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2012 IEEE International Symposium on Intelligent Control最新文献

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Auction-based task allocation for teams of self-reconfigurable robots 基于拍卖的自重构机器人团队任务分配
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398262
Z. Butler
{"title":"Auction-based task allocation for teams of self-reconfigurable robots","authors":"Z. Butler","doi":"10.1109/ISIC.2012.6398262","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398262","url":null,"abstract":"Self-reconfigurable robots are versatile machines composed of many small, computationally independent modules. If a large number of modules is available, they can divide into multiple smaller robots instead of remaining as one large group. In such a case, they must decide based on their mission whether and when such a division is appropriate, and if so, how to divide the mission objectives amongst the smaller robots. Likewise, after division, a later task may be more effectively handled by merging two groups of modules to obtain a single robot with greater capability. For traditional teams of mobile robots, auction-based methods have been used for task allocation with good success. Here we develop an auction approach with new types of bids that incorporate splitting and merging of these robots. This allows the overall system to exploit its ability to vary the number of robots and their capabilities alongside allocation of the overall set of tasks. We apply this protocol to an exploration scenario, show its correctness and describe the results of simulation in several different environments.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"272 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116549519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Fuel flow control of a PEM Fuel Cell with MPPT 带MPPT的PEM燃料电池的燃料流量控制
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398246
N. Karami, R. Outbib, N. Moubayed
{"title":"Fuel flow control of a PEM Fuel Cell with MPPT","authors":"N. Karami, R. Outbib, N. Moubayed","doi":"10.1109/ISIC.2012.6398246","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398246","url":null,"abstract":"In this paper, a Fuel Cell (FC) Maximum Power Point Tracking (MPPT) with fuel flow optimization is developed. The aim of this study is to extract the maximum power from a FC at different fuel flow rates and to protect the FC from over-current and voltage collapses across terminals. The system is composed of a tracker with a buck converter able to change the impedance and therefore the FC power. In order to illustrate our approach, simulation results show the behavior of the tracker at different fuel flow rates and verify the concept of maximum power tracking.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122651170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 34
Towards a semantically enhanced control architecture 朝着语义增强的控制体系结构迈进
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398273
G. Milis, C. Panayiotou, M. Polycarpou
{"title":"Towards a semantically enhanced control architecture","authors":"G. Milis, C. Panayiotou, M. Polycarpou","doi":"10.1109/ISIC.2012.6398273","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398273","url":null,"abstract":"The design of feedback control systems typically assumes a fixed number of sensors and actuators. However, in today's large-scale complex systems there is often a need to replace faulty sensors/actuators with new ones or to deploy additional sensors of possibly different characteristics compared to the old sensors. In such cases, it may be necessary to deactivate, redesign and reconfigure the feedback control system, which implies system interruptions and significant economic costs. This paper provides a first step towards a semantically enhanced feedback control architecture, where it is possible to automatically reconfigure the sensor/actuator components without having to redesign the feedback control law. The proposed architecture uses ontology-based semantic mediation. This paper focuses on the sensor case and utilizes a simple example to illustrate the approach. It is emphasized that the proposed architecture will be even more beneficial for achieving interoperability in the new paradigm of system of systems where systems may be added or removed and the expectation is that the overall system should continue to operate optimally.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"475 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123034170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Local asymptotic convergence of a cycle-free persistent formation of double-integrators in three-dimensional space 三维空间中二重积子的无环持久形成的局部渐近收敛性
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398244
Kwang‐Kyo Oh, H. Ahn
{"title":"Local asymptotic convergence of a cycle-free persistent formation of double-integrators in three-dimensional space","authors":"Kwang‐Kyo Oh, H. Ahn","doi":"10.1109/ISIC.2012.6398244","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398244","url":null,"abstract":"We present local asymptotic convergence analysis for a cycle-free persistent formation of double-integrator modeled agents moving in three-dimensional space. Due to the absence of an available common sense of orientation, the agents sense the relative-displacements of their neighbors only with respect to their own local reference frames whose orientations are not aligned, and control the norms of the relative-displacements to stabilize their formation to the desired formation. Under a gradient-based control law for the agents, we prove local asymptotic convergence of the cycle-free persistent formation to the desired formation based on cascade system stability theory. This result is an extension of the existing results on two-dimensional formations of single-integrators.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130618735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Dynamical behavior, cost and Magic Number in average consensus 平均共识的动态行为、成本和幻数
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398270
Yiming Ji, Changbin Yu, B. Anderson
{"title":"Dynamical behavior, cost and Magic Number in average consensus","authors":"Yiming Ji, Changbin Yu, B. Anderson","doi":"10.1109/ISIC.2012.6398270","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398270","url":null,"abstract":"In this paper, we mainly study the influence of the number of links on the convergence rate and the total number of message exchanges, a surrogate for cost, in average consensus problems. For a wireless sensor network with fixed number of nodes, the number of links is effectively determined by the average vertex degree. Therefore the problem is converted to one of analyzing the influence of the average vertex degree on the convergence rate and the total number of message exchanges. To evaluate the convergence rate we use the ratio of two eigenvalues of the Laplacian matrix of the graph, for which we find lower and upper bounds in terms of the average vertex degree in regular networks, i.e. networks for which the associated graph has the same vertex degree for all vertices. Through theoretical analysis, we first observe that, unsurprisingly, the convergence rate will increase with increase in the number of average vertex degree. However the increment in the convergence rate drops dramatically as the number of average vertex degree becomes progressively larger. At the same time the total number of message exchanges in the consensus process will become large. For such a phenomenon we define a kind of Magic Number to help analyze the value or otherwise of adding more links to the network. The Monte Carlo simulation results are consistent with the theoretical analysis and demonstrate the magic number we defined exists not only in regular networks but also in different kinds of networks such as Erdös-Renýi networks and scale-free networks. Further we observe the magic number can be considered as a guide to minimize the total number of message exchanges while achieving a satisfactory convergence rate.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115229600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Multiresolution wavelet-based approach to identification of modal parameters of a vehicle full-scale crash test 基于多分辨率小波的整车全尺寸碰撞试验模态参数识别方法
