WorldWideScience

Sample records for autonomous intelligent cruise control

  1. Autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

    1995-01-01

    Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

  2. Laser rangefinders for autonomous intelligent cruise control systems

    Science.gov (United States)

    Journet, Bernard A.; Bazin, Gaelle

    1998-01-01

    THe purpose of this paper is to show to what kind of application laser range-finders can be used inside Autonomous Intelligent Cruise Control systems. Even if laser systems present good performances the safety and technical considerations are very restrictive. As the system is used in the outside, the emitted average output power must respect the rather low level of 1A class. Obstacle detection or collision avoidance require a 200 meters range. Moreover bad weather conditions, like rain or fog, ar disastrous. We have conducted measurements on laser rangefinder using different targets and at different distances. We can infer that except for cooperative targets low power laser rangefinder are not powerful enough for long distance measurement. Radars, like 77 GHz systems, are better adapted to such cases. But in case of short distances measurement, range around 10 meters, with a minimum distance around twenty centimeters, laser rangefinders are really useful with good resolution and rather low cost. Applications can have the following of white lines on the road, the target being easily cooperative, detection of vehicles in the vicinity, that means car convoy traffic control or parking assistance, the target surface being indifferent at short distances.

  3. A collision model for safety evaluation of autonomous intelligent cruise control.

    Science.gov (United States)

    Touran, A; Brackstone, M A; McDonald, M

    1999-09-01

    This paper describes a general framework for safety evaluation of autonomous intelligent cruise control in rear-end collisions. Using data and specifications from prototype devices, two collision models are developed. One model considers a train of four cars, one of which is equipped with autonomous intelligent cruise control. This model considers the car in front and two cars following the equipped car. In the second model, none of the cars is equipped with the device. Each model can predict the possibility of rear-end collision between cars under various conditions by calculating the remaining distance between cars after the front car brakes. Comparing the two collision models allows one to evaluate the effectiveness of autonomous intelligent cruise control in preventing collisions. The models are then subjected to Monte Carlo simulation to calculate the probability of collision. Based on crash probabilities, an expected value is calculated for the number of cars involved in any collision. It is found that given the model assumptions, while equipping a car with autonomous intelligent cruise control can significantly reduce the probability of the collision with the car ahead, it may adversely affect the situation for the following cars.

  4. Sensor fusion: lane marking detection and autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Baillarin, S.; Calesse, C.; Martin, Lionel

    1995-12-01

    In the past few years MATRA and RENAULT have developed an Autonomous Intelligent Cruise Control (AICC) system based on a LIDAR sensor. This sensor incorporating a charge coupled device was designed to acquire pulsed laser diode emission reflected by standard car reflectors. The absence of moving mechanical parts, the large field of view, the high measurement rate and the very good accuracy for distance range and angular position of targets make this sensor very interesting. It provides the equipped car with the distance and the relative speed of other vehicles enabling the safety distance to be controlled by acting on the throttle and the automatic gear box. Experiments in various real traffic situations have shown the limitations of this kind of system especially on bends. All AICC sensors are unable to distinguish between a bend and a change of lane. This is easily understood if we consider a road without lane markings. This fact has led MATRA to improve its AICC system by providing the lane marking information. Also in the scope of the EUREKA PROMETHEUS project, MATRA and RENAULT have developed a lane keeping system in order to warn of the drivers lack of vigilance. Thus, MATRA have spread this system to far field lane marking detection and have coupled it with the AICC system. Experiments will be carried out on roads to estimate the gain in performance and comfort due to this fusion.

  5. Intelligent control system of autonomous objects

    Science.gov (United States)

    Engel, E. A.; Kovalev, I. V.; Engel, N. E.; Brezitskaya, V. V.; Prohorovich, G. A.

    2017-02-01

    This paper presents an intelligent control system of autonomous objects as framework. The intelligent control framework includes two different layers: a reflexive layer and a reactive layer. The proposed multiagent adaptive fuzzy neuronet combines low-level reaction with high-level reasoning in an intelligent control framework. The formed as the multiagent adaptive fuzzy neuronet the intelligent control system on the base of autonomous object’s state, creates the effective control signal under random perturbations.

  6. Autonomous power system intelligent diagnosis and control

    Science.gov (United States)

    Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

    1991-01-01

    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

  7. Swarm intelligence for autonomous UAV control

    OpenAIRE

    Frantz, Natalie R.

    2005-01-01

    Unmanned Aerial Vehicles (UAVs) are becoming vital warfare platforms because they significantly reduce the risk of human life while accomplishing important missions. A UAV can be used for example, as stand-in sensor for the detection of mobile, low-probability-of-intercept battlefield surveillance and fire control emitters. With many UAVs acting together as a swarm, the location and frequency characteristics of each emitter can be accurately determined to continuously provide complete batt...

  8. Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

    Science.gov (United States)

    Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

    2005-06-01

    For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

  9. Intelligent (Autonomous) Power Controller Development for Human Deep Space Exploration

    Science.gov (United States)

    Soeder, James; Raitano, Paul; McNelis, Anne

    2016-01-01

    As NASAs Evolvable Mars Campaign and other exploration initiatives continue to mature they have identified the need for more autonomous operations of the power system. For current human space operations such as the International Space Station, the paradigm is to perform the planning, operation and fault diagnosis from the ground. However, the dual problems of communication lag as well as limited communication bandwidth beyond GEO synchronous orbit, underscore the need to change the operation methodology for human operation in deep space. To address this need, for the past several years the Glenn Research Center has had an effort to develop an autonomous power controller for human deep space vehicles. This presentation discusses the present roadmap for deep space exploration along with a description of conceptual power system architecture for exploration modules. It then contrasts the present ground centric control and management architecture with limited autonomy on-board the spacecraft with an advanced autonomous power control system that features ground based monitoring with a spacecraft mission manager with autonomous control of all core systems, including power. It then presents a functional breakdown of the autonomous power control system and examines its operation in both normal and fault modes. Finally, it discusses progress made in the development of a real-time power system model and how it is being used to evaluate the performance of the controller and well as using it for verification of the overall operation.

  10. Validating a UAV artificial intelligence control system using an autonomous test case generator

    Science.gov (United States)

    Straub, Jeremy; Huber, Justin

    2013-05-01

    The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

  11. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

  12. Effects of intelligent cruise control on driving behaviour : a simulator study

    NARCIS (Netherlands)

    Hogema, J.H.; Janssen, W.H.

    1996-01-01

    In een simulatorexperiment is gebleken dat Intelligent Cruisse Control (ICC) resulteert in een vermindering van korte volgtijden en een iets lagere snelheidskeuze in kritische situaties was er met ICC sprake van een iets tragere reactie.

  13. Mobile Intelligent Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Jitendra R. Raol

    2010-01-01

    Full Text Available Mobile intelligent autonomous systems (MIAS is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i perception and reasoning, (ii mobility and navigation,(iii haptics and teleoperation, (iv image fusion/computervision, (v modelling of manipulators, (vi hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii vehicle-robot path and motionplanning/control, (viii human-machine interfaces for interaction between humans and robots, and (ix application of artificial neural networks (ANNs, fuzzy logic/systems (FLS,probabilistic/approximate reasoning (PAR, Bayesian networks(BN and genetic algorithms (GA to the above-mentioned problems. Also, multi-sensor data fusion (MSDF playsvery crucial role at many levels of the data fusion process:(i kinematic fusion (position/bearing tracking, (ii imagefusion (for scene recognition, (iii information fusion (forbuilding world models, and (iv decision fusion (for tracking,control actions. The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles, mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1, pp.3-4,

  14. Fuzzy Adaptive Control for Intelligent Autonomous Space Exploration Problems

    Science.gov (United States)

    Esogbue, Augustine O.

    1998-01-01

    The principal objective of the research reported here is the re-design, analysis and optimization of our newly developed neural network fuzzy adaptive controller model for complex processes capable of learning fuzzy control rules using process data and improving its control through on-line adaption. The learned improvement is according to a performance objective function that provides evaluative feedback; this performance objective is broadly defined to meet long-range goals over time. Although fuzzy control had proven effective for complex, nonlinear, imprecisely-defined processes for which standard models and controls are either inefficient, impractical or cannot be derived, the state of the art prior to our work showed that procedures for deriving fuzzy control, however, were mostly ad hoc heuristics. The learning ability of neural networks was exploited to systematically derive fuzzy control and permit on-line adaption and in the process optimize control. The operation of neural networks integrates very naturally with fuzzy logic. The neural networks which were designed and tested using simulation software and simulated data, followed by realistic industrial data were reconfigured for application on several platforms as well as for the employment of improved algorithms. The statistical procedures of the learning process were investigated and evaluated with standard statistical procedures (such as ANOVA, graphical analysis of residuals, etc.). The computational advantage of dynamic programming-like methods of optimal control was used to permit on-line fuzzy adaptive control. Tests for the consistency, completeness and interaction of the control rules were applied. Comparisons to other methods and controllers were made so as to identify the major advantages of the resulting controller model. Several specific modifications and extensions were made to the original controller. Additional modifications and explorations have been proposed for further study. Some of

  15. Perancangan Autonomous Landing pada Quadcopter Menggunakan Behavior-Based Intelligent Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Chalidia Nurin Hamdani

    2013-09-01

    Full Text Available Quadcopter adalah salah satu platform unmanned aerial vehicle (UAV yang saat ini banyak diriset karena kemampuannya melakukan take-off dan landing secara vertikal. Karena menggunakan 4 motor brushless sebagai penggerak utama, quadcopter memiliki kompleksitas yang cukup tinggi baik dalam pemodelan maupun pengendalian. Landing merupakan salah satu mekanisme pada quadcopter yang membutuhkan kecepatan yang akurat dan aman dengan tetap mempertahankan keseimbangan. Pada penelitian ini, penulis menggunakan Behavior-Based Intelligent Fuzzy Control (BBIFC sebagai dasar kontrol untuk penerapan autonomous landing pada quadcopter. BBIFC adalah salah satu skema high-level control di mana desain kontrol terdiri dari beberapa layer. Ada 2 layer yang digunakan pada penelitian ini yaitu layer untuk pengendalian sudut pitch, roll, yaw dan layer untuk pengendalian ketinggian. Setiap layer memiliki mekanisme kontrol yang berbeda yang didesain menggunakan Intelligent Fuzzy Controller dan kontroler PID. Dengan metode ini dihasilkan algoritma untuk mekanisme safe autonomous landing dengan mengikuti sinyal eksponensial di mana quadcopter mencapai titik 0 (nol meter dalam waktu 15 detik dan Kontroler PID dapat mengendalikan keseimbangan quadcopter dalam waktu 7.97 detik untuk roll dan pitch serta 1.25 detik untuk yaw sejak gangguan sudut diberikan.

  16. Cooperative adaptive cruise control

    NARCIS (Netherlands)

    Naus, G.J.L.; Molengraft, R. van de; Ploeg, J.

    2009-01-01

    Adaptive Cruise Control (ACC) enables automatic following of a preceding vehicle, based on measurements of the inter-vehicle distance xr,i and the relative velocity ˙ xr,i. Commonly, a radar is used for these measurements, see Figure 1. Decreasing the inter-vehicle distance to a small value of only

  17. Power quality control of an autonomous wind-diesel power system based on hybrid intelligent controller.

    Science.gov (United States)

    Ko, Hee-Sang; Lee, Kwang Y; Kang, Min-Jae; Kim, Ho-Chan

    2008-12-01

    Wind power generation is gaining popularity as the power industry in the world is moving toward more liberalized trade of energy along with public concerns of more environmentally friendly mode of electricity generation. The weakness of wind power generation is its dependence on nature-the power output varies in quite a wide range due to the change of wind speed, which is difficult to model and predict. The excess fluctuation of power output and voltages can influence negatively the quality of electricity in the distribution system connected to the wind power generation plant. In this paper, the authors propose an intelligent adaptive system to control the output of a wind power generation plant to maintain the quality of electricity in the distribution system. The target wind generator is a cost-effective induction generator, while the plant is equipped with a small capacity energy storage based on conventional batteries, heater load for co-generation and braking, and a voltage smoothing device such as a static Var compensator (SVC). Fuzzy logic controller provides a flexible controller covering a wide range of energy/voltage compensation. A neural network inverse model is designed to provide compensating control amount for a system. The system can be optimized to cope with the fluctuating market-based electricity price conditions to lower the cost of electricity consumption or to maximize the power sales opportunities from the wind generation plant.

  18. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  19. Intelligent autonomous systems 12. Vol. 2. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering

    2013-02-01

    Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

  20. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

    Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

  1. Intelligent controller for load-tracking performance of an autonomous power system

    Directory of Open Access Journals (Sweden)

    Abhik Banerjee

    2014-12-01

    Full Text Available The design and performance analysis of a Sugeno fuzzy logic (SFL controller for an autonomous power system model is presented in this paper. In gravitational search algorithm (GSA, the searcher agents are collection of masses and their interactions are based on Newtonian laws of gravity and motion. The problem of obtaining the optimal tunable parameters of the studied model is formulated as an optimization problem and the same is solved by a novel opposition based GSA (OGSA. The proposed OGSA of the present work employs opposition-based learning for population initialization and also for generation jumping. In OGSA, opposite numbers are utilized to improve the convergence rate of the basic GSA. GSA and genetic algorithm are taken for the sake of comparison. Time-domain simulation reveals that the developed OGSA-SFL based on-line, off-nominal controller parameters for the studied model give real-time on-line terminal voltage response.

  2. Computation and design of autonomous intelligent systems

    Science.gov (United States)

    Fry, Robert L.

    2008-04-01

    This paper describes a theory of intelligent systems and its reduction to engineering practice. The theory is based on a broader theory of computation wherein information and control are defined within the subjective frame of a system. At its most primitive level, the theory describes what it computationally means to both ask and answer questions which, like traditional logic, are also Boolean. The logic of questions describes the subjective rules of computation that are objective in the sense that all the described systems operate according to its principles. Therefore, all systems are autonomous by construct. These systems include thermodynamic, communication, and intelligent systems. Although interesting, the important practical consequence is that the engineering framework for intelligent systems can borrow efficient constructs and methodologies from both thermodynamics and information theory. Thermodynamics provides the Carnot cycle which describes intelligence dynamics when operating in the refrigeration mode. It also provides the principle of maximum entropy. Information theory has recently provided the important concept of dual-matching useful for the design of efficient intelligent systems. The reverse engineered model of computation by pyramidal neurons agrees well with biology and offers a simple and powerful exemplar of basic engineering concepts.

  3. Multi-level manual and autonomous control superposition for intelligent telerobot

    Science.gov (United States)

    Hirai, Shigeoki; Sato, T.

    1989-01-01

    Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.

  4. Creating ubiquitous intelligent sensing environments (CRUISE)

    DEFF Research Database (Denmark)

    Prasad, Neeli R.; Prasad, Ramjee

    2006-01-01

    The recent developments in the research and the technology have brought attention to the wireless sensor networks as one of the key enabling technologies in the next 10 years. Ubiquitous Intelligent Sensing Environments have promising future in supporting the everyday life of the European citizens...... term vision. This paper gives an overview of different research topics in WSN and its open issues....

  5. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  6. Navigation and Control of an Autonomous Vehicle

    OpenAIRE

    Schworer, Ian Josef

    2005-01-01

    The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate â unmannedâ requires extensive theoretical as well as practical knowledge. An autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serves as the major limitation of the overall performance, accuracy and robustness of an autonomous vehicle. This thesis will address this problem and propose a uni...

  7. 13th International Conference Intelligent Autonomous Systems

    CERN Document Server

    Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

    2016-01-01

    This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences ...

  8. Study on a human guidance method for autonomous cruise of indoor robot

    Science.gov (United States)

    Jia, Bao-Zhi; Zhu, Ming

    2011-12-01

    This paper describes a method of human guidance for autonomous cruise of indoor robot. A low-cost robot follows a person in a room and notes the path for autonomous cruise using its monocular vision. A method of video-based object detection and tracking is taken to detect the target by the video received from the robot's camera. The validity of the human guidance method is proved by the experiment.

  9. Autonomous operations through onboard artificial intelligence

    Science.gov (United States)

    Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

    2002-01-01

    The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

  10. Autonomous intelligent vehicles theory, algorithms, and implementation

    CERN Document Server

    Cheng, Hong

    2011-01-01

    Here is the latest on intelligent vehicles, covering object and obstacle detection and recognition and vehicle motion control. Includes a navigation approach using global views; introduces algorithms for lateral and longitudinal motion control and more.

  11. Intelligent Autonomous Aerial Vehicles in the National Airspace Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Unmanned aerial systems (UAS) and, in particular, intelligent, autonomous aircraft operating in the National Airspace (NAS) have the potential to significantly...

  12. CRUISE FUZZY CONTROL FOR AUTOMOBILE WITH CVT

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    To develop cruise control system of an automobile with the metal pushing V-belt type CVT, the dynamic model of automobile travelling longitudinally is established, and the fuzzy controller of control system is designed. Considering uncertainty system parameter and exterior resistance disturbances, the stability of controller is investigated by simulating. The results of its simulation show that the fuzzy controller designed has practicability.

  13. 12th International Conference on Intelligent Autonomous Systems

    CERN Document Server

    Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung

    2013-01-01

    Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security ...

  14. 智能汽车自动紧急控制策略%Autonomous Emergency Control Algorithm for Intelligent Vehicles

    Institute of Scientific and Technical Information of China (English)

    李霖; 朱西产

    2015-01-01

    结合驾驶员在紧急工况下的驾驶行为以及不同避撞方式的避撞效能,对以自动紧急制动系统(AutonomousEmergency Braking,AEB)为代表的控制策略进行分析,发现当前的紧急制动控制策略并不能很好地适应驾驶员行为和满足避撞效能的需要.为此,提出了一种融合制动控制和转向控制的自动紧急控制(Autonomous Emergency Control,AEC)策略.在该策略中驾驶员始终在环,系统通过集成驾驶员模型、车辆模型和道路环境模型信息判断驾驶员的行为是否正确,并将控制输入与驾驶员输入叠加在一起作为车辆的输入对驾驶员不当驾驶行为进行纠正.

  15. 12th International Conference on Intelligent Autonomous Systems (IAS-12)

    CERN Document Server

    Yoon, Kwang-Joon; Lee, Jangmyung; Frontiers of Intelligent Autonomous Systems

    2013-01-01

    This carefully edited volume aims at providing readers with the most recent progress on intelligent autonomous systems, with its particular emphasis on intelligent autonomous ground, aerial and underwater vehicles as well as service robots for home and healthcare under the context of the aforementioned convergence. “Frontiers of Intelligent Autonomous Systems” includes thoroughly revised and extended papers selected from the 12th International Conference on Intelligent Autonomous Systems (IAS-12), held in Jeju, Korea, June 26-29, 2012. The editors chose 35 papers out of the 202 papers presented at IAS-12 which are organized into three chapters: Chapter 1 is dedicated to autonomous navigation and mobile manipulation, Chapter 2 to unmanned aerial and underwater vehicles and Chapter 3 to service robots for home and healthcare. To help the readers to easily access this volume, each chapter starts with a chapter summary introduced by one of the editors: Chapter 1 by Sukhan Lee, Chapter 2 by Kwang Joon Yoon and...

  16. Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    Amir A. F. Nassiraei; Kazuo Ishii

    2007-01-01

    The concept of Intelligent Mechanical Design (IMD) is presented to show how a mechanical structure can be designed to affect robot controllability, simplification and task performance. Exploring this concept produces landmarks in the territory of mechanical robot design in the form of seven design principles. The design principles, which we call the Mecha-Telligence Principles (MTP), provide guidance on how to design mechanics for autonomous mobile robots. These principles guide us to ask the right questions when investigating issues concerning self-controllable, reliable, feasible, and compatible mechanics for autonomous mobile robots. To show how MTP can be applied in the design process we propose a novel methodology, named as Mecha-Telligence Methodology (MTM). Mechanical design by the proposed methodology is based on preference classification of the robot specification described by interaction of the robot with its environment and the physical parameters of the robot mechatronics. After defining new terms, we investigate the feasibility of the proposed methodology to the mechanical design of an autonomous mobile sewer inspection robot. In this industrial project we show how a passive-active intelligent moving mechanism can be designed using the MTM and employed in the field.

  17. Ervaringen met Advanced Cruise Control (ACC) in een korte praktijkproef.

    NARCIS (Netherlands)

    Oei, H.-l.

    2003-01-01

    Experiences with Advanced Cruise Control in traffic; a limited experiment. Advanced Cruise Control (ACC) is an ordinary cruise control in which the desired speed is installed manually, but in which the headway time to the vehicle in front is also taken into account. If the headway time becomes less

  18. Optimal Speed Control for Cruising

    DEFF Research Database (Denmark)

    Blanke, M.

    1994-01-01

    With small profit margins in merchant shipping and more than eighty percent of sailing time being cross ocean voyages, speed control is crucial for vessel profitability......With small profit margins in merchant shipping and more than eighty percent of sailing time being cross ocean voyages, speed control is crucial for vessel profitability...

  19. Improvement of Adaptive Cruise Control Performance

    Directory of Open Access Journals (Sweden)

    Nakagami Takashi

    2010-01-01

    Full Text Available This paper describes the Adaptive Cruise Control system (ACC, a system which reduces the driving burden on the driver. The ACC system primarily supports four driving modes on the road and controls the acceleration and deceleration of the vehicle in order to maintain a set speed or to avoid a crash. This paper proposes more accurate methods of detecting the preceding vehicle by radar while cornering, with consideration for the vehicle sideslip angle, and also of controlling the distance between vehicles. By making full use of the proposed identification logic for preceding vehicles and path estimation logic, an improvement in driving stability was achieved.

  20. Autonomous intelligent robotic manipulator for on-orbit servicing

    Science.gov (United States)

    Larouche, Benoit P.

    The doctoral research is to develop an autonomous intelligent robotic manipulator technology for on-orbit servicing (OOS). More specifically, the research is focused on one of the most critical tasks in OOS- the capture of a non-cooperative object whilst minimizing impact forces and accelerations. The objective of the research is: the development of a vision-based control theory, and the implementation and testing of the developed theory by designing and constructing a custom non-redundant holonomic robotic manipulator. The research validated the newly developed control theory and its ability to (i) capture a moving target autonomously and (ii) minimize unfavourable contact dynamics during the most critical parts of the capture operations between the capture satellite and a non-cooperative/tumbling object. A custom robotic manipulator functional prototype has been designed, assembled, constructed, and programmed from concept to completion in order to provide full customizability and controllability in both the hardware and the software. Based on the test platform, a thorough experimental investigation has been conducted to validate the newly developed control methodologies to govern the behaviour of the robotic manipulators (RM) in an autonomous capture. The capture itself is effected on non-cooperative targets in zero-gravity simulated environment. The RM employs a vision system, force sensors, and encoders in order to sense its environment. The control is effected through position and pseudo-torque inputs to three stepper motors and three servo motors. The controller is a modified hybrid force/neural network impedance controller based on N. Hogan's original work. The experimental results demonstrate the set objectives of this thesis have been successfully achieved.

  1. Intelligence algorithms for autonomous navigation in a ground vehicle

    Science.gov (United States)

    Petkovsek, Steve; Shakya, Rahul; Shin, Young Ho; Gautam, Prasanna; Norton, Adam; Ahlgren, David J.

    2012-01-01

    This paper will discuss the approach to autonomous navigation used by "Q," an unmanned ground vehicle designed by the Trinity College Robot Study Team to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2011 competition, Q's intelligence was upgraded in several different areas, resulting in a more robust decision-making process and a more reliable system. In 2010-2011, the software of Q was modified to operate in a modular parallel manner, with all subtasks (including motor control, data acquisition from sensors, image processing, and intelligence) running simultaneously in separate software processes using the National Instruments (NI) LabVIEW programming language. This eliminated processor bottlenecks and increased flexibility in the software architecture. Though overall throughput was increased, the long runtime of the image processing process (150 ms) reduced the precision of Q's realtime decisions. Q had slow reaction times to obstacles detected only by its cameras, such as white lines, and was limited to slow speeds on the course. To address this issue, the image processing software was simplified and also pipelined to increase the image processing throughput and minimize the robot's reaction times. The vision software was also modified to detect differences in the texture of the ground, so that specific surfaces (such as ramps and sand pits) could be identified. While previous iterations of Q failed to detect white lines that were not on a grassy surface, this new software allowed Q to dynamically alter its image processing state so that appropriate thresholds could be applied to detect white lines in changing conditions. In order to maintain an acceptable target heading, a path history algorithm was used to deal with local obstacle fields and GPS waypoints were added to provide a global target heading. These modifications resulted in Q placing 5th in the autonomous challenge and 4th in the navigation challenge at IGVC.

  2. Reactive navigational controller for autonomous mobile robots

    Science.gov (United States)

    Hawkins, Scott

    1993-12-01

    Autonomous mobile robots must respond to external challenges and threats in real time. One way to satisfy this requirement is to use a fast low level intelligence to react to local environment changes. A fast reactive controller has been implemented which performs the task of real time local navigation by integrating primitive elements of perception, planning, and control. Competing achievement and constraint behaviors are used to allow abstract qualitative specification of navigation goals. An interface is provided to allow a higher level deliberative intelligence with a more global perspective to set local goals for the reactive controller. The reactive controller's simplistic strategies may not always succeed, so a means to monitor and redirect the reactive controller is provided.

  3. Coordinated intelligent adaptive control of legged robots

    Science.gov (United States)

    McLauchlan, Lifford; Mehrübeoğlu, Mehrübe

    2006-05-01

    In planetary or hazardous environment exploration, there will be unforseen environmental circumstances which can not be planned. To overcome telerobotic control issues due to communication delays, autonomous robot control becomes necessary. Autonomously controlled landers and instrumentation can be used in exploration, such as lunar and martian missions. However, wheeled robots have difficulty in exploring uneven terrain; thus, legged robots can be used in such situations. This research develops intelligent and adaptive control of mobile robots to perform functions such as environmental exploration in coordination and obstacle avoidance. The coordinated control is demonstrated in simulations.

  4. 14th International Conference on Intelligent Autonomous Systems

    CERN Document Server

    Hosoda, Koh; Menegatti, Emanuele; Shimizu, Masahiro; Wang, Hesheng

    2017-01-01

    This book describes the latest research advances, innovations, and visions in the field of robotics as presented by leading researchers, engineers, and practitioners from around the world at the 14th International Conference on Intelligent Autonomous Systems (IAS-14), held in Shanghai, China in July 2016. The contributions amply demonstrate that robots, machines and systems are rapidly achieving intelligence and autonomy, attaining more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision-making. They cover a wide range of research results and applications, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions were selected by means of a rigorous peer-review process and highlight many exciting and visionary ideas that will further galvanize the research community and spur novel research directions. The series of biennial IAS ...

  5. Intelligent control aspects of fuzzy logic and neural nets

    CERN Document Server

    Harris, C J; Brown, M

    1993-01-01

    With increasing demands for high precision autonomous control over wide operating envelopes, conventional control engineering approaches are unable to adequately deal with system complexity, nonlinearities, spatial and temporal parameter variations, and with uncertainty. Intelligent Control or self-organising/learning control is a new emerging discipline that is designed to deal with problems. Rather than being model based, it is experiential based. Intelligent Control is the amalgam of the disciplines of Artificial Intelligence, Systems Theory and Operations Research. It uses most recent expe

  6. Intelligent PID controllers

    OpenAIRE

    Fliess, Michel; Join, Cédric

    2008-01-01

    International audience; Intelligent PID controllers, or i-PID controllers, are PID controllers where the unknown parts of the plant, which might be highly nonlinear and/or time-varying, are taken into account without any modeling procedure. Our main tool is an online numerical differentiator, which is based on easily implementable fast estimation and identification techniques. Several numerical experiments demonstrate the efficiency of our method when compared to more classic PID regulators.

  7. An intelligent hybrid behavior coordination system for an autonomous mobile robot

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Fallouh, Samer

    2013-12-01

    In this paper, development of a low-cost PID controller with an intelligent behavior coordination system for an autonomous mobile robot is described that is equipped with IR sensors, ultrasonic sensors, regulator, and RC filters on the robot platform based on HCS12 microcontroller and embedded systems. A novel hybrid PID controller and behavior coordination system is developed for wall-following navigation and obstacle avoidance of an autonomous mobile robot. Adaptive control used in this robot is a hybrid PID algorithm associated with template and behavior coordination models. Software development contains motor control, behavior coordination intelligent system and sensor fusion. In addition, the module-based programming technique is adopted to improve the efficiency of integrating the hybrid PID and template as well as behavior coordination model algorithms. The hybrid model is developed to synthesize PID control algorithms, template and behavior coordination technique for wall-following navigation with obstacle avoidance systems. The motor control, obstacle avoidance, and wall-following navigation algorithms are developed to propel and steer the autonomous mobile robot. Experiments validate how this PID controller and behavior coordination system directs an autonomous mobile robot to perform wall-following navigation with obstacle avoidance. Hardware configuration and module-based technique are described in this paper. Experimental results demonstrate that the robot is successfully capable of being guided by the hybrid PID controller and behavior coordination system for wall-following navigation with obstacle avoidance.

  8. Intelligent agents: adaptation of autonomous bimodal microsystems

    Science.gov (United States)

    Smith, Patrice; Terry, Theodore B.

    2014-03-01

    Autonomous bimodal microsystems exhibiting survivability behaviors and characteristics are able to adapt dynamically in any given environment. Equipped with a background blending exoskeleton it will have the capability to stealthily detect and observe a self-chosen viewing area while exercising some measurable form of selfpreservation by either flying or crawling away from a potential adversary. The robotic agent in this capacity activates a walk-fly algorithm, which uses a built in multi-sensor processing and navigation subsystem or algorithm for visual guidance and best walk-fly path trajectory to evade capture or annihilation. The research detailed in this paper describes the theoretical walk-fly algorithm, which broadens the scope of spatial and temporal learning, locomotion, and navigational performances based on optical flow signals necessary for flight dynamics and walking stabilities. By observing a fly's travel and avoidance behaviors; and, understanding the reverse bioengineering research efforts of others, we were able to conceptualize an algorithm, which works in conjunction with decisionmaking functions, sensory processing, and sensorimotor integration. Our findings suggest that this highly complex decentralized algorithm promotes inflight or terrain travel mobile stability which is highly suitable for nonaggressive micro platforms supporting search and rescue (SAR), and chemical and explosive detection (CED) purposes; a necessity in turbulent, non-violent structured or unstructured environments.

  9. Controlling the intelligent building

    Energy Technology Data Exchange (ETDEWEB)

    LeBlanc, R.J.

    1985-08-01

    Companies will be able to locate in intelligent buildings that offer access to a variety of sophisticated communications equipment, at the heart of which are building controls that ensure a comfortable and safe working environment for the occupants. Future buildings will include advanced telephones or workstations with built-in building control sensors for temperature, light level, and security. Advanced telecommunication systems may have telephone cabinets with built-in control functions which eliminate the need for discrete control systems. The owners and tenants will both enjoy benefits if the controls are carefully selected and designed so that they integrate into a single building package.

  10. A framework for autonomous and continuous aerial intelligence, surveillance, and reconnaissance operations

    Science.gov (United States)

    Korpela, Christopher; Root, Philip; Kim, Jinho; Wilkerson, Stephen; Gadsden, S. Andrew

    2016-05-01

    We propose a framework for intelligence, reconnaissance, and surveillance using an aerial vehicle with multiple sensor payloads to provide autonomous and continuous security operations at a fixed location. A control scheme and a graphical user interface between the vehicle and operator is strictly mandated for tasks requiring remote and unattended inspection. By leveraging existing navigation and path planning algorithms, the system can autonomously patrol large areas, automatically recharge when required, and relay on-demand data back to the user. This paper presents recent validation results of the system and its sensors using the proposed framework.

  11. Longitudinal Control Strategy for Vehicle Adaptive Cruise Control Systems

    Institute of Scientific and Technical Information of China (English)

    WU Li-jun; LIU Zhao-du; MA Yue-feng

    2007-01-01

    A new longitudinal control strategy for vehicle adaptive cruise control (ACC) systems is presented.The running relationship between the ACC vehicle and the detected target vehicle is described by the relative velocity and the deviation between the actual headway distance and the prescribed safety distance.Based on this,two state space models are built and the linear quadratic optimal control theory is used to yield desired velocity for the ACC-equipped vehicle when with the target vehicle detected.By switching among four control modes,the desired velocity profile is designed to deal with different running situations.A velocity controller,which includes a PID controller for throttle openness and a neural network controller for brake application,is developed to achieve the desired velocity profile.The proposed control strategy is applied to a non-linear vehicle model in a simulation environment and is shown to provide the ACC vehicle comfortable ride and satisfying safety.

  12. An Intelligent Multiagent System for Autonomous Microgrid Operation

    Directory of Open Access Journals (Sweden)

    Tetsuo Kinoshita

    2012-09-01

    Full Text Available A microgrid is an eco-friendly power system because renewable sources such as solar and wind power are used as the main power sources. For this reason, much research, development, and demonstration projects have recently taken place in many countries. Operation is one of the important research topics for microgrids. For efficient and economical microgrid operation, a human operator is required as in other power systems, but it is difficult because there are some restrictions related to operation costs and privacy issues. To overcome the restriction, autonomous operation for microgrids is required. Recently, an intelligent agent system for autonomous microgrid operation has been studied as a potential solution. This paper proposes a multiagent system for autonomous microgrid operation. To build the multiagent system, the functionalities of agents, interactions among agents, and an effective agent protocol have been designed. The proposed system has been implemented by using an ADIPS/DASH framework as an agent platform. The intelligent multiagent system for microgrid operation based on the proposed scheme is tested to show the functionality and feasibility on a distributed environment through the Internet.

  13. Autonomous and autonomic systems with applications to NASA intelligent spacecraft operations and exploration systems

    CERN Document Server

    Truszkowski, Walt; Rouff, Christopher; Karlin, Jay; Rash, James; Hinchey, Michael; Sterritt, Roy

    2009-01-01

    This book provides an in-depth discussion of autonomous and autonomic systems, their interdependencies, differences and similarities. Current and pending issues in these evermore increasingly important subjects are highlighted and discussed. Concepts, ideas and experiences are explored in relation to real-life NASA systems in spacecraft control and in the exploration domain.

  14. Intelligent vision system for autonomous vehicle operations

    Science.gov (United States)

    Scholl, Marija S.

    1991-01-01

    A complex optical system consisting of a 4f optical correlator with programmatic filters under the control of a digital on-board computer that operates at video rates for filter generation, storage, and management is described.

  15. Controlling The Spread of Land-Attack Cruise Missiles.

    Science.gov (United States)

    2007-11-02

    Debate in the ’New’ European Community," Arms Control Today 23, no. 2 (March 1993): 12. 38 Controlling the Spread of Land-Attack Cruise Missiles...of temperature, pressures or atmosphere in autoclaves or hydro- claves when used for the production of composites or partially processed composites

  16. Cooperative adaptive cruise control: An artificial potential field approach

    NARCIS (Netherlands)

    Semsar-Kazerooni, E.; Verhaegh, J.; Ploeg, J.; Alirezaei, M.

    2016-01-01

    In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a

  17. The potential of Connecterd Cruise Control in the Netherlands

    NARCIS (Netherlands)

    Klunder, G.A.; Jonkers, E.; Woldeab, Z.T.

    2013-01-01

    This paper presents the in-car advisory system Connected Cruise Control. The system gives advice – which is determined in a central back office based on the traffic state – to the driver, in order to prevent or solve suboptimal traffic flow conditions. The system aims at optimal lane distribution in

  18. Evaluating adaptive cruise control strategies in worst-case scenarios

    NARCIS (Netherlands)

    Willigen, W.H. van; Schut, M.C.; Kester, L.J.H.M.

    2011-01-01

    This paper is concerned with safety in (cooperative) adaptive cruise control systems. In these systems, the speed of the cars is maintained automatically, based on the preferred speed of the driver and the speed of the preceding car. Technologies that are used in these systems, such as radar and rad

  19. Feasibility of Turing-Style Tests for Autonomous Aerial Vehicle "Intelligence"

    Science.gov (United States)

    Young, Larry A.

    2007-01-01

    A new approach is suggested to define and evaluate key metrics as to autonomous aerial vehicle performance. This approach entails the conceptual definition of a "Turing Test" for UAVs. Such a "UAV Turing test" would be conducted by means of mission simulations and/or tailored flight demonstrations of vehicles under the guidance of their autonomous system software. These autonomous vehicle mission simulations and flight demonstrations would also have to be benchmarked against missions "flown" with pilots/human-operators in the loop. In turn, scoring criteria for such testing could be based upon both quantitative mission success metrics (unique to each mission) and by turning to analog "handling quality" metrics similar to the well-known Cooper-Harper pilot ratings used for manned aircraft. Autonomous aerial vehicles would be considered to have successfully passed this "UAV Turing Test" if the aggregate mission success metrics and handling qualities for the autonomous aerial vehicle matched or exceeded the equivalent metrics for missions conducted with pilots/human-operators in the loop. Alternatively, an independent, knowledgeable observer could provide the "UAV Turing Test" ratings of whether a vehicle is autonomous or "piloted." This observer ideally would, in the more sophisticated mission simulations, also have the enhanced capability of being able to override the scripted mission scenario and instigate failure modes and change of flight profile/plans. If a majority of mission tasks are rated as "piloted" by the observer, when in reality the vehicle/simulation is fully- or semi- autonomously controlled, then the vehicle/simulation "passes" the "UAV Turing Test." In this regards, this second "UAV Turing Test" approach is more consistent with Turing s original "imitation game" proposal. The overall feasibility, and important considerations and limitations, of such an approach for judging/evaluating autonomous aerial vehicle "intelligence" will be discussed from a

  20. Autonomous Control of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Basher, H.

    2003-10-20

    A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors.

  1. The research and design of intelligent autonomous tracing car measurement and control system%智能自主寻迹小车测控系统的研究与设计

    Institute of Scientific and Technical Information of China (English)

    王玲; 张强; 李雪梅

    2014-01-01

    Measurement and control system for intelligent car is one of the key technologies in the design of the car,sensitive and comprehensive measurement and control system can ef-fectively improve the operational stability of intelligent car. It introduces the whole architecture of intelligent autonomous tracing car measurement and control system and the hardware and software design process. Take Freescale M9S12XS128 microprocessor as the control core of the car,and infrared optical sensor to abtain path information. According to the path information and the current state of the car,the microprocessor control the drive motor and actuator by us-ing pulse width modulation(PWM)method. Excellent control algorithm plays a key role for in-telligent car tracing accuracy and stability. This paper uses fuzzy proportion-integration-differen-tiation(PID)control strategy to control direct current(DC)motor speed,using double P con-trol algorithm to control the steering of the intelligent car steering gear. The test results show that the intelligent car runs fast and smoothly,and can trace independently and accurately.%智能小车的测控系统是小车设计中的关键技术之一,灵敏完备的测控系统可以有效提高智能小车运行的稳定性,介绍了智能自主寻迹小车测控系统的整体架构和软硬件设计过程。以飞思卡尔M9S12XS128微处理器作为小车的控制核心,采用红外光电传感器采集路径信息,微处理器根据路径信息和小车当前状态采用脉冲宽度调制(PWM)方式对驱动电机和舵机进行控制。优良的控制算法对智能小车寻迹的准确性和稳定性起着关键的作用,文中采用模糊比例-积分-微分(PID)控制策略对直流电机的转速进行控制,利用双P控制算法控制智能小车舵机的转向;测试结果表明,智能小车运行快速平稳,能够自主准确寻迹。

  2. (Mobile robots and intelligent motion control)

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.

    1990-09-07

    The traveler attended the IEEE International Workshop on Intelligent Motion Control, presented a paper entitled Autonomous Trajectory Generation for Mobile Robots with Non-Holonomic and Steering Angel Constraints,'' and chaired the session on mobile robots. Sessions of particular interests to ONRL/CESAR included Mobile Robots 1, 2, and 3, Motion Planning 1 and 2, Flexible Robots, Knowledge-Based Robotics Systems, Multi-Robot Systems, Redundant Robots, and Learning and Fuzzy Control 1 and 2. The traveler also visited the robotics laboratory of Bogazici University and held several discussions on design on redundant, compliant, reconfigurable, and dynamically balanced manipulators.

  3. Autonomous Guidance, Navigation and Control

    Science.gov (United States)

    Bordano, A. J.; Mcswain, G. G.; Fernandes, S. T.

    1991-01-01

    The NASA Autonomous Guidance, Navigation and Control (GN&C) Bridging program is reviewed to demonstrate the program plan and GN&C systems for the Space Shuttle. The ascent CN&C system is described in terms of elements such as the general-purpose digital computers, sensors for the navigation subsystem, the guidance-system software, and the flight-control subsystem. Balloon-based and lidar wind soundings are used for operations assessment on the day of launch, and the guidance software is based on dedicated units for atmospheric powered flight, vacuum powered flight, and abort-specific situations. Optimization of the flight trajectories is discussed, and flight-control responses are illustrated for wavelengths of 500-6000 m. Alternate sensors are used for load relief, and adaptive GN&C systems based on alternate gain synthesis are used for systems failures.

  4. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  5. Autonomous intelligent assembly systems LDRD 105746 final report.

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J.

    2013-04-01

    This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control framework for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.

  6. Soft computing in intelligent control

    CERN Document Server

    Jung, Jin-Woo; Kubota, Naoyuki

    2014-01-01

    Nowadays, people have tendency to be fond of smarter machines that are able to collect data, make learning, recognize things, infer meanings, communicate with human and perform behaviors. Thus, we have built advanced intelligent control affecting all around societies; automotive, rail, aerospace, defense, energy, healthcare, telecoms and consumer electronics, finance, urbanization. Consequently, users and consumers can take new experiences through the intelligent control systems. We can reshape the technology world and provide new opportunities for industry and business, by offering cost-effective, sustainable and innovative business models. We will have to know how to create our own digital life. The intelligent control systems enable people to make complex applications, to implement system integration and to meet society’s demand for safety and security. This book aims at presenting the research results and solutions of applications in relevance with intelligent control systems. We propose to researchers ...

  7. Integrated Motion Planning and Autonomous Control Technology for Autonomous ISR Project

    Data.gov (United States)

    National Aeronautics and Space Administration — SSCI and MIT propose to design, implement and test a comprehensive Integrated Mission Planning & Autonomous Control Technology (IMPACT) for Autonomous ISR...

  8. Requirement analysis for autonomous systems and intelligent agents in future Danish electric power systems

    DEFF Research Database (Denmark)

    Saleem, Arshad; Lind, Morten

    2010-01-01

    Denmark has already achieved a record of 20% penetration of wind power and now moving towards even higher targets with an increasing part of the electricity produced by distributed generators (DGs). In this paper we report work from a sub activity "subgrid design" of the EcoGrid.dk project. First...... we review innovative control architectures in electric power systems such as Microgrids, Virtual power plants and Cell based systems. We evaluate application of autonomous systems and intelligent agents in each of these control architectures particularly in the context of Denmark's strategic energy...... plans. The second part formulates a flexible control architecture for electric power systems with very high penetration of distributed generation. This control architecture is based upon the requirements identified in the first part. We also present development of a software framework to test...

  9. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

  10. Development of a fuzzy logic based intelligent system for autonomous guidance of post-stroke rehabilitation exercise.

    Science.gov (United States)

    Huq, Rajibul; Wang, Rosalie; Lu, Elaine; Hebert, Debbie; Lacheray, Hervé; Mihailidis, Alex

    2013-06-01

    This paper presents preliminary studies in developing a fuzzy logic based intelligent system for autonomous post-stroke upper-limb rehabilitation exercise. The intelligent system autonomously varies control parameters to generate different haptic effects on the robotic device. The robotic device is able to apply both resistive and assistive forces for guiding the patient during the exercise. The fuzzy logic based decision-making system estimates muscle fatigue of the patient using exercise performance and generates a combination of resistive and assistive forces so that the stroke survivor can exercise for longer durations with increasing control. The fuzzy logic based system is initially developed using a study with healthy subjects and preliminary results are also presented to validate the developed system with healthy subjects. The next stage of this work will collect data from stroke survivors for further development of the system.

  11. Autonomous control of multi-fingered hand

    Institute of Scientific and Technical Information of China (English)

    JIANG Li; LIU Hong

    2006-01-01

    This paper describes a novel autonomous control strategy of multi-fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand.

  12. Connected cruise control: modelling, delay effects, and nonlinear behaviour

    Science.gov (United States)

    Orosz, Gábor

    2016-08-01

    Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.

  13. Discrete Sliding Mode Control for Hypersonic Cruise Missile

    Directory of Open Access Journals (Sweden)

    Yong Hua Fan

    2016-01-01

    Full Text Available A discrete variable structure control (DVSC with sliding vector is presented to track the velocity and acceleration command for a hypersonic cruise missile. In the design an integrator is augmented to ensure the tracking with zero steady-state errors. Furthermore the sliding surface of acceleration is designed using the error of acceleration and acceleration rate to avoid the singularity of control matrix. A proper power rate reaching law is utilized in this proposal; therefore the state trajectory from any initial point can be driven into the sliding surface. Besides, in order to validate the robustness of controller, the unmolded dynamic and parameter disturbance of the missile are considered. Through simulation the proposed controller demonstrates good performance in tracking velocity and acceleration command.

