Requirement analysis for autonomous systems and intelligent ...

African Journals Online (AJOL)

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 ...

Autonomy Level Specification for Intelligent Autonomous Vehicles

Science.gov (United States)

2003-09-01

Autonomy Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report Hui-Min Huang, Elena Messina, James Albus...Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

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 ...

Secure, Autonomous, Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations

Science.gov (United States)

Ivancic, William D.; Paulsen, Phillip E.; Miller, Eric M.; Sage, Steen P.

2013-01-01

This report describes a Secure, Autonomous, and Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations. It includes a description of current improvements to existing Virtual Mission Operations Center technology being used by US Department of Defense and originally developed under NASA funding. The report also highlights a technology demonstration performed in partnership with the United States Geological Service for Earth Resources Observation and Science using DigitalGlobe(Registered TradeMark) satellites to obtain space-based sensor data.

Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Ming Lei

2012-01-01

Full Text Available A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.

Safety problems in vehicles with adaptive cruise control system

Directory of Open Access Journals (Sweden)

Yadav Arun K.

2017-06-01

Full Text Available In today’s world automotive industries are still putting efforts towards more autonomous vehicles (AVs. The main concern of introducing the autonomous technology is safety of driver. According to a survey 90% of accidents happen due to mistake of driver. The adaptive cruise control system (ACC is a system which combines cruise control with a collision avoidance system. The ACC system is based on laser and radar technologies. This system is capable of controlling the velocity of vehicle automatically to match the velocity of car, bus or truck in front of vehicle. If the lead vehicle gets slow down or accelerate, than ACC system automatically matches that velocity. The proposed paper is focusing on more accurate methods of detecting the preceding vehicle by using a radar and lidar sensors by considering the vehicle side slip and by controlling the distance between two vehicles. By using this approach i.e. logic for calculation of former vehicle distance and controlling the throttle valve of ACC equipped vehicle, an improvement in driving stability was achieved. The own contribution results with fuel efficient driving and with more safer and reliable driving system, but still some improvements are going on to make it more safe and reliable.

An autonomous rendezvous and docking system using cruise missile technologies

Science.gov (United States)

Jones, Ruel Edwin

1991-01-01

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

An autonomous control framework for advanced reactors

Directory of Open Access Journals (Sweden)

Richard T. Wood

2017-08-01

Full Text Available Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

An autonomous control framework for advanced reactors

International Nuclear Information System (INIS)

Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C.

2017-01-01

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors

An autonomous control framework for advanced reactors

Energy Technology Data Exchange (ETDEWEB)

Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C. [Dept. of Nuclear Engineering, University of Tennessee, Knoxville (United States)

2017-08-15

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

Autonomous Control of Space Reactor Systems

International Nuclear Information System (INIS)

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

2007-01-01

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 available to perform intelligent control functions that are necessary for both normal and abnormal operational conditions

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.

A Study on Mode Confusions in Adaptive Cruise Control Systems

Energy Technology Data Exchange (ETDEWEB)

Ahn, Dae Ryong; Yang, Ji Hyun; Lee, Sang Hun [Kookmin University, Seoul (Korea, Republic of)

2015-05-15

Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions.

A Study on Mode Confusions in Adaptive Cruise Control Systems

International Nuclear Information System (INIS)

Ahn, Dae Ryong; Yang, Ji Hyun; Lee, Sang Hun

2015-01-01

Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions

Predictive Eco-Cruise Control (ECC) system : model development, modeling and potential benefits.

Science.gov (United States)

2013-02-01

The research develops a reference model of a predictive eco-cruise control (ECC) system that intelligently modulates vehicle speed within a pre-set speed range to minimize vehicle fuel consumption levels using roadway topographic information. The stu...

