International Robotics & Automation Journal最新文献_第5页

Dynamics, stability and sustainable optimal control in wolf-moose systems 狼-驼鹿系统的动力学、稳定性和可持续最优控制

International Robotics & Automation Journal Pub Date : 2021-03-30 DOI: 10.15406/iratj.2021.07.00223

P. Lohmander

{"title":"Dynamics, stability and sustainable optimal control in wolf-moose systems","authors":"P. Lohmander","doi":"10.15406/iratj.2021.07.00223","DOIUrl":"https://doi.org/10.15406/iratj.2021.07.00223","url":null,"abstract":"A wolf-moose predator-prey system is defined as a nonlinear continuous time differential equation system. The parameters are estimated via a discretized approximation and empirical data from Isle Royale, USA, representing a 61 year period. All parameter estimates confirm the hypotheses and all P-values are below 5%. Possible dynamic equilibria are determined as explicit general functions of the parameters and as numerical values based on the empirical data. General dynamic properties of the system are determined via phase -plane analysis and nonlinear simulation. The nonlinear system is also linearized close to the single equilibrium with two strictly positive populations. The explicit equations of the time path of the linearized system are compared to the nonlinear simulation. Both methods give almost identical solutions close to the equilibrium. Far from the equilibrium, the time paths of the two methods deviate considerably. The solution is a stable converging spiral (center) (unstable diverging spiral) in case the system equilibrium prey population is located at a higher (the same) (lower) level than the population level that gives maximum sustainable net production. Based on the empirically determined expected parameter values, the system is stable but converges very slowly, as a spiral, to the two-species equilibrium. The estimated standard deviations of the parameters can be used to determine the probability that the system solution is a center or an unstable diverging spiral. The optimal management of the wolf-moose system is also determined via sustainable optimal control. Moose hunting and adjustments of the wolf population based on different prices and values of sustainable population levels are derived. Optimal hunting and stock levels are determined and reported as explicit functions of all parameters and prices.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"2010 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127351811","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

Analysis of various strategies for effective household energy conservation 家庭有效节能的各种策略分析

International Robotics & Automation Journal Pub Date : 2021-01-13 DOI: 10.15406/iratj.2021.07.00218

R. Arulmurugan

引用次数: 0

Active fault tolerant control based on nonlinear subject to actuator and sensor faults for a parallel robot 基于非线性约束的并联机器人执行器和传感器故障主动容错控制

International Robotics & Automation Journal Pub Date : 2020-08-31 DOI: 10.15406/iratj.2020.06.00210

Mahmood Mazare, M. Taghizadeh, Pegah Ghaf G

引用次数: 0

Runtime accuracy alterable approximate floatingpoint multipliers 运行时精度可变近似浮点乘法器

International Robotics & Automation Journal Pub Date : 1900-01-01 DOI: 10.15406/iratj.2022.08.00244

Mi Lu

{"title":"Runtime accuracy alterable approximate floatingpoint multipliers","authors":"Mi Lu","doi":"10.15406/iratj.2022.08.00244","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00244","url":null,"abstract":"Modern systems demand high computational power within limited resources. Approximate computing is a promising approach to design arithmetic units with tight resources for error-tolerant applications such as image and signal processing and computer vision. A floating-point multiplier is one of the arithmetic units with the highest complexity in such applications. Designing a floating-point multiplier based on the approximate computing technique can reduce its complexity as well as increase performance and energy efficiency. However, an unknown error rate for upcoming input data is problematic to design appropriate approximate multipliers. The existing solution is to utilize an error estimator relying on statistical analysis. In this paper, we propose new approximate floating-point multipliers based on an accumulator and reconfigurable adders with an error estimator. Unlike previous designs, our proposed designs are able to change the levels of accuracy at runtime. Thus, we can make errors distributed more evenly. In contrast to other designs, our proposed design can maximize the performance gain since reconfigurable multipliers are able to operate two multiplications in parallel once the low accuracy mode is selected. Furthermore, we apply a simple rounding technique to approximate floating-point multipliers for additional improvement. Our simulation results reveal that our new method can reduce area by 70.98% when error tolerance margin of our target application is 5%, and when its error tolerance margin is 3%, our rounding enhanced simple adders-based approximate multiplier can save area by 65.9%, and our reconfigurable adder-based approximate multiplier with rounding can save the average delay and energy by 54.95% and 46.67% respectively compared to an exact multiplier.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132658415","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

International Robotics &amp; Automation Journal最新文献

International Robotics & Automation Journal最新文献