  14. Robust Intelligence (RI) under uncertainty: Mathematical foundations of autonomous hybrid (human-machine-robot) teams, organizations and systems

    OpenAIRE

    Lawless, William F.

    2013-01-01

    To develop a theory of Robust Intelligence (RI), we continue to advance our theory of interdependence on the efficient and effective control of systems of autonomous hybrid teams composed of robots, machines and humans working interchangeably. As is the case with humans, we believe that RI is less likely to be achieved by individual computational agents; instead, we propose that a better path to RI is with interdependent agents. However, unlike conventional computational models where agents a...

  15. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed...... to hinder surges and mechanical fractures. Experimental results verify the performance of the controllers....

  16. The influence of cruise control and adaptive cruise control on driving behaviour--a driving simulator study.

    Science.gov (United States)

    Markvollrath; Schleicher, Susanne; Gelau, Christhard

    2011-05-01

    Although Cruise Control (CC) is available for most cars, no studies have been found which examine how this automation system influences driving behaviour. However, a relatively large number of studies have examined Adaptive Cruise Control (ACC) which compared to CC includes also a distance control. Besides positive effects with regard to a better compliance to speed limits, there are also indications of smaller distances to lead vehicles and slower responses in situations that require immediate braking. Similar effects can be expected for CC as this system takes over longitudinal control as well. To test this hypothesis, a simulator study was conducted at the German Aerospace Center (DLR). Twenty-two participants drove different routes (highway and motorway) under three different conditions (assisted by ACC, CC and manual driving without any system). Different driving scenarios were examined including a secondary task condition. On the one hand, both systems lead to lower maximum velocities and less speed limit violations. There was no indication that drivers shift more of their attention towards secondary tasks when driving with CC or ACC. However, there were delayed driver reactions in critical situations, e.g., in a narrow curve or a fog bank. These results give rise to some caution regarding the safety effects of these systems, especially if in the future their range of functionality (e.g., ACC Stop-and-Go) is further increased.

  17. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

    This thesis considered development of an autonomous control system for heating ventilation and air conditioning applications. By including auto-tuning, adaptation, diagnosis and supervision functions in the control system used in the HVAC industry will move the control of HVAC systems towards...... autonomous control. Together with better tuned controllers and more dedicated control it would be possible to decrease the energy consumption, save money and increase the indoor air climate. A flexible HVAC test system was designed and implemented. Standard components and sensors were used in the design...

  18. Artificial Intelligence for Controlling Robotic Aircraft

    Science.gov (United States)

    Krishnakumar, Kalmanje

    2005-01-01

    A document consisting mostly of lecture slides presents overviews of artificial-intelligence-based control methods now under development for application to robotic aircraft [called Unmanned Aerial Vehicles (UAVs) in the paper] and spacecraft and to the next generation of flight controllers for piloted aircraft. Following brief introductory remarks, the paper presents background information on intelligent control, including basic characteristics defining intelligent systems and intelligent control and the concept of levels of intelligent control. Next, the paper addresses several concepts in intelligent flight control. The document ends with some concluding remarks, including statements to the effect that (1) intelligent control architectures can guarantee stability of inner control loops and (2) for UAVs, intelligent control provides a robust way to accommodate an outer-loop control architecture for planning and/or related purposes.

  19. The investigation of an autonomous intelligent mobile robot system for indoor environment navigation

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a per ceiving system for exploring its surroundings. Its computation source is a simultaneously running system com posed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is em ployed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.

  20. Biology-Inspired Autonomous Control

    Science.gov (United States)

    2011-08-31

    of, and perhaps will not be tolerated in, manmade critical systems. Although this paper does not directly address questions of ethics associated...political, ethical , and moral issues associated with the use of autonomous systems in warfare will be debated long after the technology hurdles to...accessible discussion on the interplay of biochemistry, genetics and embryology in animal evolution; Wagner, 2005 describes biological concepts of

  1. Intelligent control based on intelligent characteristic model and its application

    Institute of Scientific and Technical Information of China (English)

    吴宏鑫; 王迎春; 邢琰

    2003-01-01

    This paper presents a new intelligent control method based on intelligent characteristic model for a kind of complicated plant with nonlinearities and uncertainties, whose controlled output variables cannot be measured on line continuously. The basic idea of this method is to utilize intelligent techniques to form the characteristic model of the controlled plant according to the principle of combining the char-acteristics of the plant with the control requirements, and then to present a new design method of intelli-gent controller based on this characteristic model. First, the modeling principles and expression of the intelligent characteristic model are presented. Then based on description of the intelligent characteristic model, the design principles and methods of the intelligent controller composed of several open-loops and closed-loops sub controllers with qualitative and quantitative information are given. Finally, the ap-plication of this method in alumina concentration control in the real aluminum electrolytic process is in-troduced. It is proved in practice that the above methods not only are easy to implement in engineering design but also avoid the trial-and-error of general intelligent controllers. It has taken better effect in the following application: achieving long-term stable control of low alumina concentration and increasing the controlled ratio of anode effect greatly from 60% to 80%.

  2. Autonomic Circulatory Control during Pregnancy in Humans

    OpenAIRE

    2009-01-01

    Pregnancy is associated with dramatic alterations in maternal hemodynamics, which begin early (i.e., following conception, 4 to 5 weeks of gestation) and are accompanied by changing levels of various pressor hormones and vasoactive metabolites. It has been proposed that these changes occur through autonomic control mechanisms, but the actual role of the autonomic nervous system in pregnancy is poorly understood. New research has shed more light on the links between pregnancy and cardiovascula...

  3. Center for Intelligent Control Systems

    Science.gov (United States)

    1992-12-01

    CENTER FOR INTELLIGENT CONTROL SYSTEMS Brown Umiversity Harvard University Marsachomtta Institute of Tecnology PUBLICATIONS LIST CICS Number Authors...Equivalence of the Auction Algorithm for 11/1/92 Assignment and die e-Relaxation (Preflow- Push ) Method for Min Cost Flow 26

  4. Expert S-surface control for autonomous underwater vehicles

    Institute of Scientific and Technical Information of China (English)

    ZHANG Lei; PANG Yong-jie; SU Yu-min; ZHAO Fu-long; QIN Zai-bai

    2008-01-01

    S-surface control has proven to be an effective means for motion control of underwater autonomous vehicles (AUV). However there are still problems maintaining steady precision of course due to the constant need to adjust parameters,especially where there are disturbing currents. Thus an intelligent integral was introduced to improve precision. An expert S-surface control was developed to tune the parameters on-line,based on the expert system,it provides S-surface control according to practical experience and control knowledge. To prevent control output over-compensation,a fuzzy neural network was included to adjust the production rules to the knowledge base. Experiments were conducted on an AUV simulation platform,and the results show that the expert S-surface controller performs better than an S-surface controller in environments with currents,producing good steady precision of course in a robust way.

  5. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  6. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot performan

  7. Control algorithms for autonomous robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Jorgensen, C.C.

    1985-09-20

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

  8. Not Deep Learning but Autonomous Learning of Open Innovation for Sustainable Artificial Intelligence

    Directory of Open Access Journals (Sweden)

    JinHyo Joseph Yun

    2016-08-01

    Full Text Available What do we need for sustainable artificial intelligence that is not harmful but beneficial human life? This paper builds up the interaction model between direct and autonomous learning from the human’s cognitive learning process and firms’ open innovation process. It conceptually establishes a direct and autonomous learning interaction model. The key factor of this model is that the process to respond to entries from external environments through interactions between autonomous learning and direct learning as well as to rearrange internal knowledge is incessant. When autonomous learning happens, the units of knowledge determinations that arise from indirect learning are separated. They induce not only broad autonomous learning made through the horizontal combinations that surpass the combinations that occurred in direct learning but also in-depth autonomous learning made through vertical combinations that appear so that new knowledge is added. The core of the interaction model between direct and autonomous learning is the variability of the boundary between proven knowledge and hypothetical knowledge, limitations in knowledge accumulation, as well as complementarity and conflict between direct and autonomous learning. Therefore, these should be considered when introducing the interaction model between direct and autonomous learning into navigations, cleaning robots, search engines, etc. In addition, we should consider the relationship between direct learning and autonomous learning when building up open innovation strategies and policies.

  9. Distributed Reconfigurable Intelligent Multifunctional Autonomous Robust Sensor Systems Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Distributed Reconfigurable Intelligent software agent technologies are key and revolutionary technologies that are needed to fulfill spacecraft autonomy and...

  10. Intelligent Distributed Control

    Science.gov (United States)

    2012-08-10

    Transactions on Automatic Control , 2012. in preparation. [19] C. Yu, B. D. O. Anderson, and A. S. Morse. Gossiping periodically. IEEE Transactions on Automatic Control , 2011...Adaptive Control and Signal Processing, 2011. submitted. [18] J. Liu and A. S. Morse. Distributed averaging via double linear iterations. IEEE

  11. Intelligent networked teleoperation control

    CERN Document Server

    Li, Zhijun; Su, Chun-Yi

    2015-01-01

    This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

  12. Intelligent control in mobile robotics: the PANORAMA project

    Science.gov (United States)

    Greenway, Phil

    1994-03-01

    The European Community's strategic research initiative in information technology has been in place for seven years. A good example of the pan-European collaborative projects conducted under this initiative is PANORAMA: Perception and Navigation for Autonomous Mobile Robot Applications. This four-and-a-half-year project, completed in October 1993, aimed to prove the feasibility of an autonomous mobile robotic system replacing a human-operated vehicle working outdoors in a partially structured environment. The autonomous control of a mobile rock drilling machine was chosen as a challenging and representative test scenario. This paper presents an overview of intelligent mobile robot control architectures. Goals and objectives of the project are described, together with the makeup of the consortium and the roles of the members within it. The main technical achievements from PANORAMA are then presented, with emphasis given to the problems of realizing intelligent control. In particular, the planning and replanning of a mission, and the corresponding architectural choices and infrastructure required to support the chosen task oriented approach, are discussed. Specific attention is paid to the functional decomposition of the system, and how the requirements for `intelligent control' impact on the organization of the identified system components. Future work and outstanding problems are considered in some concluding remarks.

  13. A Multifunctional Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

    2011-01-01

    Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

  14. Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach

    NARCIS (Netherlands)

    Naus, G.J.L.; Ploeg, J.; Molengraft, M.J.G. van de; Heemels, W.P.M.H.; Steinbuch, M.

    2010-01-01

    The combination of different characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming. This paper presents a systematic approach for the design of a parameterized ACC, based on explicit model predictive control. A unique feature

  15. Applications of intelligent telerobotic control

    Energy Technology Data Exchange (ETDEWEB)

    Herget, C.J.; Grasz, E.L.; Merrill, R.D.

    1991-10-01

    The telerobotics laboratory at Lawrence Livermore National Laboratory is a facility for developing and testing new concepts in robotics controls. Research and development is being conducted in computer vision; adaptive control; software architectures for real-time, intelligent control; artificial neural networks; fuzzy logic controllers; telepresence; and path planning and collision avoidance. The equipment in the telerobotics laboratory includes a six degree of freedom articulating robot arm with controller, gripper, and force and torque sensor; a 3D CAD workstation with software to model the work cell environment and simulate the robot dynamics; a six degree of freedom forceball for operator input to the telerobotics controller and the robot simulation; and a computer with a real-time operating system. Soon to be added are a 3D viewing system and a force reflecting hand controller. This paper describes one of the research and development efforts currently in progress on this program. 3 refs., 3 figs.

  16. Combined Intelligent Control (CIC: An Intelligent decision making algorithm

    Directory of Open Access Journals (Sweden)

    Moteaal Asadi Shirzi

    2008-11-01

    Full Text Available The focus of this research is to introduce the concept of combined intelligent control (CIC as an effective architecture for decision making and control of intelligent agents and multi robot sets. Basically, the CIC is a combination of various architectures and methods from fields such as artificial intelligence, Distributed Artificial Intelligence (DAI, control and biological computing. Although any intelligent architecture may be very effective for some specific applications, it could be less for others. Therefore, CIC combines and arranges them in a way that the strengths of any approach cover the weaknesses of others. In this paper first, we introduce some intelligent architectures from a new aspect. Afterward, we offer the CIC by combining them. CIC has been executed in a multi agent set. In this set, robots must cooperate to perform some various tasks in a complex and nondeterministic environment with a low sensory feedback and relationship. In order to investigate, improve, and correct the combined intelligent control method, simulation software has been designed which will be presented and considered. To show the ability of the CIC algorithm as a distributed architecture, a central algorithm is designed and compared with the CIC.

  17. Design and Lyapunov Stability Analysis of a Fuzzy Logic Controller for Autonomous Road Following

    Directory of Open Access Journals (Sweden)

    Yi Fu

    2010-01-01

    Full Text Available Autonomous road following is one of the major goals in intelligent vehicle applications. The development of an autonomous road following embedded system for intelligent vehicles is the focus of this paper. A fuzzy logic controller (FLC is designed for vision-based autonomous road following. The stability analysis of this control system is addressed. Lyapunov's direct method is utilized to formulate a class of control laws that guarantee the convergence of the steering error. Certain requirements for the control laws are presented for designers to choose a suitable rule base for the fuzzy controller in order to make the system stable. Stability of the proposed fuzzy controller is guaranteed theoretically and also demonstrated by simulation studies and experiments. Simulations using the model of the four degree of freedom nonholonomic robotic vehicle are conducted to investigate the performance of the fuzzy controller. The proposed fuzzy controller can achieve the desired steering angle and make the robotic vehicle follow the road successfully. Experiments show that the developed intelligent vehicle is able to follow a mocked road autonomously.

  18. Beam Forming Property of Coded Acoustic Signal for Long-Range Acoustic Navigation of a Cruising Autonomous Underwater Vehicle

    Science.gov (United States)

    Yoshitaka Watanabe,; Hiroshi Ochi,; Takuya Shimura,; Takehito Hattori,

    2010-07-01

    The property of beam forming by a receiver array placed on the side surface of an autonomous underwater vehicle (AUV) is considered in this paper. The aim of this study is to develop a long-range acoustic navigation system for a cruising AUV on the basis of the estimation of the horizontal direction of arrival (DOA) of an acoustic signal from reference source. The acoustic signal is coded using a maximum length sequence code. The influence of multipath waves to the estimation of horizontal DOA was particularly studied. When there are several multipath waves from various vertical DOAs, even if the horizontal DOAs of all the waves are the same, the multipath waves are influential to the estimation of the horizontal DOA. Then, the coded signal is useful to avoid the influence of the multipath waves. An exploratory experiment on the propagation of the acoustic signal for distance of about 16.6 km was performed in Suruga Bay. By simulating the condition similar to the experiment, it was indicated that the accuracy of the estimation of the horizontal DOA is within zero point several degrees in the experiment.

  19. Business Intelligence in Process Control

    Science.gov (United States)

    Kopčeková, Alena; Kopček, Michal; Tanuška, Pavol

    2013-12-01

    The Business Intelligence technology, which represents a strong tool not only for decision making support, but also has a big potential in other fields of application, is discussed in this paper. Necessary fundamental definitions are offered and explained to better understand the basic principles and the role of this technology for company management. Article is logically divided into five main parts. In the first part, there is the definition of the technology and the list of main advantages. In the second part, an overview of the system architecture with the brief description of separate building blocks is presented. Also, the hierarchical nature of the system architecture is shown. The technology life cycle consisting of four steps, which are mutually interconnected into a ring, is described in the third part. In the fourth part, analytical methods incorporated in the online analytical processing and data mining used within the business intelligence as well as the related data mining methodologies are summarised. Also, some typical applications of the above-mentioned particular methods are introduced. In the final part, a proposal of the knowledge discovery system for hierarchical process control is outlined. The focus of this paper is to provide a comprehensive view and to familiarize the reader with the Business Intelligence technology and its utilisation.

  20. Integrating Autonomous Load Controllers in Power Systems

    DEFF Research Database (Denmark)

    Douglass, Philip James

    violations of voltage constraints. This voltage-sensitive controller can also operate alone, without the frequency-sensitive controller, to provide voltage regulation service and increase load diversity in any distribution network where lower voltage level corresponds to higher load.The frequency......-sensitive and voltage-sensitive autonomous load are viable alternatives to conventional frequency and voltage control devices. When used in combination, they complement each other. In systems where the operator has centrally dispatchable resources to regulate frequency, these resources can be used to dispatch otherwise...... autonomous frequency-sensitive loads. Moreover, where centrally dispatchable frequency regulation resources can rapidly change operating points, such as in a micro-grid, the energy sources can be used as transmitters for a ultra-low-bandwidth uni-directional power line communication system....

  1. Autonomous grain combine control system

    Science.gov (United States)

    Hoskinson, Reed L.; Kenney, Kevin L.; Lucas, James R.; Prickel, Marvin A.

    2013-06-25

    A system for controlling a grain combine having a rotor/cylinder, a sieve, a fan, a concave, a feeder, a header, an engine, and a control system. The feeder of the grain combine is engaged and the header is lowered. A separator loss target, engine load target, and a sieve loss target are selected. Grain is harvested with the lowered header passing the grain through the engaged feeder. Separator loss, sieve loss, engine load and ground speed of the grain combine are continuously monitored during the harvesting. If the monitored separator loss exceeds the selected separator loss target, the speed of the rotor/cylinder, the concave setting, the engine load target, or a combination thereof is adjusted. If the monitored sieve loss exceeds the selected sieve loss target, the speed of the fan, the size of the sieve openings, or the engine load target is adjusted.

  2. A Rear-End Collision Avoidance Scheme for Intelligent Transportation System

    Directory of Open Access Journals (Sweden)

    Chen Chen

    2016-01-01

    Full Text Available In this paper, a rear-end collision control model is proposed using the fuzzy logic control scheme for the autonomous or cruising vehicles in Intelligent Transportation Systems (ITSs. Through detailed analysis of the car-following cases, our controller is established on some reasonable control rules. In addition, to refine the initialized fuzzy rules considering characteristics of the rear-end collisions, the genetic algorithm is introduced to reduce the computational complexity while maintaining accuracy. Numerical results indicate that our Genetic algorithm-optimized Fuzzy Logic Controller (GFLC outperforms the traditional fuzzy logic controller in terms of better safety guarantee and higher traffic efficiency.

  3. Control and learning for intelligent mobility of unmanned ground vehicles in complex terrains

    Science.gov (United States)

    Trentini, M.; Beckman, B.; Digney, B.

    2005-05-01

    The Autonomous Intelligent Systems program at Defence R&D Canada-Suffield envisions autonomous systems contributing to decisive operations in the urban battle space. Creating effective intelligence for these systems demands advances in perception, world representation, navigation, and learning. In the land environment, these scientific areas have garnered much attention, while largely ignoring the problem of locomotion in complex terrain. This is a gap in robotics research, where sophisticated algorithms are needed to coordinate and control robotic locomotion in unknown, highly complex environments. Unlike traditional control problems, intuitive and systematic control tools for robotic locomotion do not readily exist thus limiting their practical application. This paper addresses the mobility problem for unmanned ground vehicles, defined here as the autonomous maneuverability of unmanned ground vehicles in unknown, highly complex environments. It discusses the progress and future direction of intelligent mobility research at Defence R&D Canada-Suffield and presents the research tools, topics and plans to address this critical research gap.

  4. Navigation and control of an autonomous vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Simon, A.; Soehnitz, I.; Becker, J.C.; Schumacher, W. [Technical Univ. Braunschweig (Germany). Inst. of Control Engineering

    2000-07-01

    This paper describes the fusion of sensor data for the navigation of an autonomous vehicle as well as two lateral control concepts to track the vehicle along a desired path. The fusion of navigation data is based on information provided by multiple object-detecting sensors. The object data is fused to increase the accuracy and to obtain the vehicle's state from the relative movement w.r.t. the objects. The presented lateral control methods are an LQG/H{sub 2}-design and an input-output linearizing algorithm. These control schemes were both implemented on a test vehicle. (orig.)

  5. Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp

    Science.gov (United States)

    Davis, L. C.

    2007-06-01

    Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Simulations of merging from an on-ramp onto a freeway reported in the literature have not thus far demonstrated a substantial positive impact of ACC. In this paper cooperative merging for ACC vehicles is proposed to improve throughput and increase distance traveled in a fixed time. In such a system an ACC vehicle senses not only the preceding vehicle in the same lane but also the vehicle immediately in front in the other lane. Prior to reaching the merge region, the ACC vehicle adjusts its velocity to ensure that a safe gap for merging is obtained. If on-ramp demand is moderate, cooperative merging produces significant improvement in throughput (20%) and increases up to 3.6 km in distance traveled in 600 s for 50% ACC mixed flow relative to the flow of all-manual vehicles. For large demand, it is shown that autonomous merging with cooperation in the flow of all ACC vehicles leads to throughput limited only by the downstream capacity, which is determined by speed limit and headway time.

  6. When intelligence is in control

    Energy Technology Data Exchange (ETDEWEB)

    Bellman, K.L.

    1996-12-31

    Each time a discipline redefines itself, I look at it as a sign of growth, because often such redefinition means that there is new theory, new methods, or new {open_quotes}disciples{close_quote} from other disciplines who are stretching, enlarging, and deepening the field. Such is the case with semiotics. Deeply entwined with the concepts of {open_quotes}intelligent systems{close_quotes}, {open_quotes}intelligent control{close_quotes}, and complex systems theory, semiotics struggles to develop representations, notations (systems of representations), and models (functionally-oriented sets of related representations) to study systems that may or may not be usefully described as employing representations, notations, and models themselves. That last, of course, is the main problem that semiotics faces. Semiotics, like psychology, philosophy, or any other self-referential discipline, is burdened by the eye attempting to study the eye or the mind studying the mind, or more to the point here, the modeler studying the modeling acts of others.

  7. Autonomous Traffic Control System Using Agent Based Technology

    CERN Document Server

    M, Venkatesh; V, Srinivas

    2011-01-01

    The way of analyzing, designing and building of real-time projects has been changed due to the rapid growth of internet, mobile technologies and intelligent applications. Most of these applications are intelligent, tiny and distributed components called as agent. Agent works like it takes the input from numerous real-time sources and gives back the real-time response. In this paper how these agents can be implemented in vehicle traffic management especially in large cities and identifying various challenges when there is a rapid growth of population and vehicles. In this paper our proposal gives a solution for using autonomous or agent based technology. These autonomous or intelligent agents have the capability to observe, act and learn from their past experience. This system uses the knowledge flow of precedent signal or data to identify the incoming flow of forthcoming signal. Our architecture involves the video analysis and exploration using some Intelligence learning algorithm to estimate and identify the...

  8. Advanced Modular "All in One" Battery System with Intelligent Autonomous Cell Balancing Management

    Science.gov (United States)

    Petitdidier, X.; Pasquier, E.; Defer, M.; Koch, M.; Knorr, W.

    2008-09-01

    A new generation of energy storage systems based on Li-ion technology emerged at the end of the last century.To perform the first tests in safe conditions, Saft designed a simple electronic.Today, all Li-ion batteries for autonomous applications such as drones, launchers, missiles, torpedoes and "human" applications such as cellular, laptop, hybrid vehicle and nearly sub-marines need a Battery Management System.The minimum in terms of functions is the overcharge and over-discharge protections.For a battery made of 2 cells connected in series or more, a balancing system is added to maintain the available energy during all the life of the battery. For stringent/demanding applications, the state of charge and state of health are calculated by one or more computers.It is now time to take benefit of the past 10 years of Saft's experience in the domain to re-evaluate the constraints of Li-ion batteries and provide customers with improved products by optimizing the battery management.Benefits of electronic for satellite applications:• Full control over battery.• Confidence whatever the possible change of conditions in environment.• The battery system can resist long exposure to gradient conditions with mitigated and stabilized impact on performances.• The balancing function allow to use all the energy of all the cells: optimize of installed energy (compact design, mass saving). It started out with the basic fact that electrochemists are not intended to be space rated electronic experts and vice versa, even if Saft has a good heritage in the electronic battery management system. Consequently, considering heritage and expertise in their respective core businesses, Saft and ASP teamed up.It became necessary to provide an "all in one" modular energy storage system with intelligent autonomous cell balancing management.

  9. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    Science.gov (United States)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  10. The Need for Intelligent Control of Space Power Systems

    Science.gov (United States)

    May, Ryan David; Soeder, James F.; Beach, Raymond F.; McNelis, Nancy B.

    2013-01-01

    As manned spacecraft venture farther from Earth, the need for reliable, autonomous control of vehicle subsystems becomes critical. This is particularly true for the electrical power system which is critical to every other system. Autonomy can not be achieved by simple scripting techniques due to the communication latency times and the difficulty associated with failures (or combinations of failures) that need to be handled in as graceful a manner as possible to ensure system availability. Therefore an intelligent control system must be developed that can respond to disturbances and failures in a robust manner and ensure that critical system loads are served and all system constraints are respected.

  11. Explicit MPC design and performance-based tuning of an Adaptive Cruise Control Stop-&-Go

    NARCIS (Netherlands)

    Naus, G.J.L.; Ploeg, J.; Molengraft, M.J.G. van de; Steinbuch, M.

    2008-01-01

    This paper presents the synthesis, the implementation and the performance-based tuning of an Adaptive Cruise Control (ACC) Stop-&-Go (S&G) design. A Model Predictive Control (MPC) framework is adopted to design the controller. Performance of the controller is evaluated, distinguishing between comfor

  12. Searching for Environments That Could Support Life: Lessons Learned From Six Deep Sea Cruises with the Sentry and Nereus Autonomous Underwater Vehicles

    Science.gov (United States)

    Yoerger, D. R.; Kinsey, J. C.; Jakuba, M.; Camilli, R.; German, C. R.; Shank, T. M.; Bowen, A.; Nakamura, K.; Seeps 2009 Science Team; Oases 2009 Science Team; Gruvee 2010 Science Team; Enlighten 2010 Science Team; Hmmv 2010 Science Team

    2010-12-01

    In the past year, we have used our Sentry and Nereus Autonomous Underwater Vehicles (AUV) on six deep sea cruises searching for extreme environments that can support life. Two of these cruises took place on Mid-Ocean Ridge terrain (Mid Cayman Rise, Galapagos Rift), three on active methane seeps (Santa Monica/Santa Barbara Basins, Hydrate Ridge, Haakon-Mosby Mud Volcano), and one took place at the site of the Deepwater Horizon blowout. This presentation summarizes how we used the vehicles, their automatic control systems, and their sensor suites in these different environments to identify and quantify chemical fluxes emerging from the seafloor. We also took advantage of complementary data from lowered and towed platforms. Examples will include the following: * ●In the Cayman Trough and the Galapagos Rift, we used in-situ chemical sensing (conductivity, temperature, optical backscatter, and redox potential) to locate hydrothermal sources. * ●In the Galapagos Rift, we also used our 400khz multibeam sonar to locate hydrothermal sites using acoustic backscatter from plumes and by building bathymetric maps of likely hydrothermal structures. * ●In the Santa Monica and Santa Barbara Basins, we used the TETHYS in-situ mass spectrometer to locate active methane seeps and to determine the ratio of biogenic to thermogenic methane through isotopic analysis. We used this information in real-time to alter the vehicle's trajectory and, hence, improve measurements over the most interesting locations. * ●At the site of the Deepwater Horizon blowout, we used Sentry and TETHYS to map a deep hydrocarbon plume from just outside the vessel exclusion zone out to a distance of 35 km. Analysis of oxygen data from an electrode, an optode, the mass spectrometer, and from titration of samples brought to the surface supported estimates of microbial respiration rates. * ●On Hydrate Ridge, we showed that the 400khz multibeam sonar is an effective tool for locating active methane bubble

  13. Polymers with autonomous life-cycle control

    Science.gov (United States)

    Patrick, Jason F.; Robb, Maxwell J.; Sottos, Nancy R.; Moore, Jeffrey S.; White, Scott R.

    2016-12-01

    The lifetime of man-made materials is controlled largely by the wear and tear of everyday use, environmental stress and unexpected damage, which ultimately lead to failure and disposal. Smart materials that mimic the ability of living systems to autonomously protect, report, heal and even regenerate in response to damage could increase the lifetime, safety and sustainability of many manufactured items. There are several approaches to achieving these functions using polymer-based materials, but making them work in highly variable, real-world situations is proving challenging.

  14. Modelling of a PMSG Wind Turbine with Autonomous Control

    OpenAIRE

    Chia-Nan Wang; Wen-Chang Lin; Xuan-Khoa Le

    2014-01-01

    The aim of this research is to model an autonomous control wind turbine driven permanent magnetic synchronous generator (PMSG) which feeds alternating current (AC) power to the utility grid. Furthermore, this research also demonstrates the effects and the efficiency of PMSG wind turbine which is integrated by autonomous controllers. In order for well autonomous control, two voltage source inverters are used to control wind turbine connecting with the grid. The generator-side inverter is used ...

  15. Advances in chaos theory and intelligent control

    CERN Document Server

    Vaidyanathan, Sundarapandian

    2016-01-01

    The book reports on the latest advances in and applications of chaos theory and intelligent control. Written by eminent scientists and active researchers and using a clear, matter-of-fact style, it covers advanced theories, methods, and applications in a variety of research areas, and explains key concepts in modeling, analysis, and control of chaotic and hyperchaotic systems. Topics include fractional chaotic systems, chaos control, chaos synchronization, memristors, jerk circuits, chaotic systems with hidden attractors, mechanical and biological chaos, and circuit realization of chaotic systems. The book further covers fuzzy logic controllers, evolutionary algorithms, swarm intelligence, and petri nets among other topics. Not only does it provide the readers with chaos fundamentals and intelligent control-based algorithms; it also discusses key applications of chaos as well as multidisciplinary solutions developed via intelligent control. The book is a timely and comprehensive reference guide for graduate s...

  16. Navigation Behaviors Based on Fuzzy ArtMap Neural Networks for Intelligent Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Amine Chohra

    2011-01-01

    Full Text Available The use of hybrid intelligent systems (HISs is necessary to bring the behavior of intelligent autonomous vehicles (IAVs near the human one in recognition, learning, adaptation, generalization, decision making, and action. First, the necessity of HIS and some navigation approaches based on fuzzy ArtMap neural networks (FAMNNs are discussed. Indeed, such approaches can provide IAV with more autonomy, intelligence, and real-time processing capabilities. Second, an FAMNN-based navigation approach is suggested. Indeed, this approach must provide vehicles with capability, after supervised fast stable learning: simplified fuzzy ArtMap (SFAM, to recognize both target-location and obstacle-avoidance situations using FAMNN1 and FAMNN2, respectively. Afterwards, the decision making and action consist of two association stages, carried out by reinforcement trial and error learning, and their coordination using NN3. Then, NN3 allows to decide among the five (05 actions to move towards 30∘, 60∘, 90∘, 120∘, and 150∘. Third, simulation results display the ability of the FAMNN-based approach to provide IAV with intelligent behaviors allowing to intelligently navigate in partially structured environments. Finally, a discussion, dealing with the suggested approach and how its robustness would be if implemented on real vehicle, is given.

  17. New development thoughts on the bio-inspired intelligence based control for unmanned combat aerial vehicle

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Bio-inspired intelligence is in the spotlight in the field of international artificial intelligence,and unmanned combat aerial vehicle(UCAV),owing to its potential to perform dangerous,repetitive tasks in remote and hazardous,is very promising for the technological leadership of the nation and essential for improving the security of society.On the basis of introduction of bioinspired intelligence and UCAV,a series of new development thoughts on UCAV control are proposed,including artificial brain based high-level autonomous control for UCAV,swarm intelligence based cooperative control for multiple UCAVs,hy-brid swarm intelligence and Bayesian network based situation assessment under complicated combating environments, bio-inspired hardware based high-level autonomous control for UCAV,and meta-heuristic intelligence based heterogeneous cooperative control for multiple UCAVs and unmanned combat ground vehicles(UCGVs).The exact realization of the proposed new development thoughts can enhance the effectiveness of combat,while provide a series of novel breakthroughs for the intelligence,integration and advancement of future UCAV systems.

  18. Autonomous Driver Based on an Intelligent System of Decision-Making.

    Science.gov (United States)

    Czubenko, Michał; Kowalczuk, Zdzisław; Ordys, Andrew

    The paper presents and discusses a system (xDriver) which uses an Intelligent System of Decision-making (ISD) for the task of car driving. The principal subject is the implementation, simulation and testing of the ISD system described earlier in our publications (Kowalczuk and Czubenko in artificial intelligence and soft computing lecture notes in computer science, lecture notes in artificial intelligence, Springer, Berlin, 2010, 2010, In Int J Appl Math Comput Sci 21(4):621-635, 2011, In Pomiary Autom Robot 2(17):60-5, 2013) for the task of autonomous driving. The design of the whole ISD system is a result of a thorough modelling of human psychology based on an extensive literature study. Concepts somehow similar to the ISD system can be found in the literature (Muhlestein in Cognit Comput 5(1):99-105, 2012; Wiggins in Cognit Comput 4(3):306-319, 2012), but there are no reports of a system which would model the human psychology for the purpose of autonomously driving a car. The paper describes assumptions for simulation, the set of needs and reactions (characterizing the ISD system), the road model and the vehicle model, as well as presents some results of simulation. It proves that the xDriver system may behave on the road as a very inexperienced driver.

  19. Applications of Probabilistic Graphical Models to Diagnosis and Control of Autonomous Vehicles

    DEFF Research Database (Denmark)

    Madsen, Anders L.; Kjærulff, Uffe Bro; Kalwa, Jörg

    2004-01-01

    We present the main elements of a distributed architecture supporting diagnosis and control of autonomous robots. The purpose of the architecture is to assist the operator or piloting system in managing fault detection, risk assessment, and recovery plans under uncertainty. The architecture...... is generic, open, and modular consisting of a set of interacting modules including a decision module (DM) and a set of intelligent modules (IMs). The DM communicates with the IMs to request and obtain diagnosis and recovery action proposals based on data obtained from the robot piloting module....... The architecture supports the use of multiple artificial intelligence techniques collaborating on the task of handling uncertainty....

  20. Instrumentation, Control, and Intelligent Systems

    Energy Technology Data Exchange (ETDEWEB)

    2005-09-01

    Abundant and affordable energy is required for U.S. economic stability and national security. Advanced nuclear power plants offer the best near-term potential to generate abundant, affordable, and sustainable electricity and hydrogen without appreciable generation of greenhouse gases. To that end, Idaho National Laboratory (INL) has been charged with leading the revitalization of nuclear power in the U.S. The INL vision is to become the preeminent nuclear energy laboratory with synergistic, world-class, multi-program capabilities and partnerships by 2015. The vision focuses on four essential destinations: (1) Be the preeminent internationally-recognized nuclear energy research, development, and demonstration laboratory; (2) Be a major center for national security technology development and demonstration; (3) Be a multi-program national laboratory with world-class capabilities; (4) Foster academic, industry, government, and international collaborations to produce the needed investment, programs, and expertise. Crucial to that effort is the inclusion of research in advanced instrumentation, control, and intelligent systems (ICIS) for use in current and advanced power and energy security systems to enable increased performance, reliability, security, and safety. For nuclear energy plants, ICIS will extend the lifetime of power plant systems, increase performance and power output, and ensure reliable operation within the system's safety margin; for national security applications, ICIS will enable increased protection of our nation's critical infrastructure. In general, ICIS will cost-effectively increase performance for all energy security systems.

  1. Intelligent controllers for battlefield simulations

    Energy Technology Data Exchange (ETDEWEB)

    Barrett, C.L.; Stroud, P.; Reidys, C. [and others

    1997-08-01

    This is the final report of a three-year, Laboratory-Directed Research and Development (LDRD) project at the Los Alamos National Laboratory (LANL). This project involved research in the area of warfighting simulation technology and methods. In the first year our emphasis was to produce a prototype repository for simulation software objects and simulation execution executives in the context of an integrated theater missile defense problem. This provided a necessary precursor to the detailed development. In the second year more detailed and complete environments. In the second year more detailed and complete development of composable simulation software was undertaken. An object description language was developed, an object composition architecture was developed and implemented, and a prototyping test bed was produced to assess the technical concepts and as a demonstration tool for programmatic activities. In the third and final year it became apparent that the representation of intelligent entities, specifically those that fulfill command and control functions in warfighting systems, was a challenging and serious technical shortcoming of all existing approaches to simulation of warfare. 10 refs.

  2. Micro-Controller Based Obstacle Avoiding Autonomous Robot

    Directory of Open Access Journals (Sweden)

    Subhranil Som

    2014-06-01

    Full Text Available Main aim of this paperwork is to study development of the obstacle avoiding spy robot, which can be operated manually as per the operator wants to take control of the robot himself, it also can be autonomous in its actions while intelligently moving itself by detecting the obstacles in front of it by the help of the obstacle detectable circuit. The robot is in form of a vehicle mounted with a web cam, which acquires and sends video as per the robots eye view to a TV or PC via a TV tuner card. The microcontroller chip ATMEGA 328 present on the microcontroller board ARDUINO controls the movements of the robot. In manual operating conditions the user will have a radio transmitter (tx via which the user will send signal to the radio receiver (rx present inside the robot which accordingly will pass on the signal to the microcontroller board, and as per the coding of the signal signatures burnt inside the microcontroller chip the robot will complete its movements. In Autonomous operating conditions the user will have no control on the robot that is the robot cannot be operated via any external controls, it will only function as per the data received from the obstacle detection circuits to the microcontroller which will make the robot motors move accordingly as per the code written in it. The idea is to make a robot to tackle the hostage situations & cope up with the worst conditions, which can be quiet a matter of risk to be handled by human being.

  3. Outbreak of Legionnaires' disease on a cruise ship: lessons for international surveillance and control.

    Science.gov (United States)

    Regan, C M; McCann, B; Syed, Q; Christie, P; Joseph, C; Colligan, J; McGaffin, A

    2003-06-01

    A sporadic case of Legionnaires' disease was linked to travel on a cruise ship. Investigation identified two further cases of Legionnaires' Disease and one case of non-pneumonic Legionella infection. An Incident Team confirmed the source to be the ship's water system and control measures were instituted that included pasteurisation, super chlorination and chlorine dioxide dosing. The Public Health Laboratory Service (PHLS) Communicable Disease Surveillance Centre (CDSC), through the European Surveillance Scheme for Travel Associated Legionnaires' Disease, identified three previous cases associated with the same ship's water system including one fatality. Lessons for the international surveillance and control of Legionnaires' disease on cruise ships are discussed.

  4. BioMAV: bio-inspired intelligence for autonomous flight

    NARCIS (Netherlands)

    Gerke, P.K.; Langevoort, J.; Lagarde, S.; Bax, L.; Grootswagers, T.; Drenth, R.-J.; Slieker, V.; Vuurpijl, L.; Haselager, P.; Sprinkhuizen-Kuyper, I.; Van Otterlo, M.; De Croon, G.C.H.E.

    2011-01-01

    This paper aims to contribute to research on biologically inspired micro air vehicles in two ways: (i) it explores a novel repertoire of behavioral modules which can be controlled through finite state machines (FSM) and (ii) elementary movement detectors (EMD) are combined with a center/surround edge

  5. BioMAV: bio-inspired intelligence for autonomous flight

    NARCIS (Netherlands)

    Gerke, P.K.; Langevoort, J.E.; Lagarde, S.; Bax, L.; Grootswagers, T.; Drenth, R.; Slieker, V.M.; Vuurpijl, L.G.; Haselager, W.F.G.; Sprinkhuizen-Kuyper, I.G.; Otterlo, M. van; Croon, G.C.H.E. de

    2011-01-01

    This paper aims to contribute to research on biologically inspired micro air vehicles in two ways: (i) it explores a novel repertoire of behavioral modules which can be controlled through finite state machines (FSM) and (ii) elementary movement detectors (EMD) are combined with a center/ surround ed

  6. A fuzzy logic controller for an autonomous mobile robot

    Science.gov (United States)

    Yen, John; Pfluger, Nathan

    1993-01-01

    The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

  7. Intelligent control algorithm for ship dynamic positioning

    Directory of Open Access Journals (Sweden)

    Meng Wang

    2014-12-01

    Full Text Available Ship motion in the sea is a complex nonlinear kinematics. The hydrodynamic coefficients of ship model are very difficult to accurately determine. Establishing accurate mathematical model of ship motion is difficult because of changing random factors in the marine environment. Aiming at seeking a method of control to realize ship positioning, intelligent control algorithms are adopt utilizing operator's experience. Fuzzy controller and the neural network controller are respectively designed. Through simulations and experiments, intelligent control algorithm can deal with the complex nonlinear motion, and has good robustness. The ship dynamic positioning system with neural network control has high positioning accuracy and performance.

  8. A New Smart Grid Control and Operation Concept - Autonomic Power System

    Directory of Open Access Journals (Sweden)

    Gao Bo

    2016-01-01

    Full Text Available As the distributed energy resource (DER penetrance increasing, future power system will be more large-scale with much complexity and uncertainty. Taking an active approach, active distribution network (ADN can deal with future complex and uncertain challenges to some extent. However, too much re-lying on information exchange of each layer, ADN will lack global adaptability and stability. To make up for the deficiency, this paper proposes a new smart grid control and operation concept, namely autonomic power system (APS. Based on goal-directed mechanism, APS obtains global self-adaptive management. Meanwhile, under the concept of distributed coordination and autonomic control, autonomic units (AUs in APS coordinate each other and make their own autonomic operation. APS takes not only an optimally and co-ordinately active control of power system, but also brings more intelligence with characteristics of self-configuration, self-optimization, self-protection and self-healing, i.e. self-management and overall self-adaption. Thus, APS completes real-time dynamic goals and makes the operation of future power system more intelligent, effective, safe and reliable.

  9. Cardiac Autonomic Control in Individuals With Down Syndrome

    Science.gov (United States)

    Goulopoulou, Styliani; Baynard, Tracy; Collier, Scott; Giannopoulou, Ifigenia; Figueroa, Arturo; Beets, Michael; Pitetti, Kenneth; Fernhall, Bo

    2006-01-01

    Our goal in this study was to compare cardiac autonomic control at rest between 50 individuals with Down syndrome and 24 control participants without disabilities. Resting autonomic function was assessed using analysis of heart rate variability. Participants with Down syndrome had reduced total heart rate variability, which indicates possible…

  10. Determination of Close Loop System Stability in Automobile Adaptive Cruise Control Systems

    Directory of Open Access Journals (Sweden)

    Owunna Ikechukwu

    2016-07-01

    Full Text Available The beginning of the 21st century sees auto makers pursuing research in advanced features like collision warning and avoidance system into their product. Automotive cruise control system has been undergoing development in EU since the PROMETHEUS programme in the late 1980’s, and has currently metamorphous into Adaptive Cruise Control (ACC technology which is presently emerging in the automotive market as a convenience function intended to reduce driver workload. Adaptive cruise control is the first of the new generation of advanced driver’s assistance devices to reach the market, which partially automates the driver’s task and bringing the drivers comfort into perspective. It allows the host vehicle to maintain a set speed and distance from preceding vehicles by a forward object detection sensor. The forward object detection sensor is the focal point of the ACC system, which determines and regulates vehicle acceleration and deceleration through a powertrain torque control system and an automatic brake control system. This study presents overview of adaptive cruise control system, operation principles and the advantages of integrating ACC system in automobiles. Also, the system must be stable for optimum performance, and stability of a close loop system which the cruise system is an example, was determined by calculating the controller gain (K1, K2, K3 and substituting into the characteristic equations. The stability of a close loop system for the values of K1, K2 and K3 when substituted into the characteristic equation produced a negative real part. To achieve stability in close loop systems, all the poles must have negative real values and this is in line with the values obtain for p1, p2 and p3. From the pole zero plots of 1 = (-7 ± 7.14, 2 = (-7± 11.60 and 3 = (-0.08 and -13.91, stability of the system was achieved

  11. Cooperative adaptive cruise control: Network-aware analysis of string stability

    NARCIS (Netherlands)

    Oncu, S.; Ploeg, J.; Wouw, N. van de; Nijmeijer, H.

    2014-01-01

    In this paper, we consider a Cooperative Adaptive Cruise Control (CACC) system, which regulates intervehicle distances in a vehicle string, for achieving improved traffic flow stability and throughput. Improved performance can be achieved by utilizing information exchange between vehicles through wi

  12. Towards on-the-road implementation of cooperative adaptive cruise control

    NARCIS (Netherlands)

    Naus, G.J.L.; Vugts, R.; Ploeg, J.; Molengraft, R. van de; Steinbuch, M.

