Systems Analysis Modelling Simulation最新文献

{"title":"Motion control for mobile robot obstacle avoidance and navigation: a fuzzy logic-based approach","authors":"P. Zavlangas, S. Tzafestas","doi":"10.1080/0232929032000115100","DOIUrl":"https://doi.org/10.1080/0232929032000115100","url":null,"abstract":"One of the ultimate goals of mobile robotics research is to build robots that can safely carry out missions in hazardous and populated environments. Most of today's commercial mobile devices scale poorly along this dimension. Their motion planning relies on accurate, static models of the environments, and therefore they often fail their mission if humans or other unpredictable obstacles block their path. To build autonomous mobile robots one has to build systems that can perceive their environments, react to unforeseen circumstances, and plan dynamically in order to achieve their mission. Thus, the objective of the motion planning and control problem is to find collision-free trajectories, in static or dynamic environments containing some obstacles, between a start and a goal configuration. It has attracted much research in recent years. In this context the term control has a broad meaning that includes many different controls, such as low-level motor control, and behaviour control, where behaviour represents many complicated tasks, like obstacle avoidance and goal seeking. This article describes an intelligent motion planning and navigation system for omnidirectional mobile robots based on fuzzy logic. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable for on-line applications with strong real-time requirements. On-line planning is an on-going activity. The planner receives a continuous flow of information about occurring events and generates new commands in response to the incoming events, while previously planned motions are being executed. The fuzzy-rule-base of the proposed system combines the repelling influence, which is related to the distance and the angle between the robot and nearby obstacles, with the attracting influence produced by the distance and the angular difference between the actual direction and position of the robot and the final configuration, to generate actuating commands for the mobile platform. It can be considered as an on-line local navigation method for omnidirectional mobile robots for the generation of instantaneous collision-free motions. This reactive system is especially suitable for real-time applications. The use of fuzzy logic leads to a transparent system which can be tuned by hand or by a set of learning rules. Furthermore, this approach allows obstacle avoidance and navigation in dynamic environments. The functioning of the fuzzy motion planner with respect to omnidirectional mobile robots and results of simulated experiments are presented.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121929774","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}

{"title":"Informational macrodynamics: relations to fundamental sciences","authors":"Vladimir S. Lerner","doi":"10.1080/0232929031000164313","DOIUrl":"https://doi.org/10.1080/0232929031000164313","url":null,"abstract":"The connections of Informational Macrodynamics to the fundamental sciences have revealed the existence of general information systemic regularities along with an opportunity of applying the science's outcomes and translating the science's specifics into their information interpretations and categories, and vice versa, to model the diversity of objects of different nature.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133514153","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}

{"title":"Random fragmentation of molecular cloud and initial mass function – a Monte Carlo simulation study","authors":"A. Chattopadhyay, T. Kanjilal, B. Basu","doi":"10.1080/0232929032000115065","DOIUrl":"https://doi.org/10.1080/0232929032000115065","url":null,"abstract":"Monte Carlo simulation study is carried out for the investigation of the nature of initial mass function in molecular clouds of various masses in which effect of time has been taken into account. The number of fragments, the fractional masses of the fragments at any stage in the hierarchy of fragmentation and the fractional mass of the parent cloud consumed in the fragmentation process are considered as random numbers. The distribution of the number of fragments is time dependent which is generated from Poisson process and that of the fractional masses is assumed to be Gaussian. The resulting mass spectrum, at the end of fragmentation is a power law and a substantial amount of cloud mass is found to be in the brown dwarf regime. The results are discussed and compared with observations.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121637643","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}

{"title":"Robust guaranteed cost control for uncertain discrete time-delay systems via dynamic output feedback","authors":"X. Guan, P. Shi, Y.C. Liu, Y. Shi","doi":"10.1080/0232929031000075287","DOIUrl":"https://doi.org/10.1080/0232929031000075287","url":null,"abstract":"The problem of robust guaranteed cost control for a class of time-varying uncertain discrete delay systems is studied. The guaranteed cost control law is implemented by using a dynamic output feedback compensator. The proposed methods are given in terms of linear matrix inequalities (LMIs). A numerical example is given to demonstrate the effectiveness of the proposed methods.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116524890","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}

{"title":"QoS evaluation of IP telephony services: a specification language based simulation software tool","authors":"M. Roccetti, A. Aldini, M. Bernardo, R. Gorrieri","doi":"10.1080/0232929031000080623","DOIUrl":"https://doi.org/10.1080/0232929031000080623","url":null,"abstract":"This article reports on our experience in using the EMPAgr/TwoTowers technology, we have developed in the past six years, in order to provide support to the design of new protocols for audio communications over IP, to the verification of correctness related properties, and to the assessment of the Quality of Service (QoS) of different design alternatives as well as the performance comparison with other existing protocols. The novelty of our approach amounts to the use of an executable specification language extended with performance modeling capabilities (called EMPAgr) to precisely describe protocols at a suitable level of abstraction. Our approach based on formal techniques may be advantageous with respect to conventional simulators routinely used by network engineers because, besides allowing the quality and the efficiency of the specified protocols to be assessed, it provides a compositional support to system modeling at a high level of abstraction and is capable of verifying functional properties of systems.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115542502","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}

