The effectiveness of Intelligent Transportation systems (ITS) depends on their ability to collect contextual data from various sources and appropriately generate and transport comprehensible, reliable and timely conte...
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ISBN:
(纸本)9781424444106
The effectiveness of Intelligent Transportation systems (ITS) depends on their ability to collect contextual data from various sources and appropriately generate and transport comprehensible, reliable and timely content to users. In such applications, the exchanged content is structured in space and time. Peer-to-peer(P2P) networks are the natural choice these applications due to their fault-tolerance, self-organization and scalability properties. However, a closer analysis of the available Distributed Hash Tables (DHT) protocols shows that the structure of the data gets lost and its short liveness leads to high signalling traffic. In this work we propose a novel overlay network of so called Space Containers for storing, accessing, manipulating and structuring dynamic geo-located content. The benefits of combining Space Containers and DHT are: clean application programming logic and efficient content retrieval while preserving the properties of DHTs. We describe the system architecture applied to a transportation scenario and show preliminary evaluation results.
This paper presents an optimal fuzzy logic controller design using optimization techniques. The fuzzy logic controller (FLC) has been developed and implemented for the motion of the robot from an initial position towa...
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This paper presents an optimal fuzzy logic controller design using optimization techniques. The fuzzy logic controller (FLC) has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while seeking the goal. Secondly, an optimization of this controller has been realized using gradient method and genetic algorithms. A comparison between these methods has been effected. Not only simulation results are shown in this paper, but the ldquoreal-timerdquo implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.
This work consists on the evaluation of the performances of three neural classifiers. The Multi-Layer Perceptron (MLP), the Self-Organizing Map (SOM), the Learning Vector Quantization (LV Q) are considered by this stu...
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This work consists on the evaluation of the performances of three neural classifiers. The Multi-Layer Perceptron (MLP), the Self-Organizing Map (SOM), the Learning Vector Quantization (LV Q) are considered by this study. The example that will be considered in the evaluation of the technical classifications's performances is the handwritten character recognition.
This paper presents a design method of robust fuzzy PID controller for discrete-time uncertain nonlinear systems. The Takagi-Sugeno fuzzy model with parameter uncertainties is employed to describe discrete-time uncert...
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This paper presents a design method of robust fuzzy PID controller for discrete-time uncertain nonlinear systems. The Takagi-Sugeno fuzzy model with parameter uncertainties is employed to describe discrete-time uncertain nonlinear system with bounded uncertainties. A robust pole placement called pole coloring is used to control each local model. Controller parameters are determined through cost function minimization by an optimization procedure. Closed-loop system's poles are chosen according to desired performance. The global controller is obtained by local control inference. Finally, two examples are treated to illustrate the effectiveness of the proposed design method.
This paper develops a new control approach to position synchronization of multiple robot manipulators based on emergent consensus algorithms. The proposed strategy only requires local neighbor-to-neighbor information ...
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This paper develops a new control approach to position synchronization of multiple robot manipulators based on emergent consensus algorithms. The proposed strategy only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of any explicit leaders in the team. The control strategy is to stabilise position tracking of each manipulator while synchronizing its motion with other manipulator's position motion so that differential position errors amongst robots converge to zero. Simulations conducted on a multi-robots manipulators motion control system demonstrate the effectiveness of the method.
Many researchers are interested in electric wheelchair automation because of the mobility problemsmet by a certain number of disabled and aged people. In this paper, we propose to associate a system's help navigat...
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Many researchers are interested in electric wheelchair automation because of the mobility problemsmet by a certain number of disabled and aged people. In this paper, we propose to associate a system's help navigation to a standard electric *** system is equipped with unit control and sensors to extract some *** elaborate a fuzzy controller which generates speed wheels orders in order to join the target position.
This paper presents a method to compute sub-optimal control strategies of discrete time large scale nonlinear systems by neural networks. The method is based on the principle of decomposition of the global system into...
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This paper presents a method to compute sub-optimal control strategies of discrete time large scale nonlinear systems by neural networks. The method is based on the principle of decomposition of the global system into interconnected subsystems for which we consider that non-linearities are located in the interconnection terms. Then, a mixed method is considered to coordinate between different subsystems in order to compute the optimal control. So, for each subsystem, local optimal feedback gains are expressed in terms of the interconnection vector. For this purpose, neural networks have been used in order to identify these gains. Simulation results of a rotary crane show that the proposed method yields to satisfactory performances. The robustness of the proposed approach is analysed.
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