    2009-01-01

    This paper presents a setup for cooperative adaptive cruise control for which feasibility of the actual implementation is one of the main objectives. The approach considers communication with the directly preceding vehicle only, can deal with heterogeneous traffic, accounts for communication delay,

  13. Traffic flow impacts of adaptive cruise control deactivation and (Re)activation with cooperative driver behavior

    NARCIS (Netherlands)

    Klunder, G.; Li, M.; Minderhoud, M.

    2009-01-01

    In 2006 in the Netherlands, a field operational test was carried out to study the effect of adaptive cruise control (ACC) and lane departure warning on driver behavior and traffic flow in real traffic. To estimate the effect for larger penetration rates, simulations were needed. For a reliable impac

  14. Autonomic and endocrine control of cardiovascular function

    Institute of Scientific and Technical Information of China (English)

    Richard; Gordan; Judith; K; Gwathmey; Lai-Hua; Xie

    2015-01-01

    The function of the heart is to contract and pump oxygenated blood to the body and deoxygenated blood to the lungs.To achieve this goal,a normal human heart must beat regularly and continuously for one’s entire life.Heartbeats originate from the rhythmic pacing discharge from the sinoatrial(SA) node within the heart itself.In the absence of extrinsic neural or hormonal influences,the SA node pacing rate would be about 100 beats per minute.Heart rate and cardiac output,however,must vary in response to the needs of the body’s cells for oxygen and nutrients under varying conditions.In order to respond rapidly to the changing requirements of the body’s tissues,the heart rate and contractility are regulated by the nervous system,hormones,and other factors.Here we review how the cardiovascular system is controlled and influenced by not only a unique intrinsic system,but is also heavily influenced by the autonomic nervous system as well as the endocrine system.

  15. Adaptive control for autonomous rendezvous of spacecraft on elliptical orbit

    Institute of Scientific and Technical Information of China (English)

    Shan Lu; Shijie Xu

    2009-01-01

    A strategy for spacecraft autonomous rendezvous on an elliptical orbit in situation of no orbit information is developed. Lawden equation is used to describe relative motion of two spacecraft. Then an adaptive gain factor is introduced, and an adaptive control law for autonomous rendezvous on the elliptical orbit is designed using Lyapunov approach. The relative motion is proved to be ultimately bounded under this control law, and the final relative position error can achieve the expected magnitude. Simulation results indicate that the adaptive control law can realize autonomous rendezvous on the elliptical orbit with relative state information only.

  16. Study on Cruise Missile Intelligent Self-Distinguish Attacking Target on Route Based on Similar Compete Neural Network (SCNN)%巡航导弹智能自主在线目标识别选择问题研究

    Institute of Scientific and Technical Information of China (English)

    房茂燕; 汪民乐; 毕义明

    2013-01-01

    巡航导弹智能自主在线目标识别选择是巡航导弹智能自主作战的重要特征之一.主要针对在巡航导弹弹载计算机计算能力弱、反应时间较短的情况下,如何快速地对目标进行识别分类.采用模板匹配方法进行自动目标识别的大量工作在地面进行,降低了弹载计算机的计算量.为了提高在线智能自主目标识别精度和速度,提出了基于相似度竞争网络,以继承竞争网络在模式识别方面快速简单的优点,同时针对竞争网络抗干扰能力差,对模板类型以外目标无法剔除的不足进行改进,很好解决了巡航导弹在线智能自主目标识别的算法问题.最后通过仿真对算法进行验证.%Intelligent self - selecting attacking target (ISAT) on route is one of the most important characters of the cruise missile's intelligent self - attacking. The paper was Mainly for the problem how to quickly identify and classify targets under tha case that onboard computer in cruise missile calculation ability is weak and the reaction time is shorter. Lots of automatic target recognition work using template matching method were done on ground to reduce the calculation amount of on - board computer. Similar competition neural network ( SCNN) was proposed for improving the precision and the speed of the online intelligent autonomous target recognition. The SCNN inherits the competitive neural network's advantages of fast and simple in pattern recognition, at the same time, the problem of poor antijamming ability of the competition networks and the problem that goals o outside the template type cannot be eliminated, were well solved. At the end of the paper,the algorithm was verified by simulation.

  17. Stability of adaptive cruise control systems taking account of vehicle response time and delay

    Energy Technology Data Exchange (ETDEWEB)

    Davis, L.C., E-mail: ldavis7@mailaps.org [10244 Normandy Dr., Plymouth, MI 48170 (United States)

    2012-08-20

    The region of string stability of a platoon of adaptive cruise control vehicles, taking into account the delay and response of the vehicle powertrain, is found. An upper bound on the explicit delay time as a function the first-order powertrain response time constant is determined. The system is characterized by a headway time constant, a sensitivity parameter, relative (to the vehicle immediately in front) velocity control, and delayed-velocity feedback or acceleration feedback. -- Highlights: ► I find the region of stability for a realistic adaptive cruise control system. ► Vehicle response time and explicit delay are included in the analysis. ► Delayed-feedback enlarges the parameter space that gives string stability.

  18. Development of Intelligent Controller with Virtual Sensing

    Directory of Open Access Journals (Sweden)

    Yul Y. Nazaruddin

    2009-05-01

    Full Text Available In many industrial plants, some key variables cannot always be measured on-line and for the purpose of control, an alternative of sensing system is required. This paper is concerned with a development of an alternative intelligent control strategy, which is an integration between the neuro-fuzzy based controller and virtual sensing system. This allows an immeasurable variable to be inferred and used for control. The virtual sensor is composed of the Diagonal Recurrent Neural Network (DRNN for plant modeling and the Extended Kalman Filter (EKF as the estimator with inputs from DRNN. The integration between virtual sensor and the controller enables a development of an on-line control scheme involving the immeasurable variable. The real-time implementation demonstrates the applicability and the performance of the proposed intelligent control scheme, especially in dealing with nonlinear processes.

  19. Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

    Directory of Open Access Journals (Sweden)

    Mbaitiga Zacharie

    2010-01-01

    Full Text Available Problem statement: Research into robot motion control offers research opportunities that will change scientists and engineers for year to come. Autonomous robots are increasingly evident in many aspects of industry and everyday life and a robust robot motion control can be used for homeland security and many consumer applications. This study discussed the adaptive fuzzy knowledge based controller for robot motion control in indoor and outdoor environment. Approach: The proposed method consisted of two components: the process monitor that detects changes in the process characteristics and the adaptation mechanism that used information passed to it by the process monitor to update the controller parameters. Results: Experimental evaluation had been done in both indoor and outdoor environment where the robot communicates with the base station through its Wireless fidelity antenna and the performance monitor used a set of five performance criteria to access the fuzzy knowledge based controller. Conclusion: The proposed method had been found to be robust.

  20. Temperature controller optimization by computational intelligence

    Directory of Open Access Journals (Sweden)

    Ćojbašić Žarko M.

    2016-01-01

    Full Text Available In this paper a temperature control system for an automated educational classroom is optimized with several advanced computationally intelligent methods. Controller development and optimization has been based on developed and extensively tested mathematical and simulation model of the observed object. For the observed object cascade P-PI temperature controller has been designed and conventionally tuned. To improve performance and energy efficiency of the system, several metaheuristic optimizations of the controller have been attempted, namely genetic algorithm optimization, simulated annealing optimization, particle swarm optimization and ant colony optimization. Efficiency of the best results obtained with proposed computationally intelligent optimization methods has been compared with conventional controller tuning. Results presented in this paper demonstrate that heuristic optimization of advanced temperature controller can provide improved energy efficiency along with other performance improvements and improvements regarding equipment wear. Not only that presented methodology provides for determination and tuning of the core controller, but it also allows that advanced control concepts such as anti-windup controller gain are optimized simultaneously, which is of significant importance since interrelation of all control system parameters has important influence on the stability and performance of the system as a whole. Based on the results obtained, general conclusions are presented indicating that meta-heuristic computationally intelligent optimization of heating, ventilation, and air conditioning control systems is a feasible concept with strong potential in providing improved performance, comfort and energy efficiency. [Projekat Ministarstva nauke Republike Srbije, br. TR 33047 i br. TR 35016

  1. Autonomous Rolling Method of Intelligent Wheel Chair Using the Teaching and Q-learning

    Science.gov (United States)

    Abe, Hideki; Hamagami, Tomoki; Koakutsu, Seiichi; Hirata, Hironori

    In this paper, we propose an autonomous rolling method of intelligent wheel chair (IWC) using the teaching and Q-learning. In the proposed method, first, IWC learns a run path. Next, IWC corrects a position gap around the teaching point by using Q-learning. When detection of the teaching point goes wrong by the noise to motors, IWC cannot reach to the destination. The proposed method is applied to the task which runs a passage, and the simulation results show that IWC repeats a cutback and corrects a position gap. Furthermore, the simulation results show that IWC corrects a position gap more certainly by using the data learned in the environment with the noise to motors.

  2. The control system of intelligent wheelchair

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    <正>A control system of intelligent wheelchair based on spce061A and C8051 is introduced in this discourse.It also introduces the theory of the control system,and the design of hardware and software.The control system including the speech control system of SPCE061 and the keyboard control system of C8051.The movement including marching,countermarching,speedup,slowdown,turning left,turning right,uphill and downhill were realized.The speech control system control based on SPCE061A and C8051 is simple,a high ratio of capability to price.The system can be easily realized and enlarged.

  3. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Science.gov (United States)

    2005-01-01

    Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots B. Sightsa, H.R. Everetta, E. Biagtan Pacisa, G. Koguta M...TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots 5a...calculation methods using encoder counts, wheel radius, and the robot’s wheelbase, as described in Sensors For Mobile Robots [5]. On top of this

  4. On modeling and controlling intelligent systems

    Energy Technology Data Exchange (ETDEWEB)

    Dress, W.B.

    1993-11-01

    The aim of this paper is to show how certain diverse and advanced techniques of information processing and system theory might be integrated into a model of an intelligent, complex entity capable of materially enhancing an advanced information management system. To this end, we first examine the notion of intelligence and ask whether a semblance thereof can arise in a system consisting of ensembles of finite-state automata. Our goal is to find a functional model of intelligence in an information-management setting that can be used as a tool. The purpose of this tool is to allow us to create systems of increasing complexity and utility, eventually reaching the goal of an intelligent information management system that provides and anticipates needed data and information. We base our attempt on the ideas of general system theory where the four topics of system identification, modeling, optimization, and control provide the theoretical framework for constructing a complex system that will be capable of interacting with complex systems in the real world. These four key topics are discussed within the purview of cellular automata, neural networks, and evolutionary programming. This is a report of ongoing work, and not yet a success story of a synthetic intelligent system.

  5. Hybrid Intelligent Control for Submarine Stabilization

    Directory of Open Access Journals (Sweden)

    Minghui Wang

    2013-05-01

    Full Text Available While sailing near the sea surface, submarines will often undergo rolling motion caused by wave disturbance. Fierce rolling motion seriously affects their normal operation and even threatens their security. We propose a new control method for roll stabilization. This paper studies hybrid intelligent control combining a fuzzy control, a neural network and extension control technology. Every control strategy can achieve the ideal control effect within the scope of its effective control. The neuro‐fuzzy control strategy is used to improve the robustness of the controller. The speed control strategy and the course control strategy are conducted to extend the control range. The paper also proposes the design of the controller and carries out the simulation experiment in different sea conditions. The simulation results show that the control method proposed can indeed effectively improve the control performance of submarine stabilization.

  6. THE AUTONOMOUS MAINTENANCE IMPLEMENTATION DIRECTORY AS A STEP TOWARD THE INTELLIGENT QUALITY MANAGEMENT SYSTEM

    Directory of Open Access Journals (Sweden)

    Michał MOLENDA

    2016-10-01

    Full Text Available The article describes the effects of the improvement of the production process which one of the industrial enterprises obtained by implementing the method of Autonomous Maintenance (AM, which is one of the pillars of the concept of Total Productive Maintenance (TPM. AM method was presented as an aid to the formation of intelligent, self-improving procesess of the quality management system (QMS. The main part of this article is to present results of studies that have been conducted in one of the large industrial enterprises in Poland, manufacturing for the automotive industry. The aim of the study was to evaluate the effectiveness of the implementation of the AM method as a tool for self-improvement of industrial processes in the following company. The study was conducted in 2015. The gathering and comparison of data from the period of two years, ie. the year before and the year after the implementation of AM, helped to determine the effectiveness of AM in building intelligent quality management system.

  7. Intelligent Self-Organized Robust Control Design based on Quantum/Soft Computing Technologies and Kansei Engineering

    Directory of Open Access Journals (Sweden)

    S.V. Ulyanov

    2013-10-01

    Full Text Available System of systems engineering technology describes the possibility of ill-defined (autonomous or hierarchically connected dynamic control system design that includes human decision making in unpredicted (unforeseen control situations. Kansei/Affective Engineering technology and its toolkit include qualitative description of human being emotion, instinct and intuition that are used effectively in design processes of smart/wise robotics and intelligent mechatronics. In presented report the way how these technologies can be married using new types of unconventional computational intelligence is described. System analysis of interrelations between these two important technologies is discussed. The solution of an important problem as robust intelligent control system design based on quantum knowledge base self-organization in unpredicted control situations and information risk is proposed. The background of applied unconventional computational intelligence is soft and quantum computing technologies. Applications of the developed approach in robust integrated fuzzy intelligent control systems are considered using concrete Benchmarks.

  8. Intelligent Mechatronic Systems Modeling, Control and Diagnosis

    CERN Document Server

    Merzouki, Rochdi; Pathak, Pushparaj Mani; Ould Bouamama, Belkacem

    2013-01-01

    Acting as a support resource for practitioners and professionals looking to advance their understanding of complex mechatronic systems, Intelligent Mechatronic Systems explains their design and recent developments from first principles to practical applications. Detailed descriptions of the mathematical models of complex mechatronic systems, developed from fundamental physical relationships, are built on to develop innovative solutions with particular emphasis on physical model-based control strategies. Following a concurrent engineering approach, supported by industrial case studies, and drawing on the practical experience of the authors, Intelligent Mechatronic Systems covers range of topic and includes:  • An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis • Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control • Dedicated chapters ...

  9. An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

    Directory of Open Access Journals (Sweden)

    Joshué Pérez

    2010-06-01

    Full Text Available These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS. One prime example of ITS is vehicle Cruise Control (CC, which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  10. An RFID-based intelligent vehicle speed controller using active traffic signals.

    Science.gov (United States)

    Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C; de Pedro, Teresa

    2010-01-01

    These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver's attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  11. Autonomous Traffic Signal Control Model with Neural Network Analogy

    CERN Document Server

    Ohira, T

    1997-01-01

    We propose here an autonomous traffic signal control model based on analogy with neural networks. In this model, the length of cycle time period of traffic lights at each signal is autonomously adapted. We find a self-organizing collective behavior of such a model through simulation on a one-dimensional lattice model road: traffic congestion is greatly diffused when traffic signals have such autonomous adaptability with suitably tuned parameters. We also find that effectiveness of the system emerges through interactions between units and shows a threshold transition as a function of proportion of adaptive signals in the model.

  12. Evolutionary Tuning Method for PID Controller Parameters of a Cruise Control System Using Metamodeling

    Directory of Open Access Journals (Sweden)

    M. N. Ab Malek

    2009-01-01

    Full Text Available For long time the optimization of controller parameters uses the well-known classical method such as the Ziegler-Nichols and the Cohen-Coon tuning techniques. Despite its effectiveness, these off-line tuning techniques can be time consuming especially for a case of complex nonlinear system. This paper attempts to show a great deal on how Metamodeling techniques can be utilized to tune the PID controller parameters quickly. Note that the plant use in this study is the cruise control system with 2 different models, which are the linear model and the nonlinear model. The difference between both models is that the disturbances were taken into consideration for the nonlinear model, but in the linear model the disturbances were assumed as zero. The Radial Basis Function Neural Network Metamodel is able to prove that it can minimize the time in tuning process as it is able to give a good approximation to the optimum controller parameters in both models of this system.

  13. Computing architecture for autonomous microgrids

    Science.gov (United States)

    Goldsmith, Steven Y.

    2015-09-29

    A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

  14. Intelligent Feedback Scheduling of Control Tasks

    Directory of Open Access Journals (Sweden)

    Fatin I. Telchy

    2014-12-01

    Full Text Available an efficient feedback scheduling scheme based on the proposed Feed Forward Neural Network (FFNN scheme is employed to improve the overall control performance while minimizing the overhead of feedback scheduling which exposed using the optimal solutions obtained offline by mathematical optimization methods. The previously described FFNN is employed to adapt online the sampling periods of concurrent control tasks with respect to changes in computing resource availability. The proposed intelligent scheduler will be examined with different optimization algorithms. An inverted pendulum cost function is used in these experiments. Then, simulation of three inverted pendulums as intelligent Real Time System (RTS is described in details. Numerical simulation results demonstrates that the proposed scheme can reduce the computational overhead significantly while delivering almost the same overall control performance as compared to optimal feedback scheduling

  15. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  16. Intelligent Control on Hot Strip Coiling Temperature

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A new intelligent control scheme for hot strip coiling temperature is presented. In this scheme, the prediction model of finishing temperature and the presetting model of main cooling zone are establish based on BP neural network, the feed-forward open-loop control model of main cooling zone is constructed based on T-S fuzzy neural network, a new improved structure of T-S fuzzy neural network is developed, and the feedback close-loop control model of precision cooling zone is obtained based on fuzzy control. The effectiveness of the proposed scheme has been demonstrated by computer simulation with a satisfactory result.

  17. Autonomous Control of a Quadrotor UAV Using Fuzzy Logic

    Science.gov (United States)

    Sureshkumar, Vijaykumar

    UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a

  18. Control and optimization for intelligent transportation systems in vicinity of intersections

    OpenAIRE

    Liu, Bing

    2016-01-01

    This thesis is devoted to study the potential applications of autonomous vehicles and V2X communications to construct the intelligent transportation systems. Firstly, the behavior of platoon in connected vehicle environment is studied. A platoon control algorithm is designed to obtain safe spacing as well as accordance of velocity and acceleration for vehicles in the same lane. Secondly, in larger scale, the platoons around an intersection are considered. The throughput in a traffic signal pe...

  19. Brushless DC Motor Speed Control Based on Emotional Intelligent Controller

    Directory of Open Access Journals (Sweden)

    Gholamreza ArabMarkadeh

    2014-03-01

    Full Text Available This paper presents an emotional controller for brushless DC motor (BLDC drive. The proposed controller is called brain emotional learning based intelligent controller (BELBIC. The utilization of the new controller is based on the emotion processing mechanism in brain. This intelligent control is inspired by the limbic system of mammalian brain, especially amygdala. The controller is successfully implemented in simulation using MATLAB software, brushless dc drive with trapezoidal back-emf. In this work, a novel and simple implementation of BLDC motor drive system is achieved by using the intelligent controller, which controls the motor speed accurately. This emotional intelligent controller has simple structure with high auto learning feature. Simulation results show that both accurate steady state and fast transient speed responses can be achieved in wide range of speed from 20 to 300 [rpm]. Moreover, to evaluate this emotional controller, the performance of the proposed control scheme is compared with both Fuzzy Logic (FL and PID controllers, in different conditions. This indicates proper operating in comparison to the FLC and PID controllers. And also shows excellent promise for industrial scale utilization.

  20. Postnatal Cardiac Autonomic Nervous Control in Pediatric Congenital Heart Disease

    Directory of Open Access Journals (Sweden)

    Ineke Nederend

    2016-04-01

    Full Text Available Congenital heart disease is the most common congenital defect. During childhood, survival is generally good but, in adulthood, late complications are not uncommon. Abnormal autonomic control in children with congenital heart disease may contribute considerably to the pathophysiology of these long term sequelae. This narrative review of 34 studies aims to summarize current knowledge on function of the autonomic nervous system in children with a congenital heart defect. Large scale studies that measure both branches of the nervous system for prolonged periods of time in well-defined patient cohorts in various phases of childhood and adolescence are currently lacking. Pending such studies, there is not yet a good grasp on the extent and direction of sympathetic and parasympathetic autonomic function in pediatric congenital heart disease. Longitudinal studies in homogenous patient groups linking autonomic nervous system function and clinical outcome are warranted.

  1. The 19th Annual Intelligent Ground Vehicle Competition: student built autonomous ground vehicles

    Science.gov (United States)

    Theisen, Bernard L.

    2012-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 19 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from almost 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  2. Intelligent control on wind farm

    DEFF Research Database (Denmark)

    Wei, Mu; Chen, Zhe

    2010-01-01

    Since the renewable energy is popularly applied in power industry, especially the smart grid is fast developing all over the world during these years, the reliable connection between a wind farm and the main grid has been focused on. Due to the difficult control on the wind energy, the connection...

  3. Are Autonomous and Controlled Motivations School-Subjects-Specific?

    Directory of Open Access Journals (Sweden)

    Julien Chanal

    Full Text Available This research sought to test whether autonomous and controlled motivations are specific to school subjects or more general to the school context. In two cross-sectional studies, 252 elementary school children (43.7% male; mean age = 10.7 years, SD = 1.3 years and 334 junior high school children (49.7% male, mean age = 14.07 years, SD = 1.01 years were administered a questionnaire assessing their motivation for various school subjects. Results based on structural equation modeling using the correlated trait-correlated method minus one model (CTCM-1 showed that autonomous and controlled motivations assessed at the school subject level are not equally school-subject-specific. We found larger specificity effects for autonomous (intrinsic and identified than for controlled (introjected and external motivation. In both studies, results of factor loadings and the correlations with self-concept and achievement demonstrated that more evidence of specificity was obtained for autonomous regulations than for controlled ones. These findings suggest a new understanding of the hierarchical and multidimensional academic structure of autonomous and controlled motivations and of the mechanisms involved in the development of types of regulations for school subjects.

  4. 新世嘉 EC5车辆定速巡航故障分析%New Sega EC5 Vehicle Cruise Control Failure Analysis

    Institute of Scientific and Technical Information of China (English)

    李游; 李秋生

    2014-01-01

    针对在新世嘉 EC5出现定速巡航功能无法激活的批量性故障,运用 INCA、MDA 等专业工具,对故障进行记录和分析。分析结果显示,由于在初始化后,CAN 网上存在误报制动踏板故障信息,使得发动机控制系统认为踏板有故障而禁止定速巡航功能启用;而 ABS 系统与整车智能控制电脑的兼容性问题,是导致 CAN 网上误报故障的根本原因。最后,通过完善电检过程,将故障率降低到了每天0台,问题得到有效解决。%In order to solve the problem that the new sega EC5 cruise control in cruise control function can-not activate batch fault,INCA,MDA and other professional tools were used to record and analyze the fault.The analysis results show that because of the false information about brake pedal fault on the CAN net after initialization,the engine control system banned cruise control function,considering that there was a pedal fault;The compatibility problems of ABS system with the vehicle intelligent control computer was the root cause of the CAN online false information.Finally,through perfecting the electric inspection process,the failure rate was reduced to one every day at most,so that the problems were solved effective-ly.

  5. Applied intelligent control of induction motor drives

    CERN Document Server

    Chan, Tze Fun

    2011-01-01

    Induction motors are the most important workhorses in industry. They are mostly used as constant-speed drives when fed from a voltage source of fixed frequency. Advent of advanced power electronic converters and powerful digital signal processors, however, has made possible the development of high performance, adjustable speed AC motor drives.This book aims to explore new areas of induction motor control based on artificial intelligence (AI) techniques in order to make the controller less sensitive to parameter changes. Selected AI techniques are applied for different induction motor control s.

  6. Disturbance decoupling robust control of vehicle full speed cruise dynamic system

    Institute of Scientific and Technical Information of China (English)

    BIN Yang; LI KeQiang; FENG NengLian

    2009-01-01

    In this study,an innovative dynamics model of LFS(longitudinal vehicle full-speed cruise system)is developed by lumping the dynamics of a controlled vehicle and an inter-vehicles together.On account of the external disturbance,parameters uncertainty and the nonlinearity within LFS,a DDRC(disturbance decoupling robust control)method is proposed.For this method,the theory of NDD(nonlinear disturbance decoupling)is utilized firstly to separate the external disturbance from certain part of the proposed dynamics model.Then,the invariance over the sliding mode of VSC(variable structure control)is used to eliminate the influence of remaining uncertain part.Finally,the DDRC method is adopted to design an LFS ACC(adaptive cruise control)system,and some numerical simulations are carried out to validate its performance.The simulation results demonstrate that the proposed control system not only exhibits an expected dynamic response,high tracking accuracy and a strong robustness,but also achieves a global optimization by means of a simplified control structure.

  7. Modeling and Implementation of PID Control for Autonomous Robots

    Science.gov (United States)

    2007-06-01

    Richard Dorf . Modern Control Systems. New York, New York: Addison-Wesley Publishing, 1995. Cabezas, Rodrigo. Design of A Bore Sight Camera For The...IMPLEMENTATION OF PID CONTROL FOR AUTONOMOUS ROBOTS by Todd A. Williamson June 2007 Thesis Advisor: Richard Harkins Second Reader: Peter...Author: Todd A. Williamson Approved by: Richard Harkins Thesis Advisor Peter Crooker Second Reader James Luscombe

  8. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    NARCIS (Netherlands)

    Keviczky, T.; Borelli, F.; Fregene, K.; Godbole, D.; Bals, G.J.

    2008-01-01

    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers

  9. Complex Dynamics of Autonomous Communication Networks and the Intelligent Communication Paradigm

    CERN Document Server

    Kirilyuk, A P

    2004-01-01

    Dynamics of arbitrary communication system is analysed as unreduced interaction process. The applied generalised, universally nonperturbative method of effective potential reveals the phenomenon of dynamic multivaluedness of competing system configurations forced to permanently replace each other in a causally random order, which leads to universally defined dynamical chaos, complexity, fractality, self-organisation, and adaptability (physics/9806002, physics/0211071, physics/0405063). We demonstrate the origin of huge, exponentially high efficiency of the unreduced, complex network dynamics and specify the universal symmetry of complexity (physics/0404006) as the fundamental guiding principle for creation and control of such qualitatively new kind of networks and devices. The emerging intelligent communication paradigm and its practical realisation in the form of knowledge-based networks involve the features of true, unreduced intelligence and consciousness (physics/0409140) appearing in complex (multivalued...

  10. INTELLIGENT INTEGRATION CONTROL OF ROTATING DISK VIBRATION

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The rotating disk is a basic machine part that is u sed widely in industry. The motion equation is transformed into the dynamic equa tion in real modal space. The personating intelligent integration is introduced to improve the existing control method. These modes that affect the transverse v ibration mainly are included to simulate the vibration of rotating disk, and two methods are applied separately on condition that the sensor and the ac tuator are collocated and non-collocated. The results obtained by all-sided si mulations show that the new method can obtain better control effect, especially when the sensor and the actuator are non-collocated.

  11. Intelligent Autonomous Primary 3D Feature Extraction in Vehicle System Dynamics' Analysis: Theory and Application

    Directory of Open Access Journals (Sweden)

    Annamária R. Várkonyi-Kóczy

    2008-01-01

    Full Text Available 3D model reconstruction plays a very important role in computer vision as wellas in different engineering applications. The determination of the 3D model from multipleimages is of key importance. One of the most important difficulties in autonomous 3Dreconstruction is the (automatic selection of the ‘significant’ points which carryinformation about the shape of the 3D bodies i.e. are characteristic from the model point ofview. Another problem to be solved is the point correspondence matching in differentimages.In this paper a 3D reconstruction technique is introduced, which is capable to determinethe 3D model of a scene without any external (human intervention. The method is based onrecent results of image processing, epipolar geometry, and intelligent and soft techniques.Possible applications of the presented algorithm in vehicle system dynamics are alsopresented. The results can be applied advantageously at other engineering fields, like carcrashanalysis, robot guiding, object recognition, supervision of 3D scenes, etc,. as well.

  12. Advisory and autonomous cooperative driving systems

    NARCIS (Netherlands)

    Broek, T.H.A. van den; Ploeg, J.; Netten, B.D.

    2011-01-01

    In this paper, the traffic efficiency of an advisory cooperative driving system, Advisory Acceleration Control is examined and compared to the efficiency of an autonomous cooperative driving system, Cooperative Adaptive Cruise Control. The algorithms and implementation thereof are explained. The res

  13. Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

    Science.gov (United States)

    Rodriguez, Guillermo (Editor)

    1990-01-01

    Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

  14. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

    OpenAIRE

    Defoort, Michael; Floquet, Thierry; Kökösy, Annemarie; Perruquetti, Wilfrid

    2008-01-01

    International audience; This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables for...

  15. Autonomous underwater vehicles modeling, control design and simulation

    CERN Document Server

    Wadoo, Sabiha

    2010-01-01

    Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simula

  16. Intelligent autonomy for unmanned marine vehicles robotic control architecture based on service-oriented agents

    CERN Document Server

    Insaurralde, Carlos C

    2015-01-01

    This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

  17. Design of an adaptive backstepping controller for auto-berthing a cruise ship under wind loads

    Directory of Open Access Journals (Sweden)

    Park Jong-Yong

    2014-06-01

    Full Text Available The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system nonlinearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

  18. Design of an adaptive backstepping controller for auto-berthing a cruise ship under wind loads

    Science.gov (United States)

    Park, Jong-Yong; Kim, Nakwan

    2014-06-01

    The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system nonlinearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

  19. Dynamic formation control for autonomous underwater vehicles

    Institute of Scientific and Technical Information of China (English)

    燕雪峰; 古锋; 宋琛; 胡晓琳; 潘毅

    2014-01-01

    Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles (AUVs) to collaborate with each other. In this work, a dynamic formation model was proposed, in which several algorithms were developed for the complex underwater environment. Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes. Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles. Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation. The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated. Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness, even with a concave obstacle. It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.

  20. Type-2 Fuzzy Logic in Intelligent Control Applications

    CERN Document Server

    Castillo, Oscar

    2012-01-01

    We describe in this book, hybrid intelligent systems based mainly on type-2 fuzzy logic for intelligent control. Hybrid intelligent systems combine several intelligent computing paradigms, including fuzzy logic, and bio-inspired optimization algorithms, which can be used to produce powerful automatic control systems. The book is organized in three main parts, which contain a group of chapters around a similar subject. The first part consists of chapters with the main theme of theory and design algorithms, which are basically chapters that propose new models and concepts, which can be the basis for achieving intelligent control with interval type-2 fuzzy logic. The second part of the book is comprised of chapters with the main theme of evolutionary optimization of type-2 fuzzy systems in intelligent control with the aim of designing optimal type-2 fuzzy controllers for complex control problems in diverse areas of application, including mobile robotics, aircraft dynamics systems and hardware implementations. Th...

  1. Turning a remotely controllable observatory into a fully autonomous system

    Science.gov (United States)

    Swindell, Scott; Johnson, Chris; Gabor, Paul; Zareba, Grzegorz; Kubánek, Petr; Prouza, Michael

    2014-08-01

    We describe a complex process needed to turn an existing, old, operational observatory - The Steward Observatory's 61" Kuiper Telescope - into a fully autonomous system, which observers without an observer. For this purpose, we employed RTS2,1 an open sourced, Linux based observatory control system, together with other open sourced programs and tools (GNU compilers, Python language for scripting, JQuery UI for Web user interface). This presentation provides a guide with time estimates needed for a newcomers to the field to handle such challenging tasks, as fully autonomous observatory operations.

  2. Adaptive Leader-Follower Formation Control for Autonomous Mobile Robots

    NARCIS (Netherlands)

    Guo, Jing; Lin, Zhiyun; Cao, Ming; Yan, Gangfeng

    2010-01-01

    In this paper, adaptive formation control is addressed for a network of autonomous mobile robots in which there are only two leaders knowing the prescribed reference velocity while the others just play the role of followers. Assuming that each follower has only two neighbors to form a cascade interc

  3. The control system of an autonomous underwater vehicle

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    1995-04-01

    Full Text Available This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

  4. Developments in Stochastic Fuel Efficient Cruise Control and Constrained Control with Applications to Aircraft

    Science.gov (United States)

    McDonough, Kevin K.

    The dissertation presents contributions to fuel-efficient control of vehicle speed and constrained control with applications to aircraft. In the first part of this dissertation a stochastic approach to fuel-efficient vehicle speed control is developed. This approach encompasses stochastic modeling of road grade and traffic speed, modeling of fuel consumption through the use of a neural network, and the application of stochastic dynamic programming to generate vehicle speed control policies that are optimized for the trade-off between fuel consumption and travel time. The fuel economy improvements with the proposed policies are quantified through simulations and vehicle experiments. It is shown that the policies lead to the emergence of time-varying vehicle speed patterns that are referred to as time-varying cruise. Through simulations and experiments it is confirmed that these time-varying vehicle speed profiles are more fuel-efficient than driving at a comparable constant speed. Motivated by these results, a simpler implementation strategy that is more appealing for practical implementation is also developed. This strategy relies on a finite state machine and state transition threshold optimization, and its benefits are quantified through model-based simulations and vehicle experiments. Several additional contributions are made to approaches for stochastic modeling of road grade and vehicle speed that include the use of Kullback-Liebler divergence and divergence rate and a stochastic jump-like model for the behavior of the road grade. In the second part of the dissertation, contributions to constrained control with applications to aircraft are described. Recoverable sets and integral safe sets of initial states of constrained closed-loop systems are introduced first and computational procedures of such sets based on linear discrete-time models are given. The use of linear discrete-time models is emphasized as they lead to fast computational procedures. Examples of

  5. Modelling of a PMSG Wind Turbine with Autonomous Control

    Directory of Open Access Journals (Sweden)

    Chia-Nan Wang

    2014-01-01

    Full Text Available The aim of this research is to model an autonomous control wind turbine driven permanent magnetic synchronous generator (PMSG which feeds alternating current (AC power to the utility grid. Furthermore, this research also demonstrates the effects and the efficiency of PMSG wind turbine which is integrated by autonomous controllers. In order for well autonomous control, two voltage source inverters are used to control wind turbine connecting with the grid. The generator-side inverter is used to adjust the synchronous generator as well as separating the generator from the grid when necessary. The grid-side inverter controls the power flow between the direct current (DC bus and the AC side. Both of them are oriented control by space vector pulse width modulation (PWM with back-to-back frequency inverter. Moreover, the proportional-integral (PI controller is enhanced to control both of the inverters and the pitch angle of the wind turbine. Maximum power point tracking (MPPT is integrated in generator-side inverter to track the maximum power, when wind speed changes. The simulation results in Matlab Simulink 2012b showing the model have good dynamic and static performance. The maximum power can be tracked and the generator wind turbine can be operated with high efficiency.

  6. Intelligent Hardware-Enabled Sensor and Software Safety and Health Management for Autonomous UAS

    Science.gov (United States)

    Rozier, Kristin Y.; Schumann, Johann; Ippolito, Corey

    2015-01-01

    Unmanned Aerial Systems (UAS) can only be deployed if they can effectively complete their mission and respond to failures and uncertain environmental conditions while maintaining safety with respect to other aircraft as well as humans and property on the ground. We propose to design a real-time, onboard system health management (SHM) capability to continuously monitor essential system components such as sensors, software, and hardware systems for detection and diagnosis of failures and violations of safety or performance rules during the ight of a UAS. Our approach to SHM is three-pronged, providing: (1) real-time monitoring of sensor and software signals; (2) signal analysis, preprocessing, and advanced on-the- y temporal and Bayesian probabilistic fault diagnosis; (3) an unobtrusive, lightweight, read-only, low-power hardware realization using Field Programmable Gate Arrays (FPGAs) in order to avoid overburdening limited computing resources or costly re-certi cation of ight software due to instrumentation. No currently available SHM capabilities (or combinations of currently existing SHM capabilities) come anywhere close to satisfying these three criteria yet NASA will require such intelligent, hardwareenabled sensor and software safety and health management for introducing autonomous UAS into the National Airspace System (NAS). We propose a novel approach of creating modular building blocks for combining responsive runtime monitoring of temporal logic system safety requirements with model-based diagnosis and Bayesian network-based probabilistic analysis. Our proposed research program includes both developing this novel approach and demonstrating its capabilities using the NASA Swift UAS as a demonstration platform.

  7. Effects of adaptive cruise control and highly automated driving on workload and situation awareness : A review of the empirical evidence

    NARCIS (Netherlands)

    Winter, J.C.F. de; Happee, R.; Martens, M.H.; Stanton, N.A.

    2014-01-01

    Adaptive cruise control (ACC), a driver assistance system that controls longitudinal motion, has been introduced in consumer cars in 1995. A next milestone is highly automated driving (HAD), a system that automates both longitudinal and lateral motion. We investigated the effects of ACC and HAD on d

  8. Effects of adaptive cruise control and highly automated driving on workload and situation awareness: A review of the empirical evidence.

    NARCIS (Netherlands)

    Winter, de Joost C.F.; Happee, Riender; Martens, Marieke H.; Stanton, Neville A.

    2014-01-01

    Adaptive cruise control (ACC), a driver assistance system that controls longitudinal motion, has been introduced in consumer cars in 1995. A next milestone is highly automated driving (HAD), a system that automates both longitudinal and lateral motion. We investigated the effects of ACC and HAD on d

  9. Cooperative Frequency Control for Autonomous AC Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.;

    2015-01-01

    Distributed secondary control strategies have been recently studied for frequency regulation in droop-based AC Microgrids. Unlike centralized secondary control, the distributed one might fail to provide frequency synchronization and proportional active power sharing simultaneously, due to having...... not require measuring the system frequency as compared to the other presented methods. An ac Microgrid with four sources is used to verify the performance of the proposed control methodology....

  10. Autonomous Control of Space Nuclear Reactors Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Nuclear reactors to support future robotic and manned missions impose new and innovative technological requirements for their control and protection instrumentation....

  11. Autonomous Control of Space Nuclear Reactors Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Nuclear reactors to support future lunar and Mars robotic and manned missions impose new and innovative technological requirements for their control and protection...

  12. Project Summary: Biology-Inspired Autonomous Control

    Science.gov (United States)

    2011-02-01

    relative high performance predictability currently associated with automated machines. Anyone who has walked a normally well behaved male dog in the...possibilities as well. Attitude control systems normally include proportional and integral control on sensed attitude, with damping and robustness provided...attacking predators. Some examples include red-wing black bird nest defense [1], meerkat predator mobbing [2], and predator identification in guppy schools

  13. Improved LTVMPC design for steering control of autonomous vehicle

    Science.gov (United States)

    Velhal, Shridhar; Thomas, Susy

    2017-01-01

    An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.

  14. Intelligently Controllable Walker with Magnetorheological Fluid Brake

    Science.gov (United States)

    Kikuchi, Takehito; Tanida, Sosuke; Tanaka, Toshimasa; Kobayashi, Keigo; Mitobe, Kazuhisa

    Caster walkers are supporting frames with casters and wheels. These tools are regularly utilized as life support tools or walking rehabilitation tools in hospitals, nursing homes and individual residences. Users of the walkers can easily move it thanks to its wheels and casters. However falling accidents often happen when it moves without users. The falling accident is very serious problem and one of leading causes of secondary injuries. In the other case, it is hard to move to desired directions if users have imbalance in their motor functions or sensory functions, e.g., hemiplegic patients. To improve safeness and operability of the walkers, we installed compact MR fluid brakes on the wheels and controlled walking speed and direction of the walker. We named this intelligently controllable walker, “i-Walker” and discussed on the control methods and experimental results in this paper. Preliminary trials for direction control of the first-generation of the i-Walker (i-Walker1) are presented. On the basis of the results, we improved the control method and hardware of the i-Walker1, and developed the second-generation (i-Walker2). System description and experimental results of the i-Walker2 are also described. The i-Walker2 has better operability and lower energy consumption than that of the i-Walker1. The line-tracing controller of the i-Walker2 well controls human motions during walking experiments on the target straight line.

  15. Main Strategies for Autonomous Robotic Controller Design

    OpenAIRE

    Paterega, I.

    2011-01-01

    This review gives an overall introduction to the artificial evolution mechanism. It presents the main strategies for robotic controller design. It gives a review of the pertinent literature, focusing on approaches that use neural networks, evolutionary computing, and fuzzy logic. Various applications of artificial evolution in robotics are surveyed and classified.

  16. A study of the prediction of cruise noise and laminar flow control noise criteria for subsonic air transports

    Science.gov (United States)

    Swift, G.; Mungur, P.

    1979-01-01

    General procedures for the prediction of component noise levels incident upon airframe surfaces during cruise are developed. Contributing noise sources are those associated with the propulsion system, the airframe and the laminar flow control (LFC) system. Transformation procedures from the best prediction base of each noise source to the transonic cruise condition are established. Two approaches to LFC/acoustic criteria are developed. The first is a semi-empirical extension of the X-21 LFC/acoustic criteria to include sensitivity to the spectrum and directionality of the sound field. In the second, the more fundamental problem of how sound excites boundary layer disturbances is analyzed by deriving and solving an inhomogeneous Orr-Sommerfeld equation in which the source terms are proportional to the production and dissipation of sound induced fluctuating vorticity. Numerical solutions are obtained and compared with corresponding measurements. Recommendations are made to improve and validate both the cruise noise prediction methods and the LFC/acoustic criteria.

  17. The Design of an User Controller for Intelligent Home

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    This paper introduced the idea of an user controller for intelligent home. The controller could be used to intelligent hone in simple structure and a low cost. An fault-tolerance routine is simple and reliable. In EEPROM AT24C16, data is saved three times refraining from losing.

  18. Fuzzy Simulation Human Intelligent Control System Design on Gyratory Breaker

    Institute of Scientific and Technical Information of China (English)

    Wen,Ruchun; Zhao,Shuling; Zhu,Jianwu; Wang,Xiaoyan

    2005-01-01

    In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems,fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.

  19. Design And Implementation of Dsp-Based Intelligent Controller For Automobile Braking System

    Directory of Open Access Journals (Sweden)

    S.N. Sidek and M.J.E. Salami

    2012-08-01

    Full Text Available An intelligent braking system has great potential applications especially, in developed countries where research on smart vehicle and intelligent highways are receiving ample attention. The system when integrated with other subsystems like automatic traction control, intelligent throttle, and auto cruise systems, etc will result in smart vehicle maneuver. The driver at the end of the day will become the passenger, safety accorded the highest priority and the journey optimized in term of time duration, cost, efficiency and comfortability. The impact of such design and development will cater for the need of contemporary society that aspires to a quality drive as well as to accommodate the advancement of technology especially in the area of smart sensors and actuators.  The emergence of digital signal processor enhances the capacity and features of universal microcontroller.  This paper introduces the use of TI DSP, TMS320LF2407 as an engine of the system. The overall system is designed so that the value of inter-vehicle distance from infrared laser sensor and speed of follower car from speedometer are fed into the DSP for processing, resulting in the DSP issuing commands to the actuator to function appropriately.Key words:  Smart Vehicle, Digital Signal Processor, Fuzzy Controller, and Infra Red Laser Sensor

  20. Adaptive Control System for Autonomous Helicopter Slung Load Operations

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon

    2010-01-01

    This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision...... system on the helicopter that measures the position of the slung load. The controller is a combined feedforward and feedback scheme for simultaneous avoidance of swing excitation and active swing damping. Simulations and laboratory flight tests show the effectiveness of the combined control system......, yielding significant load swing reduction compared to the baseline controller....

  1. The Role of Intelligence Quotient and Emotional Intelligence in Cognitive Control Processes

    OpenAIRE

    Checa, Purificación; Fernández-Berrocal, Pablo

    2015-01-01

    The relationship between intelligence quotient (IQ) and cognitive control processes has been extensively established. Several studies have shown that IQ correlates with cognitive control abilities, such as interference suppression, as measured with experimental tasks like the Stroop and Flanker tasks. By contrast, there is a debate about the role of Emotional Intelligence (EI) in individuals' cognitive control abilities. The aim of this study is to examine the relation between IQ and EI, and ...

  2. Design, modelling, implementation, and intelligent fuzzy control of a hovercraft

    Science.gov (United States)

    El-khatib, M. M.; Hussein, W. M.

    2011-05-01

    A Hovercraft is an amphibious vehicle that hovers just above the ground or water by air cushion. The concept of air cushion vehicle can be traced back to 1719. However, the practical form of hovercraft nowadays is traced back to 1955. The objective of the paper is to design, simulate and implement an autonomous model of a small hovercraft equipped with a mine detector that can travel over any terrains. A real time layered fuzzy navigator for a hovercraft in a dynamic environment is proposed. The system consists of a Takagi-Sugenotype fuzzy motion planner and a modified proportional navigation based fuzzy controller. The system philosophy is inspired by human routing when moving between obstacles based on visual information including the right and left views from which he makes his next step towards the goal in the free space. It intelligently combines two behaviours to cope with obstacle avoidance as well as approaching a goal using a proportional navigation path accounting for hovercraft kinematics. MATLAB/Simulink software tool is used to design and verify the proposed algorithm.

