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Performance-aware power management in embedded controllers with multiple-voltage processors

Information Technology Journal 2008年第6期7卷 942-947页

作者： Xia, Feng Liu, Liping Ma, Longhua Sun, Youxian Dong, Jinxiang College of Computer Science and Technology Zhejiang University Hangzhou 310027 China School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China State Key Lab of Industrial Control Technology Zhejiang University Hangzhou 310027 China Faculty of Information Technology Queensland University of Technology Brisbane QLD 4001 Australia

The aim of this research is to minimize the energy dissipation of embedded controllers without jeopardizing the Quality of control (QoC). Taking advantage of the Dynamic Voltage Scaling (DVS) technology, this study develops a performance-aware power management scheme for embedded controllers with processors that allow multiple voltage levels. The periods of control tasks are adapted online with respect to the current QoC, thus facilitating additional energy reduction over standard DVS. To avoid the waste of CPU resources as a result of the discrete voltage levels, a resource reclaiming mechanism is employed to maximize the CPU utilization and also to improve the QoC Simulations are conducted to evaluate the performance of the proposed scheme. Compared with the optimal standard DVS scheme, the proposed scheme is shown to be able to save remarkably more energy while maintaining comparable QoC. © 2008 Asian Network for Scientific Information.

关键词： Real time control

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Maneuver library and integrated control system for autonomous close-in air combat

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2008年第SUPPL.期29卷 114-121页

作者： Zhong, Youwu Liu, Jiarun Yang, Lingyu Shen, Gongzhang School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083 China Beijing Aerospace Automatic Control Institute Beijing 100854 China

A maneuver library including describing parameters for autonomous close-in air combat is designed. The tactical maneuvers are described in both qualitative manner and quantitative manner for reflecting their geometric forms and tactical meanings. For the control of maneuvers, a multi-hierarchical structure for integrated control system is proposed, which includes assignment management, kinematics control, dynamics control and plant respectively. Maneuvering command generator for each type of tactical maneuvers is designed for generating airstream angle command and velocity command. The control law of airstream angles is designed by backstepping method with command filter. The simulation results of vertical break and high Yo-Yo indicate that, the describing parameters of maneuvers can show the geometric form and tactical meaning exactly, and the integrated control system can achieve the autonomous control of maneuvers.

关键词： Integrated control

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Autonomous decision-making technique of UAVs under hazardous weather condition

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2008年第SUPPL.期29卷 107-113页

作者： Dong, Zhuoning Zhang, Rulin Chen, Zongji School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083 China Flight Automatic Control Research Institute Xi'an 710065 China

In order to endure the uncertain complexity and variation of the battlefield, especially the hazardous weather, unmanned aerial vehicle's (UAV's) ability of autonomous decision-making must be enhanced continuously. This paper deals with the autonomous hazardous weather detecting and decision-making problems of UAVs. First of all, typical hazardous weather affecting UAVs is introduced. Secondly, the scheme is proposed of using airborne sensors to get meteorological information and then founding the mathematical model. Thirdly, expert system is adopted to resolve the autonomous decision-making problem of UAVs under hazardous weather condition. Finally, simulations of the UAV's autonomous decision-making process under windshear, thunderstorm and turbulence flow conditions are accomplished respectively. Simulation results are reasonable and thereby prove the feasibility and effectivity of the scheme.

关键词： Unmanned aerial vehicles (UAV)

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New discrete-time adaptive ILC for nonlinear systems with time-varying parametric uncertainties

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Zidonghua Xuebao/Acta Automatica Sinica 2008年第7期34卷 805-808页

作者： Chi, Rong-Hu Sui, Shu-Lin Hou, Zhong-Sheng Institute of Autonomous Navigation and Intelligent Control School of Automation and Electrical Engineering Qingdao University of Science and Technology Qingdao 266042 China Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 China

Using the analogy between the discrete time axis and the iterative learning axis, a new discrete-time adaptive iterative learning control (AILC) approach is developed to address a class of nonlinear systems with time-varying parametric uncertainties. Analogous to adaptive control, the new AILC can incorporate a projection algorithm, thus the learning gain can be tuned iteratively along the learning axis. When the initial states are random and the reference trajectory is iteration-varying, the new AILC can achieve the pointwise convergence over a finite time interval asymptotically along the iterative learning axis.

关键词： Nonlinear systems

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Analytic solution for the attitude measurement of aerostat via a single camera

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Binggong Xuebao/Acta Armamentarii 2008年第1期29卷 116-120页

作者： Xu, Hui-Gang Bo, Yu-Ming Guo, Zhi Automation School Nanjing University of Science and Technology Nanjing 210094 China Department of Information and Control Engineering Changshu Institute of Technology Changshu 215500 China

The ability of intercepting and tracking for air defense antimissile system can be effectively improved by top observation with aerostat. For providing target set data for ground weapon with aerial measurement, the high-precision measurement of the attitude of aerostat used as tracking plateform has to be solved. A novel method for the attitude measurement of aerostat via a single camera was proposed. It is the mechanism of the measurement that based on the set ground signal beacon and the processed signal beacon video image taken by double-focus CCD, the yaw is given by Euler angle and the roll and the pitch are given by direction cosine relationship taking account of the sensitivity of attitude measurement with the attitude angle variation. The measurement precision was improve by various beacon informations, the estimated error is less than 1 milliratian. The experimental results of static precision measurement show that the method is feasible.

