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AIAA Space and Astronautics Forum and Exposition, SPACE 2016

作者： Santana, Pedro Vaqueroy, Tiago Timmonsz, Eric Williams, Brian C. McGhan, Catharine L. R. Murray, Richard M. Toledo, Claudio Department of Aeronautics and Astronautics Massachusetts Institute of Technology 32 Vassar Street 32-224 CambridgeMA02139 United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 32 Vassar Street 32-224 CambridgeMA02139 United States Electrical Engineering & Computer Science Massachusetts Institute of Technology 32 Vassar Street 32-224 CambridgeMA02139 United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology 77 Massachusetts Avenue 33-330 CambridgeMA02139 United States Department of Control and Dynamical Systems California Institute of Technology 1200 E. California Blvd. Mail Code 305-16 PasadenaCA91125 United States Department of Control and Dynamical Systems California Institute of Technology 1200 E. California Blvd. Mail Code 107-81 PasadenaCA91125 United States Instituto de Ciências Matemáticas e de Computacão Avenida Trabalhador São-Carlense 400 AraraquaraSão Paulo Brazil Universidade de São Paulo SP13566-590 Brazil

ISBN: (数字)9781624104275

ISBN: (纸本)9781624104275

Expanding robotic space exploration beyond the immediate vicinity of Earth's orbit can only be achieved by increasingly autonomous agents, given the sometimes insurmountable challenges of teleoperation over great distances. Among the numerous requirements that a fully autonomous robotic space explorer must meet, here we focus on three key mission-enabling technologies: the ability to act under uncertainty and adapt to its environment;the ability to optimize performance while offering hard bounds on the risk of mission failure;and the ability to handle complex hybrid (discrete and continuous) mission planning problems in a provably correct and scalable fashion. In this paper, we show how CLARK, a planner capable of generating risk-bounded, dynamic temporal plans for autonomous agents operating under uncertainty, is able to efficiently generate temporal plans for a challenging planetary rover scenario featuring temporal uncertainty that could not be addressed by previous methods. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Orbits

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Robust set invariance and contractivity of discrete-time systems: The generators approach

Robust set invariance and contractivity of discrete-time sys...

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Mediterranean Conference on control and Automation (MED)

作者： George Bitsoris Marina Vassilaki the Control Systems Laboratory of the Department of Electrical and Computer Engineering University of Patras Patras Greece the Department of Electrical and Electronic Engineering Educators ASPETE Athens Greece

In this paper, the problem of robust set invariance and contractivity with respect to discrete-time dynamical systems is investigated. In contrast to the usual approach consisting in describing regions of system's space by their border surfaces, a dual description of sets in terms of a generator matrix and a, generally nonlinear, generating function is proposed. This leads to the establishment of an associated generated system whose robust set invariance and/or contractivity properties imply corresponding properties for the initial system. This general result is then applied to the development of robust set invariance and/or robust contractivity conditions for linear systems.

关键词： Robustness Generators Linear systems Nonlinear systems Stability analysis Discrete-time systems Convergence

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Robust set invariance and contractivity of continuous-time systems

Robust set invariance and contractivity of continuous-time s...

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IEEE Conference on Cybernetics and Intelligent systems

作者： George Bitsoris Marina Vassilaki Control Systems Laboratory of the Department of Electrical and Computer Engineering University of Patras Patras Greece Department of Electrical and Electronic Engineering Educators ASPETE Athens Greece

In this paper, the problem of set invariance and contractivity with respect to continuous-time dynamical systems is investigated. In contrast to the usual approach consisting in describing regions of system's state space by their border surfaces, a dual description of sets in terms of a generator matrix and a, generally nonlinear, generator function is proposed. This leads to the establishment of an associated generated system whose set invariance and/or contractivity properties imply corresponding properties for the initial system. This general result is then applied to the development of robust set invariance and/or contractivity conditions for linear and nonlinear systems.

关键词： Robustness Generators Linear systems Nonlinear systems Convergence Conferences Random access memory

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A data-driven approach to predict daily risk of Clostridium difficile infection at two large academic health centers

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Open Forum Infectious Diseases 2017年第SUPPL_1期4卷 S403-S404页

作者： Makar, Maggie Oh, Jeeheh Fusco, Christopher Marchesani, Joseph McCaffrey, Robert Rao, Krishna Ryan, Erin E Washer, Laraine West, Lauren R Young, Vincent B Guttag, John Hooper, David C Shenoy, Erica S Wiens, Jenna Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge Massachusetts Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge Massachusetts Computer Science and Engineering University of Michigan Ann Arbor Michigan Information Systems Partners HealthCare Boston Massachusetts Department of Internal Medicine Division of Infectious Diseases University of Michigan Medical School Ann Arbor Michigan Division of Infectious Diseases Massachusetts General Hospital Boston Massachusetts Infection Control Unit Massachusetts General Hospital Boston Massachusetts Harvard Medical School Boston Massachusetts Department of Medicine Division of Infectious Diseases Massachusetts General Hospital Boston Massachusetts Medical Practice Evaluation Center Department of Medicine Massachusetts General Hospital Boston Massachusetts

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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μ-based Approaches to Determining Guaranteed Consistent and Inconsistent Parameter Sets

μ-based Approaches to Determining Guaranteed Consistent and...