  3. TALON - The Telescope Alert Operation Network System: Intelligent Linking of Distributed Autonomous Robotic Telescopes

    CERN Document Server

    White, R R; Davis, H; Galassi, M; Starr, D; Vestrand, W T; Wozniak, P

    2004-01-01

    The internet has brought about great change in the astronomical community, but this interconnectivity is just starting to be exploited for use in instrumentation. Utilizing the internet for communicating between distributed astronomical systems is still in its infancy, but it already shows great potential. Here we present an example of a distributed network of telescopes that performs more efficiently in synchronous operation than as individual instruments. RAPid Telescopes for Optical Response (RAPTOR) is a system of telescopes at LANL that has intelligent intercommunication, combined with wide-field optics, temporal monitoring software, and deep-field follow-up capability all working in closed-loop real-time operation. The Telescope ALert Operations Network (TALON) is a network server that allows intercommunication of alert triggers from external and internal resources and controls the distribution of these to each of the telescopes on the network. TALON is designed to grow, allowing any number of telescope...

  4. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

    Science.gov (United States)

    Masmoudi, Mohamed Slim; Masmoudi, Mohamed

    2016-01-01

    This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

  5. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation.

    Science.gov (United States)

    Omrane, Hajer; Masmoudi, Mohamed Slim; Masmoudi, Mohamed

    This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.

  6. Implementation of Neural Networks for Intelligent Sensors and Control Using MATLAB

    Directory of Open Access Journals (Sweden)

    NAW KHU SAY WAH

    2015-03-01

    Full Text Available This system is concerned with the design, sensing and intelligent control of robot that moves in synchronization with the movement of the natural eye. The system deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. Signal processing techniques used in sensor are studied using statistical methods and artificial neural network based techniques. Multilayer neural networks have been successfully applied as intelligent sensors for process modeling and control. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Artificial neural networks application builds intelligent soft sensors to estimate variables and detect and process data screening and analysis. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the “free” space using ultrasound range finder data. The second neural network “finds” a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented. To show the potential of the proposed neural network based framework, the system is implemented by using MATLAB.

  7. New approaches in intelligent control techniques, methodologies and applications

    CERN Document Server

    Kountchev, Roumen

    2016-01-01

    This volume introduces new approaches in intelligent control area from both the viewpoints of theory and application. It consists of eleven contributions by prominent authors from all over the world and an introductory chapter. This volume is strongly connected to another volume entitled "New Approaches in Intelligent Image Analysis" (Eds. Roumen Kountchev and Kazumi Nakamatsu). The chapters of this volume are self-contained and include summary, conclusion and future works. Some of the chapters introduce specific case studies of various intelligent control systems and others focus on intelligent theory based control techniques with applications. A remarkable specificity of this volume is that three chapters are dealing with intelligent control based on paraconsistent logics.

  8. Bilateral human-robot control for semi-autonomous UAV navigation

    NARCIS (Netherlands)

    Wopereis, Han W.; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2015-01-01

    This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as

  9. Optimization of an Autonomous Car Controller using a Self-Adaptive Evolutionary Strategy

    Directory of Open Access Journals (Sweden)

    Tae Seong Kim

    2012-09-01

    Full Text Available Autonomous cars control the steering wheel, acceleration and the brake pedal, the gears and the clutch using sensory information from multiple sources. Like a human driver, it understands the current situation on the roads from the live streaming of sensory values. The decision‐making module often suffers from the limited range of sensors and complexity due to the large number of sensors and actuators. Because it is tedious and difficult to design the controller manually from trial‐and‐error, it is desirable to use intelligent optimization algorithms. In this work, we propose optimizing the parameters of an autonomous car controller using self‐ adaptive evolutionary strategies (SAESs which co‐evolve solutions and mutation steps for each parameter. We also describe how the most generalized parameter set can be retrieved from the process of optimization. Open‐source car racing simulation software (TORCS is used to test the goodness of the proposed methods on 6 different tracks. Experimental results show that the SAES is competitive with the manual design of authors and a simple ES.

  10. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  11. A multimodal micro air vehicle for autonomous flight in near-earth environments

    Science.gov (United States)

    Green, William Edward

    Reconnaissance, surveillance, and search-and-rescue missions in near-Earth environments such as caves, forests, and urban areas pose many new challenges to command and control (C2) teams. Of great significance is how to acquire situational awareness when access to the scene is blocked by enemy fire, rubble, or other occlusions. Small bird-sized aerial robots are expendable and can fly over obstacles and through small openings to assist in the acquisition and distribution of intelligence. However, limited flying space and densely populated obstacle fields requires a vehicle that is capable of hovering, but also maneuverable. A secondary flight mode was incorporated into a fixed-wing aircraft to preserve its maneuverability while adding the capability of hovering. An inertial measurement sensor and onboard flight control system were interfaced and used to transition the hybrid prototype from cruise to hover flight and sustain a hover autonomously. Furthermore, the hovering flight mode can be used to maneuver the aircraft through small openings such as doorways. An ultrasonic and infrared sensor suite was designed to follow exterior building walls until an ingress route was detected. Reactive control was then used to traverse the doorway and gather reconnaissance. Entering a dangerous environment to gather intelligence autonomously will provide an invaluable resource to any C2 team. The holistic approach of platform development, sensor suite design, and control serves as the philosophy of this work.

  12. Control design for an autonomous wind based hydrogen production system

    Energy Technology Data Exchange (ETDEWEB)

    Valenciaga, F.; Evangelista, C.A. [CONICET, Laboratorio de Electronica Industrial Control e Instrumentacion (LEICI), Facultad de Ingenieria, Universidad Nacional de La Plata, CC.91, C.P. 1900, La Plata (Argentina)

    2010-06-15

    This paper presents a complete control scheme to efficiently manage the operation of an autonomous wind based hydrogen production system. This system comprises a wind energy generation module based on a multipolar permanent magnet synchronous generator, a lead-acid battery bank as short term energy storage and an alkaline von Hoerner electrolyzer. The control is developed in two hierarchical levels. The higher control level or supervisor control determines the general operation strategy for the whole system according to the wind conditions and the state of charge of the battery bank. On the other hand, the lower control level includes the individual controllers that regulate the respective module operation assuming the set-points determined by the supervisor control. These last controllers are approached using second-order super-twisting sliding mode techniques. The performance of the closed-loop system is assessed through representative computer simulations. (author)

  13. An improved cooperative adaptive cruise control (CACC) algorithm considering invalid communication

    Science.gov (United States)

    Wang, Pangwei; Wang, Yunpeng; Yu, Guizhen; Tang, Tieqiao

    2014-05-01

    For the Cooperative Adaptive Cruise Control (CACC) Algorithm, existing research studies mainly focus on how inter-vehicle communication can be used to develop CACC controller, the influence of the communication delays and lags of the actuators to the string stability. However, whether the string stability can be guaranteed when inter-vehicle communication is invalid partially has hardly been considered. This paper presents an improved CACC algorithm based on the sliding mode control theory and analyses the range of CACC controller parameters to maintain string stability. A dynamic model of vehicle spacing deviation in a platoon is then established, and the string stability conditions under improved CACC are analyzed. Unlike the traditional CACC algorithms, the proposed algorithm can ensure the functionality of the CACC system even if inter-vehicle communication is partially invalid. Finally, this paper establishes a platoon of five vehicles to simulate the improved CACC algorithm in MATLAB/Simulink, and the simulation results demonstrate that the improved CACC algorithm can maintain the string stability of a CACC platoon through adjusting the controller parameters and enlarging the spacing to prevent accidents. With guaranteed string stability, the proposed CACC algorithm can prevent oscillation of vehicle spacing and reduce chain collision accidents under real-world circumstances. This research proposes an improved CACC algorithm, which can guarantee the string stability when inter-vehicle communication is invalid.

  14. TOWARDS MEASURES OF INTELLIGENCE BASED ON SEMIOTIC CONTROL

    Energy Technology Data Exchange (ETDEWEB)

    C. JOSLYN

    2000-08-01

    We address the question of how to identify and measure the degree of intelligence in systems. We define the presence of intelligence as equivalent to the presence of a control relation. We contrast the distinct atomic semioic definitions of models and controls, and discuss hierarchical and anticipatory control. We conclude with a suggestion about moving towards quantitative measures of the degree of such control in systems.

  15. Compact Microscope Imaging System with Intelligent Controls

    Science.gov (United States)

    McDowell, Mark

    2004-01-01

    The figure presents selected views of a compact microscope imaging system (CMIS) that includes a miniature video microscope, a Cartesian robot (a computer- controlled three-dimensional translation stage), and machine-vision and control subsystems. The CMIS was built from commercial off-the-shelf instrumentation, computer hardware and software, and custom machine-vision software. The machine-vision and control subsystems include adaptive neural networks that afford a measure of artificial intelligence. The CMIS can perform several automated tasks with accuracy and repeatability . tasks that, heretofore, have required the full attention of human technicians using relatively bulky conventional microscopes. In addition, the automation and control capabilities of the system inherently include a capability for remote control. Unlike human technicians, the CMIS is not at risk of becoming fatigued or distracted: theoretically, it can perform continuously at the level of the best human technicians. In its capabilities for remote control and for relieving human technicians of tedious routine tasks, the CMIS is expected to be especially useful in biomedical research, materials science, inspection of parts on industrial production lines, and space science. The CMIS can automatically focus on and scan a microscope sample, find areas of interest, record the resulting images, and analyze images from multiple samples simultaneously. Automatic focusing is an iterative process: The translation stage is used to move the microscope along its optical axis in a succession of coarse, medium, and fine steps. A fast Fourier transform (FFT) of the image is computed at each step, and the FFT is analyzed for its spatial-frequency content. The microscope position that results in the greatest dispersal of FFT content toward high spatial frequencies (indicating that the image shows the greatest amount of detail) is deemed to be the focal position.

  16. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    OpenAIRE

    Brandon Sights; H.R. Everett; Estrellina Pacis; Greg Kogut; Michael Thompson

    2006-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the ...

  17. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  18. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2016-06-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  19. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

  20. Improving traffic flow at a 2-to-1 lane reduction with wirelessly connected, adaptive cruise control vehicles

    CERN Document Server

    Davis, L C

    2015-01-01

    Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40% connected vehicles is found to be 52%. Control is based on connected-vehicle-reported velocities near the bottleneck. In response to indications of congestion the connected vehicles, which are also adaptive cruise control vehicles, reduce their speed in slowdown regions. Early lane changes of manually driven vehicles from the terminated lane to the continuous lane are induced by the slowing connected vehicles. Self-organized congestion at the bottleneck is thus delayed or eliminated, depending upon the incoming flow magnitude. For the large majority of vehicles, travel times past the bottleneck are substantially reduced. Control is responsible for delaying the onset of congestion as the incoming flow increases. Adaptive cruise control increases the flow out of the congested stat...

  1. Multivariable Intelligent Decoupling Control System and its Application

    Institute of Scientific and Technical Information of China (English)

    TianYou CHAI; Heng YUE

    2005-01-01

    Many industrial processes have compositive complexities including multivariable, strong coupling, nonlinearity, time-variant and operating condition variations. Combining multivariable adaptive decoupling control with neural networks, this paper presents a multivariable neural networkbased decoupling control algorithm. This control algorithm is integrated with distributed control technique and intelligent control technique, and a three-leveled intelligent decoupling control system consisting of basic control level, coordinating control level, and management and decision level is developed. The configuration and function of the control system are discussed in detail. This system has been successfully applied in ball mill pulverizing systems of 200MW power units, and remarkable benefits have been obtained.

  2. Intelligent Transportation Control based on Proactive Complex Event Processing

    Directory of Open Access Journals (Sweden)

    Wang Yongheng

    2016-01-01

    Full Text Available Complex Event Processing (CEP has become the key part of Internet of Things (IoT. Proactive CEP can predict future system states and execute some actions to avoid unwanted states which brings new hope to intelligent transportation control. In this paper, we propose a proactive CEP architecture and method for intelligent transportation control. Based on basic CEP technology and predictive analytic technology, a networked distributed Markov decision processes model with predicting states is proposed as sequential decision model. A Q-learning method is proposed for this model. The experimental evaluations show that this method works well when used to control congestion in in intelligent transportation systems.

  3. A Multifunctional Smart Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz Marina; Buhrow, Jerry W.; Jolley, Scott T.

    2012-01-01

    Corrosion is a destructive process that often causes failure in metallic components and structures. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional, smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to control it. The multi-functionality of the coating is based on micro-encapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of other existing microcapsules designs, the corrosion controlled release function that allows the delivery of corrosion indicators and inhibitors on demand only when and where needed. Corrosion indicators as well as corrosion inhibitors have been incorporated into microcapsules, blended into several paint systems, and tested for corrosion detection and protection efficacy. This

  4. Environmentally Friendly Coating Technology for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Johnsey, Marissa N.; Jolley, Scott T.; Pearman, Benjamin P.; Zhang, Xuejun; Fitzpatrick, Lilliana; Gillis, Mathew; Blanton, Michael; Hanna, Joshua S.; Rawlins, James W.

    2016-01-01

    This work concerns the development of environmentally friendly encapsulation technology, specifically designed to incorporate corrosion indicators, inhibitors, and self-healing agents into a coating, in such a way that the delivery of the indicators and inhibitors is triggered by the corrosion process, and the delivery of self-healing agents is triggered by mechanical damage to the coating. Encapsulation of the active corrosion control ingredients allows the incorporation of desired autonomous corrosion control functions such as: early corrosion detection, hidden corrosion detection, corrosion inhibition, and self-healing of mechanical damage into a coating. The technology offers the versatility needed to include one or several corrosion control functions into the same coating.The development of the encapsulation technology has progressed from the initial proof-of-concept work, in which a corrosion indicator was encapsulated into an oil-core (hydrophobic) microcapsule and shown to be delivered autonomously, under simulated corrosion conditions, to a sophisticated portfolio of micro carriers (organic, inorganic, and hybrid) that can be used to deliver a wide range of active corrosion ingredients at a rate that can be adjusted to offer immediate as well as long-term corrosion control. The micro carriers have been incorporated into different coating formulas to test and optimize the autonomous corrosion detection, inhibition, and self-healing functions of the coatings. This paper provides an overview of progress made to date and highlights recent technical developments, such as improved corrosion detection sensitivity, inhibitor test results in various types of coatings, and highly effective self-healing coatings based on green chemistry.

  5. Stability Analysis on Speed Control System of Autonomous Underwater Vehicle

    Institute of Scientific and Technical Information of China (English)

    LI Ye; PANG Yong-jie; WAN Lei; WANG Fang; LIAO Yu-lei

    2009-01-01

    The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.

  6. Autonomous vehicle motion control, approximate maps, and fuzzy logic

    Science.gov (United States)

    Ruspini, Enrique H.

    1993-01-01

    Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

  7. Computational intelligence applications in modeling and control

    CERN Document Server

    Vaidyanathan, Sundarapandian

    2015-01-01

    The development of computational intelligence (CI) systems was inspired by observable and imitable aspects of intelligent activity of human being and nature. The essence of the systems based on computational intelligence is to process and interpret data of various nature so that that CI is strictly connected with the increase of available data as well as capabilities of their processing, mutually supportive factors. Developed theories of computational intelligence were quickly applied in many fields of engineering, data analysis, forecasting, biomedicine and others. They are used in images and sounds processing and identifying, signals processing, multidimensional data visualization, steering of objects, analysis of lexicographic data, requesting systems in banking, diagnostic systems, expert systems and many other practical implementations. This book consists of 16 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought ...

  8. Adaptive Intelligent Ventilation Noise Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address NASA needs for quiet crew volumes in a space habitat, Physical Optics Corporation (POC) proposes to develop a new Adaptive Intelligent Ventilation Noise...

  9. Adaptive Intelligent Ventilation Noise Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address the NASA need for quiet on-orbit crew quarters (CQ), Physical Optics Corporation (POC) proposes to develop a new Adaptive Intelligent Ventilation Noise...

  10. An Architecture to Enable Autonomous Control of Spacecraft

    Science.gov (United States)

    May, Ryan D.; Dever, Timothy P.; Soeder, James F.; George, Patrick J.; Morris, Paul H.; Colombano, Silvano P.; Frank, Jeremy D.; Schwabacher, Mark A.; Wang, Liu; LawLer, Dennis

    2014-01-01

    Autonomy is required for manned spacecraft missions distant enough that light-time communication delays make ground-based mission control infeasible. Presently, ground controllers develop a complete schedule of power modes for all spacecraft components based on a large number of factors. The proposed architecture is an early attempt to formalize and automate this process using on-vehicle computation resources. In order to demonstrate this architecture, an autonomous electrical power system controller and vehicle Mission Manager are constructed. These two components are designed to work together in order to plan upcoming load use as well as respond to unanticipated deviations from the plan. The communication protocol was developed using "paper" simulations prior to formally encoding the messages and developing software to implement the required functionality. These software routines exchange data via TCP/IP sockets with the Mission Manager operating at NASA Ames Research Center and the autonomous power controller running at NASA Glenn Research Center. The interconnected systems are tested and shown to be effective at planning the operation of a simulated quasi-steady state spacecraft power system and responding to unexpected disturbances.

  11. Using Robotic Operating System (ROS) to control autonomous observatories

    Science.gov (United States)

    Vilardell, Francesc; Artigues, Gabriel; Sanz, Josep; García-Piquer, Álvaro; Colomé, Josep; Ribas, Ignasi

    2016-07-01

    Astronomical observatories are complex systems requiring the integration of numerous devices into a common platform. We are presenting here the firsts steps to integrate the popular Robotic Operating System (ROS) into the control of a fully autonomous observatory. The observatory is also equipped with a decision-making procedure that can automatically react to a changing environment (like weather events). The results obtained so far have shown that the automation of a small observatory can be greatly simplified when using ROS, as well as robust, with the implementation of our decision-making algorithms.

  12. Autonomous guidance, navigation and control bridging program plan

    Science.gov (United States)

    Mcswain, G. G.; Fernandes, S. T.; Doane, K. B.

    1991-01-01

    A four-center NASA team has undertaken to develop and demonstrate mature technologies applicable to autonomous guidance, navigation, and control (GNC) systems for application to the National Space Transportation System in full cognizance of its operational, safety, and performance requirements, as well as its cost constraints. Attention is to be given to GNC launch/landing weather assessment, ascent guidance, ascent load relief, and system failure during ascent. Preliminary results indicate that a ground-computed atmospheric steering profile can achieve near-optimum performance as well as high cost effectiveness.

  13. Application of Autonomous Spacecraft Power Control Technology to Terrestrial Microgrids

    Science.gov (United States)

    Dever, Timothy P.; Trase, Larry M.; Soeder, James F.

    2014-01-01

    This paper describes the potential of the power campus located at the NASA Glenn Research Center (GRC) in Cleveland, Ohio for microgrid development. First, the benefits provided by microgrids to the terrestrial power grid are described, and an overview of Technology Needs for microgrid development is presented. Next, GRC's work on development of autonomous control for manned deep space vehicles, which are essentially islanded microgrids, is covered, and contribution of each of these developments to the microgrid Technology Needs is detailed. Finally, a description is provided of GRC's existing physical assets which can be applied to microgrid technology development, and a phased plan for development of a microgrid test facility is presented.

  14. Improving traffic flow at a 2-to-1 lane reduction with wirelessly connected, adaptive cruise control vehicles

    Science.gov (United States)

    Davis, L. C.

    2016-06-01

    Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40% connected vehicles is found to be 52%. Control is based on connected-vehicle-reported velocities near the bottleneck. In response to indications of congestion the connected vehicles, which are also adaptive cruise control vehicles, reduce their speed in slowdown regions. Early lane changes of manually driven vehicles from the terminated lane to the continuous lane are induced by the slowing connected vehicles. Self-organized congestion at the bottleneck is thus delayed or eliminated, depending upon the incoming flow magnitude. For the large majority of vehicles, travel times past the bottleneck are substantially reduced. Control is responsible for delaying the onset of congestion as the incoming flow increases. Adaptive cruise control increases the flow out of the congested state at the bottleneck. The nature of the congested state, when it occurs, appears to be similar under a variety of conditions. Typically 80-100 vehicles are approximately equally distributed between the lanes in the 500 m region prior to the end of the terminated lane. Without the adaptive cruise control capability, connected vehicles can delay the onset of congestion but do not increase the asymptotic flow past the bottleneck. Calculations are done using the Kerner-Klenov three-phase theory, stochastic discrete-time model for manual vehicles. The dynamics of the connected vehicles is given by a conventional adaptive cruise control algorithm plus commanded deceleration. Because time in the model for manual vehicles is discrete (one-second intervals), it is assumed that the acceleration of any vehicle immediately in front of a connected vehicle is constant during the time interval, thereby preserving the computational simplicity and speed of a discrete-time model.

  15. Chaos control on autonomous and non-autonomous systems with various types of genetic algorithm-optimized weak perturbations

    Energy Technology Data Exchange (ETDEWEB)

    Soong, C.Y. [Department of Aerospace and Systems Engineering, Feng Chia University, Seatwen, Taichung 40724, Taiwan (China)]. E-mail: cysoong@fcu.edu.tw; Huang, W.T. [Department of Marine Mechanical Engineering, Chinese Naval Academy, Kaohsiung 81300, Taiwan (China); Lin, F.P. [Grid Computing Division, National Center of High Performance Computing, Hsinchu 30012, Taiwan (China)

    2007-12-15

    Recently, we proposed a chaos control strategy with weak Fourier signals optimized by using a genetic algorithm (GA) and demonstrated its merits in controlling Lorenz and Roessler systems (Physical Review E, 2004). In this continuation work, performance of various types of signals, namely periodic continuous, periodic discrete, and constant bias (non-periodic), applied to an autonomous (Roessler) system and a non-autonomous (Murali-Lakshmanan-Chua, MLC) system are investigated. An index of relative robustness is proposed for measuring the noise-resisting ability of the control signals. The results reveal that the constant signal has the strongest noise-resisting ability, the periodic pulse signal has the weakest, and the Fourier signal falls in between. Phase modulation generally shortens the transient time period and is additionally beneficial to non-autonomous systems in minimizing significantly the signal power. By searching with the present GA-optimization, it is demonstrated that the minimum-power signal for controlling the non-autonomous (MLC) system is the signal with a frequency exactly the same as that of the system forcing but with phase modulation. The effectiveness of the GA-optimized signals of extremely low power employed in alternatively switching control of non-autonomous systems is also demonstrated.

  16. G2 Autonomous Control for Cryogenic Delivery Systems

    Science.gov (United States)

    Dito, Scott J.

    2014-01-01

    The Independent System Health Management-Autonomous Control (ISHM-AC) application development for cryogenic delivery systems is intended to create an expert system that will require minimal operator involvement and ultimately allow for complete autonomy when fueling a space vehicle in the time prior to launch. The G2-Autonomous Control project is the development of a model, simulation, and ultimately a working application that will control and monitor the cryogenic fluid delivery to a rocket for testing purposes. To develop this application, the project is using the programming language/environment Gensym G2. The environment is an all-inclusive application that allows development, testing, modeling, and finally operation of the unique application through graphical and programmatic methods. We have learned G2 through training classes and subsequent application development, and are now in the process of building the application that will soon be used to test on cryogenic loading equipment here at the Kennedy Space Center Cryogenics Test Laboratory (CTL). The G2 ISHM-AC application will bring with it a safer and more efficient propellant loading system for the future launches at Kennedy Space Center and eventually mobile launches from all over the world.

  17. Autonomous Control Reconfiguration of Aerospace Vehicle Based on Control Effectiveness Estimation

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Future aerospace vehicles (ASV) are designed to fly in both inner and extra atrmospheric fields, which requires autonomous adaptability to the uncertainties emanated from abrupt faults and continuously time-varying environments. An autonomous control reconfiguration scheme is presented for ASV to deal with the uncertainties on the base of control effectiveness estimation. The on-line estimation methods for the time-varying control effectiveness of linear control system are investigated. Some sufficient conditions for the estimable system are given for different cases. There are proposed corresponding on-line estimation algorithms which are proved to be convergent and robust to noise using the least-square-based methods. On the ground of fuzzy logic and linear programming, the control allocation algorithms, which are able to implement the autonomous control reconfiguration through the redundant actuators, are put forward. Finally, an integrated system is developed to verify the scheme and algorithms by way of numerical simulation and analysis.

  18. Towards autonomous neuroprosthetic control using Hebbian reinforcement learning

    Science.gov (United States)

    Mahmoudi, Babak; Pohlmeyer, Eric A.; Prins, Noeline W.; Geng, Shijia; Sanchez, Justin C.

    2013-12-01

    Objective. Our goal was to design an adaptive neuroprosthetic controller that could learn the mapping from neural states to prosthetic actions and automatically adjust adaptation using only a binary evaluative feedback as a measure of desirability/undesirability of performance. Approach. Hebbian reinforcement learning (HRL) in a connectionist network was used for the design of the adaptive controller. The method combines the efficiency of supervised learning with the generality of reinforcement learning. The convergence properties of this approach were studied using both closed-loop control simulations and open-loop simulations that used primate neural data from robot-assisted reaching tasks. Main results. The HRL controller was able to perform classification and regression tasks using its episodic and sequential learning modes, respectively. In our experiments, the HRL controller quickly achieved convergence to an effective control policy, followed by robust performance. The controller also automatically stopped adapting the parameters after converging to a satisfactory control policy. Additionally, when the input neural vector was reorganized, the controller resumed adaptation to maintain performance. Significance. By estimating an evaluative feedback directly from the user, the HRL control algorithm may provide an efficient method for autonomous adaptation of neuroprosthetic systems. This method may enable the user to teach the controller the desired behavior using only a simple feedback signal.

  19. Jam-avoiding adaptive cruise control (ACC) and its impact on traffic dynamics

    CERN Document Server

    Kesting, A; Kranke, F; Sch"onhof, M; Treiber, M; Helbing, Dirk; Kesting, Arne; Kranke, Florian; Sch\\"onhof, Martin; Treiber, Martin

    2006-01-01

    Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle ahead for measuring the actual distance and speed difference. Together with the own velocity, these input variables are exactly the same as in car-following models. The focus of this contribution is: What will be the impact of a spreading of ACC systems on the traffic dynamics? Do automated driving strategies have the potential to improve the capacity and stability of traffic flow or will they necessarily increase the heterogeneity and instability? How does the result depend on the ACC equipment level? We discuss microscopic modeling aspects for human and automated (ACC) driving. By means of microscopic traffic simulations, we study how a variable percentage of ACC-equipped vehicles influences the stability of traffic flow, the maximum flow under free traffic conditions until ...

  20. Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp

    CERN Document Server

    Davis, L C

    2005-01-01

    Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string stability, simulations of merging from an on-ramp onto a freeway have not thus far demonstrated a substantial positive impact of ACC. In this paper cooperative merging is proposed to increase throughput and increase distance traveled in a fixed time (reduce travel times). In such a system an ACC vehicle senses not only the preceding vehicle in the same lane but also the vehicle immediately in front in the opposite lane. Prior to reaching the merge region, the ACC vehicle adjusts its velocity to ensure that a safe gap for merging is obtained. If on-ramp demand is moderate, partial implementation of cooperative merging where only main line ACC vehicles react to an on-ramp vehicle is effective. Significant improvement in throughput (18%) and increases up to 3 km in distance traveled ...

  1. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles

    Science.gov (United States)

    Eom, Hwisoo; Lee, Sang Hun

    2015-01-01

    A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model. PMID:26076406

  2. INTELLIGENT VIRTUAL CONTROL:MEASURING INSTRUMENT FROM WHOLE TO PART

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    A new concept called intelligent virtual control (IVC), which can be driven by measuring functions, is put forward. This small "intelligent measurement instrument unit (IMIU)", carrying with functions of instrument, consists of different types of intelligent virtual instrument (IVI) through individual components together as building blocks and can be displayed directly on the computer screen. This is a new concept of measuring instrument, and also an important breakthrough after virtual instrument (VI). Virtual control makes instrument resources obtain further exploitation. It brings about a fundamental change to the design and manufacturing mode. The instrument therefore, can not only be produced directly inside a PC, but the product is involved in the "green product" system. So far, all the present digital instruments will grow to be replaced by intelligent control with green characteristics.

  3. Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Saeed Nakhkoob

    2014-01-01

    Full Text Available In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

  4. Intelligent Life-Extending Controls for Aircraft Engines Studied

    Science.gov (United States)

    Guo, Ten-Huei

    2005-01-01

    Current aircraft engine controllers are designed and operated to provide desired performance and stability margins. Except for the hard limits for extreme conditions, engine controllers do not usually take engine component life into consideration during the controller design and operation. The end result is that aircraft pilots regularly operate engines under unnecessarily harsh conditions to strive for optimum performance. The NASA Glenn Research Center and its industrial and academic partners have been working together toward an intelligent control concept that will include engine life as part of the controller design criteria. This research includes the study of the relationship between control action and engine component life as well as the design of an intelligent control algorithm to provide proper tradeoffs between performance and engine life. This approach is expected to maintain operating safety while minimizing overall operating costs. In this study, the thermomechanical fatigue (TMF) of a critical component was selected to demonstrate how an intelligent engine control algorithm can significantly extend engine life with only a very small sacrifice in performance. An intelligent engine control scheme based on modifying the high-pressure spool speed (NH) was proposed to reduce TMF damage from ground idle to takeoff. The NH acceleration schedule was optimized to minimize the TMF damage for a given rise-time constraint, which represents the performance requirement. The intelligent engine control scheme was used to simulate a commercial short-haul aircraft engine.

  5. An autonomous molecular computer for logical control of gene expression

    Science.gov (United States)

    Benenson, Yaakov; Gil, Binyamin; Ben-Dor, Uri; Adar, Rivka; Shapiro, Ehud

    2004-05-01

    Early biomolecular computer research focused on laboratory-scale, human-operated computers for complex computational problems. Recently, simple molecular-scale autonomous programmable computers were demonstrated allowing both input and output information to be in molecular form. Such computers, using biological molecules as input data and biologically active molecules as outputs, could produce a system for `logical' control of biological processes. Here we describe an autonomous biomolecular computer that, at least in vitro, logically analyses the levels of messenger RNA species, and in response produces a molecule capable of affecting levels of gene expression. The computer operates at a concentration of close to a trillion computers per microlitre and consists of three programmable modules: a computation module, that is, a stochastic molecular automaton; an input module, by which specific mRNA levels or point mutations regulate software molecule concentrations, and hence automaton transition probabilities; and an output module, capable of controlled release of a short single-stranded DNA molecule. This approach might be applied in vivo to biochemical sensing, genetic engineering and even medical diagnosis and treatment. As a proof of principle we programmed the computer to identify and analyse mRNA of disease-related genes associated with models of small-cell lung cancer and prostate cancer, and to produce a single-stranded DNA molecule modelled after an anticancer drug.

  6. Ground Operations Autonomous Control and Integrated Health Management

    Science.gov (United States)

    Daniels, James

    2014-01-01

    The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

  7. Guidance and Control of an Autonomous Soaring UAV

    Science.gov (United States)

    Allen, Michael J.; Lin, Victor

    2007-01-01

    Thermals caused by convection in the lower atmosphere are commonly used by birds and glider pilots to extend flight duration, increase cross-country speed, improve range, or simply to conserve energy. Uninhabited Aerial Vehicles (UAVs) can also increase performance and reduce energy consumption by exploiting atmospheric convection. An autonomous soaring research project was conducted at the NASA Dryden Flight Research Center to evaluate the concept through flight test of an electric-powered motorglider with a wingspan of 4.27 m (14 ft). The UAV's commercial autopilot software was modified to include outer-loop soaring guidance and control. The aircraft total energy state was used to detect and soar within thermals. Estimated thermal size and position were used to calculate guidance commands for soaring flight. Results from a total of 23 thermal encounters show good performance of the guidance and control algorithms to autonomously detect and exploit thermals. The UAV had an average climb of 172 m (567 ft) during these encounters.

  8. Improving the Lane Reference Detection for Autonomous Road Vehicle Control

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

    Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

  9. Cardiac autonomic control in the obstructive sleep apnea

    Directory of Open Access Journals (Sweden)

    Nouha Gammoudi

    2015-04-01

    Full Text Available Introduction: The sympathetic activation is considered to be the main mechanism involved in the development of cardiovascular diseases in obstructive sleep apnea (OSA. The heart rate variability (HRV analysis represents a non-invasive tool allowing the study of the autonomic nervous system. The impairment of HRV parameters in OSA has been documented. However, only a few studies tackled the dynamics of the autonomic nervous system during sleep in patients having OSA. Aims: To analyze the HRV over sleep stages and across sleep periods in order to clarify the impact of OSA on cardiac autonomic modulation. The second objective is to examine the nocturnal HRV of OSA patients to find out which HRV parameter is the best to reflect the symptoms severity. Methods: The study was retrospective. We have included 30 patients undergoing overnight polysomnography. Subjects were categorized into two groups according to apnea–hypopnea index (AHI: mild-to-moderate OSAS group (AHI: 5–30 and severe OSAS group (AHI>30. The HRV measures for participants with low apnea–hypopnea indices were compared to those of patients with high rates of apnea–hypopnea across the sleep period and sleep stages. Results: HRV measures during sleep stages for the group with low rates of apnea–hypopnea have indicated a parasympathetic activation during non-rapid eye movement (NREM sleep. However, no significant difference has been observed in the high AHI group except for the mean of RR intervals (mean RR. The parasympathetic activity tended to increase across the night but without a statistical difference. After control of age and body mass index, the most significant correlation found was for the mean RR (p=0.0001, r=−0.248. Conclusion: OSA affects sympathovagal modulation during sleep, and this impact has been correlated to the severity of the disease. The mean RR seemed to be a better index allowing the sympathovagal balance appreciation during the night in OSA.

  10. Intelligent Control System Taking Account of Cooperativeness Using Weighting Information on System Objective

    Directory of Open Access Journals (Sweden)

    Masaki Takahashi

    2004-08-01

    Full Text Available This study considers an intelligent control system to integrate flexibly its components by using weighted information where the system evaluation is reflected. Such system evaluates the information flowing through the components and converts them by weighting depending on the degree of importance. Integration of components based on the system evaluation enables a system consisting of them to realize various, flexible and adaptive control. In this study, the intelligent control method is applied to a swing up and stabilization control problem of a number of cart and pendulum systems on a restricted straight guide. To stabilize the pendulum in a restricted environment, each system should realize not only a swing-up and stabilization control of the pendulum, but also a position control of the cart to avoid collision or deadlock. The experiment using a real apparatus demonstrated that the controller learning light interaction acquires egoistic character, the controller learning heavy interaction behaves altruistically, and the controller equally considering self cart and another cart becomes cooperative. In other words, these autonomous decentralized controllers can acquire various characters and flexibility for cooperation.

  11. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  12. Navigation, behaviors, and control modes in an autonomous vehicle

    Science.gov (United States)

    Byler, Eric A.

    1995-01-01

    An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy sites. A 2D space of control modes was used that provides a combined view of reactive and planning approaches wherein a 2D situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

  13. 1st International Conference on Intelligent Communication, Control and Devices

    CERN Document Server

    Choudhury, Sushabhan

    2017-01-01

    The book presents high-quality research papers presented at the first international conference, ICICCD 2016, organised by the Department of Electronics, Instrumentation and Control Engineering of University of Petroleum and Energy Studies, Dehradun on 2nd and 3rd April, 2016. The book is broadly divided into three sections: Intelligent Communication, Intelligent Control and Intelligent Devices. The areas covered under these sections are wireless communication and radio technologies, optical communication, communication hardware evolution, machine-to-machine communication networks, routing techniques, network analytics, network applications and services, satellite and space communications, technologies for e-communication, wireless Ad-Hoc and sensor networks, communications and information security, signal processing for communications, communication software, microwave informatics, robotics and automation, optimization techniques and algorithms, intelligent transport, mechatronics system, guidance and navigat...

  14. An autonomous miniature wheeled robot based on visual feedback control

    Institute of Scientific and Technical Information of China (English)

    CHEN Haichu

    2007-01-01

    Using two micro-motors,a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle.The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance.Its position and omni-direction motion are precise.A Charge Coupled Device(CCD)camera is used for measuring and for visual navigation.A control system is developed.The precision of the position is 0.5 mm,the resolution is about 0.05 mm,and the maximum velocity is about 52 mm/s.The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

  15. Intelligent Control Scheme of Engineering Machinery of Cluster Hybrid System

    Institute of Scientific and Technical Information of China (English)

    GAO Qiang; WANG Hongli

    2005-01-01

    In a hybrid system, the subsystems with discrete dynamics play a central role in a hybrid system. In the course of engineering machinery of cluster construction, the discrete control law is hard to obtain because the construction environment is complex and there exist many affecting factors. In this paper, hierarchically intelligent control, expert control and fuzzy control are introduced into the discrete subsystems of engineering machinery of cluster hybrid system, so as to rebuild the hybrid system and make the discrete control law easily and effectively obtained. The structures, reasoning mechanism and arithmetic of intelligent control are replanted to discrete dynamic, conti-nuous process and the interface of the hybrid system. The structures of three types of intelligent hybrid system are presented and the human experiences summarized from engineering machinery of cluster are taken into account.

  16. Cardiac autonomic control in adolescents with primary hypertension

    Directory of Open Access Journals (Sweden)

    Havlíceková Z

    2009-12-01

    Full Text Available Abstract Background Impairment in cardiovascular autonomic regulation participates in the onset and maintenance of primary hypertension. Objective The aim of the present study was to evaluate cardiac autonomic control using long-term heart rate variability (HRV analysis in adolescents with primary hypertension. Subjects and methods Twenty two adolescent patients with primary hypertension (5 girls/17 boys aged 14-19 years and 22 healthy subjects matched for age and gender were enrolled. Two periods from 24-hour ECG recording were evaluated by HRV analysis: awake state and sleep. HRV analysis included spectral power in low frequency band (LF, in high frequency band (HF, and LF/HF ratio. Results In awake state, adolescents with primary hypertension had lower HF and higher LF and LF/HF ratio. During sleep, HF was lower and LF/HF ratio was higher in patients with primary hypertension. Conclusions A combination of sympathetic predominance and reduced vagal activity might represent a potential link between psychosocial factors and primary hypertension, associated with increased cardiovascular morbidity.

  17. The Relations between Implicit Intelligence Beliefs, Autonomous Academic Motivation, and School Persistence Intentions: A Mediation Model

    Science.gov (United States)

    Renaud-Dubé, Andréanne; Guay, Frédéric; Talbot, Denis; Taylor, Geneviève; Koestner, Richard

    2015-01-01

    This study attempts to test a model in which the relation between implicit theories of intelligence and students' school persistence intentions are mediated by intrinsic, identified, introjected, and external regulations. Six hundred and fifty students from a high school were surveyed. Contrary to expectations, results from ESEM analyses indicated…

  18. An Autonomous Learning System of Bengali Characters Using Web-Based Intelligent Handwriting Recognition

    Science.gov (United States)

    Khatun, Nazma; Miwa, Jouji

    2016-01-01

    This research project was aimed to develop an intelligent Bengali handwriting education system to improve the literacy level in Bangladesh. Due to the socio-economical limitation, all of the population does not have the chance to go to school. Here, we developed a prototype of web-based (iPhone/smartphone or computer browser) intelligent…

  19. Autonomous homing control of a powered parafoil with insufficient altitude.

    Science.gov (United States)

    Tao, Jin; Sun, Qing-Lin; Tan, Pan-Long; Chen, Zeng-Qiang; He, Ying-Ping

    2016-11-01

    In order to realize safe and accurate homing of a powered parafoil under the condition of insufficient initial altitude, a multiphase homing path is designed according to the flight characteristics of the vehicle. With consideration that the traditional control methods cannot ensure the quality of path following because of the nonlinear, large inertial and longtime delay existed in the system and strong disturbances in a complex environment, a homing controller, composed of the vertical and horizontal trajectory tracking controllers, is designed based on active disturbance rejection control (ADRC). Then autonomous homing simulation experiment of the powered parafoil with insufficient altitude is carried on in a windy environment. The simulation results show that the planned multiphase homing trajectory can fulfill the requirements of fixed-point homing and flare landing; the designed homing controller can overcome the influences of uncertain items of the internal and external disturbances, track the desired homing path more rapidly and steadily, and possesses better control performances than traditional PID controllers.

  20. Intelligent control of HVAC systems. Part I: Modeling and synthesis

    Directory of Open Access Journals (Sweden)

    Adrian TOADER

    2013-03-01

    Full Text Available This is the first part of a work on intelligent type control of Heating, Ventilating and Air-Conditioning (HVAC systems. The study is performed from the perspective of giving a unitary control method to ensure high energy efficiency and air quality improving. To illustrate the proposed HVAC control technique, in this first part it is considered as benchmark problem a single thermal space HVAC system. The construction of the mathematical model is performed only with a view to obtain a framework of HVAC intelligent control validation by numerical simulations. The latter will be reported in a second part of the study.

  1. Research on the Intelligent Greenhouse Environmental Control System

    Institute of Scientific and Technical Information of China (English)

    WANG Shu-wen; TAO Ran

    2004-01-01

    The reseach carried out study to intelligent environmental control system of greenhouse and designed suitable new-type greenhouse environmental control system where crops grew. Explained the basic principle of every environmental factor and concrete to realize of control system in detail at the same time.

  2. Global connectivity of prefrontal cortex predicts cognitive control and intelligence

    Science.gov (United States)

    Cole, Michael W.; Yarkoni, Tal; Repovs, Grega; Anticevic, Alan; Braver, Todd S.

    2012-01-01

    Control of thought and behavior is fundamental to human intelligence. Evidence suggests a fronto-parietal brain network implements such cognitive control across diverse contexts. We identify a mechanism – global connectivity – by which components of this network might coordinate control of other networks. A lateral prefrontal cortex (LPFC) region’s activity was found to predict performance in a high control demand working memory task, and also to exhibit high global connectivity. Critically, global connectivity in this LPFC region, involving connections both within and outside the fronto-parietal network, showed a highly selective relationship with individual differences in fluid intelligence. These findings suggest LPFC is a global hub with a brain-wide influence that facilitates the ability to implement control processes central to human intelligence. PMID:22745498

  3. Autonomous underwater vehicles group control in the maritime search operations implementation

    OpenAIRE

    Блінцов, Сергій Володимирович; Тхи, Доан Фук

    2013-01-01

    The applied scientific problem of automated control of group motion of autonomous unmanned underwater vehicles during maritime search operations was considered in the paper. General principles of building the systems of automation control of a group of self-propelled autonomous underwater vehicles under the uncertainty of environment characteristics and non-stationarity of underwater vehicles parameters were given. The features of organization of autonomous underwater vehicles group operation...

  4. A learning-based autonomous driver: emulate human driver's intelligence in low-speed car following

    Science.gov (United States)

    Wei, Junqing; Dolan, John M.; Litkouhi, Bakhtiar

    2010-04-01

    In this paper, an offline learning mechanism based on the genetic algorithm is proposed for autonomous vehicles to emulate human driver behaviors. The autonomous driving ability is implemented based on a Prediction- and Cost function-Based algorithm (PCB). PCB is designed to emulate a human driver's decision process, which is modeled as traffic scenario prediction and evaluation. This paper focuses on using a learning algorithm to optimize PCB with very limited training data, so that PCB can have the ability to predict and evaluate traffic scenarios similarly to human drivers. 80 seconds of human driving data was collected in low-speed (car-following scenarios. In the low-speed car-following tests, PCB was able to perform more human-like carfollowing after learning. A more general 120 kilometer-long simulation showed that PCB performs robustly even in scenarios that are not part of the training set.

  5. Adaptive Multi-Modal Data Mining and Fusion for Autonomous Intelligence Discovery

    Science.gov (United States)

    2009-03-01

    Final DATES COVERED (From To) From 15-12-2006 to 15-12-2007 4. TITLE AND SUBTITLE Adaptive Multi-Modal Data Mining and Fusion For Autonomous...well as geospatial mapping of documents and images. 15. SUBJECT TERMS automated data mining , streaming data, geospatial Internet localization, Arabic...streaming text data mining . 1.1 Mixed Language Text Database Search A particularly useful component that was under development was on a mixed language

  6. RESEARCH ON MECHANICAL MEASUREMENT-ORIENTED INTELLIGENT VIRTUAL CONTROLS

    Institute of Scientific and Technical Information of China (English)

    Tang Baoping; Qin Shuren

    2004-01-01

    Intelligent virtual control (IVC) is an intelligent measurement instrument unit with the function of actual measurement instruments, and the unit can be used as basic building block for a variety of more complex virtual measurement instruments on a PC. IVC is a further advancement from virtual instrument (VI), and it fuses the function modules and the controls modules so that the relationship between the functions and controls of an instrument is imbedded in one or more units. The design, implementation and optimization methods of IVCs are introduced. The computer software representation of IVCs is discussed. An example of an actual VI constructed with the building blocks of IVCs is given.

  7. Genetic Fuzzy Trees for Intelligent Control of Unmanned Combat Aerial Vehicles

    Science.gov (United States)

    Ernest, Nicholas D.