关键词： Attitude control

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Mobile Robot Path Planning Base on the Hybrid Genetic Algorithm in Unknown Environment

Mobile Robot Path Planning Base on the Hybrid Genetic Algori...

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International Conference on Intelligent Systems Design and Applications (ISDA)

作者： Yong Zhang Lin Zhang Xiaohua Zhang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China School of Control Science and Engineering University of Ji''nan Jinan China

This paper presents an unknown environment robot path planning algorithm. The robot working environments are expressed by grid model; Using digital potential field generated initial path population, and its optimization find the shortest path, and individual evaluation function were processed fitness function both feasible path and unfeasible path fitness function, and then by increasing the deleted and inserted operators to meet the requirement of avoiding obstacles in the path planning. By designing algorithm and experimentations on Pioneer III mobile robot, we can see that when we do the dynamic mobile robot path planning with this method, there are no obstacles of any collision; The planning path is short and smooth curves, to the satisfaction of the effect of planning and convergence rate.

关键词： Mobile robots Path planning Genetic algorithms Robotics and automation Intelligent robots Algorithm design and analysis Safety Hybrid intelligent systems Automatic control Mesh generation

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Removing Baseline Drift in Pulse Waveforms by a Wavelet Adaptive Filter

Removing Baseline Drift in Pulse Waveforms by a Wavelet Adap...

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The 2nd International Conference on Bioinformatics and Biomedical engineering(iCBBE 2008)(第二届生物信息与生物医学工程国际会议)

作者： Dianguo Cao Changchun Liu Peng Wang School of Electrical Information and Automation Qufu Normal University Rizhao China School of Control Science and Engineering Shandong University Jinan China

This work designs a wavelet adaptive filter (WAF) to remove the baseline drift from pulse waveforms. The WAF consists of two parts: the transform algorithm based on discrete Meyer wavelet to decompose the pulse signal into eight frequency bands;the improved adaptive filter that uses the high-frequency components of the pulse signal as reference input and the original pulse waveform added baseline drift as primary input. The WAF is tested on our developed pulse diagnosis apparatus. The results both on simulated and real human pulse signals demonstrate that the proposed WAF outperforms traditional filters not only in removing baseline drift but in preserving the diagnostic information of pulse waveforms.

关键词： baseline drift filter pulse waveform

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A SDM design algorithm based on the gird map

A SDM design algorithm based on the gird map

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World Congress on Intelligent control and automation (WCICA)

作者： Yinbin Li Caihong Li Fuguang Yang Fengyu Zhou School of Electrical Engineering Automation Tianjin University TJU Tianjin China School of Control Science and Engineering Shandong University Jinan China School of Computer Science and Technology Shandong University of Science and Technology Zibo China

A new global path planning method the steepest descend method (SDM), which is suitable to the grid map, is introduced according to the global path planning. It uses the principle of the shortest line between two points as the heuristic information to propagates distances through free cells from the start cell and forms a different gradient around it. With the idea of the first search greed best, the shortest path back to the start point is traced by walking downhill via the steepest descent path from the goal cell. The superiority of SDM are as follows: less storage space, fast planning speed, and can be extended easily. It can meet the requirement of real-time planning for the mobile robot.

关键词： Path planning Educational institutions Mobile robots Planning automation Distance measurement Electrical engineering

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Research of synthesis tuning algorithm of Active-Disturbance-Rejection controller

Research of synthesis tuning algorithm of Active-Disturbance...

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World Congress on Intelligent control and automation (WCICA)

作者： Qiang Ma Daping Xu Yuntao Shi School of Control Science Engineering North China Electric Power University Beijing China Department of Automation North University of China Beijing China

Nonlinear active disturbance rejection controller (ADRC) tuning problem is investigated based on synthesis optimization method which including intelligent optimization method-NSGA_II and The typical nonlinear least square method-Levenberg-Marqudart algorithm. Based on multi-objective optimizing algorithm-NSGA_II the parameters of extended state observer is tuned. Nonlinear least square method is adopted to obtain the optimal parameter of Nonlinear PD controller parameters of active disturbance rejection controller. The results of simulation indicate the synthesis optimal tuning method of ADRC is effective.

关键词： Optimization Tuning Estimation Distance measurement Transient analysis Simulation Genetic algorithms

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control system design and flight testing for a miniature unmanned helicopter

Control system design and flight testing for a miniature unm...

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World Congress on Intelligent control and automation (WCICA)

作者： Zhou Fang Jiande Wu Ping Li Institute of Industrial Control University of Zhejiang Hangzhou Zhejiang China School of Information Engineering and Automation Kunming University of Science and Technology Kunming Yunnan China

Hovering performance of unmanned helicopter is of key importance in *** paper presents an autonomous control system to achieve the excellent hovering performance for a miniature unmanned helicopter. First, the response data of system is collected during special flight test and a linear time-invariant model is extracted by frequency identification ***, the control system is designed and implemented on hover control of the helicopter using multi-loop control method. The method has simple structure, straightforward design process and low computing load imposed on the flight control system. The proposed multi-loop controller is composed of inner-loop attitude control, mid-loop velocity control and the outer-loop position control. The application results show that the proposed controller can obtain outstanding hovering performance. This control system structure is very feasible in engineering, and can be benefit for control system design of other miniature unmanned helicopters.

关键词： Helicopters Aerodynamics Rotors Mathematical model control systems Attitude control Equations

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