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IEEE Annual Conference on Decision and control

作者： Masako Kishida Rolf Findeisen Electrical and Computer Engineering department at University of Canterbury New Zealand Laboratory for Systems Theory and Control at the Otto-von-Guericke Universitat Magdeburg Germany

ISBN: (纸本)9781479978878

This paper considers the problem of characterizing the sets of consistent and inconsistent parameters for given constraints for linear fractional models. Based on previous results on the single box volume maximization problem using structured singular value, algorithms that express the (in)consistent parameter set as a union of multiple boxes are developed. Since no relaxation is involved in the proposed algorithms, the obtained sets are guaranteed to be (in)consistent with the given constraints even when the real set of (in)consistent parameters is nonconvex. A numerical example is included to illustrate the difference of the sets obtained by the proposed algorithms.

关键词： Inconsistent Difference sets SETTING numerical example Consistent

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On Finite-Horizon Optimal control of First-Order Plus Time Delay systems

On Finite-Horizon Optimal Control of First-Order Plus Time D...

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第27届中国控制与决策会议

作者： Dawei Shi Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Alberta

In this work,a finite-horizon optimal control problem for first-order plus time delay(FOPTD) processes is *** show that if the control horizon is greater than three and the prediction horizon is great than the control horizon plus the time delay in discrete time,the optimal controller is not affected by either of the two ***,under these conditions,the controller parameters are explicitly calculated,the closed-loop system is shown to be stable,and the controller is *** problem considered is related to the results on linear quadratic regulation of linear systems with time delays;however,the detailed parameterization of the state-space model introduced by the FOPTD process provides an additional opportunity to investigate the exact controller structure and properties(e.g.,the locations of the closed-loop poles),which are also the major difficulties encountered and overcome in this *** problem is motivated from phenomena experienced in designing industrial model predictive control(MPC) tuning algorithms,and extensive numerical examples indicate that the proposed results speed up the MPC autotuning algorithms by 70%.

关键词： Optimal control First-order plus time delay process Performance visualization MPC tuning

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Virtual Oscillator control Subsumes Droop control

Virtual Oscillator Control Subsumes Droop Control

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American control Conference

作者： Mohit Sinha Florian Dorfler Brian B. Johnson Sairaj V. Dhople Department of Electrical and Computer Engineering at the University of Minnesota (UMN) Minneapolis MN Automatic Control Laboratory at ETH Zurich Zurich Switzerland Power Systems Engineering Center at the National Renewable Energy Laboratory (NREL) Golden CO

ISBN: (纸本)9781479917730

In this paper we examine the amplitude and phase dynamics of power-electronic inverters in islanded microgrids that are controlled to emulate the dynamics of a class of weakly nonlinear Lienard-type oscillators. The general strategy of controlling inverters to emulate the behavior of Lienard-type oscillators is termed Virtual Oscillator control (VOC), and it presents a compelling time-domain alternative to ubiquitous droop control methods which linearly trade off voltage frequencies and magnitudes with active and reactive power injections. In comparison to droop control, which assumes a priori that the network operates in a quasi-stationary sinusoidal steady state, VOC is a time-domain control strategy that globally stabilizes a desired sinusoidal steady state. The main, and somewhat surprising, result of this paper is that--when reduced to the sinusoidal steady state--the VOC dynamics correspond to those of droop control. Hence, VOC is a globally stabilizing control strategy that can deal with higher-order harmonics and includes droop control in the harmonic steady state. The results are intriguing, in that they suggest that droop control laws can be recovered from averaging the complex dynamics of a class of weakly nonlinear limit-cycle oscillators.

关键词： droop control Oscillators control strategy MAINS dynamics Reactive power Sinusoidal

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A decomposition approach to colored traveling salesman problems

A decomposition approach to colored traveling salesman probl...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Jun Li Xing Dai Huaxuan Liu MengChu Zhou Ministry of Education Key Laboratory of Measurement and Control of CSE (Complex Systems of Engineering) Southeast University Nanjing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

As a well-known combinatorial optimization problem, multiple traveling salesman problem (MTSP) fails to characterize some application problems where cities may have different accessibility for some but not necessarily all salesmen. This work proposes a colored traveling salesman problem (CTSP) in which a city has one to multiple colors allowing any salesman with the same color to visit. It presents a decomposition approach that converts CTSP into a combination of several individual traveling salesman problems (TSPs) and one MTSP for an important class of CTSP. To solve the transformed one, this work proposes a modified greedy algorithm allowing multi-colored city assignment during city search and adopts the formerly presented simulated annealing genetic algorithm. A dual-bridge waterjet cutting example is utilized to compare the presented decomposition approach and direct one. The results show that the former can achieve a better solution than the latter if the cities of same color(s) are clumped.

关键词： Cities and towns Color Traveling salesman problems Simulated annealing Genetic algorithms Greedy algorithms

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STATE FEEDBACK STABILIZATION FOR A CLASS OF NONLINEAR TIME-DELAY systems VIA DYNAMIC LINEAR controlLERS

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Journal of systems Science & Complexity 2014年第3期27卷 453-462页

作者： CHAI Lin QIAN Chunjiang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioTX 78249USA

The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a class of time-delay systems under a type of nonhomogeneous growth *** the aid of an appropriate Lyapunov-Krasovskii functional and the adaptive strategy used in coordinates,the closed-loop system can be globally asymptotically stabilized by the dynamic linear state feedback *** growth condition in perturbations are more general than that in the existing *** correctness of the theoretical results are illustrated with an academic simulation example.

关键词： Dynamic linear controller global stabilization nonlinear time-delay systems state feed-back control.

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