    Fuzzy Logic Control is a powerful tool that has found great success in a variety of applications. This technique relies less on complex mathematics and more "expert knowledge" of a system to bring about high-performance, resilient, and efficient control through linguistic classification of inputs and outputs and if-then rules. Genetic Fuzzy Systems (GFSs) remove the need of this expert knowledge and instead rely on a Genetic Algorithm (GA) and have similarly found great success. However, the combination of these methods suffer severely from scalability; the number of rules required to control the system increases exponentially with the number of states the inputs and outputs can take. Therefor GFSs have thus far not been applicable to complex, artificial intelligence type problems. The novel Genetic Fuzzy Tree (GFT) method breaks down complex problems hierarchically, makes sub-decisions when possible, and thus greatly reduces the burden on the GA. This development significantly changes the field of possible applications for GFSs. Within this study, this is demonstrated through applying this technique to a difficult air combat problem. Looking forward to an autonomous Unmanned Combat Aerial Vehicle (UCAV) in the 2030 time-frame, it becomes apparent that the mission, flight, and ground controls will utilize the emerging paradigm of Intelligent Systems (IS); namely, the ability to learn, adapt, exhibit robustness in uncertain situations, make sense of the data collected in real-time and extrapolate when faced with scenarios significantly different from those used in training. LETHA (Learning Enhanced Tactical Handling Algorithm) was created to develop intelligent controllers for these advanced unmanned craft as the first GFT. A simulation space referred to as HADES (Hoplological Autonomous Defend and Engage Simulation) was created in which LETHA can train the UCAVs. Equipped with advanced sensors, a limited supply of Self-Defense Missiles (SDMs), and a recharging

  8. Merged Vision and GPS Control of a Semi-Autonomous, Small Helicopter

    Science.gov (United States)

    Rock, Stephen M.

    1999-01-01

    This final report documents the activities performed during the research period from April 1, 1996 to September 30, 1997. It contains three papers: Carrier Phase GPS and Computer Vision for Control of an Autonomous Helicopter; A Contestant in the 1997 International Aerospace Robotics Laboratory Stanford University; and Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter.

  9. Information Technology and the Autonomous Control of a Mars In-Situ Propellant Production System

    Science.gov (United States)

    Gross, Anthony R.; Sridhar, K. R.; Larson, William E.; Clancy, Daniel J.; Peschur, Charles; Briggs, Geoffrey A.; Zornetzer, Steven F. (Technical Monitor)

    1999-01-01

    With the rapidly increasing performance of information technology, i.e., computer hardware and software systems, as well as networks and communication systems, a new capability is being developed that holds the clear promise of greatly increased exploration capability, along with dramatically reduced design, development, and operating costs. These new intelligent systems technologies, utilizing knowledge-based software and very high performance computer systems, will provide new design and development tools, scheduling mechanisms, and vehicle and system health monitoring capabilities. In addition, specific technologies such as neural nets will provide a degree of machine intelligence and associated autonomy which has previously been unavailable to the mission and spacecraft designer and to the system operator. One of the most promising applications of these new information technologies is to the area of in situ resource utilization. Useful resources such as oxygen, compressed carbon dioxide, water, methane, and buffer gases can be extracted and/or generated from planetary atmospheres, such as the Martian atmosphere. These products, when used for propulsion and life-support needs can provide significant savings in the launch mass and costs for both robotic and crewed missions. In the longer term the utilization of indigenous resources is an enabling technology that is vital to sustaining long duration human presence on Mars. This paper will present the concepts that are currently under investigation and development for mining the Martian atmosphere, such as temperature-swing adsorption, zirconia electrolysis etc., to create propellants and life-support materials. This description will be followed by an analysis of the information technology and control needs for the reliable and autonomous operation of such processing plants in a fault tolerant manner, as well as the approach being taken for the development of the controlling software. Finally, there will be a brief

  10. Intelligent Control of Flexible-Joint Robotic Manipulators

    Science.gov (United States)

    Colbaugh, R.; Gallegos, G.

    1997-01-01

    This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

  11. Advances in soft computing, intelligent robotics and control

    CERN Document Server

    Fullér, Robert

    2014-01-01

    Soft computing, intelligent robotics and control are in the core interest of contemporary engineering. Essential characteristics of soft computing methods are the ability to handle vague information, to apply human-like reasoning, their learning capability, and ease of application. Soft computing techniques are widely applied in the control of dynamic systems, including mobile robots. The present volume is a collection of 20 chapters written by respectable experts of the fields, addressing various theoretical and practical aspects in soft computing, intelligent robotics and control. The first part of the book concerns with issues of intelligent robotics, including robust xed point transformation design, experimental verification of the input-output feedback linearization of differentially driven mobile robot and applying kinematic synthesis to micro electro-mechanical systems design. The second part of the book is devoted to fundamental aspects of soft computing. This includes practical aspects of fuzzy rule ...

  12. Artificial Intelligence Applied to the Command, Control, Communications, and Intelligence of the U.S. Central Command.

    Science.gov (United States)

    1983-06-06

    these components will be presented. 4.17 °°,. CHAPTER III FOOTNOTES 1. Arron Barr and Edward A. Feigenbaum, eds., Te Handbook gf Artificial Inteligence ol...RD-R137 205 ARTIFICIAL INTELLIGENCE APPLIED TO THE COMIMAND CONTROL i/i COMMUNICATIONS RND..(U) ARMY WAR COLL CARLISLE BARRACKS U PA J N ENVART 06...appropriate mlitary servic or *swesmment aency. ARTIFICIAL INTELLIGENCE APPLIED TO THE COMMAND, CONTROL, COMMUNICATIONS, AND INTELLIGENCE OF THE U.S. CENTRAL

  13. An Approach to Autonomous Control for Space Nuclear Power Systems

    Energy Technology Data Exchange (ETDEWEB)

    Wood, Richard Thomas [ORNL; Upadhyaya, Belle R. [University of Tennessee, Knoxville (UTK)

    2011-01-01

    Under Project Prometheus, the National Aeronautics and Space Administration (NASA) investigated deep space missions that would utilize space nuclear power systems (SNPSs) to provide energy for propulsion and spacecraft power. The initial study involved the Jupiter Icy Moons Orbiter (JIMO), which was proposed to conduct in-depth studies of three Jovian moons. Current radioisotope thermoelectric generator (RTG) and solar power systems cannot meet expected mission power demands, which include propulsion, scientific instrument packages, and communications. Historically, RTGs have provided long-lived, highly reliable, low-power-level systems. Solar power systems can provide much greater levels of power, but power density levels decrease dramatically at {approx} 1.5 astronomical units (AU) and beyond. Alternatively, an SNPS can supply high-sustained power for space applications that is both reliable and mass efficient. Terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of an SNPS must be able to provide continuous operatio for the mission duration with limited immediate human interaction and no opportunity for hardware maintenance or sensor calibration. In effect, the SNPS control system must be able to independently operate the power plant while maintaining power production even when subject to off-normal events and component failure. This capability is critical because it will not be possible to rely upon continuous, immediate human interaction for control due to communications delays and periods of planetary occlusion. In addition, uncertainties, rare events, and component degradation combine with the aforementioned inaccessibility and unattended operation to pose unique challenges that an SNPS control system must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design.

  14. Regulation on Safety and civil Liability of intelligent autonomous Robots: the case of smart Cars

    OpenAIRE

    Cappelli, Maria Assunta

    2015-01-01

    Nowadays science and technology offer us artificial intelligence (AI) “embodied” in robots. They are able to self-learn, self-organize and self-reproduce, thanks to genetic algorithms, artificial neural networks and other tools. The focus of this research includes results from the diffusion of a social phenomenon consisting in the application of robots in the most disparate realities (industrial and domestic). Robotics is the AI branch whose aim is to build machines that are able “to feel, to...

  15. The role of Intelligence Quotient and Emotional Intelligence in cognitive control processes

    Directory of Open Access Journals (Sweden)

    Purificación eCheca

    2015-12-01

    Full Text Available The relationship between intelligence quotient (IQ and cognitive control processes has been extensively established. Several studies have shown that IQ correlates with cognitive control abilities, such as interference suppression, as measured with experimental tasks like the Stroop and Flanker tasks. By contrast, there is a debate about the role of Emotional Intelligence (EI in individuals’ cognitive control abilities. The aim of this study is to examine the relation between IQ and EI, and cognitive control abilities evaluated by a typical laboratory control cognitive task, the Stroop task. Results show a negative correlation between IQ and the interference suppression index, the ability to inhibit processing of irrelevant information. However, the Managing Emotions dimension of EI measured by the Mayer-Salovey-Caruso Emotional Intelligence Test, but not self-reported of EI, negatively correlates with the impulsivity index, the premature execution of the response. These results suggest that not only is IQ crucial, but also competences related to EI are essential to human cognitive control processes. Limitations and implications of these results are also discussed

  16. The Role of Intelligence Quotient and Emotional Intelligence in Cognitive Control Processes.

    Science.gov (United States)

    Checa, Purificación; Fernández-Berrocal, Pablo

    2015-01-01

    The relationship between intelligence quotient (IQ) and cognitive control processes has been extensively established. Several studies have shown that IQ correlates with cognitive control abilities, such as interference suppression, as measured with experimental tasks like the Stroop and Flanker tasks. By contrast, there is a debate about the role of Emotional Intelligence (EI) in individuals' cognitive control abilities. The aim of this study is to examine the relation between IQ and EI, and cognitive control abilities evaluated by a typical laboratory control cognitive task, the Stroop task. Results show a negative correlation between IQ and the interference suppression index, the ability to inhibit processing of irrelevant information. However, the Managing Emotions dimension of EI measured by the Mayer-Salovey-Caruso Emotional Intelligence Test (MSCEIT), but not self-reported of EI, negatively correlates with the impulsivity index, the premature execution of the response. These results suggest that not only is IQ crucial, but also competences related to EI are essential to human cognitive control processes. Limitations and implications of these results are also discussed.

  17. Torque Ripple Reduction in Direct Torque Control Based Induction Motor using Intelligent Controllers

    Science.gov (United States)

    Sudhakar, Ambarapu; Vijaya Kumar, M.

    2015-09-01

    This paper presents intelligent control scheme together with conventional control scheme to overcome the problems with uncertainties in the structure encountered with classical model based design of induction motor drive based on direct torque control (DTC). It allows high dynamic performance to be obtained with very simple hysteresis control scheme. Direct control of the torque and flux is achieved by proper selection of inverter voltage space vector through a lookup table. This paper also presents the application of intelligent controllers like neural network and fuzzy logic controllers to control induction machines with DTC. Intelligent controllers are used to emulate the state selector of the DTC. With implementation of intelligent controllers the system is also verified and proved to be operated stably with reduced torque ripple. The proposed method validity and effectiveness has been verified by computer simulations using Matlab/Simulink®. These results are compared with the ones obtained with a classical DTC using proportional integral speed controller.

  18. Systems and methods for autonomously controlling agricultural machinery

    Science.gov (United States)

    Hoskinson, Reed L.; Bingham, Dennis N.; Svoboda, John M.; Hess, J. Richard

    2003-07-08

    Systems and methods for autonomously controlling agricultural machinery such as a grain combine. The operation components of a combine that function to harvest the grain have characteristics that are measured by sensors. For example, the combine speed, the fan speed, and the like can be measured. An important sensor is the grain loss sensor, which may be used to quantify the amount of grain expelled out of the combine. The grain loss sensor utilizes the fluorescence properties of the grain kernels and the plant residue to identify when the expelled plant material contains grain kernels. The sensor data, in combination with historical and current data stored in a database, is used to identify optimum operating conditions that will result in increased crop yield. After the optimum operating conditions are identified, an on-board computer can generate control signals that will adjust the operation of the components identified in the optimum operating conditions. The changes result in less grain loss and improved grain yield. Also, because new data is continually generated by the sensor, the system has the ability to continually learn such that the efficiency of the agricultural machinery is continually improved.

  19. COMPUTATIONALLY INTELLIGENT MODELLING AND CONTROL OF FLUIDIZED BED COMBUSTION PROCESS

    Directory of Open Access Journals (Sweden)

    Ivan T Ćirić

    2011-01-01

    Full Text Available In this paper modelling and control approaches for fluidized bed combustion process have been considered, that are based on the use of computational intelligence. Proposed adaptive neuro-fuzzy-genetic modelling and intelligent control strategies provide for efficient combining of available expert knowledge with experimental data. Firstly, based on the qualitative information on the desulphurization process, models of the SO2 emission in fluidized bed combustion have been developed, which provides for economical and efficient reduction of SO2 in FBC by estimation of optimal process parameters and by design of intelligent control systems based on defined emission models. Also, efficient fuzzy nonlinear FBC process modelling strategy by combining several linearized combustion models has been presented. Finally, fuzzy and conventional process control systems for fuel flow and primary air flow regulation based on developed models and optimized by genetic algorithms have also been developed. Obtained results indicate that computationally intelligent approach can be successfully applied for modelling and control of complex fluidized bed combustion process.

  20. Intelligent information extraction to aid science decision making in autonomous space exploration

    Science.gov (United States)

    Merényi, Erzsébet; Tasdemir, Kadim; Farrand, William H.

    2008-04-01

    Effective scientific exploration of remote targets such as solar system objects increasingly calls for autonomous data analysis and decision making on-board. Today, robots in space missions are programmed to traverse from one location to another without regard to what they might be passing by. By not processing data as they travel, they can miss important discoveries, or will need to travel back if scientists on Earth find the data warrant backtracking. This is a suboptimal use of resources even on relatively close targets such as the Moon or Mars. The farther mankind ventures into space, the longer the delay in communication, due to which interesting findings from data sent back to Earth are made too late to command a (roving, floating, or orbiting) robot to further examine a given location. However, autonomous commanding of robots in scientific exploration can only be as reliable as the scientific information extracted from the data that is collected and provided for decision making. In this paper, we focus on the discovery scenario, where information extraction is accomplished with unsupervised clustering. For high-dimensional data with complicated structure, detailed segmentation that identifies all significant groups and discovers the small, surprising anomalies in the data, is a challenging task at which conventional algorithms often fail. We approach the problem with precision manifold learning using self-organizing neural maps with non-standard features developed in the course of our research. We demonstrate the effectiveness and robustness of this approach on multi-spectral imagery from the Mars Exploration Rovers Pancam, and on synthetic hyperspectral imagery.

  1. An Autonomous Observation and Control System Based on EPICS and RTS2 for Antarctic Telescopes

    CERN Document Server

    Zhang, Guang-Yu; Tang, Peng-Yi; Jia, Ming-Hao; Chen, Jie; Dong, Shu-Cheng; Jiang, Fengxin; Wu, Wen-Qing; Liu, Jia-Jing; Zhang, Hong-Fei

    2015-01-01

    For an unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS (Experimental Physics and Industrial Control System) and RTS2(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of Open Source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2 respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfill the function of astronomical observation and use EPICS to fulfill the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 dire...

  2. Longitudinal Control of a Platoon of Road Vehicles Equipped with Adaptive Cruise Control System

    Directory of Open Access Journals (Sweden)

    Zeeshan Ali Memon

    2012-07-01

    Full Text Available Automotive vehicle following systems are essential for the design of automated highway system. The problem associated with the automatic vehicle following system is the string stability of the platoon of vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different control algorithm for the longitudinal control of a platoon are discussed based on different spacing policies, communication link among the vehicles of a platoon, and the performance of a platoon have been analysed in the presence of disturbance (noise and parametric uncertainties. This paper presented the PID (Proportional Integral Derivative feedback control algorithm for the longitudinal control of a platoon in the presence of noise signal and investigates the performance of platoon under the influence of sudden acceleration and braking in severe conditions. This model has been applied on 6 vehicles moving in a platoon. The platoon has been analysed to retain the uniform velocity and safe spacing among the vehicles. The limitations of PID control algorithm have been discussed and the alternate methods have been suggested. Model simulations, in comparison with the literature, are also presented.

  3. A feedback-trained autonomous control system for heterogeneous search and rescue applications

    Science.gov (United States)

    Straub, Jeremy

    2012-06-01

    Due to the environment in which operation occurs, earch and rescue (SAR) applications present a challenge to autonomous systems. A control technique for a heterogeneous multi-robot group is discussed. The proposed methodology is not fully autonomous; however, human operators are freed from most control tasks and allowed to focus on perception tasks while robots execute a collaborative search and identification plan. Robotic control combines a centralized dispatch and learning system (which continuously refines heuristics used for planning) with local autonomous task ordering (based on existing task priority and proximity and local conditions). This technique was tested in a SAR analogous (from a control perspective) environment.

  4. An autonomous observation and control system based on EPICS and RTS2 for Antarctic telescopes

    Science.gov (United States)

    Zhang, Guang-yu; Wang, Jian; Tang, Peng-yi; Jia, Ming-hao; Chen, Jie; Dong, Shu-cheng; Jiang, Fengxin; Wu, Wen-qing; Liu, Jia-jing; Zhang, Hong-fei

    2016-01-01

    For unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS-(Experimental Physics and Industrial Control System) and RTS2-(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of open source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2, respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfil the function of astronomical observation and use EPICS to fulfil the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 directly. For the specification and requirement of control system of telescope in Antarctic, core components named Executor and Auto-focus for autonomous observation is designed and implemented with remote operation user interface based on browser-server mode. The whole system including the telescope is tested in Lijiang Observatory in Yunnan Province for practical observation to complete the autonomous observation and control, including telescope control, camera control, dome control, weather information acquisition with the local and remote operation.

  5. The 18th Annual Intelligent Ground Vehicle Competition: trends and influences for intelligent ground vehicle control

    Science.gov (United States)

    Theisen, Bernard L.; Frederick, Philip; Smuda, William

    2011-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 18 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 75 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  6. Comparison of radar and infrared distance sensors for intelligent cruise control systems

    Science.gov (United States)

    Hoess, Alfred; Hosp, Werner; Rauner, Hans

    1995-09-01

    In this paper, infrared distance sensors are compared regarding technology, environmental, and practical aspects. Different methods for obtaining lateral resolution and covering the required detection range are presented for both sensor technologies. Possible positions for sensor installation at the test vehicle have been tested. Experimental results regarding cleaning devices and other environmental problems are presented. Finally, future aspects, e.g. speed over ground measurements or technological steps are discussed.

  7. IT-tool Concept for Design and Intelligent Motion Control

    DEFF Research Database (Denmark)

    Conrad, Finn; Hansen, Poul Erik; Sørensen, Torben

    2000-01-01

    The paper presents results obtained from a Danish mechatronic research program focusing on intelligent motion control as well as results from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility with digital controllers....... Furthermore, a developed IT-tool concept for controller and system design utilising the ISO 10303 STEP Standard is proposed....

  8. An expert system based intelligent control scheme for space bioreactors

    Science.gov (United States)

    San, Ka-Yiu

    1988-01-01

    An expert system based intelligent control scheme is being developed for the effective control and full automation of bioreactor systems in space. The scheme developed will have the capability to capture information from various resources including heuristic information from process researchers and operators. The knowledge base of the expert system should contain enough expertise to perform on-line system identification and thus be able to adapt the controllers accordingly with minimal human supervision.

  9. Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

    Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

  10. Storage Capacity Explains Fluid Intelligence but Executive Control Does Not

    Science.gov (United States)

    Chuderski, Adam; Taraday, Maciej; Necka, Edward; Smolen, Tomasz

    2012-01-01

    We examined whether fluid intelligence (Gf) is better predicted by the storage capacity of active memory or by the effectiveness of executive control. In two psychometric studies, we measured storage capacity with three kinds of task which required the maintenance of a visual array, the monitoring of simple relations among perceptually available…

  11. AUTONOMIC CONTROL OF HEART RATE AFTER EXERCISE IN TRAINED WRESTLERS

    Science.gov (United States)

    Báez, San Martín E.; Von Oetinger, A.; Cañas, Jamett R.; Ramírez, Campillo R.

    2013-01-01

    The objective of this study was to establish differences in vagal reactivation, through heart rate recovery and heart rate variability post exercise, in Brazilian jiu-jitsu wrestlers (BJJW). A total of 18 male athletes were evaluated, ten highly trained (HT) and eight moderately trained (MT), who performed a maximum incremental test. At the end of the exercise, the R-R intervals were recorded during the first minute of recovery. We calculated heart rate recovery (HRR60s), and performed linear and non-linear (standard deviation of instantaneous beat-to-beat R-R interval variability – SD1) analysis of heart rate variability (HRV), using the tachogram of the first minute of recovery divided into four segments of 15 s each (0-15 s, 15-30 s, 30-45 s, 45-60 s). Between HT and MT individuals, there were statistically significant differences in HRR60s (p <0.05) and in the non linear analysis of HRV from SD130-45s (p <0.05) and SD145-60s (p <0.05). The results of this research suggest that heart rate kinetics during the first minute after exercise are related to training level and can be used as an index for autonomic cardiovascular control in BJJW. PMID:24744476

  12. Intelligent Fractional Order Systems and Control An Introduction

    CERN Document Server

    Pan, Indranil

    2013-01-01

    Fractional order calculus is finding increasing interest in the control system community. Hardware realizations of fractional order controllers have sparked off a renewed zeal into the investigations of control system design in the light of fractional calculus. As such many notions of integer order LTI systems are being modified and extended to incorporate these new concepts. Computational Intelligence (CI) techniques have been applied to engineering problems to find solutions to many hitherto intractable conundrums and is a useful tool for dealing with problems of higher computational complexity. This book borders on the interface between CI techniques and fractional calculus, and looks at ways in which fractional order control systems may be designed or enhanced using CI based paradigms. To the best of the author’s knowledge this is the first book of its kind exclusively dedicated to the application of computational intelligence techniques in fractional order systems and control. The book tries to assimil...

  13. Artificial Intelligence Theory and Reconfigurable Control Systems.

    Science.gov (United States)

    1984-06-30

    IEEE Transactions on Automatic Control , Vol...AC-iS, No. 1, Feb 1970. 5. Sklansky, J., "Learning Systems for Automatic Control", IEEE = Transactions on Automatic Control , Vol...34A Gerfcale itellihoode Raio ,-. ~Aproc tohemesecio and Ca Suis nwEtimat eeion" (: Jump in-Linea & -,"Ŗ. Systems", IEEE Transactions on Automatic Control ,

  14. Towards reducing traffic congestion using cooperative adaptive cruise control on a freeway with a ramp

    Directory of Open Access Journals (Sweden)

    Georges Arnaout

    2011-12-01

    Full Text Available Purpose: In this paper, the impact of Cooperative Adaptive Cruise Control (CACC systems on traffic performance is examined using microscopic agent-based simulation. Using a developed traffic simulation model of a freeway with an on-ramp - created to induce perturbations and to trigger stop-and-go traffic, the CACC system’s effect on the traffic performance is studied. The previously proposed traffic simulation model is extended and validated. By embedding CACC vehicles in different penetration levels, the results show significance and indicate the potential of CACC systems to improve traffic characteristics and therefore can be used to reduce traffic congestion. The study shows that the impact of CACC is positive but is highly dependent on the CACC market penetration. The flow rate of the traffic using CACC is proportional to the market penetration rate of CACC equipped vehicles and the density of the traffic.Design/methodology/approach: This paper uses microscopic simulation experiments followed by a quantitative statistical analysis. Simulation enables researchers manipulating the system variables to straightforwardly predict the outcome on the overall system, giving researchers the unique opportunity to interfere and make improvements to performance. Thus with simulation, changes to variables that might require excessive time, or be unfeasible to carry on real systems, are often completed within seconds.Findings: The findings of this paper are summarized as follow:•\tProvide and validate a platform (agent-based microscopic traffic simulator in which any CACC algorithm (current or future may be evaluated.•\tProvide detailed analysis associated with implementation of CACC vehicles on freeways.•\tInvestigate whether embedding CACC vehicles on freeways has a significant positive impact or not.Research limitations/implications: The main limitation of this research is that it has been conducted solely in a computer laboratory. Laboratory

  15. International conference on Advances in Intelligent Control and Innovative Computing

    CERN Document Server

    Castillo, Oscar; Huang, Xu; Intelligent Control and Innovative Computing

    2012-01-01

    In the lightning-fast world of intelligent control and cutting-edge computing, it is vitally important to stay abreast of developments that seem to follow each other without pause. This publication features the very latest and some of the very best current research in the field, with 32 revised and extended research articles written by prominent researchers in the field. Culled from contributions to the key 2011 conference Advances in Intelligent Control and Innovative Computing, held in Hong Kong, the articles deal with a wealth of relevant topics, from the most recent work in artificial intelligence and decision-supporting systems, to automated planning, modelling and simulation, signal processing, and industrial applications. Not only does this work communicate the current state of the art in intelligent control and innovative computing, it is also an illuminating guide to up-to-date topics for researchers and graduate students in the field. The quality of the contents is absolutely assured by the high pro...

  16. The Research on Intelligent Controlled DDS of Polymer Carrier

    Institute of Scientific and Technical Information of China (English)

    ZHANG Zhi-bin; LUO Juan; XU Cheng-yin; CHEN Yuan-wei; TANG Chang-wei; WAN Chang-xiu

    2004-01-01

    The intelligent controlled drug delivery systems (DDS) are a series of the preparations including microcapsules or nanocapsules composed of intelligent polymers and medication. The properties of preparations can change with the external stimuli, such as pH value, temperature,chemical substance, light, electricity and magnetism etc. According to this properties, the DDS can be intelligently controlled. This paper has reviemed research on syntheses and applications of intelligent controlled DDS of polymer carriers.Drug delivery system with pH stimuliThe volume of polymer hydrogel can change with the pH value of external environment. The sensitive polymer hydrogels to pH are often as carriers. The polymer hydrogel carrying medicine is especially suitable for taking orally. In order to protect medicine from losing activation, we enwrapped medicine into polymer hydrogel with acidic group. In the acidic environment of stomach,the volume of polymer hydrogel contracts because of the hydrogen bond. The medicine in the polymer hydrogel cannot disperse out. When it goes to the intestine of basic environment, the hydrogen bond will be broken, and the medicine can release.Drug delivery system with temperatureTemperature sensitive polymer hydrogel can change its volume with changing of environmental temperature. This kind of polymer hydrogel can be also used as a carrier of medicine. At a low temperature, the polymer chains form hydrogen bond with water to swell to let medicine disperse out from the hydrogel. On the other hand, the hydrogen bond will be broken and polymer chain will lose water to contract with temperature's increasing. And the medicine will not disperse out. For example,the poly(N-isopropylacrylamide)(PNIPAAm) is the hydrogel that is swelled at lower temperature and contracted at higher temperature. PNIPAAm has the lower critical solution temperature(LCST).We can adjust its LCST to control PNIPAAm hydrogel's swelling or contraction to let medicine release or not

  17. Intelligent system of coordination and control for manufacturing

    Science.gov (United States)

    Ciortea, E. M.

    2016-08-01

    This paper wants shaping an intelligent system monitoring and control, which leads to optimizing material and information flows of the company. The paper presents a model for tracking and control system using intelligent real. Production system proposed for simulation analysis provides the ability to track and control the process in real time. Using simulation models be understood: the influence of changes in system structure, commands influence on the general condition of the manufacturing process conditions influence the behavior of some system parameters. Practical character consists of tracking and real-time control of the technological process. It is based on modular systems analyzed using mathematical models, graphic-analytical sizing, configuration, optimization and simulation.

  18. Adaptive Fuzzy-Lyapunov Controller Using Biologically Inspired Swarm Intelligence

    Directory of Open Access Journals (Sweden)

    Alejandro Carrasco Elizalde

    2008-01-01

    Full Text Available The collective behaviour of swarms produces smarter actions than those achieved by a single individual. Colonies of ants, flocks of birds and fish schools are examples of swarms interacting with their environment to achieve a common goal. This cooperative biological intelligence is the inspiration for an adaptive fuzzy controller developed in this paper. Swarm intelligence is used to adjust the parameters of the membership functions used in the adaptive fuzzy controller. The rules of the controller are designed using a computing-with-words approach called Fuzzy-Lyapunov synthesis to improve the stability and robustness of an adaptive fuzzy controller. Computing-with-words provides a powerful tool to manipulate numbers and symbols, like words in a natural language.

  19. Autonomic Management of Object Replication for FT-CORBA Based Intelligent Transportation Systems

    Science.gov (United States)

    Suh, Woonsuk; Lee, Eunseok

    Intelligent Transportation Systems (ITS) comprises the electronics, communications or information processing used singly or integrated to improve the efficiency or safety of surface transportation. Accordingly, the ITS has to perform collection, management, and provision of real time transport information reliably. It can be deployed based on the Common Object Request Broker Architecture (CORBA) of the Object Management Group (OMG) because it consists of many interconnected heterogeneous systems deployed by independent organizations. Fault Tolerant CORBA (FT-CORBA) supports real time requirement of transport information stably through redundancy by replication of server objects. However, object replication, management, and related protocols of FT-CORBA require extra system resources of CPU and memory, and can degrade the system performance both locally and as a whole. This paper proposes an architecture to enhance performance of FT-CORBA based ITS in terms of CPU and memory by managing object replication adaptively during system operation with an agent. The application of the agent is expected to support fault tolerance of real ITS efficiently.

  20. DIRECT TORQUE CONTROL FOR INDUCTION MOTOR USING INTELLIGENT TECHNIQUES

    Directory of Open Access Journals (Sweden)

    R.Toufouti

    2007-09-01

    Full Text Available In this paper, we propose two approach intelligent techniques of improvement of Direct Torque Control (DTC of Induction motor such as fuzzy logic (FL and artificial neural network (ANN, applied in switching select voltage vector .The comparison with conventional direct torque control (DTC, show that the use of the DTC_FL and DTC_ANN, reduced the torque, stator flux, and current ripples. The validity of the proposed methods is confirmed by the simulative results.

  1. Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    İkbal Eski

    2014-01-01

    Full Text Available A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow. It is proved that this kind of neural predictor could be used in real-time AUV applications.

  2. Diagnostics for Intelligent Control of MPD Engines

    Science.gov (United States)

    1988-11-15

    for existence of a stabilizing control . The special case of an infinite dimensional dynamical system which has the characteristics of a contraction...provided sufficient conditions leading to the existence of a stabilizing control . It can be shown that under the condition of contraction, the

  3. Intelligent Overload Control for Composite Web Services

    NARCIS (Netherlands)

    Meulenhoff, P.J.; Ostendorf, D.R.; Zivkovic, M.; Meeuwissen, H.B.; Gijsen, B.M.M.

    2009-01-01

    In this paper, we analyze overload control for composite web services in service oriented architectures by an orchestrating broker, and propose two practical access control rules which effectively mitigate the effects of severe overloads at some web services in the composite service. These two rules

  4. Intelligent overload control for composite web services

    NARCIS (Netherlands)

    Meulenhoff, P.J.; Ostendorf, D.R.; Živković, M.; Meeuwissen, H.B.; Gijsen, B.M.M.

    2009-01-01

    In this paper, we analyze overload control for composite web services in service oriented architectures by an orchestrating broker, and propose two practical access control rules which effectively mitigate the effects of severe overloads at some web services in the composite service. These two rules

  5. Intelligent Predictive Control of Nonlienar Processes Using

    DEFF Research Database (Denmark)

    Nørgård, Peter Magnus; Sørensen, Paul Haase; Poulsen, Niels Kjølstad

    1996-01-01

    frequently been discussed in the neural network community. This paper proposes an approximate scheme, the approximate predictive control (APC), which facilitates the implementation and gives a substantial reduction in the required amount of computations. The method is based on a technique for extracting......This paper presents a novel approach to design of generalized predictive controllers (GPC) for nonlinear processes. A neural network is used for modelling the process and a gain-scheduling type of GPC is subsequently designed. The combination of neural network models and predictive control has...... linear models from a nonlinear neural network and using them in designing the control system. The performance of the controller is demonstrated in a simulation study of a pneumatic servo system...

  6. Intelligent Mobile Robot Control in Unknown Environments

    Science.gov (United States)

    Mester, Gyula

    This paper gives the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy is necessary. We proposed a fuzzy reactive navigation strategy of collision-free motion in an unknown environment with obstacles. First, the vehicle kinematics constraints and kinematics model are analyzed. Then the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles is proposed. Output of the fuzzy controller is the angular speed difference between the left and right wheels (wheel angular speed correction) of the vehicle. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment of the proposed fuzzy control strategy.

  7. Design Intelligent Robust Back stepping Controller

    Directory of Open Access Journals (Sweden)

    Zahra Esmaieli

    2014-01-01

    Full Text Available The increasing demand for multi-degree-of-freedom (DOF continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. The robust backstopping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust backstopping controller is designed to achieve this objective. The controller developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation based on modified PD backstopping controller. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to estimate the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

  8. The Effects of Powertrain Mechanical Response on the Dynamics and String Stability of a Platoon of Adaptive Cruise Control Vehicles

    CERN Document Server

    Davis, L C

    2013-01-01

    The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle's power-train. Effects of acceleration-feedback control that were not previously studied are found. For small acceleration-feedback gain, which produces marginally string-stable behavior, the reduction of a disturbance (with increasing car number n) is found to be faster than for the maximum allowable gain. The asymptotic magnitude of a disturbance is shown to fall off as erf(ct./sq. rt. n) when n goes to infinity. For gain approaching the lower limit of stability, oscillations in acceleration associated with a secondary maximum in the transfer function (as a function of frequency) can occur. A frequency-dependent gain that reduces the secondary maximum, but does not affect the transfer function near zero frequency, is proposed. Performance is thereby improved by elimination of the undesirable oscillations while the rapid disturbance reduction is retained.

  9. Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

    OpenAIRE

    Lin-Lin Wang; Hong-Jian Wang; Li-Xin Pan; Jun-Xi Guo

    2015-01-01

    Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used...

  10. Intelligent Control and Health Monitoring. Chapter 3

    Science.gov (United States)

    Garg, Sanjay; Kumar, Aditya; Mathews, H. Kirk; Rosenfeld, Taylor; Rybarik, Pavol; Viassolo, Daniel E.

    2009-01-01

    Advanced model-based control architecture overcomes the limitations state-of-the-art engine control and provides the potential of virtual sensors, for example for thrust and stall margin. "Tracking filters" are used to adapt the control parameters to actual conditions and to individual engines. For health monitoring standalone monitoring units will be used for on-board analysis to determine the general engine health and detect and isolate sudden faults. Adaptive models open up the possibility of adapting the control logic to maintain desired performance in the presence of engine degradation or to accommodate any faults. Improved and new sensors are required to allow sensing at stations within the engine gas path that are currently not instrumented due in part to the harsh conditions including high operating temperatures and to allow additional monitoring of vibration, mass flows and energy properties, exhaust gas composition, and gas path debris. The environmental and performance requirements for these sensors are summarized.

  11. Sensor fusion for intelligent process control.

    Energy Technology Data Exchange (ETDEWEB)

    Connors, John J. (PPG Industries, Inc., Harmar Township, PA); Hill, Kevin (PPG Industries, Inc., Harmar Township, PA); Hanekamp, David (PPG Industries, Inc., Harmar Township, PA); Haley, William F. (PPG Industries, Inc., Wichita Falls, TX); Gallagher, Robert J.; Gowin, Craig (PPG Industries, Inc., Batavia, IL); Farrar, Arthur R. (PPG Industries, Inc., Wichita Falls, TX); Sheaffer, Donald A.; DeYoung, Mark A. (PPG Industries, Inc., Mt. Zion, IL); Bertram, Lee A.; Dodge, Craig (PPG Industries, Inc., Mt. Zion, IL); Binion, Bruce (PPG Industries, Inc., Mt. Zion, IL); Walsh, Peter M.; Houf, William G.; Desam, Padmabhushana R. (University of Utah, Salt Lake City, UT); Tiwary, Rajiv (PPG Industries, Inc., Harmar Township, PA); Stokes, Michael R. (PPG Industries, Inc.); Miller, Alan J. (PPG Industries, Inc., Mt. Zion, IL); Michael, Richard W. (PPG Industries, Inc., Lincoln, AL); Mayer, Raymond M. (PPG Industries, Inc., Harmar Township, PA); Jiao, Yu (PPG Industries, Inc., Harmar Township, PA); Smith, Philip J. (University of Utah, Salt Lake City, UT); Arbab, Mehran (PPG Industries, Inc., Harmar Township, PA); Hillaire, Robert G.

    2004-08-01

    An integrated system for the fusion of product and process sensors and controls for production of flat glass was envisioned, having as its objective the maximization of throughput and product quality subject to emission limits, furnace refractory wear, and other constraints. Although the project was prematurely terminated, stopping the work short of its goal, the tasks that were completed show the value of the approach and objectives. Though the demonstration was to have been done on a flat glass production line, the approach is applicable to control of production in the other sectors of the glass industry. Furthermore, the system architecture is also applicable in other industries utilizing processes in which product uniformity is determined by ability to control feed composition, mixing, heating and cooling, chemical reactions, and physical processes such as distillation, crystallization, drying, etc. The first phase of the project, with Visteon Automotive Systems as industrial partner, was focused on simulation and control of the glass annealing lehr. That work produced the analysis and computer code that provide the foundation for model-based control of annealing lehrs during steady state operation and through color and thickness changes. In the second phase of the work, with PPG Industries as the industrial partner, the emphasis was on control of temperature and combustion stoichiometry in the melting furnace, to provide a wider operating window, improve product yield, and increase energy efficiency. A program of experiments with the furnace, CFD modeling and simulation, flow measurements, and sensor fusion was undertaken to provide the experimental and theoretical basis for an integrated, model-based control system utilizing the new infrastructure installed at the demonstration site for the purpose. In spite of the fact that the project was terminated during the first year of the second phase of the work, the results of these first steps toward implementation

  12. Intelligent traffic control system using PLC

    Science.gov (United States)

    Barz, C.; Todea, C.; Latinovic, T.; Preradovic, D. M.; Deaconu, S.; Berdie, A.

    2016-08-01

    The paper presents the traffic control system controlled through a PLC which takes the signals from different sensors on roads. The global system developed ensures the coordination of four intersections, setting a path that respects coordination type green light, the integration of additional sensors, the implementation of probes radar to inform traffic participants about recommended speed for accessing the green state located in the intersection that will follow to cross.

  13. Intelligence.

    Science.gov (United States)

    Sternberg, Robert J

    2012-03-01

    Intelligence is the ability to learn from experience and to adapt to, shape, and select environments. Intelligence as measured by (raw scores on) conventional standardized tests varies across the lifespan, and also across generations. Intelligence can be understood in part in terms of the biology of the brain-especially with regard to the functioning in the prefrontal cortex-and also correlates with brain size, at least within humans. Studies of the effects of genes and environment suggest that the heritability coefficient (ratio of genetic to phenotypic variation) is between .4 and .8, although heritability varies as a function of socioeconomic status and other factors. Racial differences in measured intelligence have been observed, but race is a socially constructed rather than biological variable, so such differences are difficult to interpret.

  14. Unmanned Tactical Autonomous Control and Collaboration Threat and Vulnerability Assessment

    Science.gov (United States)

    2015-06-01

    Bekey, and K. Abney. (2008). “Autonomous military robotics : Risk, ethics , and design.” Prepared for the Department of the Navy, Office of Naval...ATTITUDE TOWARDS EMERGING TECHNOLOGIES ..........55 APPENDIX E. AUTONOMY AS AN ETHICAL CONCERN ................................57 APPENDIX F...deal with a rogue actor. Ownership and Maintenance of UTACC, Attitude Towards Emerging Technologies and Equipment, and Autonomy as an Ethical

  15. A Review of Cardiovascular Autonomic Control in Cluster Headache

    DEFF Research Database (Denmark)

    Barloese, Mads C J

    2016-01-01

    triggered during periods of parasympathetic dominance. A better understanding of this interaction may provide insight into central autonomic regulation and its role in cluster headache. METHODS: A PubMed search was performed in April 2015 using the search terms "cluster headache," "cardiovascular...

  16. Diagnosis for Control and Decision Support for Autonomous Vehicles

    DEFF Research Database (Denmark)

    Blanke, Mogens; Hansen, Søren; Rufus Blas, Morten

    2016-01-01

    in practise. Yet they are also affordable due to the use of fault-tolerant philosophies and tools that make engineering efforts minimal for their implementation. The chapter includes examples for an autonomous aircraft and a baling system for agriculture to illustrate the generic design procedures and real...

  17. Guidance and control for an autonomous soaring UAV

    Science.gov (United States)

    Allen, Michael J. (Inventor)

    2008-01-01

    The present invention provides a practical method for UAVs to take advantage of thermals in a manner similar to piloted aircrafts and soaring birds. In general, the invention is a method for a UAV to autonomously locate a thermal and be guided to the thermal to greatly improve range and endurance of the aircraft.

  18. Flexible Decision Control in an Autonomous Trading Agent

    NARCIS (Netherlands)

    J. Collins (John); W. Ketter (Wolfgang); M. Gini (Maria)

    2007-01-01

    textabstractAn autonomous trading agent is a complex piece of software that must operate in a competitive economic environment and support a research agenda. We describe the structure of decision processes in the MinneTAC trading agent, focusing on the use of evaluators – configurable, composable mo

  19. Intelligent control of mixed-culture bioprocesses

    Energy Technology Data Exchange (ETDEWEB)

    Stoner, D.L.; Larsen, E.D.; Miller, K.S. [Idaho National Engineering Lab., Idaho Falls, ID (United States)] [and others

    1995-12-31

    A hierarchical control system is being developed and applied to a mixed culture bioprocess in a continuous stirred tank reactor. A bioreactor, with its inherent complexity and non-linear behavior was an interesting, yet, difficult application for control theory. The bottom level of the hierarchy was implemented as a number of integrated set point controls and data acquisition modules. Within the second level was a diagnostic system that used expert knowledge to determine the operational status of the sensors, actuators, and control modules. A diagnostic program was successfully implemented for the detection of stirrer malfunctions, and to monitor liquid delivery rates and recalibrate the pumps when deviations from desired flow rates occurred. The highest control level was a supervisory shell that was developed using expert knowledge and the history of the reactor operation to determine the set points required to meet a set of production criteria. At this stage the supervisory shell analyzed the data to determine the state of the system. In future implementations, this shell will determine the set points required to optimize a cost function using expert knowledge and adaptive learning techniques.

  20. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  1. Research on Intelligent Control of Roving Frame

    Institute of Scientific and Technical Information of China (English)

    王有庆; 李从心; 王占杭

    2003-01-01

    A new model of roving frame FA467,which uses four frequency inverters to replace the complex mechanical transmission,is discussed.A Neuron-PID is designed to reduce the effect of various parametric variations such as load inertia.To ensure the constant spinning tension all over the spinning process,a feedforward controller using iterative learning control algorithm is designed to avoid disturbances caused by changes of temperature,humidity and so on.The simulation result is shown to illustrate the effectiveness of the proposed algorithm,and now the roving frame FA467 has been developed successfully.

  2. Design of the Agent-based Intelligent Control System

    Directory of Open Access Journals (Sweden)

    Baltazár Frankovič

    2005-11-01

    Full Text Available This paper introduces the possibilities of multi-agent system application for themodeling and intelligent control in the case of coarse ceramics burning process. It consistsof technological description of this process, its decomposition into agents and macro-modelof the decision system. Then multi-agent system modeling tools, such as alternating-timetemporal logic and alternating transition systems and their epistemic extensions, arepresented.

  3. An intelligent guidance and control system for ship obstacle avoidance

    OpenAIRE

    Harris, C J; Hong, X.; Wilson, P. A.

    1999-01-01

    An intelligent guidance and control system using a neurofuzzy network multistep ahead predictor model is introduced and applied to ship obstacle avoidance, which uses only observed input/output data generated by on board and external sensors, and a data fusion algorithm to generate the desired waypoints. A simple and effective waypoint guidance scheme based on line-of-sight is derived for a data based ship model. A neurofuzzy network predictor, based on using rudder deflection angle for the c...

  4. Recent advances in sliding modes from control to intelligent mechatronics

    CERN Document Server

    Efe, Mehmet

    2015-01-01

    This volume is dedicated to Professor Okyay Kaynak to commemorate his life time impactful research and scholarly achievements and outstanding services to profession. The 21 invited chapters have been written by leading researchers who, in the past, have had association with Professor Kaynak as either his students and associates or colleagues and collaborators. The focal theme of the volume is the Sliding Modes covering a broad scope of topics from theoretical investigations to their significant applications from Control to Intelligent Mechatronics.  

