Face recognition Feature extraction

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

引用

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Energy-Efficient Scheduling Algorithms for Periodic Power Management for Real-Time Event Streams

Energy-Efficient Scheduling Algorithms for Periodic Power Ma...

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Kai Huang Jian-Jia Chen Lothar Thiele fortiss GmbH Munich Germany Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany ETH Zurich Computer Engineering and Networks Laboratory Switzerland

As modern VLSI technology is scaling to the deep sub-micron domain, embedded systems face a power-efficiency problem, i.e., static power consumption caused by the leakage current. This paper explores how to use dynamic power management to reduce static power consumption while guaranteeing hard real-time properties. To tackle event arrivals with non-deterministic patterns, the arrival curve model is adopted to describe event arrivals in the interval domain. To reduce runtime overhead, periodic power management is investigated, which turns on and off a system with a fixed period. To reduce the timing complexity of computing such a periodic scheme, two algorithms, which are based on a linear-segmented representation of the arrival curve model, are proposed to trade the complexity with accuracy for energy reduction. We also present simulation results to demonstrate the effectiveness of our algorithms.

关键词： Power demand Real time systems Computational modeling Silicon Approximation algorithms Energy consumption Timing

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