{"title":"A multipoint algorithm to estimate the phase shift angle by the signal zero-crossing method","authors":"J. Gajda","doi":"10.1080/0232929031000081217","DOIUrl":"https://doi.org/10.1080/0232929031000081217","url":null,"abstract":"Although the digital algorithms for the estimation of the phase angle or phase shift angle described in the literature have very useful properties, they are computationally complex. A simple algorithm to ensure a high-accuracy estimation sufficient in most practical applications is presented in the article. The algorithm is a digital implementation of the well-known measuring method based on the measurement of the time between the signal zero-crossings. The digital implementation of the algorithm allows new and useful properties to be obtained, i.e., first of all, the increased resistance to disturbances, and the estimation of the low-variable phase angles.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127055381","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}

{"title":"A simulation program for teaching basic principles of physiologic control","authors":"G. H. van Dijke, J. Storm, C. Snijders","doi":"10.1080/02329290310001641304","DOIUrl":"https://doi.org/10.1080/02329290310001641304","url":null,"abstract":"In the human body, control systems maintain many physiological variables within narrow limits. To make medical students familiar with common properties of these physiological control systems, a simulation program is developed which demonstrates the functioning of control systems. Step by step, the student builds a block diagram of a basic control system. The input (load) and transfer function of subsystems can be varied, the responses of various subsystems are displayed. The program enables simulation of an open and closed loop system. It includes a proportional, integrating and differentiating control system. The simulation is written in VisualBasic, it runs in a Windows environment.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"8 14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122126982","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}

{"title":"IDB Convertor – An international maximum power extractor for PV-supplied DC motor system","authors":"M. Veerachary, T. Senjyu, K. Uezato","doi":"10.1080/0278107031000152625","DOIUrl":"https://doi.org/10.1080/0278107031000152625","url":null,"abstract":"The Photovoltaic (PV) generator exhibits a non-linear v–i characteristics and its maximum power point varies with insolation. For optimum matching of PV generator and motor load, an intermediate Interleaved Dual Boost converter is employed. Its effectiveness as an intermediate maximum power extractor for PV-supplied and separately excited DC motor is studied through simulation. Extensive studies are made by formulating the mathematical models for PV source, Boost/Interleaved Dual Boost converter, DC motor and load. For determination of maximum power points at different solar insolations, a closed form solution technique is employed, which avoids tedious and time-consuming iterative methods. The Boost/IDB converter duty ratio variation with insolation is determined and steady-state performance of the motor coupled to centrifugal pump load is analyzed for maximum power operation. From the simulation studies it is found that the motor performance is improved with IDB converter compared to conventional boost converter. Furthermore, the use of IDB converter reduces the ripple content both in the source and load waveforms, thus resulting in reduced filtering requirements and improved PV array performance.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116660466","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}

{"title":"Real-time scheduling for elevator group systems","authors":"Kuo-Ming Chang, Chieh-Li Chen, Tzong-Lin Wu","doi":"10.1080/02329290310001597133","DOIUrl":"https://doi.org/10.1080/02329290310001597133","url":null,"abstract":"The traditional assignment approaches for elevator group systems, which are simple and rough, are only fit for low-rise buildings. Hence, they are not suitable in the high-rise buildings with complex traffic requests. In this article, a so-called Score Index Assignment (SIA) approach is proposed to design the real-time scheduling for elevator group systems. Simulation results are given to show that the SIA approach can improve the total service performance of the elevator group system subjected to uncertainties. The SIA approach can fit in any different traffic request conditions by tuning the control (assignment) parameters in the so-called total service evaluation index function of elevator.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114905922","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}

{"title":"Research on fuzzy modeling forecasting method based on stochastic neural network","authors":"Li Bo, Zhang Shi-ying, W. Xiufeng","doi":"10.1080/0232929032000115074","DOIUrl":"https://doi.org/10.1080/0232929032000115074","url":null,"abstract":"In this article, a novel modeling forecasting method based on the combination of the Modified Takagi and Sugeno (MTS) fuzzy model and the stochastic neural network is presented. Expectation–Maximization (EM) algorithm is put forward to calculate the parameters of neural network structure and its weights. Theoretical analysis and prediction examples all show that the technique has strong universalized capabilities and the methods are effective.","PeriodicalId":348685,"journal":{"name":"Systems Analysis Modelling Simulation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132402148","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}