Experimental Autonomous Road Vehicle with Logical Artificial Intelligence

Directory of Open Access Journals (Sweden)

Sergey Sergeevich Shadrin

2017-01-01

Full Text Available This article describes some technical issues regarding the adaptation of a production car to a platform for the development and testing of autonomous driving technologies. A universal approach to performing the reverse engineering of electric power steering (EPS for the purpose of external control is also presented. The primary objective of the related study was to solve the problem associated with the precise prediction of the dynamic trajectory of an autonomous vehicle. This was accomplished by deriving a new equation for determining the lateral tire forces and adjusting some of the vehicle parameters under road test conductions. A Mivar expert system was also integrated into the control system of the experimental autonomous vehicle. The expert system was made more flexible and effective for the present application by the introduction of hybrid artificial intelligence with logical reasoning. The innovation offers a solution to the major problem of liability in the event of an autonomous transport vehicle being involved in a collision.

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...

CSIR eNews: Mobile Intelligent Autonomous Systems

CSIR Research Space (South Africa)

CSIR

2008-03-01

Full Text Available autonomous systems Distinguished scientist from India to share knowledge with CSIR An esteemed scientist from India, Dr Jitendra Raol, will spend the next 14 months at the CSIR, specifically in the mobile intelligence autonomous systems (MIAS) emerging...

Artificial Intelligence in Autonomous Telescopes

Science.gov (United States)

Mahoney, William; Thanjavur, Karun

2011-03-01

Artificial Intelligence (AI) is key to the natural evolution of today's automated telescopes to fully autonomous systems. Based on its rapid development over the past five decades, AI offers numerous, well-tested techniques for knowledge based decision making essential for real-time telescope monitoring and control, with minimal - and eventually no - human intervention. We present three applications of AI developed at CFHT for monitoring instantaneous sky conditions, assessing quality of imaging data, and a prototype for scheduling observations in real-time. Closely complementing the current remote operations at CFHT, we foresee further development of these methods and full integration in the near future.

Linking roadside communication and intelligent cruise control ; effects on driving behaviour

NARCIS (Netherlands)

Hogema, J.H.; Horst, A.R.A. van der; Janssen, W.H.

1995-01-01

This paper describes a driving simulator experiment in which an Intelligenr Cruise Control (ICC) was combined with short-range communication (SRC) with the road side. This offers the possibility to obtain in-car preview information about relevant conditions on the road ahead. ICCs studied varied in

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.

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 ...

Mobile Intelligent Autonomous Systems

OpenAIRE

Jitendra R. Raol; Ajith Gopal

2010-01-01

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) ve...

Laser diodes for sensing applications: adaptive cruise control and more

Science.gov (United States)

Heerlein, Joerg; Morgott, Stefan; Ferstl, Christian

2005-02-01

Adaptive Cruise Controls (ACC) and pre-crash sensors require an intelligent eye which can recognize traffic situations and deliver a 3-dimensional view. Both microwave RADAR and "Light RADAR" (LIDAR) systems are well suited as sensors. In order to utilize the advantages of LIDARs -- such as lower cost, simpler assembly and high reliability -- the key component, the laser diode, is of primary importance. Here, we present laser diodes which meet the requirements of the automotive industry.

Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID

Directory of Open Access Journals (Sweden)

Pan Zhao

2012-07-01

Full Text Available The autonomous vehicle is a mobile robot integrating multi-sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree-of-freedom dynamic model is developed to formulate the path-tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive-PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

Intelligent Autonomous Systems 11: IAS-11

NARCIS (Netherlands)

Christensen, H.I.; Groen, F.; Petriu, E.