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398258
W. Pawlus, H. Karimi, K. Robbersmyr
{"title":"Multiresolution wavelet-based approach to identification of modal parameters of a vehicle full-scale crash test","authors":"W. Pawlus, H. Karimi, K. Robbersmyr","doi":"10.1109/ISIC.2012.6398258","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398258","url":null,"abstract":"In this work estimation of vehicle modal parameters was achieved by application of a wavelet-based method. The time-frequency analysis, which comprises those techniques that study a signal in both the time and frequency domains simultaneously, using Morlet wavelet properties are applied to the measured acceleration pulse of the colliding vehicle. Determination of the ridge of the wavelet coefficients matrix makes it possible to identify the frequency components of the recorded crash pulse. Subsequently, by using the estimated natural frequency of the system, the values of damping factor for a given mode shape are assessed. In this work there are concerned both: the major frequencies of the crash pulse and damping factor for the major mode shape.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114876867","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Optimal design of an overlapped ultrasonic sensor ring using a new composite design index 基于复合设计指标的叠置超声传感器环优化设计
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398252
Sungbok Kim, Hyunbin Kim
{"title":"Optimal design of an overlapped ultrasonic sensor ring using a new composite design index","authors":"Sungbok Kim, Hyunbin Kim","doi":"10.1109/ISIC.2012.6398252","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398252","url":null,"abstract":"This paper presents the optimal design of an overlapped ultrasonic sensor ring for high performance obstacle detection, using a new composite design index. Due to the beam overlap among adjacent ultrasonic sensors, the obstacle detection zone of each ultrasonic sensor can be divided into three smaller sub-zones. To improve the performance in obstacle detection, the state of beam overlap of an overlapped ultrasonic sensor ring can be optimized. First, considering obstacle detection range and efficient beam overlap, the geometrical constraints imposed on an overlapped ultrasonic sensor ring are described. Second, based on the positional uncertainty in obstacle detection and the entire range of obstacle detection, a new composite design index is proposed. Third, using the proposed design index, the optimal design parameters of an overlapped ultrasonic sensor ring for obstacle detection are determined.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"476 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132623286","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Observer-based fault isolation for statically non-isolable linear systems 基于观测器的静态不可隔离线性系统故障隔离
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398254
Arne Wahrburg, J. Adamy
{"title":"Observer-based fault isolation for statically non-isolable linear systems","authors":"Arne Wahrburg, J. Adamy","doi":"10.1109/ISIC.2012.6398254","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398254","url":null,"abstract":"This contribution deals with the design of fault isolation observers (FIOs). Their purpose is to detect and isolate faults acting on linear systems by means of only a single observer. While parameterizations for such observers have been proposed for statically isolable systems, we generalize the existing results to linear systems without the restriction of a non-singular fault detectability matrix. To achieve fault isolation in such systems, we introduce virtual system extensions, which enable stable isolation. These virtual augmentations are then realized by dynamically extended fault isolation observers (DFIOs). Apart from that the proposed design allows to isolate both actuator and sensor faults.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133297752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Two procedures with randomized controls for the parameters' confidence region of linear plant under external arbitrary noise 在外部任意噪声作用下，线性装置参数置信区间的两个随机控制过程
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398282
K. Amelin, N. Amelina, O. Granichin, O. Granichina
{"title":"Two procedures with randomized controls for the parameters' confidence region of linear plant under external arbitrary noise","authors":"K. Amelin, N. Amelina, O. Granichin, O. Granichina","doi":"10.1109/ISIC.2012.6398282","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398282","url":null,"abstract":"In this paper we join the previous results about asymptotic properties of a randomized control strategy with new one based on a non-asymptotic approach of LSCR (Leave-out Sign-dominant Correlation Regions) methods. Our consideration is focused on problems of the identification or adaptive optimal control for the linear plant with unknown parameters and dynamics disturbed by an external noise. The assumptions about the noise are reduced to a minimum: it can virtually be arbitrary, but, independently of it, the user must be able to add test perturbations through the input channel. The theoretical results are illustrated by simulations.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133334387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Output synchronization of multi-machine power system using dissipative Hamiltonian realization 用耗散哈密顿量实现多机电力系统输出同步
2012 IEEE International Symposium on Intelligent Control Pub Date : 2012-12-31 DOI: 10.1109/ISIC.2012.6398256
Seung-Ju Lee, H. Ahn
{"title":"Output synchronization of multi-machine power system using dissipative Hamiltonian realization","authors":"Seung-Ju Lee, H. Ahn","doi":"10.1109/ISIC.2012.6398256","DOIUrl":"https://doi.org/10.1109/ISIC.2012.6398256","url":null,"abstract":"Interconnected power grid becomes more complex and tends to be vulnerable to unwanted disturbances; thus, transient stability of the power system becomes an important research topic. In this paper, we propose a control law that not only enhances the transient stability but also makes the system to satisfy output synchronization. The key idea of this paper is that the power system can be realized as Port-Controlled Hamiltonian(PCH) model and the model automatically satisfies the passivity with respect to input and output relationship. Using the property, we can analyze the output synchronization by employing consensus algorithm. Through simulation results, we evaluate the synchronization analysis.","PeriodicalId":242298,"journal":{"name":"2012 IEEE International Symposium on Intelligent Control","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133429859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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