  5. Graded vascular autonomic control versus discontinuous cardiac control during gradual upright tilt.

    Science.gov (United States)

    Bahjaoui-Bouhaddi, M; Cappelle, S; Henriet, M T; Dumoulin, G; Wolf, J P; Regnard, J

    2000-03-15

    Indexes of heart rate variability (HRV) and the slope of cardiac baroreflex are extensively used for non invasive assessment of circulatory autonomic control in pathophysiology. We performed this study (1) to assess the sensitivity of these indexes towards small graded postural stimulations and (2) to delineate the informations provided about the settings of both vascular tone and cardiac activity. Twenty healthy subjects were randomly tilted for eight minutes at each of the six angles: -10 degrees, 0 degrees (supine), 10 degrees, 30 degrees, 45 degrees, and 60 degrees. Instant RR-interval and finger blood pressure (BP) were continuously recorded, and venous blood was collected at the end of each 8 min position for catecholamines determination. Group average heart rate, noradrenaline and diastolic BP (DBP) increased linearly with head-up tilt angle from 10 degrees. Systolic BP (SBB) ranked only two distinct series -10 degrees, 0 degrees, 10 degrees versus 30 degrees, 45 degrees, 60 degrees, as did the number of spontaneous baroreflex (SBR) sequences. The spectral power of the low-frequency (LF) and high-frequency (HF) of RR variability and the ratio LF/HF changed rather abruptly from either 30 degrees or 45 degrees, depending on each individual. Both HF/tot i.e. the ratio of HF to total spectral RR variability and the slope of SBR decreased markedly from 10 degrees to 30 degrees and less but more gradually from 30 degrees to 60 degrees. Thus, our observations argue for gradual adjustments of vascular tone as reflected by highly consistent changes in plasma noradrenaline and diastolic arterial pressure, contrasting with a main discontinuous autonomic setting of cardiac activity as reflected by changes in the harmonic components of spectral RR variability and in the slope of cardiac baroreflex. The pattern of changes in systolic arterial pressure attested the discontinuous cardiac autonomic control rather than the gradual setting of arterial tone. We submit that

  6. Speech intelligibility measure for vocal control of an automaton

    Science.gov (United States)

    Naranjo, Michel; Tsirigotis, Georgios

    1998-07-01

    The acceleration of investigations in Speech Recognition allows to augur, in the next future, a wide establishment of Vocal Control Systems in the production units. The communication between a human and a machine necessitates technical devices that emit, or are submitted to important noise perturbations. The vocal interface introduces a new control problem of a deterministic automaton using uncertain information. The purpose is to place exactly the automaton in a final state, ordered by voice, from an unknown initial state. The whole Speech Processing procedure, presented in this paper, has for input the temporal speech signal of a word and for output a recognised word labelled with an intelligibility index given by the recognition quality. In the first part, we present the essential psychoacoustic concepts for the automatic calculation of the loudness of a speech signal. The architecture of a Time Delay Neural Network is presented in second part where we also give the results of the recognition. The theory of the fuzzy subset, in third part, allows to extract at the same time a recognised word and its intelligibility index. In the fourth part, an Anticipatory System models the control of a Sequential Machine. A prediction phase and an updating one appear which involve data coming from the information system. A Bayesian decision strategy is used and the criterion is a weighted sum of criteria defined from information, minimum path functions and speech intelligibility measure.

  7. Robust algebraic image enhancement for intelligent control systems

    Science.gov (United States)

    Lerner, Bao-Ting; Morrelli, Michael

    1993-01-01

    Robust vision capability for intelligent control systems has been an elusive goal in image processing. The computationally intensive techniques a necessary for conventional image processing make real-time applications, such as object tracking and collision avoidance difficult. In order to endow an intelligent control system with the needed vision robustness, an adequate image enhancement subsystem capable of compensating for the wide variety of real-world degradations, must exist between the image capturing and the object recognition subsystems. This enhancement stage must be adaptive and must operate with consistency in the presence of both statistical and shape-based noise. To deal with this problem, we have developed an innovative algebraic approach which provides a sound mathematical framework for image representation and manipulation. Our image model provides a natural platform from which to pursue dynamic scene analysis, and its incorporation into a vision system would serve as the front-end to an intelligent control system. We have developed a unique polynomial representation of gray level imagery and applied this representation to develop polynomial operators on complex gray level scenes. This approach is highly advantageous since polynomials can be manipulated very easily, and are readily understood, thus providing a very convenient environment for image processing. Our model presents a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets.

  8. Development and flight test of a multi-function controller for automated cruise flaps on an aircraft wing

    Science.gov (United States)

    Cox, Craig Allen

    Cruise flaps are trailing-edge flaps which minimize the profile drag of a wing by moving the low-drag-region (or bucket) of a drag polar such that it spans the current coefficient of lift. Previous research has explored the use of a pressure-based technique for automating cruise flaps. Data obtained using this technique can be presented in a number of different formats, and different presentations of the same data tend to lead to the development of different types of automating controllers. The presentation used by previous researchers led to the development of a drag-minimizing controller that required a low-pass filter to prevent instability. This prevented the controller from being used for purposes which required a fast-acting flap. The presentation of pressure data used in this research led to the development of a multi-function controller that includes both slow-acting functionality (drag reduction) and fast-acting functionality (gust alleviation). The pressure-based technique developed by previous researchers using natural-laminar-flow (NLF) airfoils must be modified somewhat for the low Reynolds number SD7037 airfoil used in this research. Drag polars for low Reynolds number airfoils do not behave as predictably as those for NLF airfoils at much higher Reynolds numbers. A series of rigid-aircraft simulations were conducted to show the effectiveness of the multi-function controller, which was able to simultaneously reduce drag and alleviate the effects of vertical gusts. A flight controller was developed using low-cost microcontrollers and pressure transducers. The controller implemented a slow-acting drag-reduction function and a fast-acting function to handle pilot-commanded elevator inputs. Gust alleviation was not implemented due to limitations of the available hardware and flight test conditions. The controller was tested on an radio-controlled sailplane with a wingspan of 100 inches. Although direct measurement of the drag of an aircraft this size is

  9. Intelligent Design and Implementation of Missile Fire Control System

    Institute of Scientific and Technical Information of China (English)

    XIE Chun-si; WANG Min-qing; LI Wei-hai; LIU Xi-zuo; JIN Liang-an

    2006-01-01

    Missile fire control system is the core of ship-based missile weapon system, whose safeguard levelhas direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, it was found that, in one missile fire control system, there are such problems as single safeguard system, low ratio of cost to efficiency, etc. By adopting intelligent control techniques and many measures to multiple securities, the new type of assistant system is designed, some difficult problems are solved, such as fixed project channel and unitary means of missiles, which can make the equipment carry out combat mission reliably and continuously.

  10. Sliding Mode Control of Robot Manipulators via Intelligent Approaches

    OpenAIRE

    Shafiei, S. Ehsan

    2010-01-01

    This chapter addressed sliding mode control (SMC) of n-link robot manipulators by using of intelligent methods including fuzzy logic and neural network strategies. In this regard, three control strategies were investigated. In the first case, design of a sliding mode control with a PID loop for robot manipulator was presented in which the gain of both SMC and PID was tuned on-line by using fuzzy approach. The proposed methodology in fact tries to use the advantages of the SMC, PID and Fuzzy c...

  11. KEY TECHNOLOGY IN INTELLIGENT CONTROL FOR SHEET METAL DEEP DRAWING

    Institute of Scientific and Technical Information of China (English)

    罗亚军; 赵军; 何丹农; 张永清

    2001-01-01

    Intellectualization of sheet metal in deep drawing is a new combined technology, which is concerned with control science and computer science and sheet metal forming theory. The intelligent control system for sheet metal deep drawing consists of four fundamental factors: real-time measurement, identification, prediction and control. Real-time identification of material properties and friction coefficient is the most important factor in the whole system. An artificial neural network model for identification of the material properties and friction coefficient was established according to deep drawing characteristics and more automation. The identification of the material properties and friction coefficient was realized.

  12. PV grid connected system with fuzzy intelligent control

    Directory of Open Access Journals (Sweden)

    Florin DRAGOMIR

    2009-05-01

    Full Text Available This paper proposes an engineering solution for stability control of the low voltage electrical networks with distributed power generation from renewable energy resources. First there are presentedgenerally, the existing problems in this type of systems, capable to be solved with automation intelligent control. In the second part, the paper focuses over fuzzy controller design based on experimentalmonitored data and experts know how. The results of proposed software realized with LabView will be pointed out from the main objective point of view.

  13. Embedded intelligent adaptive PI controller for an electromechanical system.

    Science.gov (United States)

    El-Nagar, Ahmad M

    2016-09-01

    In this study, an intelligent adaptive controller approach using the interval type-2 fuzzy neural network (IT2FNN) is presented. The proposed controller consists of a lower level proportional - integral (PI) controller, which is the main controller and an upper level IT2FNN which tuning on-line the parameters of a PI controller. The proposed adaptive PI controller based on IT2FNN (API-IT2FNN) is implemented practically using the Arduino DUE kit for controlling the speed of a nonlinear DC motor-generator system. The parameters of the IT2FNN are tuned on-line using back-propagation algorithm. The Lyapunov theorem is used to derive the stability and convergence of the IT2FNN. The obtained experimental results, which are compared with other controllers, demonstrate that the proposed API-IT2FNN is able to improve the system response over a wide range of system uncertainties.

  14. DSP applications in advanced, intelligent motion control: the future

    Energy Technology Data Exchange (ETDEWEB)

    Beierke, S. [Texas Instruments Deutschland GmBh, Freising (Germany); Vas, P. [Univ. of Aberdeen, Dept. of Engineering (United Kingdom)

    2000-08-01

    Recently there has been a rapid increase in the number of DSPs for various motion control applications. However, in the future, further significant increase is expected due to wider applications in existing and new areas (e.g. household appliances, automotive auxiliaries, micro-electromechanical systems, military applications, etc.). The present paper discusses the state-of-art Texas Instruments fixed point and floating point DSPs used in motion control applications and will also focus on future activities. Currently new chip technologies are being developed which involve copper interconnects, silicon-on-insulator wafers, insulators with- low dielectric constants, etc. It is expected that future single-chip DSPs for advanced intelligent motion control will have higher performance, reduced costs, simpler designs, will incorporate various sensors, different modules for optimised PWM generation, efficiency control, vector and direct torque control (sensorless and quasisensorless solutions as well), condition monitoring, selfcommissioning, artificial-intelligence-based control, etc. A manufacturer's task of implementing sensorless and/or quasisensorless torque control schemes for induction, synchronous and switched reluctance motor drives will be significantly reduced by the application of the newly developed DSPs. The paper will discuss these issues and will also show some implementation results in various sensorless (classical DTC; DTC with torque-ripple reduction schemes; vector) and quasisensorless ac drives (e.g. a vector controlled induction motor drive). (orig.)

  15. A Mission-Adaptive Variable Camber Flap Control System to Optimize High Lift and Cruise Lift-to-Drag Ratios of Future N+3 Transport Aircraft

    Science.gov (United States)

    Urnes, James, Sr.; Nguyen, Nhan; Ippolito, Corey; Totah, Joseph; Trinh, Khanh; Ting, Eric

    2013-01-01

    Boeing and NASA are conducting a joint study program to design a wing flap system that will provide mission-adaptive lift and drag performance for future transport aircraft having light-weight, flexible wings. This Variable Camber Continuous Trailing Edge Flap (VCCTEF) system offers a lighter-weight lift control system having two performance objectives: (1) an efficient high lift capability for take-off and landing, and (2) reduction in cruise drag through control of the twist shape of the flexible wing. This control system during cruise will command varying flap settings along the span of the wing in order to establish an optimum wing twist for the current gross weight and cruise flight condition, and continue to change the wing twist as the aircraft changes gross weight and cruise conditions for each mission segment. Design weight of the flap control system is being minimized through use of light-weight shape memory alloy (SMA) actuation augmented with electric actuators. The VCCTEF program is developing better lift and drag performance of flexible wing transports with the further benefits of lighter-weight actuation and less drag using the variable camber shape of the flap.

  16. Multimodel Approach for Intelligent Control and Applications

    Institute of Scientific and Technical Information of China (English)

    Abdelkader El Kamel; Pierre Borne

    2004-01-01

    The use of the multimodel approach in the modelling, analysis and control of non-linear complex and/or ill-defined systems was advocated by many researchers. This approach supposes the definition of a set of local models valid in a given region or domain. Different strategies exist in the literature and are generally based on a partitioning of the non-linear system's full range of operation into multiple smaller operating regimes each of which is associated with a locally valid model or controller. However, most of these strategies, which suppose the determination of these local models as well as their validity domain, remain arbitrary and are generally fixed thanks to a certain a priori knowledge of the system whatever its order. Recently, we have proposed a new approach to derive a multimodel basis which allows us to limit the number of models in the basis to almost four models. Meanwhile, the transition problem between the different models, which may use either a simple commutation or a fusion technique, remains still arise. In this plenary talk, a fuzzy fusion technique is presented and has the following main advantages: (1) use of a fuzzy partitioning in order to determine the validity of each model which enhances the robustness of the solution; (2) introduction, besides the four extreme models, of another model, called average model, determined as an average of the boundary models.

  17. H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

    Science.gov (United States)

    Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

    2010-03-01

    In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

  18. 1/f scaling in heart rate requires antagonistic autonomic control

    Science.gov (United States)

    Struzik, Zbigniew R.; Hayano, Junichiro; Sakata, Seiichiro; Kwak, Shin; Yamamoto, Yoshiharu

    2004-11-01

    We present systematic evidence for the origins of 1/f -type temporal scaling in human heart rate. The heart rate is regulated by the activity of two branches of the autonomic nervous system: the parasympathetic (PNS) and the sympathetic (SNS) nervous systems. We examine alterations in the scaling property when the balance between PNS and SNS activity is modified, and find that the relative PNS suppression by congestive heart failure results in a substantial increase in the Hurst exponent H towards random-walk scaling 1/f2 and a similar breakdown is observed with relative SNS suppression by primary autonomic failure. These results suggest that 1/f scaling in heart rate requires the intricate balance between the antagonistic activity of PNS and SNS.

  19. Age Effect on Autonomic Cardiovascular Control in Pilots

    Science.gov (United States)

    2000-08-01

    Nantcheva**, M. Vukov*** *National Center of Hygiene, Medical Ecology and Nutrition 15 Dimitar Nestorov Blvd. 1431 Sofia, Bulgaria "**Military Medical...cardiovascular derived indices. Most sensitive to aging process from regulation, involve in part autonomic influences. time-domain HRV measures...completing of the mission tasks (15). A components, and baroreflex sensitivity with age (29). number of studies have investigated the impact of the

  20. Research On Android Intelligent Phones Controlling the Car to Run

    Directory of Open Access Journals (Sweden)

    Jinsong Song

    2013-07-01

    Full Text Available The system finished the android smart mobile phone to control the intelligent car to avoid the obstacles wirelessly based on the bluetooth communication protocol. The android system is popular. But researches on applying it in the wireless sensors are very few. This paper allowed the bluetooth-enabled android phones to communicate with sensors wirelessly through our designed software. The software is installed simplely on the phones.The operator can run the software and touch the screen on the intelligent phones to drive the car. When he/she presses the front / the back/the left/the right on the LCD screen of the phones, the car can move forward / backward / the left or / the right. In addition, the gravity sensing of the smart telephone can also control the motion of the car wirelessly in the same way. The car itself can avoid the obstacle intelligently. The ultrasonic sensor can finish the rotation of the 180 degrees to detect the obstacle with the help of the steering gear. And the system also designed the PCB and made the hardware by ourself. The system has advantages of low-cost, convenience and feasibility

  1. 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

    OpenAIRE

    Zhenyu Yu; Kenzo Nonami; Jinok Shin; Demian Celestino

    2007-01-01

    Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV) to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The abovetheground height sensing is based on a 3D vision system. We have designed a simple planefitting method for e...

  2. Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y.M. [Samsung Electronics Co., Ltd., Seoul (Korea); Lim, M.S. [Kyonggi Institute of Technology, Shihung (Korea); Lim, J.H. [Hanyang University, Seoul (Korea)

    2002-05-01

    This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments. (author). 13 refs., 13 figs., 1 tab.

  3. INTELLIGENT CONTROL SYSTEM OF PULSED MAG WELDING INVERTER BASED ON DIGITAL SIGNAL PROCESSOR

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    A fuzzy logic intelligent control system of pulsed MAG welding inverter based on digital signal processor (DSP) is proposed to obtain the consistency of arc length in pulsed MAG welding. The proposed control system combines the merits of intelligent control with DSP digital control. The fuzzy logic intelligent control system designed is a typical two-input-single-output structure, and regards the error and the change in error of peak arc voltage as two inputs and the background time as single output. The fuzzy logic intelligent control system is realized in a look-up table (LUT) method by using MATLAB based fuzzy logic toolbox, and the implement of LUT method based on DSP is also discussed. The pulsed MAG welding experimental results demonstrate that the developed fuzzy logic intelligent control system based on DSP has strong arc length controlling ability to accomplish the stable pulsed MAG welding process and controls pulsed MAG welding inverter digitally and intelligently.

  4. Intelligent energy management control for independent microgrid

    Indian Academy of Sciences (India)

    T BOGARAJ; J KANAKARAJ

    2016-07-01

    This work presents a new adaptive scheme for energy management in an independent microgrid.The proposed energy management system has been developed to manage the utilization of power among the hybrid resources and energy storage system in order to supply the load requirement based on multi-agent system (MAS) concept and predicted renewable powers and load powers. Auto regressive moving average models have been developed for predicting the wind speed, atmospheric temperature, irradiation, and connected loads. The structure proposed in this paper includes renewable sources as primary source and storage system as secondary source. A wind generator and solar PV array system together acts as primary source, which supplies power to the local load most of the time in this energy management strategy. When they fail to meet the load demand, the secondary source present in the system will assist the primary source and help to attain the goal of satisfying load demand without interruption. If the primary source and secondary source together are not able to meet the load demand then load shedding will be executed according to the priority set. Thus the developed MAS algorithm co-ordinates the hybrid system components and achieves energy management among renewableenergy sources, storage units, and load under varying environmental conditions and varying loads. STATCOM based compensation has been implemented to balance the reactive power demand and to mitigate the voltage fluctuations and harmonics on the AC bus. The proposed microgrid has been simulated with MAS concept in Matlab/Simulink environment. The results presented in this paper show cases the effectiveness of the proposed energy management controller.

  5. Robotic reactions: Delay-induced patterns in autonomous vehicle systems

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  6. Robotic reactions: delay-induced patterns in autonomous vehicle systems.

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  7. Display For Command, Control, Communication and Intelligence System

    Directory of Open Access Journals (Sweden)

    S. Prabhu

    1998-04-01

    Full Text Available Display subsystem is an important part of command, control, communication and intelligence(C31 system. The display used in C31 system for air defence should provide a panoramic view of thecomplete air segment under its command and control in real-time. The necessary information requiredfor taking a quick decision should be available to the commander in easily understandable graphicformat This paper describes salient features of the display known as synthetic radar situation display(SRSD developed by the Defence Electronics Research Laboratory (DLRL, Hyderabad, for such applications

  8. Advanced and intelligent computations in diagnosis and control

    CERN Document Server

    2016-01-01

    This book is devoted to the demands of research and industrial centers for diagnostics, monitoring and decision making systems that result from the increasing complexity of automation and systems, the need to ensure the highest level of reliability and safety, and continuing research and the development of innovative approaches to fault diagnosis. The contributions combine domains of engineering knowledge for diagnosis, including detection, isolation, localization, identification, reconfiguration and fault-tolerant control. The book is divided into six parts:  (I) Fault Detection and Isolation; (II) Estimation and Identification; (III) Robust and Fault Tolerant Control; (IV) Industrial and Medical Diagnostics; (V) Artificial Intelligence; (VI) Expert and Computer Systems.

  9. Intelligent supervisory-level control of industrial processes

    Energy Technology Data Exchange (ETDEWEB)

    Jaervensivu, M. [Pronyx Control Software (Finland); Juuso, E. [Oulu Univ. (Finland). Control Engineering Lab.

    2000-07-01

    Faced by intense competition, the pulp and paper industry is aiming for higher profitability by raising productivity and lowering costs. On the global scale, the industry has to meet increasing market demands for higher product quality, more specialty products, greater production flexibility and a higher standard of environmental protection. For these reasons, extensive research is being conducted to improve existing processes. One option that is gaining increasing attention within the industry is to improve control of existing processes by means of intelligent systems. In this paper, an intelligent kiln control system is presented. The system consists of two parts: the stabilizing control is based on a new LECont concept which uses a novel linguistic equation approach, while the targets are determined by a StabOpti concept on the optimisation level. Nonlinear models obtained from process data are used for optimisation and compensation of load disturbances. According to test results from on industrial pulp mill, operational flexibility was improved and both economic and ecological benefits were obtained. The overall control system provides a better insight into the process and extends the scope of both fuzzy logic control and advanced extensions of classical control. (orig.)

  10. Development of linear parameter varying control system for autonomous underwater vehicle

    OpenAIRE

    Sutarto, Herman; Budiyono, Agus

    2011-01-01

    The development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented. The LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. The LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and - synthesis to form a robust LPV control system. The LPV control design is applied for a pitch control of the AUV to fulfill control...

  11. Intelligent Control of a Novel Hydraulic Forging Manipulator

    Directory of Open Access Journals (Sweden)

    J. Wang

    2011-01-01

    Full Text Available The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

  12. Intelligent failure-proof control system for structural vibration

    Energy Technology Data Exchange (ETDEWEB)

    Yoshida, Kazuo [Keio Univ., Yokohama (Japan). Faculty of Science and Technology; Oba, Takahiro [Keio Univ., Tokyo (Japan)

    2000-11-01

    With progress of technology in recent years, gigantism and complication such as high-rise buildings, nuclear reactors and so on have brought about new problems. Particularly, the safety and the reliability for damages in abnormal situations have become more important. Intelligent control systems which can judge whether the situation is normal or abnormal at real time and cope with these situations suitably are demanded. In this study, Cubic Neural Network (CNN) is adopted, which consists of the controllers possessing cubically some levels of information abstracting. In addition to the usual quantitative control, the qualitative control is used for the abnormal situations. And, by selecting a suitable controller, CNN can cope with the abnormal situation. In order to confirm the effectiveness of this system, the structural vibration control problems with sensory failure and elasto-plastic response are dealt with. As a result of simulations, it was demonstrated that CNN can cope with unexpected abnormal situations which are not considered in learning. (author)

  13. Design of Intelligent Control System of Transformer Oil Temperature

    Directory of Open Access Journals (Sweden)

    Caijun Xu

    2016-02-01

    Full Text Available in working process of power transformer, which directly affects the safe operation of transformer oil temperature as well as the stability of the network, so vital to transformer oil temperature detection and control. Based on single chip and chip design of digital temperature measurement transformer oil temperature of an intelligent control system. The system uses a digital temperature sensor DS18B20 collection transformer oil temperature, improves the accuracy of the system. The low power consumption, strong anti-jamming ability of the SCM STC89C51 as the main controller to achieve control and real-time monitoring of transformer oil temperature, and input control module is designed for different transformer oil temperature preset control during normal operation, improving system usability and human-computer interaction.

  14. Supporting shop floor intelligence

    DEFF Research Database (Denmark)

    Carstensen, Peter; Schmidt, Kjeld; Wiil, Uffe Kock

    1999-01-01

    Many manufacturing enterprises are now trying to introduce various forms of flexible work organizations on the shop floor. However, existing computer-based production planning and control systems pose severe obstacles for autonomous working groups and other kinds of shop floor control to become r......-to-day production planning by supporting intelligent and responsible workers in their situated coordination activities on the shop floor....

  15. The Use of Software Agents for Autonomous Control of a DC Space Power System

    Science.gov (United States)

    May, Ryan D.; Loparo, Kenneth A.

    2014-01-01

    In order to enable manned deep-space missions, the spacecraft must be controlled autonomously using on-board algorithms. A control architecture is proposed to enable this autonomous operation for an spacecraft electric power system and then implemented using a highly distributed network of software agents. These agents collaborate and compete with each other in order to implement each of the control functions. A subset of this control architecture is tested against a steadystate power system simulation and found to be able to solve a constrained optimization problem with competing objectives using only local information.

  16. Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

    Institute of Scientific and Technical Information of China (English)

    BIAN Xin-qian; QIN Zheng; YAN Zhe-ping

    2008-01-01

    This paper researches on a kind of control architecture for autonomous underwater vehicle (AUV). After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers: mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture. The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.

  17. Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

    DEFF Research Database (Denmark)

    Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

    2002-01-01

    The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

  18. Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-01-01

    Full Text Available Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface.

  19. Sensorless speed control of switched reluctance motor using brain emotional learning based intelligent controller

    Energy Technology Data Exchange (ETDEWEB)

    Dehkordi, Behzad Mirzaeian, E-mail: mirzaeian@eng.ui.ac.i [Department of Electrical Engineering, Faculty of Engineering, University of Isfahan, Hezar-Jerib St., Postal code 8174673441, Isfahan (Iran, Islamic Republic of); Parsapoor, Amir, E-mail: amirparsapoor@yahoo.co [Department of Electrical Engineering, Faculty of Engineering, University of Isfahan, Hezar-Jerib St., Postal code 8174673441, Isfahan (Iran, Islamic Republic of); Moallem, Mehdi, E-mail: moallem@cc.iut.ac.i [Department of Electrical Engineering, Isfahan University of Technology, Isfahan (Iran, Islamic Republic of); Lucas, Caro, E-mail: lucas@ut.ac.i [Centre of Excellence for Control and Intelligent Processing, Electrical and Computer Engineering Faculty, College of Engineering, University of Tehran, Tehran (Iran, Islamic Republic of)

    2011-01-15

    In this paper, a brain emotional learning based intelligent controller (BELBIC) is developed to control the switched reluctance motor (SRM) speed. Like other intelligent controllers, BELBIC is model free and is suitable to control nonlinear systems. Motor parameter changes, operating point changes, measurement noise, open circuit fault in one phase and asymmetric phases in SRM are also simulated to show the robustness and superior performance of BELBIC. To compare the BELBIC performance with other intelligent controllers, Fuzzy Logic Controller (FLC) is developed. System responses with BELBIC and FLC are compared. Furthermore, by eliminating the position sensor, a method is introduced to estimate the rotor position. This method is based on Adaptive Neuro Fuzzy Inference System (ANFIS). The estimator inputs are four phase flux linkages. Suggested rotor position estimator is simulated in different conditions. Simulation results confirm the accurate rotor position estimation in different loads and speeds.

  20. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  1. An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

    Science.gov (United States)

    Dorais, Gregory A.; Desiano, Salvatore D.; Gawdiak, Yuri; Nicewarner, Keith

    2003-01-01

    This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

  2. Intelligent Mobile Robot Motion Control in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2010-11-01

    Full Text Available This paper presents the intelligent wheeled mobile robot motion control inunstructured environments. The fuzzy control of a wheeled mobile robot motion inunstructured environments with obstacles and slopes is proposed. Outputs of the fuzzycontroller are the angular speed difference between the left and right wheels of the mobilerobot and the mobile robot velocity. The simulation results show the effectiveness and thevalidity of the obstacle avoidance behavior in an unstructured environment and the velocitycontrol of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wirelesssensor-based remote control of mobile robots motion in unstructured environments usingthe Sun SPOT technology is proposed. The proposed method has been implemented on theminiature mobile robot Khepera that is equipped with sensors. Finally, the effectivenessand efficiency of the proposed sensor-based remote control strategy are demonstrated byexperimental studies and good experimental results.

  3. Advanced and intelligent control in power electronics and drives

    CERN Document Server

    Blaabjerg, Frede; Rodríguez, José

    2014-01-01

    Power electronics and variable frequency drives are continuously developing multidisciplinary fields in electrical engineering, and it is practically not possible to write a book covering the entire area by one individual specialist. Especially by taking account the recent fast development in the neighboring fields like control theory, computational intelligence and signal processing, which all strongly influence new solutions in control of power electronics and drives. Therefore, this book is written by individual key specialist working on the area of modern advanced control methods which penetrates current implementation of power converters and drives. Although some of the presented methods are still not adopted by industry, they create new solutions with high further research and application potential. The material of the book is presented in the following three parts: Part I: Advanced Power Electronic Control in Renewable Energy Sources (Chapters 1-4), Part II: Predictive Control of Power Converters and D...

  4. An Intelligent Call Admission Control Decision Mechanism for Wireless Networks

    CERN Document Server

    S., Ramesh Babu H; S, Satyanarayana P

    2010-01-01

    The Call admission control (CAC) is one of the Radio Resource Management (RRM) techniques plays instrumental role in ensuring the desired Quality of Service (QoS) to the users working on different applications which have diversified nature of QoS requirements. This paper proposes a fuzzy neural approach for call admission control in a multi class traffic based Next Generation Wireless Networks (NGWN). The proposed Fuzzy Neural Call Admission Control (FNCAC) scheme is an integrated CAC module that combines the linguistic control capabilities of the fuzzy logic controller and the learning capabilities of the neural networks .The model is based on Recurrent Radial Basis Function Networks (RRBFN) which have better learning and adaptability that can be used to develop the intelligent system to handle the incoming traffic in the heterogeneous network environment. The proposed FNCAC can achieve reduced call blocking probability keeping the resource utilisation at an optimal level. In the proposed algorithm we have c...

  5. One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor

    Directory of Open Access Journals (Sweden)

    Nikita Pashenkov

    2008-11-01

    Full Text Available This paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which has enabled a streamlined implementation of our project. We argue that this processor offers a unique set of hardware and software features, making it a practical development platform for robotics in general and for subsumption-based control architectures in particular. Next, we summarize original ideas on subsumption architecture implementation for a six-legged robot, as presented by its inventor Rodney Brooks in 1980's. A comparison is then made to a more recent example of a hexapod control architecture based on subsumption. The merits of both systems are analyzed and a new subsumption architecture layout is formulated as a response. We conclude with some remarks regarding the development of this project as a hint at new potentials for intelligent robot design, opened up by a recent development in embedded controller market.

  6. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2008-11-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

  7. Intelligent Real-Time Reservoir Operation for Flood Control

    Science.gov (United States)

    Chang, L.; Hsu, H.

    2008-12-01

    Real-time flood control of a multi-purpose reservoir should consider decreasing the flood peak stage downstream and storing floodwaters for future usage during typhoon seasons. It is a continuous and instant decision-making process based on relevant operating rules, policy and water laws, in addition the immediate rainfall and the hydrology information; however, it is difficult to learn the intelligent experience from the elder operators. The main purpose of this study is to establish the automatic reservoir flood control model to achieve the goal of a reservoir operation during flood periods. In this study, we propose an intelligent reservoir operating methodology for real-time flood control. First, the genetic algorithm is used to search the optimal solutions, which can be considered as extracting the knowledge of reservoir operation strategies. Then, the adaptive network-based fuzzy inference system (ANFIS), which uses a hybrid learning procedure for extracting knowledge in the form of fuzzy if-then rules, is used to learn the input-output patterns and then to estimate the optimal flood operation. The Shihmen reservoir in Northern Taiwan was used as a case study, where its 26 typhoon events are investigated by the proposed method. The results demonstrate that the proposed control model can perform much better than the original reservoir operator in 26 flood events and effectively achieve decreasing peak flood stage downstream and storing floodwaters for future usage.

  8. Advancing Autonomous Operations for Deep Space Vehicles

    Science.gov (United States)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

    Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

  9. ERPs evidence for the relationship between fluid intelligence and cognitive control.

    Science.gov (United States)

    Lu, Di; Zhang, Haoyun; Kang, Chunyan; Guo, Taomei

    2016-04-13

    The relationship between two components of cognitive control, that is, proactive control and reactive control, and fluid intelligence was investigated by measuring 75 participants' event-related potentials in the AX version of the continuous performance test. The results showed that the mean amplitudes of N2 associated with the two components of cognitive control are highly correlated with fluid intelligence. Specifically, a larger N2 was shown in participants with higher fluid intelligence scores. No significant correlation was found in the peak latencies of the N2 and fluid intelligence. These results enrich our understanding of the relationship between cognitive control and fluid intelligence by using the N2 component as an index and also indicate that cognitive control may be a component of intelligence.

  10. Heterogeneity in Autonomic Arousal Level in Perseverative Worry: The Role of Cognitive Control and Verbal Thought

    Science.gov (United States)

    Toh, Gim Y.; Vasey, Michael W.

    2017-01-01

    One puzzle in high worry and generalized anxiety disorder (GAD) is the heterogeneity in the level of autonomic arousal symptoms seen among affected individuals. While current models agree that worry persists, in part, because it fosters avoidance of unpleasant internal experiences, they disagree as to whether worry does so by suppressing activation of autonomic arousal or by fostering persistent autonomic hyperarousal. Our Cognitive Control Model predicts that which pattern of autonomic arousal occurs depends on whether or not a worrier has sufficient cognitive control capacity to worry primarily in a verbal versus imagery-based manner. Because this model has been supported by only one study to date, the present study sought to replicate and extend that study’s findings. Results from an online survey in an unselected sample of over 900 college students provide further support for our model’s central tenet and initial support for its prediction that higher effortful control is associated with a higher percentage of verbal thought during worry. Finally, we report tentative evidence that autonomic arousal symptoms in worry and GAD vary as a function of individual differences in cognitive control capacity because higher capacity is linked to a greater predominance of verbal thought during worry.

  11. The Role of the Suprachiasmatic Nucleus in Cardiac Autonomic Control during Sleep

    Science.gov (United States)

    Joustra, S. D.; Reijntjes, R. H.; Pereira, A. M.; Lammers, G. J.; Biermasz, N. R.; Thijs, R. D.

    2016-01-01

    Background The suprachiasmatic nucleus (SCN) may play an important role in central autonomic control, since its projections connect to (para)sympathetic relay stations in the brainstem and spinal cord. The cardiac autonomic modifications during nighttime may therefore not only result from direct effects of the sleep-related changes in the central autonomic network, but also from endogenous circadian factors as directed by the SCN. To explore the influence of the SCN on autonomic fluctuations during nighttime, we studied heart rate and its variability (HRV) in a clinical model of SCN damage. Methods Fifteen patients in follow-up after surgical treatment for nonfunctioning pituitary macroadenoma (NFMA) compressing the optic chiasm (8 females, 26–65 years old) and fifteen age-matched healthy controls (5 females, 30–63 years) underwent overnight ambulatory polysomnography. Eleven patients had hypopituitarism and received adequate replacement therapy. HRV was calculated for each 30-second epoch and corrected for sleep stage, arousals, and gender using mixed effect regression models. Results Compared to controls, patients spent more time awake after sleep onset and in NREM1-sleep, and less in REM-sleep. Heart rate, low (LF) and high frequency (HF) power components and the LF/HF ratio across sleep stages were not significantly different between groups. Conclusions These findings suggest that the SCN does not play a dominant role in cardiac autonomic control during sleep. PMID:27010631

  12. Embedded integrated servo-controllers for intelligent modular actuators

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    This paper focuses on the development of an embedded integrated servo-controller (EISC) for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complicated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator (IMA) that is essential to modern manufacturing industries. The development of such an EISC involves two major tasks: first, designing the hardware of a compact-sized and highly compatible EISC, and second, developing the software functions to facilitate its functionalities and capabilities. The developed EISC hence forms an integrated-servo-control module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.

  13. Dynamic Intelligent Feedback Scheduling in Networked Control Systems

    Directory of Open Access Journals (Sweden)

    Hui-ying Chen

    2013-01-01

    Full Text Available For the networked control system with limited bandwidth and flexible workload, a dynamic intelligent feedback scheduling strategy is proposed. Firstly, a monitor is used to acquire the current available network bandwidth. Then, the new available bandwidth in the next interval is predicted by using LS_SVM approach. At the same time, the dynamic performance indices of all control loops are obtained with a two-dimensional fuzzy logic modulator. Finally, the predicted network bandwidth is dynamically allocated by the bandwidth manager and the priority allocator in terms of the loops' dynamic performance indices. Simulation results show that the sampling periods and priorities of control loops are adjusted timely according to the network workload condition and the dynamic performance of control loops, which make the system running in the optimal state all the time.

  14. Intelligent control technology for deep drawing of sheet metal

    Institute of Scientific and Technical Information of China (English)

    钱志平; 马瑞; 赵军; 杨嵩

    2008-01-01

    The intelligent press forming of sheet metal is a completely new and comprehensive technology that combines control-science, computer science, material science and metal forming theory. Although the technology originated in 1980s from America, it was focused on the spring-back of V-shaped bending. Not until 1990s was some pioneering research conducted on the intellectualized control of cup-deep drawing. The research field is expanded to the axis-symmetric part and non-axis symmetric part. After a series of theoretical and experimental research, an intellectualized control system on the deep drawing processing of sheet metal is developed. The common general feature of sheet metal on the process of deep drawing is analyzed and a completely mechanical model is concluded and the deep drawing intellectualized control of sheet metal is finally realized.

  15. Advances in Intelligent Control Systems and Computer Science

    CERN Document Server

    2013-01-01

    The conception of real-time control networks taking into account, as an integrating approach, both the specific aspects of information and knowledge processing and the dynamic and energetic particularities of physical processes and of communication networks is representing one of the newest scientific and technological challenges. The new paradigm of Cyber-Physical Systems (CPS) reflects this tendency and will certainly change the evolution of the technology, with major social and economic impact. This book presents significant results in the field of process control and advanced information and knowledge processing, with applications in the fields of robotics, biotechnology, environment, energy, transportation, et al.. It introduces intelligent control concepts and strategies as well as real-time implementation aspects for complex control approaches. One of the sections is dedicated to the complex problem of designing software systems for distributed information processing networks. Problems as complexity an...

  16. Design of Socket Based on Intelligent Control and Energy Management

    Directory of Open Access Journals (Sweden)

    Jiang Feng

    2015-10-01

    Full Text Available Smart home is one of the main applications of internet of things, and it will realize the intellectualization of household. Smart socket is part of the smart home, which can be controlled remotely by power supplied, monitor utilization condition, communication network and other functions. This article mainly introduces the intelligent electrical outlet of each hardware modules; software part mainly analyzes the socket’s communication mechanism, and the electricity consumption of collected power statistics through diagrams to feedback through wireless communication. Things achieved in an environment of communication between the user and the smart power outlet timely feedback to the user, so as to achieve energy-saving purposes.

  17. Design New Intelligent PID like Fuzzy Backstepping Controller

    Directory of Open Access Journals (Sweden)

    Arzhang Khajeh

    2014-02-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI-like controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  18. RESEARCH ON KEY TECHNIQUES AND DEVELOPMENT OF OUTDOOR INTELLIGENT AUTONOMOUS MOBILE ROBOT%室外智能移动机器人的发展及其关键技术研究

    Institute of Scientific and Technical Information of China (English)

    欧青立; 何克忠

    2000-01-01

    Outdoor intelligent autonomous mobile robot that will be applied widely is one of hotspots in theresearch of the robot. This paper analyzes some representative outdoor mobile robots, and surveys the studystatus and the development of the key techniques in the research of the outdoor autonomous mobile robots.The key techniques include the control architecture of mobile robots, the real-time processing of robot visualinformations, the position system of the vehicle, the integration and fusion of multisensor informations, thepath planning and the vehicle control.%室外智能移动机器人有着广泛的应用前景,是机器人研究中的热点之一.本文分析了在室外移动机器人发展中有着代表意义的几个典型系统,进而论述了室外移动机器人研究中的若干关键技术的研究现状及发展水平.这些关键技术包括移动机器人的控制体系结构、机器人视觉信息的实时处理技术、车体的定位系统、多传感器信息的集成与融合技术以及路径规划技术与车体控制技术等.

  19. Diagnosis of Fault Modes Masked by Control Loops with an Application to Autonomous Hovercraft Systems

    Directory of Open Access Journals (Sweden)

    Ioannis A. Raptis

    2013-01-01

    Full Text Available This paper introduces a methodology for the design, testing and assessment of incipient failure detection techniques for failing components/systems of an autonomous vehicle masked or hidden by feedback control loops. It is recognized that the optimum operation of critical assets (aircraft, autonomous systems, etc. may be compromised by feedback control loops by masking severe fault modes while compensating for typical disturbances. Detrimental consequences of such occurrences include the inability to detect expeditiously and accurately incipient failures, loss of control and inefficient operation of assets in the form of fuel overconsumption and adverse environmental impact. We pursue a systems engineering process to design, construct and test an autonomous hovercraft instrumented appropriately for improved autonomy. Hidden fault modes are detected with performance guarantees by invoking a Bayesian estimation approach called particle filtering. Simulation and experimental studies are employed to demonstrate the efficacy of the proposed methods.

  20. An Autonomous Underwater Vehicle Simulation Using Linear Quadratic Servo Based on Open Control Platform

    Directory of Open Access Journals (Sweden)

    Nanang Syahroni

    2012-01-01

    Full Text Available This paper presents an optimal regulator for depth control simulation of an autonomous underwater vehicle (AUV using a new approach of decentralized system environment called open control platform (OCP. Simulation results are presented to demonstrate performance of the proposed method.

  1. ON THE PERSISTENT PROPERTY OF A DELAYED NON-AUTONOMOUS SCHOENER MODEL WITH FEEDBACK CONTROL

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    We study a delayed non-autonomous Schoener model with feedback control, which was proposed by Qiming Liu, Rui Xu and Pinghua Yang [8]. By applying a differential inequality and some analysis technique, we show that under some suitable assumptions, the feedback control variable has no influence on the persistent property of the system. Our result improves the existing ones.

  2. Autonomous Control System for a Squeeze Mode Mr Vibration Isolator in an Automotive Engine Mount

    Directory of Open Access Journals (Sweden)

    Rosół Maciej

    2014-09-01

    Full Text Available The investigated autonomous control system for a squeeze mode magnetorheological (MR vibration isolator is based on an ultra-low power microcontroller MSP430F5529. The design structure of the control system and the dedicated real-time system are briefly presented and the laboratory testing data are summarised.

  3. Autonomous Defensive Space Control via On-Board Artificial Neural Networks

    Science.gov (United States)

    2007-04-01

    AUTONOMOUS DEFENSIVE SPACE CONTROL VIA ON-BOARD ARTIFICIAL NEURAL NETWORKS Michael T. Manor, Major, USAF April 2007...TITLE AND SUBTITLE Sutonomous Defensive Space Control via On-Board Artificial Neural Networks 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...11 HOW ARTIFICIAL NEURAL NETWORKS WORK

  4. Design and Evaluation of Autonomous Hybrid Frequency-Voltage Sensitive Load Controller

    DEFF Research Database (Denmark)

    Douglass, Philip James; Garcia-Valle, Rodrigo; Sossan, Fabrizio;

    2013-01-01

    The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced...

  5. Online Tracking Control of Autonomous Mobile Robot Utilizing Optimal Formulation

    Science.gov (United States)

    Hirakoso, Nobuto; Takizawa, Takahiro; Ishihara, Masaaki; Aoki, Kouzou

    In this study, the objective is to build a wheeled mobile robot which can move independently avoiding obstacles. To move autonomously, this robot is enabled to detect obstacles' shapes and conduct self-localization. Also, this robot can move by tracking trajectories designed by the robot itself, based on the information about the obstacles' shapes and the robot's position and attitude angle. The optimal trajectories which lead the robot to its destination are designed by using a unique optimization method. As convergent calculation is performed by setting the variables within a certain range in this proposed optimization method, the optimal solutions can be obtained approximately, even in cases where there is a difference between the number of input and output variables, and when the nonlinearity is strong with restraint conditions. In this thesis, the effectiveness of the optimal track designing method used is proven and the method deemed as appropriate.

  6. ASSESSMENT OF A WIND TURBINE INTELLIGENT CONTROLLER FOR ENHANCED ENERGY PRODUCTION AND POLLUTION REDUCTION

    Science.gov (United States)

    This study assessed the enhanced energy production which is possible when variable-speed wind turbines are electronically controlled by an intelligent controller for efficiency optimization and performance improvement. The control system consists of three fuzzy- logic controllers...

  7. Remote Control of an Inverted Pendulum System for Intelligent Control Education

    Directory of Open Access Journals (Sweden)

    Seul Jung

    2011-08-01

    Full Text Available This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendulum system is controlled by a neural network control method. The corresponding control results are confirmed through experimental studies.

  8. Control of autonomous mobile robots using custom-designed qualitative reasoning VLSI chips and boards

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S.

    1991-01-01

    Two types of computer boards including custom-designed VLSI chips have been developed to provide a qualitative reasoning capability for the real-time control of autonomous mobile robots. The design and operation of these boards are described and an example of application of qualitative reasoning for the autonomous navigation of a mobile robot in a-priori unknown environments is presented. Results concerning consistency and modularity in the development of qualitative reasoning schemes as well as the general applicability of these techniques to robotic control domains are also discussed. 17 refs., 4 figs.

  9. Intelligent Data Rate Control in Cognitive Mobile Heterogeneous Networks

    Science.gov (United States)

    Mar, Jeich; Nien, Hsiao-Chen; Cheng, Jen-Chia

    An adaptive rate controller (ARC) based on an adaptive neural fuzzy inference system (ANFIS) is designed to autonomously adjust the data rate of a mobile heterogeneous network to adapt to the changing traffic load and the user speed for multimedia call services. The effect of user speed on the handoff rate is considered. Through simulations, it has been demonstrated that the ANFIS-ARC is able to maintain new call blocking probability and handoff failure probability of the mobile heterogeneous network below a prescribed low level over different user speeds and new call origination rates while optimizing the average throughput. It has also been shown that the mobile cognitive wireless network with the proposed CS-ANFIS-ARC protocol can support more traffic load than neural fuzzy call-admission and rate controller (NFCRC) protocol.

  10. System identification of closed-loop cardiovascular control mechanisms: diabetic autonomic neuropathy

    Science.gov (United States)

    Mukkamala, R.; Mathias, J. M.; Mullen, T. J.; Cohen, R. J.; Freeman, R.

    1999-01-01

    We applied cardiovascular system identification (CSI) to characterize closed-loop cardiovascular regulation in patients with diabetic autonomic neuropathy (DAN). The CSI method quantitatively analyzes beat-to-beat fluctuations in noninvasively measured heart rate, arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize four physiological coupling mechanisms, two of which are autonomically mediated (the heart rate baroreflex and the coupling of respiration, measured in terms of ILV, to heart rate) and two of which are mechanically mediated (the coupling of ventricular contraction to the generation of the ABP wavelet and the coupling of respiration to ABP). We studied 37 control and 60 diabetic subjects who were classified as having minimal, moderate, or severe DAN on the basis of standard autonomic tests. The autonomically mediated couplings progressively decreased with increasing severity of DAN, whereas the mechanically mediated couplings were essentially unchanged. CSI identified differences between the minimal DAN and control groups, which were indistinguishable based on the standard autonomic tests. CSI may provide a powerful tool for assessing DAN.

  11. Bilateral Teleoperation Method Using an Autonomous Control Based on Information on Contact Environment

    Science.gov (United States)

    Taguchi, Keiichi; Ohnishi, Kouhei

    In procedures that involve remote control, such as remote surgery, it is necessary to operate a robot in a remote location in a sensitive environment; the treatment of internal organs is an example of such a procedure. In this paper, we propose a method for autonomous hazard avoidance control that is based on information on the contact environment. The proposed method involves the use of bilateral control. During safe operations, systems are controlled by bilateral control. During dangerous operations, a slave system is controlled autonomously so as to avoid dangerous operations. In order to determine the degree of operation risk, fuzzy set theory is applied to the force exerted on the environment. Further, variable compliance control based on the force exerted on the environment is utilized to avoid the risk. The effectiveness of the proposed method is confirmed by experimental results.

  12. Integrated Modeling and Intelligent Control Methods of Grinding Process

    Directory of Open Access Journals (Sweden)

    Jie-sheng Wang

    2013-01-01

    Full Text Available The grinding process is a typical complex nonlinear multivariable process with strongly coupling and large time delays. Based on the data-driven modeling theory, the integrated modeling and intelligent control method of grinding process is carried out in the paper, which includes the soft-sensor model of economic and technique indexes, the optimized set-point model utilizing case-based reasoning, and the self-tuning PID decoupling controller. For forecasting the key technology indicators (grinding granularity and mill discharge rate of grinding process, an adaptive soft-sensor modeling method based on wavelet neural network optimized by the improved shuffled frog leaping algorithm (ISFLA is proposed. Then, a set point optimization control strategy of grinding process based on case-based reasoning (CBR method is adopted to obtain the optimized velocity set-point of ore feed and pump water feed in the grinding process controlled loops. Finally, a self-tuning PID decoupling controller optimized is used to control the grinding process. Simulation results and industrial application experiments clearly show the feasibility and effectiveness of control methods and satisfy the real-time control requirements of the grinding process.

  13. Hybrid intelligent PID control design for PEMFC anode system

    Institute of Scientific and Technical Information of China (English)

    Rui-min WANG; Ying-ying ZHANG; Guang-yi CAO

    2008-01-01

    Control design is important for proton exchange membrane fuel cell (PEMFC) generator. This work researched the anode system of a 60-kW PEMFC generator. Both anode pressure and humidity must he maintained at ideal levels during steady operation. In view of characteristics and requirements of the system, a hybrid intelligent PID controller is designed specifically based on dynamic simulation. A single neuron PI controller is used for anode humidity by adjusting the water injection to the hydrogen cell. Another incremental PID controller, based on the diagonal recurrent neural network (DRNN) dynamic identification, is used to control anode pressure to be more stable and exact by adjusting the hydrogen flow rate. This control strategy can avoid the coupling problem of the PEMFC and achieve a more adaptive ability. Simulation results showed that the control strategy can maintain both anode humidity and pressure at ideal levels regardless of variable load, nonlinear dynamic and coupling characteristics of the system. This work will give some guides for further control design and applications of the total PEMFC generator.

  14. Artificial Intelligent Control for a Novel Advanced Microwave Biodiesel Reactor

    Energy Technology Data Exchange (ETDEWEB)

    Wali, W A; Hassan, K H; Cullen, J D; Al-Shamma' a, A I; Shaw, A; Wylie, S R, E-mail: w.wali@2009.ljmu.ac.uk [Built Environment and Sustainable Technologies Institute (BEST), School of the Built Environment, Faculty of Technology and Environment Liverpool John Moores University, Byrom Street, Liverpool L3 3AF (United Kingdom)

    2011-08-17

    Biodiesel, an alternative diesel fuel made from a renewable source, is produced by the transesterification of vegetable oil or fat with methanol or ethanol. In order to control and monitor the progress of this chemical reaction with complex and highly nonlinear dynamics, the controller must be able to overcome the challenges due to the difficulty in obtaining a mathematical model, as there are many uncertain factors and disturbances during the actual operation of biodiesel reactors. Classical controllers show significant difficulties when trying to control the system automatically. In this paper we propose a comparison of artificial intelligent controllers, Fuzzy logic and Adaptive Neuro-Fuzzy Inference System(ANFIS) for real time control of a novel advanced biodiesel microwave reactor for biodiesel production from waste cooking oil. Fuzzy logic can incorporate expert human judgment to define the system variables and their relationships which cannot be defined by mathematical relationships. The Neuro-fuzzy system consists of components of a fuzzy system except that computations at each stage are performed by a layer of hidden neurons and the neural network's learning capability is provided to enhance the system knowledge. The controllers are used to automatically and continuously adjust the applied power supplied to the microwave reactor under different perturbations. A Labview based software tool will be presented that is used for measurement and control of the full system, with real time monitoring.

  15. Artificial Intelligent Control for a Novel Advanced Microwave Biodiesel Reactor

    Science.gov (United States)

    Wali, W. A.; Hassan, K. H.; Cullen, J. D.; Al-Shamma'a, A. I.; Shaw, A.; Wylie, S. R.

    2011-08-01

    Biodiesel, an alternative diesel fuel made from a renewable source, is produced by the transesterification of vegetable oil or fat with methanol or ethanol. In order to control and monitor the progress of this chemical reaction with complex and highly nonlinear dynamics, the controller must be able to overcome the challenges due to the difficulty in obtaining a mathematical model, as there are many uncertain factors and disturbances during the actual operation of biodiesel reactors. Classical controllers show significant difficulties when trying to control the system automatically. In this paper we propose a comparison of artificial intelligent controllers, Fuzzy logic and Adaptive Neuro-Fuzzy Inference System(ANFIS) for real time control of a novel advanced biodiesel microwave reactor for biodiesel production from waste cooking oil. Fuzzy logic can incorporate expert human judgment to define the system variables and their relationships which cannot be defined by mathematical relationships. The Neuro-fuzzy system consists of components of a fuzzy system except that computations at each stage are performed by a layer of hidden neurons and the neural network's learning capability is provided to enhance the system knowledge. The controllers are used to automatically and continuously adjust the applied power supplied to the microwave reactor under different perturbations. A Labview based software tool will be presented that is used for measurement and control of the full system, with real time monitoring.

  16. Robust Bio-Signal Based Control of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Dongyi Chen

    2013-09-01

    Full Text Available In this paper, an adaptive human-machine interaction (HMI method that is based on surface electromyography (sEMG signals is proposed for the hands-free control of an intelligent wheelchair. sEMG signals generated by the facial movements are obtained by a convenient dry electrodes sensing device. After the signals features are extracted from the autoregressive model, control data samples are updated and trained by an incremental online learning algorithm in real-time. Experimental results show that the proposed method can significantly improve the classification accuracy and training speed. Moreover, this method can effectively reduce the influence of muscle fatigue during a long time operation of sEMG-based HMI.

  17. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  18. Blood pressure regulation, autonomic control and sleep disordered breathing in children.

    Science.gov (United States)

    Nisbet, Lauren C; Yiallourou, Stephanie R; Walter, Lisa M; Horne, Rosemary S C

    2014-04-01

    Sleep disordered breathing (SDB) ranges in severity from primary snoring (PS) to obstructive sleep apnoea (OSA). In adults, SDB is associated with adverse cardiovascular consequences which are mediated, in part, by autonomic dysfunction. Although SDB is common in children, fewer paediatric studies have investigated these cardiovascular effects. Initial research focused on those with OSA, indeed children with PS were occasionally utilised as the comparison control group. However, it is essential to understand the ramifications of this disorder in all its severities, as currently the milder forms of SDB are often untreated. Methodologies used to assess autonomic function in children with SDB include blood pressure (BP), BP variability, baroreflex sensitivity, heart rate variability, peripheral arterial tonometry and catecholamine assays. The aim of this review was to summarise the findings of paediatric studies to date and explore the relationship between autonomic dysfunction and SDB in children, paying particular attention to the roles of disease severity and/or age. This review found evidence of autonomic dysfunction in children with SDB during both wakefulness and sleep. BP dysregulation, elevated generalised sympathetic activity and impairment of autonomic reflexes occur in school-aged children and adolescents with SDB. The adverse effects of SDB seem somewhat less in young children, although more studies are needed. There is mounting evidence that the cardiovascular and autonomic consequences of SDB are not limited to those with OSA, but are also evident in children with PS. The severity of disease and age of onset of autonomic consequences may be important guides for the treatment of SDB.

  19. Intelligent particle swarm optimized fuzzy PID controller for AVR system

    Energy Technology Data Exchange (ETDEWEB)

    Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, West Bengal (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal (India)

    2007-10-15

    In process plants like thermal power plants, biomedical instrumentation the popular use of proportional-integral-derivative (PID) controllers can be noted. Proper tuning of such controllers is obviously a prime priority as any other alternative situation will require a high degree of industrial expertise. So in order to get the best results of PID controllers the optimal tuning of PID gains is required. This paper, thus, deals with the determination of off-line, nominal, optimal PID gains of a PID controller of an automatic voltage regulator (AVR) for nominal system parameters and step reference voltage input. Craziness based particle swarm optimization (CRPSO) and binary coded genetic algorithm (GA) are the two props used to get the optimal PID gains. CRPSO proves to be more robust than GA in performing optimal transient performance even under various nominal operating conditions. Computational time required by CRPSO is lesser than that of GA. Factors that have influenced the enhancement of global searching ability of PSO are the incorporation of systematic and intelligent velocity, position updating procedure and introduction of craziness. This modified from of PSO is termed as CRPSO. For on-line off-nominal system parameters Sugeno fuzzy logic (SFL) is applied to get on-line terminal voltage response. The work of SFL is to extrapolate intelligently and linearly, the nominal optimal gains in order to determine off-nominal optimal gains. The on-line computational burden of SFL is noticeably low. Consequently, on-line optimized transient response of incremental change in terminal voltage is obtained. (author)

  20. Autonomous Neural Network Controller for Adaptive Material Handling

    Science.gov (United States)

    1992-02-28

    proportional-integral-differential (PID) control. Although simple, PID controllers have several shortcomings that prevent them from being useful for...controlling robots. These methods are much more complicated than the prevalent PID controllers . They involve one or more optimal criteria and need to

  1. Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

    Science.gov (United States)

    2006-08-14

    IEEE Transactions on Automatic Control , March 2006. Computation and control language programming environment: Design...to Nash equilibria”, IEEE Transactions on Automatic Control , March 2005. Differential games with probabilistic models: Many representations of...Accepted for publication, IEEE Transactions on Automatic Control , 2006. Language Evolution: This work is indirectly related to the problem of consensus.

  2. Intelligent control schemes applied to Automatic Generation Control

    Directory of Open Access Journals (Sweden)

    Dingguo Chen

    2016-04-01

    Full Text Available Integrating ever increasing amount of renewable generating resources to interconnected power systems has created new challenges to the safety and reliability of today‟s power grids and posed new questions to be answered in the power system modeling, analysis and control. Automatic Generation Control (AGC must be extended to be able to accommodate the control of renewable generating assets. In addition, AGC is mandated to operate in accordance with the NERC‟s Control Performance Standard (CPS criteria, which represent a greater flexibility in relaxing the control of generating resources and yet assuring the stability and reliability of interconnected power systems when each balancing authority operates in full compliance. Enhancements in several aspects to the traditional AGC must be made in order to meet the aforementioned challenges. It is the intention of this paper to provide a systematic, mathematical formulation for AGC as a first attempt in the context of meeting the NERC CPS requirements and integrating renewable generating assets, which has not been seen reported in the literature to the best knowledge of the authors. Furthermore, this paper proposes neural network based predictive control schemes for AGC. The proposed controller is capable of handling complicated nonlinear dynamics in comparison with the conventional Proportional Integral (PI controller which is typically most effective to handle linear dynamics. The neural controller is designed in such a way that it has the capability of controlling the system generation in the relaxed manner so the ACE is controlled to a desired range instead of driving it to zero which would otherwise increase the control effort and cost; and most importantly the resulting system control performance meets the NERC CPS requirements and/or the NERC Balancing Authority’s ACE Limit (BAAL compliance requirements whichever are applicable.

  3. Why Do Adolescents Gather Information or Stick to Parental Norms? Examining Autonomous and Controlled Motives behind Adolescents' Identity Style

    Science.gov (United States)

    Smits, Ilse; Soenens, Bart; Vansteenkiste, Maarten; Luyckx, Koen; Goossens, Luc

    2010-01-01

    Self-determination theory (SDT) distinguishes between autonomous and controlled reasons for people's behavior and essentially states that beneficial effects for individuals' psychosocial adjustment will accrue when behavior is guided by autonomous (rather than controlled) motives. The present study tested this assumption in the area of…

  4. Intelligent PID guidance control for AUV path tracking

    Institute of Scientific and Technical Information of China (English)

    李晔; 姜言清; 王磊峰; 曹建; 张国成

    2015-01-01

    Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.

  5. Investigating Autonomic Control of the Cardiovascular System: A Battery of Simple Tests

    Science.gov (United States)

    Johnson, Christopher D.; Roe, Sean; Tansey, Etain A.

    2013-01-01

    Sympathetic and parasympathetic divisions of the autonomic nervous system constantly control the heart (sympathetic and parasympathetic divisions) and blood vessels (predominantly the sympathetic division) to maintain appropriate blood pressure and organ blood flow over sometimes widely varying conditions. This can be adversely affected by…

  6. Behavioral regulation assessment in exercise: exploring an autonomous and controlled motivation index.

    Science.gov (United States)

    Cid, Luis; Moutão, João; Leitão, José; Alves, José

    2012-11-01

    The main purpose of this study was to examine the psychometric properties of the Portuguese version of the Behavioral Regulation in Exercise Questionnaire (BREQ-2) and to test the hypothesis that the different types of behavioral regulation can be combined on a single factor to assess autonomous and controlled motivation. Data were collected from 550 members of private fitness centres who ranged in age from 14 to 69 years. The analysis supported an 18-item, 5-factor model after excluding one item (S-B chi2 = 221.7, df = 125, p = .000, S-B chi2/df = 1.77; SRMR = .06; NNFI = .90; CFI = .92; RMSEA = .04, 90% CI = .03-.05). However, the analysis also revealed a lack of internal consistency. The results of a hierarchical model based on 2 second-order factors that reflected controlled motivation (external and introjected regulation) and autonomous motivation (identified and intrinsic regulation) provided an acceptable fit to the data (S-B chi2 = 172.6, df = 74, p = .000, S-B chi2/df = 2.33; SRMR = .07; NNFI = .90; CFI = .92; RMSEA = .05, 90% CI = .04-.06), with reliability coefficients of .75 for controlled motivation and .76 for autonomous motivation. The study findings indicated that when item 17 was excluded, the Portuguese BREQ-2 was an appropriate measure of the controlled and autonomous motivation in exercise.

  7. Enriching the Hierarchical Model of Achievement Motivation: Autonomous and Controlling Reasons Underlying Achievement Goals

    Science.gov (United States)

    Michou, Aikaterini; Vansteenkiste, Maarten; Mouratidis, Athanasios; Lens, Willy

    2014-01-01

    Background: The hierarchical model of achievement motivation presumes that achievement goals channel the achievement motives of need for achievement and fear of failure towards motivational outcomes. Yet, less is known whether autonomous and controlling reasons underlying the pursuit of achievement goals can serve as additional pathways between…

  8. Autonomic control of the heart in the Asian swamp eel (Monopterus albus)

    DEFF Research Database (Denmark)

    Iversen, Nina Kerting; Huong, Do Thi Thanh; Bayley, Mark

    2011-01-01

    .3 cm H2O). The autonomic control of the heart during water- and air-breathing was revealed by infusion of the β-adrenergic antagonist propranolol and muscarinic antagonist atropine (3 mg kg− 1) in eels instrumented with an arterial catheter. Inhibition of the sympathetic and parasympathetic...

  9. Distributed Control for Autonomous Operation of a Three-Port AC/DC/DS Hybrid Microgrid

    DEFF Research Database (Denmark)

    Wang, Peng; Jin, Chi; Zhu, Dexuan

    2015-01-01

    This paper presents a distributed control scheme for reliable autonomous operation of a hybrid three-port ac/dc/distributed storage (ds) microgrid by means of power sharing in individual network, power exchange between ac and dc networks, and power management among three networks. The proposed...

  10. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  11. Development of a small cruising-type AUV and training of constant altitude swimming; Kogata kokogata kaichu robot no kaihatsu to teikodo koko no kunren

    Energy Technology Data Exchange (ETDEWEB)

    Suto, T. [Japan Society for the Promotion of Science, Tokyo (Japan); Ura, T. [The University of Tokyo, Tokyo (Japan). Institute of Industrial Science

    1997-08-01

    A small autonomous robot with high software development efficiency was developed to investigate the control system of an autonomous cruising-type AUV in the actual environment. This robot has a minimum of functions required as a cruising type. One researcher can make an experiment on the robot because of its compactness and lightweight. The robot can also automatically cruise around in a small pool. It was confirmed that an adaptive constant altitude swimming controller utilizing a neural network verified by simulation can also be properly adjusted by an actual robot. The switching mechanism of neural networks was introduced to classify environmental patterns. The corresponding controller is adjusted automatically. In this study, a lightweight and compact cruising-type test-bed robot that has not existed until now was developed. This robot is easy to manufacture and construct in software. Therefore, it is to be desired that the researches and development of autonomous functions are promoted using such a robot. 9 refs., 13 figs., 1 tab.

  12. Flight Test of an Intelligent Flight-Control System

    Science.gov (United States)

    Davidson, Ron; Bosworth, John T.; Jacobson, Steven R.; Thomson, Michael Pl; Jorgensen, Charles C.

    2003-01-01

    The F-15 Advanced Controls Technology for Integrated Vehicles (ACTIVE) airplane (see figure) was the test bed for a flight test of an intelligent flight control system (IFCS). This IFCS utilizes a neural network to determine critical stability and control derivatives for a control law, the real-time gains of which are computed by an algorithm that solves the Riccati equation. These derivatives are also used to identify the parameters of a dynamic model of the airplane. The model is used in a model-following portion of the control law, in order to provide specific vehicle handling characteristics. The flight test of the IFCS marks the initiation of the Intelligent Flight Control System Advanced Concept Program (IFCS ACP), which is a collaboration between NASA and Boeing Phantom Works. The goals of the IFCS ACP are to (1) develop the concept of a flight-control system that uses neural-network technology to identify aircraft characteristics to provide optimal aircraft performance, (2) develop a self-training neural network to update estimates of aircraft properties in flight, and (3) demonstrate the aforementioned concepts on the F-15 ACTIVE airplane in flight. The activities of the initial IFCS ACP were divided into three Phases, each devoted to the attainment of a different objective. The objective of Phase I was to develop a pre-trained neural network to store and recall the wind-tunnel-based stability and control derivatives of the vehicle. The objective of Phase II was to develop a neural network that can learn how to adjust the stability and control derivatives to account for failures or modeling deficiencies. The objective of Phase III was to develop a flight control system that uses the neural network outputs as a basis for controlling the aircraft. The flight test of the IFCS was performed in stages. In the first stage, the Phase I version of the pre-trained neural network was flown in a passive mode. The neural network software was running using flight data

  13. Chaos Control in Memristor-based Oscillators Using Intelligent Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Amir Hossein Abolmasoumi

    2014-10-01

    Full Text Available In this paper, Intelligent Sliding Mode Control of chaos in a memristor- based Chua’s oscillator is investigated. In order to gain stabilization and tracking of a sinusoidal input, an appropriate sliding surface is proposed and sliding gain is tuned. Also, to avoid the chattering phenomenon in traditional sliding mode controller, and to reduce the hitting time of the controlled system, an especial genetic algorithm optimization method is suggested. By defining a new objective function and searching for optimal the controller parameters the convergence time and chattering are reduced considerably. The usefulness of the proposed controller with intelligent tuning method for chaos control of memristorbased oscillators is demonstrated in memristor- based Chua's circuit.

  14. A mathematical explanation via "intelligent" PID controllers of the strange ubiquity of PIDs

    CERN Document Server

    Novel, Brigitte D'Andrea; Join, Cédric; Mounier, Hugues; Steux, Bruno

    2010-01-01

    The ubiquity of PID controllers in the industry has remained mysterious until now. We provide here a mathematical explanation of this strange phenomenon by comparing their sampling with the the one of "intelligent" PID controllers, which were recently introduced. Some computer simulations nevertheless confirm the superiority of the new intelligent feedback design.

  15. The Anatomy of Moral Intelligence.

    Science.gov (United States)

    Boss, Judith A.

    1994-01-01

    Argues that moral intelligence is one of the separate, autonomous multiple intelligences. The essay discusses moral development as a function of cognitive/analytical development, the relationship between moral reasoning and moral conduct, the biological basis of moral intelligence, moral intelligence as a function of social intelligence, and…

  16. Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; A. Danapalasingam, Kumeresan

    2010-01-01

    for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller....

  17. Chaos Control in Memristor-based Oscillators Using Intelligent Sliding Mode Control

    OpenAIRE

    Amir Hossein Abolmasoumi; Somayeh Khosravinejad

    2014-01-01

    In this paper, Intelligent Sliding Mode Control of chaos in a memristor- based Chua’s oscillator is investigated. In order to gain stabilization and tracking of a sinusoidal input, an appropriate sliding surface is proposed and sliding gain is tuned. Also, to avoid the chattering phenomenon in traditional sliding mode controller, and to reduce the hitting time of the controlled system, an especial genetic algorithm optimization method is suggested. By defining a new objective func...

  18. Groundfish Ecology Cruises

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This program involved a series of one day cruises on a commercial trawl and longline vessel. Cruises were conducted once per month from 2001-2005. The objectives of...

  19. High Flux Commercial Illumination Solution with Intelligent Controls

    Energy Technology Data Exchange (ETDEWEB)

    Camil Ghiu

    2012-04-30

    This report summarizes the work performed at OSRAM SYLVANIA under US Department of Energy contract DE-EE0003241 for developing a high efficiency LED-based luminaire. A novel light engine module (two versions: standard and super), power supply and luminaire mechanical parts were designed and tested. At steady-state, the luminaire luminous flux is 3156 lumens (lm), luminous efficacy 97.4 LPW and CRI (Ra) 88 at a correlated color temperature (CCT) of 3507K. When the luminaire is fitted with the super version of the light engine the efficacy reaches 130 LPW. In addition, the luminaire is provided with an intelligent control network capable of additional energy savings. The technology developed during the course of this project has been incorporated into a family of products. Recently, the first product in the family has been launched.

  20. Behind the Meter Grid Services: Intelligent Load Control

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Woohyun [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Katipamula, Srinivas [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Lutes, Robert G. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Underhill, Ronald M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2016-11-15

    This report describes how the intelligent load control (ILC) algorithm can be implemented to achieve peak demand reduction while minimizing impacts on occupant comfort. The algorithm was designed to minimize the additional sensors and minimum configuration requirements to enable a scalable and cost-effective implementation for both large and small-/medium-sized commercial buildings. The ILC algorithm uses an analytic hierarchy process (AHP) to dynamically prioritize the available curtailable loads based on both quantitative (deviation of zone conditions from set point) and qualitative rules (types of zone). Although the ILC algorithm described in this report was highly tailored to work with rooftop units, it can be generalized for application to other building loads such as variable-air-volume (VAV) boxes and lighting systems.

  1. Design of a New Intelligent Controller with Switch Management

    Directory of Open Access Journals (Sweden)

    Guangfu Wang

    2013-11-01

    Full Text Available This paper has a study on a new intelligent Programmable Logic Controller based on industrial Ethernet (IPLCbIE. It proposes a complete solution for the target segment: MMM, WWW, F&B, Medium Hydro power. The scopes of the solution discussed in this paper are the process and field part of the IPLCbIE architecture. For the process part the scope of our design includes the controllers, the engineering software tools (Unity Pro and the interfaces with the other equipment of this level, typically other controllers or tools like asset management, SCADA or OPC server. Safety and HSBY controllers are also part of our design. For the field part, the scope of our program includes the remote I/Os and the interfaces with the other equipment of this level, typically distributed I/Os & devices. In this paper, we make a study on the design of the controller. It includes the system architecture of IPLCbIE, the application of network module. And it focuses on the discussion of design for the kernel module of the PLC - network module NOC. Our design also includes the interfaces with the operation & management tools. The hardware design is especially introduced in detail in my paper.  

  2. Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

    Directory of Open Access Journals (Sweden)

    C. Huang

    2014-01-01

    Full Text Available With increasing and more stringent requirements for advanced vehicle integration, including vehicle dynamics and control, traditional control and optimization strategies may not qualify for many applications. This is because, among other factors, they do not consider the nonlinear characteristics of practical systems. Moreover, the vehicle wheel model has some inadequacies regarding the sideslip angle, road adhesion coefficient, vertical load, and velocity. In this paper, an adaptive neural wheel network is introduced, and the interaction between the lateral and vertical dynamics of the vehicle is analyzed. By means of nonlinear analyses such as the use of a bifurcation diagram and the Lyapunov exponent, the vehicle is shown to exhibit complicated motions with increasing forward speed. Furthermore, electric power steering (EPS and active suspension system (ASS, which are based on intelligent control, are used to reduce the nonlinear effect, and a negotiation algorithm is designed to manage the interdependences and conflicts among handling stability, driving smoothness, and safety. Further, a rapid control prototype was built using the hardware-in-the-loop simulation platform dSPACE and used to conduct a real vehicle test. The results of the test were consistent with those of the simulation, thereby validating the proposed control.

  3. Self-tuning control algorithm design for vehicle adaptive cruise control system through real-time estimation of vehicle parameters and road grade

    Science.gov (United States)

    Marzbanrad, Javad; Tahbaz-zadeh Moghaddam, Iman

    2016-09-01

    The main purpose of this paper is to design a self-tuning control algorithm for an adaptive cruise control (ACC) system that can adapt its behaviour to variations of vehicle dynamics and uncertain road grade. To this aim, short-time linear quadratic form (STLQF) estimation technique is developed so as to track simultaneously the trend of the time-varying parameters of vehicle longitudinal dynamics with a small delay. These parameters are vehicle mass, road grade and aerodynamic drag-area coefficient. Next, the values of estimated parameters are used to tune the throttle and brake control inputs and to regulate the throttle/brake switching logic that governs the throttle and brake switching. The performance of the designed STLQF-based self-tuning control (STLQF-STC) algorithm for ACC system is compared with the conventional method based on fixed control structure regarding the speed/distance tracking control modes. Simulation results show that the proposed control algorithm improves the performance of throttle and brake controllers, providing more comfort while travelling, enhancing driving safety and giving a satisfactory performance in the presence of different payloads and road grade variations.

  4. Development of an Autonomous Flight Control System for Small Size Unmanned Helicopter Based on Dynamical Model

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts:orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.

  5. Cruising to the Expo

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Shanghai’s 2010 World Expo is a golden opportunity to bolster China’s cruise ship industry shanghai’s cruise ship port broke a number of records in 2009.The port saw 182,000 passenger visits via international cruise liners throughout the year,an increase of 73 percent over the year before.

  6. Cruising to the Expo

    Institute of Scientific and Technical Information of China (English)

    JING XIAOLEI

    2010-01-01

    @@ Shanghai's cruise ship port broke a number of records in 2009. The port saw 182,000 passenger visits via intemational cruise liners throughout the year, an increase of 73 percent over the year before. The year saw 33 visits of cruise ships that call Shanghai home and another 47 visits from ships with different home ports, breaking previous records.

  7. Autonomous Coil Alignment System Using Fuzzy Steering Control for Electric Vehicles with Dynamic Wireless Charging

    Directory of Open Access Journals (Sweden)

    Karam Hwang

    2015-01-01

    Full Text Available An autonomous coil alignment system (ACAS using fuzzy steering control is proposed for vehicles with dynamic wireless charging. The misalignment between the power receiver coil and power transmitter coil is determined based on the voltage difference between two coils installed on the front-left/front-right of the power receiver coil and is corrected through autonomous steering using fuzzy control. The fuzzy control is chosen over other control methods for implementation in ACAS due to the nonlinear characteristic between voltage difference and lateral misalignment distance, as well as the imprecise and constantly varying voltage readings from sensors. The operational validity and feasibility of the ACAS are verified through simulation, where the vehicle equipped with ACAS is able to align with the power transmitter in the road majority of the time during operation, which also implies achieving better wireless power delivery.

  8. 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

    Directory of Open Access Journals (Sweden)

    Zhenyu Yu

    2008-11-01

    Full Text Available Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The abovetheground height sensing is based on a 3D vision system. We have designed a simple planefitting method for estimating the height over the ground. The method enables vibration free measurement with the camera rigidly attached on the helicopter without using complicated gimbal or active vision mechanism. The estimated height is used by the landing control loop. Considering the ground effect during landing, we have proposed a twostage landing procedure. Two controllers are designed for the two landing stages respectively. The sensing approach and control strategy has been verified in field flight test and has demonstrated satisfactory performance.

  9. A REVIEW OF INTELLIGENT CONTROL SYSTEMS APPLIED TO THE INVERTED-PENDULUM PROBLEM

    Directory of Open Access Journals (Sweden)

    Pedro Ponce

    2014-01-01

    Full Text Available This study shows the latest advances in the application of intelligent control to the inverted-pendulum problem. A complete review regarding intelligent control design is presented in this study in order to show the most important artificial intelligence methods used for controlling an Inverted-Pendulum. Also this study proposed the use of a neural-fuzzy-with-genetic-algorithms controller for the inverted pendulum problem which gives good results. Conventional controllers are presented in order to observe implementation problems. The study goes deeply in the details that have to take into account in order to understand design problems and limitations.

  10. Artificial Intelligence and Spacecraft Power Systems

    Science.gov (United States)

    Dugel-Whitehead, Norma R.

    1997-01-01

    This talk will present the work which has been done at NASA Marshall Space Flight Center involving the use of Artificial Intelligence to control the power system in a spacecraft. The presentation will include a brief history of power system automation, and some basic definitions of the types of artificial intelligence which have been investigated at MSFC for power system automation. A video tape of one of our autonomous power systems using co-operating expert systems, and advanced hardware will be presented.

  11. STAT3 noncell-autonomously controls planar cell polarity during zebrafish convergence and extension.

    Science.gov (United States)

    Miyagi, Chiemi; Yamashita, Susumu; Ohba, Yusuke; Yoshizaki, Hisayoshi; Matsuda, Michiyuki; Hirano, Toshio

    2004-09-27

    Zebrafish signal transducer and activator of transcription 3 (STAT3) controls the cell movements during gastrulation. Here, we show that noncell-autonomous activity of STAT3 signaling in gastrula organizer cells controls the polarity of neighboring cells through Dishevelled-RhoA signaling in the Wnt-planar cell polarity (Wnt-PCP) pathway. In STAT3-depleted embryos, although all the known molecules in the Wnt-PCP pathway were expressed normally, the RhoA activity in lateral mesendodermal cells was down-regulated, resulting in severe cell polarization defects in convergence and extension movements identical to Strabismus-depleted embryos. Cell-autonomous activation of Wnt-PCP signaling by DeltaN-dishevelled rescued the defect in cell elongation, but not the orientation of lateral mesendodermal cells in STAT3-depleted embryos. The defect in the orientation could be rescued by transplantation of shield cells having noncell-autonomous activity of STAT3 signaling. These results suggest that the cells undergoing convergence and extension movement may sense the gradient of signaling molecules, which are expressed in gastrula organizer by STAT3 and noncell-autonomously activate PCP signaling in neighboring cells during zebrafish gastrulation.

  12. Adaptive artificial neural network for autonomous robot control

    Science.gov (United States)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

  13. Experimental framework for autonomous fast ships's control design

    OpenAIRE

    Recas Piorno, Joaquín; Esteban San Román, Segundo; Girón Sierra, José María; Cruz García, Jesús Manuel de la

    2005-01-01

    The research on seakeeping control of fast ships requires difficult experiments for modeling and control design. To alleviate the ship motion certain active appendages are added, such moving flaps, T-foil and fins. The motion of appendages must be optimized to counteract each encountered wave. During our first research steps, a scaled down ship, with scaled appendages, has been used in a towing tank facility. The scaled ship is towed at fixed speeds of experimental interest, for instance at t...

  14. Simultaneous Planning and Control for Autonomous Ground Vehicles

    Science.gov (United States)

    2009-02-01

    obstacle avoidance were not part of the problem. Pioneering work was done by Dubins during the late 1950’s. He proved that optimal paths connecting a car...motion. Reeds and Shepp extended the work of Dubins to include motion for a vehicle traveling both forwards and backwards [REE91]. There are several...use of receding horizon control for electro -mechanical systems. This limitation is primarily due to the time critical nature of the required control

  15. An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

    Science.gov (United States)

    Hasbullah Mohd Isa, Wan; Taha, Zahari; Mohd Khairuddin, Ismail; Majeed, Anwar P. P. Abdul; Fikri Muhammad, Khairul; Abdo Hashem, Mohammed; Mahmud, Jamaluddin; Mohamed, Zulkifli

    2016-02-01

    This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.

  16. Intelligent control over chaos in the rolling process and its comparison with tracking control

    Institute of Scientific and Technical Information of China (English)

    任海鹏; 刘丁

    2004-01-01

    Some existing methods for chaos control in engineering fields are analyzed and their drawbacks are pointed out.A tracking method can solve these problems to some extent, but it still depends on the mathematical model of the system to be controlled. An intelligent method based on fuzzy neural network (FNN) is used to control chaos in engineering fields. The FNN is employed to learn the inherent dynamics from the input and output of chaos, which can be used in the inverse system method, so that the method is free of the exact mathematical model of the system to be controlled.This intelligent method is compared with tracking method in the presence of measurement noise and model error. Simulation results show its superiority and feasibility.

  17. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    Science.gov (United States)

    Porter, Robert D.

    2002-09-01

    The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

  18. Intelligence Revisited

    Science.gov (United States)

    2005-05-01

    environment (i.e., culture , class, family, educational 2 Chapter 23 Intelligence Revisited opportunities, gender) shapes our intellect, and there are no...connectivity is going to be rather problematic, to say the least. A single nano-bot cruising this Disneyland of synaptic wonderment is certainly... cultures ). Embodiment – A sense of being anchored to our physical bodies. Agency – A sense of free will, wherein we are in charge of our own

  19. On nonlinear control design for autonomous chaotic systems of integer and fractional orders

    Energy Technology Data Exchange (ETDEWEB)

    Ahmad, Wajdi M. E-mail: wajdi@sharjah.ac.ae; Harb, Ahmad M. E-mail: aharb@just.edu.jo

    2003-11-01

    In this paper, we address the problem of chaos control for autonomous nonlinear chaotic systems. We use the recursive 'backstepping' method of nonlinear control design to derive the nonlinear controllers. The controller effect is to stabilize the output chaotic trajectory by driving it to the nearest equilibrium point in the basin of attraction. We study two nonlinear chaotic systems: an electronic chaotic oscillator model, and a mechanical chaotic 'jerk' model. We demonstrate the robustness of the derived controllers against system order reduction arising from the use of fractional integrators in the system models. Our results are validated via numerical simulations.

  20. Intelligent control and automation technology for nuclear application

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jae Hee; Eom, Heung Sub; Kim, Ko Ryu; Lee, Jae Cheol; Choi, You Rak; Lee, Soo Cheol [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1996-06-01

    Using recent technologies on a mobile robot and computer science, we developed an automatic inspection system for weld lines of the reactor pressure vessel. The ultrasonic inspection of the reactor pressure vessel is currently performed by commercialized robot manipulators. Since, however, the conventional fixed type robot manipulator is very huge, heavy and expensive, it needs long inspection time and is hard to handle and maintain. In order to resolve these problems, we developed a new inspection automation system using a small mobile robot crawling on the vertical wall. According to the conceptual design studied in the first year, we developed the inspection automation system including an underwater inspection robot, a laser position control subsystem and a main control subsystem. And we carried out underwater experiments on the reactor vessel mockup. After finishing this project successfully, we have a plan to commercialize our inspection system. Using this system, we can expect much reduction of the inspection time, performance enhancement, automatic management of inspection history, etc. In the economic point of view, we can also expect import substitution more than 5 million dollars. The established essential technologies for intelligent control and automation are expected to be synthetically applied to the automation of similar systems in nuclear power plants. 4 tabs., 37 figs., 6 refs. (Author).

  1. Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV

    Directory of Open Access Journals (Sweden)

    S. N. Singh

    2005-01-01

    Full Text Available The paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic autonomous underwater vehicles (BAUVs. Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on the internal model principle. Two springs are used to transmit forces from the actuators to the foil. Oscillating fins produce periodic forces, which can be used for fish-like propulsion and control of autonomous underwater vehicles (AUVs. The equations of motion of the foil include hydrodynamic lift and moment based on linear, unsteady, aerodynamic theory. A control law is derived for the lateral and rotational sinusoidal oscillation of the foil. In the closed-loop system, the lateral displacement and the rotational angle of the foil asymptotically follow sinusoidal trajectories of distinct frequencies and amplitudes independently. Simulation results are presented to show the trajectory tracking performance of the foil for different freestream velocities and sinusoidal command trajectories.

  2. Control of group of mobile autonomous agents via local strategies

    Institute of Scientific and Technical Information of China (English)

    Lixin GAO; Daizhan CHENG; Yiguang HONG

    2008-01-01

    This paper considers the formation control problem of multi-agent systems in a distributed fashion.Two cases of the information propagating topologies among multiple agents,characterized by graphics model,are considered.One is fixed topology.The other is switching topology which represents the limited and less reliable information exchange.The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies.Moreover,some existing convergence conditions ale shown to be a special case of our model even in the continuous-time consensus case.Therefore.the results of this paper extend the existing results about the consensus problem.

  3. Path tracking control of autonomous agricultural mobile robots

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral deviations being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

  4. Interated Intelligent Industrial Process Sensing and Control: Applied to and Demonstrated on Cupola Furnaces

    Energy Technology Data Exchange (ETDEWEB)

    Mohamed Abdelrahman; roger Haggard; Wagdy Mahmoud; Kevin Moore; Denis Clark; Eric Larsen; Paul King

    2003-02-12

    The final goal of this project was the development of a system that is capable of controlling an industrial process effectively through the integration of information obtained through intelligent sensor fusion and intelligent control technologies. The industry of interest in this project was the metal casting industry as represented by cupola iron-melting furnaces. However, the developed technology is of generic type and hence applicable to several other industries. The system was divided into the following four major interacting components: 1. An object oriented generic architecture to integrate the developed software and hardware components @. Generic algorithms for intelligent signal analysis and sensor and model fusion 3. Development of supervisory structure for integration of intelligent sensor fusion data into the controller 4. Hardware implementation of intelligent signal analysis and fusion algorithms

  5. Comparison of Intelligibility Measures for Adults with Parkinson's Disease, Adults with Multiple Sclerosis, and Healthy Controls

    Science.gov (United States)

    Stipancic, Kaila L.; Tjaden, Kris; Wilding, Gregory

    2016-01-01

    Purpose: This study obtained judgments of sentence intelligibility using orthographic transcription for comparison with previously reported intelligibility judgments obtained using a visual analog scale (VAS) for individuals with Parkinson's disease and multiple sclerosis and healthy controls (K. Tjaden, J. E. Sussman, & G. E. Wilding, 2014).…

  6. Attention and impulse control in children with borderline intelligence with or without conduct disorder.

    NARCIS (Netherlands)

    van der Meere, Jaap; van der Meer, Dirk-Jan; Borger, Norbert; Pirila, Silja

    2008-01-01

    This study was designed to investigate attention and impulse control in 21 boys with dual diagnoses of conduct disorder and borderline intelligence and in 19 boys with borderline intelligence only. Using the Continuous Performance Test A-not-X, it appeared that children with the dual diagnosis made

  7. Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

    Science.gov (United States)

    Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

    2015-01-01

    A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

  8. Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

    Science.gov (United States)

    Khozhaev, I. V.; Gayvoronskiy, S. A.

    2016-04-01

    Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.

  9. Chronic Treatment with Ivabradine Does Not Affect Cardiovascular Autonomic Control in Rats.

    Science.gov (United States)

    Silva, Fernanda C; Paiva, Franciny A; Müller-Ribeiro, Flávia C; Caldeira, Henrique M A; Fontes, Marco A P; de Menezes, Rodrigo C A; Casali, Karina R; Fortes, Gláucia H; Tobaldini, Eleonora; Solbiati, Monica; Montano, Nicola; Dias Da Silva, Valdo J; Chianca, Deoclécio A

    2016-01-01

    A low resting heart rate (HR) would be of great benefit in cardiovascular diseases. Ivabradine-a novel selective inhibitor of hyperpolarization-activated cyclic nucleotide gated (HCN) channels- has emerged as a promising HR lowering drug. Its effects on the autonomic HR control are little known. This study assessed the effects of chronic treatment with ivabradine on the modulatory, reflex and tonic cardiovascular autonomic control and on the renal sympathetic nerve activity (RSNA). Male Wistar rats were divided in 2 groups, receiving intraperitoneal injections of vehicle (VEH) or ivabradine (IVA) during 7 or 8 consecutive days. Rats were submitted to vessels cannulation to perform arterial blood pressure (AP) and HR recordings in freely moving rats. Time series of resting pulse interval and systolic AP were used to measure cardiovascular variability parameters. We also assessed the baroreflex, chemoreflex and the Bezold-Jarish reflex sensitivities. To better evaluate the effects of ivabradine on the autonomic control of the heart, we performed sympathetic and vagal autonomic blockade. As expected, ivabradine-treated rats showed a lower resting (VEH: 362 ± 16 bpm vs. IVA: 260 ± 14 bpm, p = 0.0005) and intrinsic HR (VEH: 369 ± 9 bpm vs. IVA: 326 ± 11 bpm, p = 0.0146). However, the chronic treatment with ivabradine did not change normalized HR spectral parameters LF (nu) (VEH: 24.2 ± 4.6 vs. IVA: 29.8 ± 6.4; p > 0.05); HF (nu) (VEH: 75.1 ± 3.7 vs. IVA: 69.2 ± 5.8; p > 0.05), any cardiovascular reflexes, neither the tonic autonomic control of the HR (tonic sympathovagal index; VEH: 0.91± 0.02 vs. IVA: 0.88 ± 0.03, p = 0.3494). We performed the AP, HR and RSNA recordings in urethane-anesthetized rats. The chronic treatment with ivabradine reduced the resting HR (VEH: 364 ± 12 bpm vs. IVA: 207 ± 11 bpm, p ivabradine directly reduces the HR without changing the RSNA modulation and the reflex and tonic autonomic control of the heart.

  10. Chronic treatment with ivabradine does not affect cardiovascular autonomic control in rats

    Directory of Open Access Journals (Sweden)

    Fernanda C. Silva

    2016-07-01

    Full Text Available A low resting heart rate (HR would be of great benefit in cardiovascular diseases. Ivabradine – a novel selective inhibitor of hyperpolarization-activated cyclic nucleotide gated (HCN channels– has emerged as a promising HR lowering drug. Its effects on the autonomic HR control are little known. This study assessed the effects of chronic treatment with ivabradine on the modulatory, reflex and tonic cardiovascular autonomic control and on the renal sympathetic nerve activity (RSNA. Male Wistar rats were divided in 2 groups, receiving intraperitoneal injections of vehicle (VEH or ivabradine (IVA during 7 or 8 consecutive days. Rats were submitted to vessels cannulation to perform arterial blood pressure (AP and HR recordings in freely moving rats. Time series of resting pulse interval and systolic AP were used to measure cardiovascular variability parameters. We also assessed the baroreflex, chemoreflex and the Bezold-Jarish reflex sensitivities. To better evaluate the effects of ivabradine on the autonomic control of the heart, we performed sympathetic and vagal autonomic blockade. As expected, ivabradine-treated rats showed a lower resting (VEH: 362 ± 16 bpm vs. IVA: 260 ± 14 bpm, p=0.0005 and intrinsic HR (VEH: 369 ± 9 bpm vs. IVA: 326 ± 11bpm, p=0.0146. However, the chronic treatment with ivabradine did not change normalized HR spectral parameters LF (nu (VEH: 24.2 ± 4.6 vs. IVA: 29.8 ± 6.4; p>0.05; HF (nu (VEH: 75.1 ± 3.7 vs. IVA: 69.2 ± 5.8; p>0.05, any cardiovascular reflexes, neither the tonic autonomic control of the HR (sympathovagal index; VEH: 0.91± 0.02 vs. IVA: 0.88 ± 0.03, p=0.3494. We performed the AP, HR and RSNA recordings in urethane-anesthetized rats. The chronic treatment with ivabradine reduced the resting HR (VEH: 364 ± 12 bpm vs. IVA: 207 ± 11 bpm, p<0.0001, without affecting RSNA (VEH: 117 ± 16 vs. IVA: 120 ± 9 spikes/sec, p=0.9100 and mean arterial pressure (VEH: 70 ± 4 vs. IVA: 77 ± 6 mmHg, p=0

  11. Controls of dimethyl sulphide in the Bay of Bengal during BOBMEX-Pilot cruise 1998

    Indian Academy of Sciences (India)

    D M Shenoy; M Dileep Kumar; V V S S Sarma

    2000-06-01

    The air-sea exchange is one of the main mechanisms maintaining the abundances of trace gases in the atmosphere. Some of these, such as carbon dioxide and dimethyl sulphide (DMS), will have a bearing on the atmospheric heat budget. While the former facilitates the trapping of radiation (greenhouse effect) the latter works in the opposite direction through reflectance of radiation back into space by sulphate aerosols that form from oxidation of DMS in atmosphere. Here we report on the first measurements made on DMS in the Bay of Bengal and the factors regulating its abundance in seawater. Phytoplankton alone does not seem to control the extent of DMS concentrations. We find that changes in salinity could effectively regulate the extent of DMSP production by marine phytoplankton. In addition, we provide the first ever evidence to the occurrence of DMS precursor, DMSP, in marine aerosols collected in the boundary layer. This suggests that the marine aerosol transport of DMSP will supplement DMS gaseous evasion in maintaining the atmospheric non-sea salt sulphur budget.

  12. Multi-Functional Distributed Secondary Control for Autonomous Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad

    Microgrids (MGs)--the building blocks of the smart grid-- are local grids comprise different technologies such as power electronics converters, distributed renewable and non-renewable energy sources, energy storage systems, and telecommunications which can operate either in islanded mode...... or connected to the main grid. Apart from the obvious benefits of MGs, their introduction into the traditional distribution network raises many new challenges, thus, a hierarchical control concept has been introduced for these systems. While the decentralized primary control of this hierarchy ensures...... exchanging information with only its direct neighbors through a sparse communication network. Loss of sources and communication links do not affect system operation as long as the communication graph remains connected. Moreover, they are scalable, for that prior knowledge of the system is not required...

  13. Team-oriented Adaptive Droop Control for Autonomous AC Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Nasirian, Vahidreza; Guerrero, Josep M.;

    2014-01-01

    This paper proposes a distributed control strategy for voltage and reactive power regulation in ac Microgrids. First, the control module introduces a voltage regulator that maintains the average voltage of the system on the rated value, keeping all bus voltages within an acceptable range. Dynamic...... consensus protocol is used to estimate the average voltage across the Microgrid. This estimation is further utilized by the voltage regulator to elevate/lower the voltage-reactive power (Q-E) droop characteristic, compensating the drop caused by the droop mechanism. The second module, the reactive power...... regulator, dynamically fine-tunes the Q-E coefficients to handle the proportional reactive power sharing. Accordingly, locally supplied reactive power of any source is compared with neighbor sources and the local droop coefficient is adjusted to mitigate and, ultimately, eliminate the load mismatch...

  14. Autonomic control of cardiorespiratory interactions in fish, amphibians and reptiles

    Directory of Open Access Journals (Sweden)

    E.W. Taylor

    2010-07-01

    Full Text Available Control of the heart rate and cardiorespiratory interactions (CRI is predominantly parasympathetic in all jawed vertebrates, with the sympathetic nervous system having some influence in tetrapods. Respiratory sinus arrhythmia (RSA has been described as a solely mammalian phenomenon but respiration-related beat-to-beat control of the heart has been described in fish and reptiles. Though they are both important, the relative roles of feed-forward central control and peripheral reflexes in generating CRI vary between groups of fishes and probably between other vertebrates. CRI may relate to two locations for the vagal preganglionic neurons (VPN and in particular cardiac VPN in the brainstem. This has been described in representatives from all vertebrate groups, though the proportion in each location is variable. Air-breathing fishes, amphibians and reptiles breathe discontinuously and the onset of a bout of breathing is characteristically accompanied by an immediate increase in heart rate plus, in the latter two groups, a left-right shunting of blood through the pulmonary circuit. Both the increase in heart rate and opening of a sphincter on the pulmonary artery are due to withdrawal of vagal tone. An increase in heart rate following a meal in snakes is related to withdrawal of vagal tone plus a non-adrenergic-non-cholinergic effect that may be due to humoral factors released by the gut. Histamine is one candidate for this role.

  15. Autonomic control of cardiorespiratory interactions in fish, amphibians and reptiles.

    Science.gov (United States)

    Taylor, E W; Leite, C A C; Skovgaard, N

    2010-07-01

    Control of the heart rate and cardiorespiratory interactions (CRI) is predominantly parasympathetic in all jawed vertebrates, with the sympathetic nervous system having some influence in tetrapods. Respiratory sinus arrhythmia (RSA) has been described as a solely mammalian phenomenon but respiration-related beat-to-beat control of the heart has been described in fish and reptiles. Though they are both important, the relative roles of feed-forward central control and peripheral reflexes in generating CRI vary between groups of fishes and probably between other vertebrates. CRI may relate to two locations for the vagal preganglionic neurons (VPN) and in particular cardiac VPN in the brainstem. This has been described in representatives from all vertebrate groups, though the proportion in each location is variable. Air-breathing fishes, amphibians and reptiles breathe discontinuously and the onset of a bout of breathing is characteristically accompanied by an immediate increase in heart rate plus, in the latter two groups, a left-right shunting of blood through the pulmonary circuit. Both the increase in heart rate and opening of a sphincter on the pulmonary artery are due to withdrawal of vagal tone. An increase in heart rate following a meal in snakes is related to withdrawal of vagal tone plus a non-adrenergic-non-cholinergic effect that may be due to humoral factors released by the gut. Histamine is one candidate for this role.

  16. A Multi-Layer Intelligent Loss-of-Control Prevention System (LPS) for Flight Control Applications Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The main objective of the proposed work is to design and develop a multi-layer intelligent Loss-of-control Prevention System (LPS) for flight control applications....

  17. Cruise Ship Plume Tracking Survey Report

    Science.gov (United States)

    2002-09-01

    The U. S. Environmental Protection Agency (EPA) is developing a Cruise Ship Discharge Assessment Report in response to a petition the agency received in March 2000. The petition requested that EPA assess and where necessary control discharges from cruise ships. Comments received during public hearings, in 2000, resulted in the EPA agreeing to conduct a survey to assess the discharge plumes resulting from cruise ships, operating in ocean waters off the Florida coast and to compare the results to the Alaska dispersion models. This survey report describes the daily activities of August 2001 Cruise Ship Plume Tracking Survey, and provides a synopsis of the observations from the survey. It also provides data that can be used to assess dispersion of cruise ship wastewater discharges, while in transit. A description of the survey methods is provided in Section 2. Survey results are presented in Section 3. Findings and conclusions are discussed in Section 4.

  18. Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Thor Inge Fossen

    1988-10-01

    Full Text Available A non-linear self-tuning algorithm is demonstrated for an autonomous underwater vehicle. Tighter control is achieved by a non-linear parameter identification algorithm which reduces the parameter uncertainty bounds. Expensive hydrodynamic tests for parameter determination can thus be avoided. Excellent tracking performance and robustness to parameter uncertainty are guaranteed through a robust control strategy based on the estimated parameters. The nonlinear control law is highly robust for imprecise models and the neglected dynamics. The non-linear self-tuning control strategy is simulated for the horizontal positioning of an underwater vehicle.

  19. An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances

    CERN Document Server

    Zhang, Jian Yuan Wen-Xia

    2012-01-01

    The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solving the Riccati equations and matrix equations. The existence and uniqueness condition of feedforward-feedback optimal control law is proposed and the optimal control law algorithm is carried out. Lastly, simulations show the result is effectiveness with respect to external persistent disturbances and noise.

  20. Control, anticontrol and synchronization of chaos for an autonomous rotational machine system with time-delay

    Energy Technology Data Exchange (ETDEWEB)

    Ge Zhengming [Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu 300, Taiwan (China)]. E-mail: zmg@cc.nctu.edu.tw; Lee, Ching-I [Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu 300, Taiwan (China)

    2005-03-01

    Chaos, control, anticontrol and synchronization of chaos for an autonomous rotational machine system with a hexagonal centrifugal governor and spring for which time-delay effect is considered are studied in the paper. By applying numerical results, phase diagram and power spectrum are presented to observe periodic and chaotic motions. Linear feedback control and adaptive control algorithm are used to control chaos effectively. Linear and nonlinear feedback synchronization and phase synchronization for the coupled systems are presented. Finally, anticontrol of chaos for this system is also studied.

  1. User evaluation of a GUI for controlling an autonomous persistent surveillance team

    Science.gov (United States)

    Scerri, Paul; Owens, Sean; Sycara, Katia; Lewis, Michael

    2010-04-01

    In future military missions, there will be many sensor assets collecting much important information about the environment. User control over surveillance assets is important to ensure that the specific data collected is appropriate for the current mission. Unfortunately, previous work has shown that individual users cannot effectively control more than about four assets, even if the assets have significant autonomy. In the ACCAST project, we hypothesized that by including autonomous teamwork between the assets and allowing users to interact by describing what the team as a whole and specific sub-teams should do, we could dramatically scale up the number of assets an individual user could effectively control. In this paper, we present the results of an experiment where users controlled up to 30 autonomous assets performing a complex mission. The assets autonomously worked together using sophisticated teamwork and the user could tell sub-teams to execute team oriented plans which described the steps required to achieve a team objective without describing exactly which asset performed which role and without having to specify how the team should handle routine information sharing, communications and failure circumstances. The users, soldiers from Fort Benning, were surprisingly good at managing the assets and were all able to complete the complex mission with extremely low friendly and civilian casualties.

  2. STEADY-STATE HIERARCHICAL INTELLIGENT CONTROL OF LARGE-SCALE INDUSTRIAL PROCESSES

    Institute of Scientific and Technical Information of China (English)

    WAN Baiwu

    2004-01-01

    This paper considers the fourth stage of development of hierarchical control ofindustrial processes to the intelligent control and optimization stage, and reviews what theauthor and his Group have been investigating for the past decade in the on-line steady-state hierarchical intelligent control of large-scale industrial processes (LSIP)This papergives a definition of intelligent control of large-scale systems first, and then reviews the useof neural networks for identification and optimization, the use of expert systems to solvesome kinds of hierarchical multi-objective optimization problems by an intelligent decisionunit (ID), the use of fuzzy logic control, and the use of iterative learning controlSeveralimplementation examples are introducedThis paper reviews other main achievements ofthe Group alsoFinally this paper gives a perspective of future development.

  3. Lighter than Air Robots Guidance and Control of Autonomous Airships

    CERN Document Server

    Bestaoui Sebbane, Yasmina

    2012-01-01

    An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an unmanned airship with sufficient autonomy. Lighter than air systems are particularly appealing since the energy to keep them airborne is small. They are increasingly considered for various tasks such as monitoring, surveillance, advertising, freight carrier, transportation. This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The sec...

  4. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    Science.gov (United States)

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  5. Virtual Reality-based Telesurgery via Teleprogramming Scheme Combined with Semi-autonomous Control.

    Science.gov (United States)

    Zhijiang, Du; Zhiheng, Jia; Minxiu, Kong

    2005-01-01

    Telesurgery systems have long been suffering variable and unpredictable Internet commutation time delay, operation fatigue, and other drawbacks. Based on virtual reality technology, a teleprogramming scheme combined with semi-autonomous control is introduced to guarantee the robustness and efficiency of teleoperation of HIT-RAOS, a robot-assisted orthopedic surgery system. In this system, without considering time delay, the operator can just interact with virtual environment which provides real-time 3D vision, stereophonic sound, and tactile and force feedback imitated by a parallel master manipulator. And several tasks can be managed simultaneously via semi-autonomous control. Finally, the method is experimentally demonstrated on an experiment of locking of intramedullary nails, and is shown to effectively provide stability and performances.

  6. PERFORMANCE OF PID CONTROLLER OF NONLINEAR SYSTEM USING SWARM INTELLIGENCE TECHNIQUES

    Directory of Open Access Journals (Sweden)

    Neeraj Jain

    2016-07-01

    Full Text Available In this paper swarm intelligence based PID controller tuning is proposed for a nonlinear ball and hoop system. Particle swarm optimization (PSO, Artificial bee colony (ABC, Bacterial foraging optimization (BFO is some example of swarm intelligence techniques which are focused for PID controller tuning. These algorithms are also tested on perturbed ball and hoop model. Integral square error (ISE based performance index is used for finding the best possible value of controller parameters. Matlab software is used for designing the ball and hoop model. It is found that these swarm intelligence techniques have easy implementation & lesser settling & rise time compare to conventional methods.

  7. High Precision Motion Control of Hybrid Five-Bar Mechanism with an Intelligent Control

    Institute of Scientific and Technical Information of China (English)

    ZHANG Ke; WANG Sheng-ze

    2009-01-01

    Hybrid mechanism is a new type of planar controllable mechanism. Position control accuracy of system determines the output acctracy of the mechanism In order to achieve the desired high accuracy, nonlinear factors as friction must be accurately compensated in the real-time servo control algarithm. In this paper, the model of a hybrid flve-bar mechanism is introduced In terms of the characteristics of the hybrid mechanism, a hybrid intelligent control algorithm based on proportional-integral-derivative(PID) control and cerebellar model articulation control techniques was presented and used to perform control of hybrid five-bar mechanism for the first time. The simulation results show that the hybrid control method can improve the control effect remarkably, compared with the traditional PID control strategy.

  8. Clinical assessment of the autonomic nervous system in diabetes mellitus and its correlation with glycemic control

    Directory of Open Access Journals (Sweden)

    Uday B Nayak

    2013-01-01

    Full Text Available Aim: Clinical assessment of the autonomic nervous system in Diabetes mellitus (DM and its correlation with glycemic control. STUDY DESIGN: Cross sectional study of 50 adult diabetes patients. Materials and Methods: Fifty patients with DM who were on regular treatment with either insulin and/or oral hypoglycemic agents were studied. Cardiovascular autonomic neuropathy (CAN score was calculated using the clinical test variables. Results: Of the 50 patients 30 had no CAN, 10 had early CAN and 10 had severe CAN. The mean of CAN score increased with duration of diabetes. The mean HbA 1C was 7.73. The mean CAN score was higher in patients who had complication of diabetes as compared to patients without complications. The heart rate variability with respiration was found to be 15.84 ± 7.02/min. The mean valsalva ratio was 1.31 ± 0.23. The mean drop in BP on standing was 7.30 ± 7.24 mmHg. The mean 30:15 ratio was 1.06 ± 0.04. The mean rise in diastolic BP on sustained hand grip was 16.04 ± 4.11 mmHg. Conclusions: The prevalence of autonomic neuropathy in DM as assessed by CAN score was 40%. The CAN score did not correlate with the duration of DM. The HbA 1C had a significant correlation with the severity of autonomic neuropathy. Occurrence of CAN correlated with the presence of peripheral neuropathy but not with the presence of retinopathy or nephropathy. All individual tests in the battery of CAN score were significantly associated with the presence of autonomic neuropathy, except 30:15 ratio.

  9. Superior Performance of Leagile Supply Networks by Application of Autonomous Control

    OpenAIRE

    Scholz-Reiter, Bernd; Mehrsai, Afshin

    2010-01-01

    International audience; In the paper, a special approach to supply networks' material flows is posed. The considered strategy is based on the both principles of Lean and agility, beside push and pull of materials. Here, the trade off between positioning of decoupling point throughout an exemplary network, and reduction of inventory level along throughput time is examined. Moreover, autonomous control for material routing and lot-sizes is taken into account. To do so, a discrete-event simulati...

  10. EXACT NULL CONTROLLABILITY OF NON-AUTONOMOUS FUNCTIONAL EVOLUTION SYSTEMS WITH NONLOCAL CONDITIONS

    Institute of Scientific and Technical Information of China (English)

    Xianlong FU; Yu ZHANG

    2013-01-01

    In this article,by using theory of linear evolution system and Schauder fixed point theorem,we establish a sufficient result of exact null controllability for a non-autonomous functional evolution system with nonlocal conditions.In particular,the compactness condition or Lipschitz condition for the function g in the nonlocal conditions appearing in various literatures is not required here.An example is also provided to show an application of the obtained result.

  11. Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control

    OpenAIRE

    Daxiong Ji; Jian Liu; Hongyu Zhao; Yiqun Wang

    2014-01-01

    A solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control law based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametric modeling uncertainty. An error integration element is added into the “t...

  12. Fatigue distribution optimization for offshore wind farms using intelligent agent control

    DEFF Research Database (Denmark)

    Zhao, Rongyong; Shen, Wen Zhong; Knudsen, Torben

    2012-01-01

    A novel control approach is proposed to optimize the fatigue distribution of wind turbines in a large‐scale offshore wind farm on the basis of an intelligent agent theory. In this approach, each wind turbine is considered to be an intelligent agent. The turbine at the farm boundary communicates...... with its neighbouring downwind turbines and organizes them adaptively into a wind delivery group along the wind direction. The agent attributes and the event structure are designed on the basis of the intelligent agent theory by using the unified modelling language. The control strategy of the intelligent...... coefficient for every wind turbine. The optimization is constrained such that the average fatigue for every turbine is smaller than what would be achieved by conventional dispatch and such that the total power loss of the wind farm is restricted to a few percent of the total power. This intelligent agent...

  13. Demonstration of a semi-autonomous hybrid brain-machine interface using human intracranial EEG, eye tracking, and computer vision to control a robotic upper limb prosthetic.

    Science.gov (United States)

    McMullen, David P; Hotson, Guy; Katyal, Kapil D; Wester, Brock A; Fifer, Matthew S; McGee, Timothy G; Harris, Andrew; Johannes, Matthew S; Vogelstein, R Jacob; Ravitz, Alan D; Anderson, William S; Thakor, Nitish V; Crone, Nathan E

    2014-07-01

    To increase the ability of brain-machine interfaces (BMIs) to control advanced prostheses such as the modular prosthetic limb (MPL), we are developing a novel system: the Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE). This system utilizes hybrid input, supervisory control, and intelligent robotics to allow users to identify an object (via eye tracking and computer vision) and initiate (via brain-control) a semi-autonomous reach-grasp-and-drop of the object by the MPL. Sequential iterations of HARMONIE were tested in two pilot subjects implanted with electrocorticographic (ECoG) and depth electrodes within motor areas. The subjects performed the complex task in 71.4% (20/28) and 67.7% (21/31) of trials after minimal training. Balanced accuracy for detecting movements was 91.1% and 92.9%, significantly greater than chance accuracies (p system improvements implemented for the second subject. Our hybrid-BMI design prevented all but one baseline false positive from initiating the system. The novel approach demonstrated in this proof-of-principle study, using hybrid input, supervisory control, and intelligent robotics, addresses limitations of current BMIs.

  14. Current challenges in autonomous vehicle development

    Science.gov (United States)

    Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

    2006-05-01

    The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

  15. Design of a Remote-controlled and GPS-guided Autonomous Robot for Precision Farming

    Directory of Open Access Journals (Sweden)

    İlker Ünal

    2015-12-01

    Full Text Available Determining variations in fields is important for precision farming applications. Precision farming is used to determine, analyse, and manage factors such as temporal and spatial variability to obtain maximum profit, sustainability, and environmental protection. However, precision farming is excessively dependent on soil and plant test processes. Furthermore, test processes are time-consuming, laborious and expensive. These processes also cannot be performed quickly by humans. For these reasons, autonomous robots should be designed and developed for the detection of field variations and variable-rate applications. In this study, a remote-controlled and GPS-guided autonomous robot was designed and developed, which can be controlled via the 3G internet and is suitable for image-processing applications. The joystick is used to manually remotely control the robot movements in any direction or speed. Real-time video transmission to the remote computer can be accomplished with a camera placed on the vehicle. Navigation software was developed for steering the robot autonomously. In the results of the field test for the navigation software, it was found that the linear target point precision ranged from 10 to 12 cm and the distributed target point precision ranged from 15 to 17 cm.

  16. Autonomous Quality Control of Joint Orientation Measured with Inertial Sensors

    Directory of Open Access Journals (Sweden)

    Karina Lebel

    2016-07-01

    Full Text Available Clinical mobility assessment is traditionally performed in laboratories using complex and expensive equipment. The low accessibility to such equipment, combined with the emerging trend to assess mobility in a free-living environment, creates a need for body-worn sensors (e.g., inertial measurement units—IMUs that are capable of measuring the complexity in motor performance using meaningful measurements, such as joint orientation. However, accuracy of joint orientation estimates using IMUs may be affected by environment, the joint tracked, type of motion performed and velocity. This study investigates a quality control (QC process to assess the quality of orientation data based on features extracted from the raw inertial sensors’ signals. Joint orientation (trunk, hip, knee, ankle of twenty participants was acquired by an optical motion capture system and IMUs during a variety of tasks (sit, sit-to-stand transition, walking, turning performed under varying conditions (speed, environment. An artificial neural network was used to classify good and bad sequences of joint orientation with a sensitivity and a specificity above 83%. This study confirms the possibility to perform QC on IMU joint orientation data based on raw signal features. This innovative QC approach may be of particular interest in a big data context, such as for remote-monitoring of patients’ mobility.

  17. Intelligent Controller for Synchronization New Three Dimensional Chaotic System

    Directory of Open Access Journals (Sweden)

    Alireza Sahab

    2014-07-01

    Full Text Available One of the most important phenomena of some systems is chaos which is caused by nonlinear dynamics. In this paper, the new 3 dimensional chaotic system is first investigated and then utilized an intelligent controller based on brain emotional learning (BELBIC, this new chaotic system is synchronized. The BELBIC consists of reward signal which accepts positive values. Improper selection of the parameters causes an improper behavior which may cause serious problems such as instability of the system. It is needed to optimize these parameters. Genetic Algorithm (GA, Cuckoo Optimization Algorithm (COA, Particle Swarm Optimization Algorithm (PSO and Imperialist Competitive Algorithm (ICA are used to compute the optimal parameters for the reward signal of BELBIC. These algorithms can select appropriate and optimal values for the parameters. These minimize the Cost Function, so the optimal values for the parameters will be founded. Selected cost function is defined to minimizing the least square errors. Cost function enforces the system errors to decay to zero rapidly. Numerical simulation will show that this method much better, faster and more effective than previous methods can be new 3D chaotic system mode to bring synchronized.

  18. Optical Communication System for Remote Monitoring and Adaptive Control of Distributed Ground Sensors Exhibiting Collective Intelligence

    Energy Technology Data Exchange (ETDEWEB)

    Cameron, S.M.; Stantz, K.M.; Trahan, M.W.; Wagner, J.S.

    1998-11-01

    Comprehensive management of the battle-space has created new requirements in information management, communication, and interoperability as they effect surveillance and situational awareness. The objective of this proposal is to expand intelligent controls theory to produce a uniquely powerful implementation of distributed ground-based measurement incorporating both local collective behavior, and interoperative global optimization for sensor fusion and mission oversight. By using a layered hierarchal control architecture to orchestrate adaptive reconfiguration of autonomous robotic agents, we can improve overall robustness and functionality in dynamic tactical environments without information bottlenecks. In this concept, each sensor is equipped with a miniaturized optical reflectance modulator which is interactively monitored as a remote transponder using a covert laser communication protocol from a remote mothership or operative. Robot data-sharing at the ground level can be leveraged with global evaluation criteria, including terrain overlays and remote imaging data. Information sharing and distributed intelli- gence opens up a new class of remote-sensing applications in which small single-function autono- mous observers at the local level can collectively optimize and measure large scale ground-level signals. AS the need for coverage and the number of agents grows to improve spatial resolution, cooperative behavior orchestrated by a global situational awareness umbrella will be an essential ingredient to offset increasing bandwidth requirements within the net. A system of the type described in this proposal will be capable of sensitively detecting, tracking, and mapping spatial distributions of measurement signatures which are non-stationary or obscured by clutter and inter- fering obstacles by virtue of adaptive reconfiguration. This methodology could be used, for example, to field an adaptive ground-penetrating radar for detection of underground structures in

  19. CamOn: A Real-Time Autonomous Camera Control System

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    contributes to the potential field that is used to determine po- sition and movement of the camera. Composition constraints for the camera are modelled as potential fields for controlling the view target of the camera. CamOn combines the compositional benefits of constraint- based camera systems, and improves......This demonstration presents CamOn, an autonomous cam- era control system for real-time 3D games. CamOn employs multiple Artificial Potential Fields (APFs), a robot motion planning technique, to control both the location and orienta- tion of the camera. Scene geometry from the 3D environment...

  20. Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

    Science.gov (United States)

    Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

    In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

  1. Experimental Study on Intelligent Control Scheme for Fan Coil Air-Conditioning System

    Directory of Open Access Journals (Sweden)

    Yanfeng Li

    2013-01-01

    Full Text Available An intelligent control scheme for fan coil air-conditioning systems has been put forward in order to overcome the shortcomings of the traditional proportion-integral-derivative (PID control scheme. These shortcomings include the inability of anti-interference and large inertia. An intelligent control test rig of fan coil air-conditioning system has been built, and MATLAB/Simulink dynamics simulation software has been adopted to implement the intelligent control scheme. A software for data exchange has been developed to combine the intelligence control system and the building automation (BA system. Experimental tests have been conducted to investigate the effectiveness of different control schemes including the traditional PID control, fuzzy control, and fuzzy-PID control for fan coil air-conditioning system. The effects of control schemes have been compared and analyzed in robustness, static and dynamic character, and economy. The results have shown that the developed data exchange interface software can induce the intelligent control scheme of the BA system more effectively. Among the proposed control strategies, fuzzy-PID control scheme which has the advantages of both traditional PID and fuzzy schemes is the optimal control scheme for the fan coil air-conditioning system.

  2. Distributed Sensor Architecture for Intelligent Control that Supports Quality of Control and Quality of Service

    Directory of Open Access Journals (Sweden)

    Jose-Luis Poza-Lujan

    2015-02-01

    Full Text Available This paper is part of a study of intelligent architectures for distributed control and communications systems. The study focuses on optimizing control systems by evaluating the performance of middleware through quality of service (QoS parameters and the optimization of control using Quality of Control (QoC parameters. The main aim of this work is to study, design, develop, and evaluate a distributed control architecture based on the Data-Distribution Service for Real-Time Systems (DDS communication standard as proposed by the Object Management Group (OMG. As a result of the study, an architecture called Frame-Sensor-Adapter to Control (FSACtrl has been developed. FSACtrl provides a model to implement an intelligent distributed Event-Based Control (EBC system with support to measure QoS and QoC parameters. The novelty consists of using, simultaneously, the measured QoS and QoC parameters to make decisions about the control action with a new method called Event Based Quality Integral Cycle. To validate the architecture, the first five Braitenberg vehicles have been implemented using the FSACtrl architecture. The experimental outcomes, demonstrate the convenience of using jointly QoS and QoC parameters in distributed control systems.

  3. Intelligent Scheduling Controller Design for Networked Control Systems Based on Estimation of Distribution Algorithm

    Institute of Scientific and Technical Information of China (English)

    LI Hongbo; SUN Zengqi; CHEN Badong; LIU Huaping

    2008-01-01

    The use of communication networks in control loops has gained increasing attention in recent years due to its advantages and flexible applications. The network quality-of-service (QoS) in those so-called networked control systems always fluctuates due to changes of the traffic load and available network resources. This paper presents an intelligent scheduling controller design approach for a class of NCSs to handle network QoS variations. The sampling period and control parameters in the controller are simultane-ously scheduled to compensate for the network QoS variations. The estimation of distribution algorithm is used to optimize the sampling period and control parameters for better performance. Compared with exist-ing networked control methods, the controller has better ability to compensate for the network QoS varia-tions and to balance network loads. Simulation results show that the plant setting time with the intelligent scheduling controller is reduced by about 64.0% for the medium network load and 49.1% for high network load and demonstrate the effectiveness of the proposed approaches.

  4. 无人反潜系统自主指挥控制研究%S tudy on Autonomous Command and Control of Unmanned Anti Submarine System

    Institute of Scientific and Technical Information of China (English)

    张起; 苏金涛

    2015-01-01

    无人反潜系统的指挥控制问题是关系其具备实际作战能力的主要问题之一。论文在分析无人反潜系统指控原理和其自主指控水平分级的基础上,采用可变自主控制结构,研究了无人反潜系统分级可变自主指控实现的方法。该方法可赋予无人反潜系统可变的指挥控制自主性,使其在工作环境中能够实时评估自身的自主能力,并主动引入人工干预。这种具备人机智能融合特性的自主指挥控制方法更适应无人反潜系统在复杂战场环境中实战化的需求。%It is a challenge to the command and control of Unmanned Anti Submarine System(UASS) which determines its actual combat capability .The autonomous command and control method which is hierarchical and adjustable is developed based on the autonomous command and control levels and the adjustable control framework .It makes the UASS momentarily evaluate its autonomous abilities and initiatively request assistance from humans which realizes man‐machine intelligence inte‐gration ,and no more adapts the actual combat demand of UASS in complex battlefield .

  5. Integrated intelligent control analysis on semi-active structures by using magnetorheological dampers

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The control strategy is very important for semiactive control or active control systems. An integrated intelligent control strategy for building structures incorpo rated with magnetorheological (MR) dampers subjected to earthquake excitation is proposed. In this strategy, the time-delay problem is solved by a neural network and the control currents of the MR dampers are determined quickly by a fuzzy controller. Through a numerical example of a three-storey structure with one MR damper installed in the first floor, the seismic responses of the uncontrolled, the intelligently controlled, the passiveon controlled, and the passive-off controlled structures under different earthquake excitations are analyzed. Based on the numerical results, it can be found that the time domain and the frequency domain responses are reduced effectively when the MR damper is added in the structure, and the integrated intelligent control strategy has a better earthquake mitigation effect.

  6. Intesrated intelligent control analysis on semi-active structuresby using magnetorheological dampers

    Institute of Scientific and Technical Information of China (English)

    XU ZhaoDong; GUO YingQing

    2008-01-01

    The control strategy is very important for semi-active control or active control systems. An integrated intelligent control strategy for building structures incorpo-rated with magnetorheological (MR) dampers subjected to earthquake excitation is proposed. In this strategy, the time-delay problem is solved by a neural network and the control currents of the MR dampers are determined quickly by a fuzzy controller. Through a numerical example of a three-storey structure with one MR damper installed in the first floor, the seismic responses of the uncontrolled, the intelligently controlled, the passive-on controlled, and the passive-off controlled structures under different earthquake excitations are analyzed. Based on the nu-merical results, it can be found that the time domain and the frequency domain responses are reduced effectively when the MR damper is added in the structure, and the integrated intelligent control strategy has a better earthquake mitigation effect.

  7. PERMANENCE OF A NON-AUTONOMOUS BEDDINGTON-DEANGELIS PREDATOR-PREY MODEL WITH TIME DELAY AND IMPULSIVE CONTROLS

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    A non-autonomous predator-prey delay system with Beddington-DeAngelis functional response and impulsive controls is established. A set of sufficient conditions which guarantee the prey and the predator to be permanent are obtained.

  8. System identification of closed-loop cardiovascular control: effects of posture and autonomic blockade

    Science.gov (United States)

    Mullen, T. J.; Appel, M. L.; Mukkamala, R.; Mathias, J. M.; Cohen, R. J.

    1997-01-01

    We applied system identification to the analysis of fluctuations in heart rate (HR), arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize quantitatively the physiological mechanisms responsible for the couplings between these variables. We characterized two autonomically mediated coupling mechanisms [the heart rate baroreflex (HR baroreflex) and respiratory sinus arrhythmia (ILV-HR)] and two mechanically mediated coupling mechanisms [the blood pressure wavelet generated with each cardiac contraction (circulatory mechanics) and the direct mechanical effects of respiration on blood pressure (ILV-->ABP)]. We evaluated the method in humans studied in the supine and standing postures under control conditions and under conditions of beta-sympathetic and parasympathetic pharmacological blockades. Combined beta-sympathetic and parasympathetic blockade abolished the autonomically mediated couplings while preserving the mechanically mediated coupling. Selective autonomic blockade and postural changes also altered the couplings in a manner consistent with known physiological mechanisms. System identification is an "inverse-modeling" technique that provides a means for creating a closed-loop model of cardiovascular regulation for an individual subject without altering the underlying physiological control mechanisms.

  9. Building on the Enriched Hierarchical Model of Achievement Motivation: Autonomous and Controlling Reasons Underlying Mastery Goals

    Directory of Open Access Journals (Sweden)

    Aikaterini Michou

    2016-07-01

    Full Text Available Two motivational theories – the Achievement Goal Theory and Self-Determination Theory – have recently been combined to explain students’ motivation, making it possible to study the “what” and the “why” of learners’ achievement strivings. The present study built on this approach by (a investigating whether the distinction between autonomous or volitional and controlling or pressuring reasons can be meaningfully applied to the adoption of mastery-avoidance goals, (b investigating the concurrent and prospective relations between mastery-avoidance goals and their underlying reasons and learning strategies when mastery-approach goals and their underlying reasons were also considered, and by (c incorporating psychological need experiences as an explanatory variable in the relation between achievement motives (i.e., the motive to succeed and motive to avoid failure and both mastery goals and their underlying reasons. In two Turkish university students samples ('N' = 226, 'Mage '= 22.36; 'N' = 331, 'Mage '= 19.5, autonomous and controlling reasons appeared applicable to mastery-avoidance goals and regression and path analysis further showed that mastery-avoidance goals and their underlying autonomous reasons fail to predicted learning strategies over and above the pursuit of mastery-approach goals and their underlying reasons. Finally, need experiences were established as mediators between achievement motives and both mastery goals and their underlying reasons.

  10. Social Work Professionals’ Emotional Intelligence, Locus Of Control And Role Efficacy: An Exploratory Study

    Directory of Open Access Journals (Sweden)

    Sanjay K. Singh

    2006-11-01

    Full Text Available The principal objective of the study was to study social work professionals psychologically. This study was conducted on a sample of 178 participants. The findings depict role efficacy to be associated positively with emotional intelligence and internal locus of control, but negatively with external locus of control. Similarly, emotional intelligence was found to be associated positively with internality, but negatively related to externality. The findings also indicated that emotional intelligence alone accounts for 43% of the variance on role efficacy of social work professionals. The findings of the study have major implications for non-governmental organizations and are discussed.

  11. Intelligent, Semi-Automated Procedure Aid (ISAPA) for ISS Flight Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to develop the Intelligent, Semi-Automated Procedure Aid (ISAPA) intended for use by International Space Station (ISS) ground controllers to increase the...

  12. Intelligent control system for mass wind power in Gansu Province went into operation

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    On March 12, the intelligent control system for mass wind power went into operation in Gansu Province, which brings the transmission capacity of the two 330-kV lines in Gansu Corridor into full play, and increases the utilization

  13. EXISTENCE OF POSITIVE PERIODIC SOLUTIONS TO A DISCRETE TIME NON-AUTONOMOUS COMPETING SYSTEM WITH FEEDBACK CONTROLS

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    In this paper,a class of discrete time non-autonomous competing system with feedback controls is considered. With the help of differential equations with piecewise constant arguments,we first propose a discrete model of a continuous non-autonomous competing system with feedback controls. Then,using the coincidence degree and the related continuation theorem as well as some priori estimations,a suficient condition for the existence of positive solutions to difference equations is obtained.

  14. Autonomic control of the heart is altered in Sprague-Dawley rats with spontaneous hydronephrosis.

    Science.gov (United States)

    Arnold, Amy C; Shaltout, Hossam A; Gilliam-Davis, Shea; Kock, Nancy D; Diz, Debra I

    2011-06-01

    The renal medulla plays an important role in cardiovascular regulation, through interactions with the autonomic nervous system. Hydronephrosis is characterized by substantial loss of renal medullary tissue. However, whether alterations in autonomic control of the heart are observed in this condition is unknown. Thus we assessed resting hemodynamics and baroreflex sensitivity (BRS) for control of heart rate in urethane/chloralose-anesthetized Sprague-Dawley rats with normal or hydronephrotic kidneys. While resting arterial pressure was similar, heart rate was higher in rats with hydronephrosis (290 ± 12 normal vs. 344 ± 11 mild/moderate vs. 355 ± 13 beats/min severe; P < 0.05). The evoked BRS to increases, but not decreases, in pressure was lower in hydronephrotic rats (1.06 ± 0.06 normal vs. 0.72 ± 0.10 mild/moderate vs. 0.63 ± 0.07 ms/mmHg severe; P < 0.05). Spectral analysis methods confirmed reduced parasympathetic function in hydronephrosis, with no differences in measures of indirect sympathetic activity among conditions. As a secondary aim, we investigated whether autonomic dysfunction in hydronephrosis is associated with activation of the renin-angiotensin system (RAS). There were no differences in circulating angiotensin peptides among conditions, suggesting that the impaired autonomic function in hydronephrosis is independent of peripheral RAS activation. A possible site for angiotensin II-mediated BRS impairment is the solitary tract nucleus (NTS). In normal and mild/moderate hydronephrotic rats, NTS administration of the angiotensin II type 1 receptor antagonist candesartan significantly improved the BRS, suggesting that angiotensin II provides tonic suppression to the baroreflex. In contrast, angiotensin II blockade produced no significant effect in severe hydronephrosis, indicating that at least within the NTS baroreflex suppression in these animals is independent of angiotensin II.

  15. Selective Cocaine-Related Difficulties in Emotional Intelligence: Relationship to Stress and Impulse Control

    OpenAIRE

    Fox, Helen C.; Bergquist, Keri L.; Casey, James; Hong, K. Adam; Sinha, Rajita

    2010-01-01

    Emotional Intelligence (EI) comprises the ability to perceive, use, understand and regulate emotions and may potentially contribute to variability in risk-related factors such as stress perception and impulse control in cocaine dependent individuals. The main objective of the current study is to better define EI in cocaine dependent individuals compared with healthy controls, using the Mayer, Salovey, and Caruso Emotional Intelligence Test (MSCEIT1). Secondary analysis investigates the associ...

  16. High-performance adaptive intelligent Direct Torque Control schemes for induction motor drives

    Directory of Open Access Journals (Sweden)

    Vasudevan M.

    2005-01-01

    Full Text Available This paper presents a detailed comparison between viable adaptive intelligent torque control strategies of induction motor, emphasizing advantages and disadvantages. The scope of this paper is to choose an adaptive intelligent controller for induction motor drive proposed for high performance applications. Induction motors are characterized by complex, highly non-linear, time varying dynamics, inaccessibility of some states and output for measurements and hence can be considered as a challenging engineering problem. The advent of torque and flux control techniques have partially solved induction motor control problems, because they are sensitive to drive parameter variations and performance may deteriorate if conventional controllers are used. Intelligent controllers are considered as potential candidates for such an application. In this paper, the performance of the various sensor less intelligent Direct Torque Control (DTC techniques of Induction motor such as neural network, fuzzy and genetic algorithm based torque controllers are evaluated. Adaptive intelligent techniques are applied to achieve high performance decoupled flux and torque control. This paper contributes: i Development of Neural network algorithm for state selection in DTC; ii Development of new algorithm for state selection using Genetic algorithm principle; and iii Development of Fuzzy based DTC. Simulations have been performed using the trained state selector neural network instead of conventional DTC and Fuzzy controller instead of conventional DTC controller. The results show agreement with those of the conventional DTC.

  17. Simvastatin-induced cardiac autonomic control improvement in fructose-fed female rats

    Directory of Open Access Journals (Sweden)

    Renata Juliana da Silva

    2011-01-01

    Full Text Available OBJECTIVE: Because autonomic dysfunction has been found to lead to cardiometabolic disorders and because studies have reported that simvastatin treatment has neuroprotective effects, the objective of the present study was to investigate the effects of simvastatin treatment on cardiovascular and autonomic changes in fructose-fed female rats. METHODS: Female Wistar rats were divided into three groups: controls (n=8, fructose (n=8, and fructose+ simvastatin (n=8. Fructose overload was induced by supplementing the drinking water with fructose (100 mg/L, 18 wks. Simvastatin treatment (5 mg/kg/day for 2 wks was performed by gavage. The arterial pressure was recorded using a data acquisition system. Autonomic control was evaluated by pharmacological blockade. RESULTS: Fructose overload induced an increase in the fasting blood glucose and triglyceride levels and insulin resistance. The constant rate of glucose disappearance during the insulin intolerance test was reduced in the fructose group (3.4+ 0.32%/min relative to that in the control group (4.4+ 0.29%/min. Fructose+simvastatin rats exhibited increased insulin sensitivity (5.4+0.66%/min. The fructose and fructose+simvastatin groups demonstrated an increase in the mean arterial pressure compared with controls rats (fructose: 124+2 mmHg and fructose+simvastatin: 126 + 3 mmHg vs. controls: 112 + 2 mmHg. The sympathetic effect was enhanced in the fructose group (73 + 7 bpm compared with that in the control (48 + 7 bpm and fructose+simvastatin groups (31+8 bpm. The vagal effect was increased in fructose+simvastatin animals (84 + 7 bpm compared with that in control (49 + 9 bpm and fructose animals (46+5 bpm. CONCLUSION: Simvastatin treatment improved insulin sensitivity and cardiac autonomic control in an experimental model of metabolic syndrome in female rats. These effects were independent of the improvements in the classical plasma lipid profile and of reductions in arterial pressure. These results

  18. Audit, Control and Monitoring Design Patterns (ACMDP for Autonomous Robust Systems (ARS

    Directory of Open Access Journals (Sweden)

    C. Trad

    2008-11-01

    Full Text Available This paper proposes the Audit, Control and Monitoring Design Patterns (ACMDP for building Autonomous and Robust Systems (ARS such as Mobile Robot Systems (MRS. These patterns are also applicable to other Mission Critical and Complex Systems (MCCS. This paper presents a proposal which will help ARS project managers and engineers design, build and estimate the probability that an ARS will succeed or fail. Furthermore, this proposal offers the possibility to ARS problems with the help of audit, monitoring and controlling components, adjust the project management pathways, and define the problem sources as well as their possible solutions, in order to deliver an ARS or an MRS.

  19. Autonomic control of heart rate in the adult, aquatic Notophthalmus viridescens viridescens.

    Science.gov (United States)

    Pitkin, R B; Bonnet, K M

    1990-01-01

    1. We investigated the role of the autonomic nervous system in the control of the heart rate using an isolated heart preparation. 2. Addition of the parasympathetic blocker, atropine, to the organ bath resulted in an increase in heart rate as expected. 3. Addition of the sympathetic blocker, ergotamine, to the organ bath showed no change in the heart rate. 4. Addition of the sympathetic blocker, propranolol, to the organ bath resulted in the expected decrease in heart rate. 5. Both the sympathetic and parasympathetic nervous systems appear to play a role in the control of the heart rate.

  20. Regulating Response Time in an Autonomic Computing System: A Comparison of Proportional Control and Fuzzy Control Approaches

    Directory of Open Access Journals (Sweden)

    Harish S. Venkatarama

    2010-10-01

    Full Text Available Ecommerce is an area where an Autonomic Computing system could be very effectively deployed. Ecommerce has created demand for high quality information technology services and businesses are seeking quality of service guarantees from their service providers. These guarantees are expressed as part of service level agreements. Properly adjusting tuning parameters for enforcement of the service level agreement is time-consuming and skills-intensive. Moreover, in case of changes to the workload, the setting of the parameters may no longer be optimum. In an ecommerce system, where the workload changes frequently, there is a need to update the parameters at regular intervals. This paper describes two approaches, one, using a proportional controller and two, using a fuzzy controller, to automate the tuning of MaxClients parameter of Apache web server based on the required response time and the current workload. This is an illustration of the self-optimizing characteristic of an autonomic computing system.