2010-01-01

This volume contains the proceedings of the eleventh International Conference on Intelligent Autonomous Systems (IAS-11) at the University of Ottawa in Canada. As ever, the purpose of the IAS conference is to bring together leading international researchers with an interest in all aspects of the

MAINTAINING VEHICLE SPEED USING A MECHANICAL CRUISE CONTROL

Directory of Open Access Journals (Sweden)

Peter GIROVSKÝ

2017-06-01

Full Text Available In this article we would like to present cruise control realization. This cruise control is presented as mechanical device for vehicle speed maintenance and has been proposed as a low cost solution. Principle of function in mechanical cruise control is based on a position control of throttle. For the right action of mechanical cruise control it was need to solve some particular tasks related with speed sensing, construct of device for control of throttle position and design of control system of whole mechanical cruise control. Information about car velocity we have gained using Hall sensor attached on a magnetic ring of car tachometer. For control of the throttle was used a small servo drive and as the control unit was used Arduino. The designed solution of mechanical cruise control have been realized for car Škoda Felicia.

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 ...

Modelling traffic flows with intelligent cars and intelligent roads

NARCIS (Netherlands)

van Arem, Bart; Tampere, Chris M.J.; Malone, Kerry

2003-01-01

This paper addresses the modeling of traffic flows with intelligent cars and intelligent roads. It will describe the modeling approach MIXIC and review the results for different ADA systems: Adaptive Cruise Control, a special lane for Intelligent Vehicles, cooperative following and external speed

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.

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.

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

DTIC Review: Intelligent Autonomous Vehicles. Volume 9, Number 2 (CD-ROM)

National Research Council Canada - National Science Library

2008-01-01

...: Intelligent autonomous vehicles are an increasingly important tool in the military arsenal. Autonomous systems act without human guidance and can operate in a far greater range of environments and conditions than manned vehicles...

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

OpenAIRE

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

2012-01-01

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 ...

An intelligent CPIB controller

International Nuclear Information System (INIS)

Wikne, J.C.

1987-12-01

An intelligent GPIB (General Purpose Interface Bus) controller is described. It employs an autonomous slave CPU together with a dedicated controller/talker/listener chip to handle the GPIB bus protocol, thus freeing the host computer from this time-consuming task. Distribution of a large part of the necessary software to the slave side, assures that the system can be implemented on virtually any computer with a minimum of effort

F-15 Intelligent Flight Control System and Aeronautics Research at NASA Dryden

Science.gov (United States)

Brown, Nelson A.

2009-01-01

This viewgraph presentation reviews the F-15 Intelligent Flight Control System and Aeronautics including Autonomous Aerial Refueling Demonstrations, X-48B Blended Wing Body, F-15 Quiet Spike, and NF-15 Intelligent Flight Controls.

Simulation Modeling of Intelligent Control Algorithms for Constructing Autonomous Power Supply Systems with Improved Energy Efficiency

Directory of Open Access Journals (Sweden)

Gimazov Ruslan

2018-01-01

Full Text Available The paper considers the issue of supplying autonomous robots by solar batteries. Low efficiency of modern solar batteries is a critical issue for the whole industry of renewable energy. The urgency of solving the problem of improved energy efficiency of solar batteries for supplying the robotic system is linked with the task of maximizing autonomous operation time. Several methods to improve the energy efficiency of solar batteries exist. The use of MPPT charge controller is one these methods. MPPT technology allows increasing the power generated by the solar battery by 15 – 30%. The most common MPPT algorithm is the perturbation and observation algorithm. This algorithm has several disadvantages, such as power fluctuation and the fixed time of the maximum power point tracking. These problems can be solved by using a sufficiently accurate predictive and adaptive algorithm. In order to improve the efficiency of solar batteries, autonomous power supply system was developed, which included an intelligent MPPT charge controller with the fuzzy logic-based perturbation and observation algorithm. To study the implementation of the fuzzy logic apparatus in the MPPT algorithm, in Matlab/Simulink environment, we developed a simulation model of the system, including solar battery, MPPT controller, accumulator and load. Results of the simulation modeling established that the use of MPPT technology had increased energy production by 23%; introduction of the fuzzy logic algorithm to MPPT controller had greatly increased the speed of the maximum power point tracking and neutralized the voltage fluctuations, which in turn reduced the power underproduction by 2%.

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.

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

Science.gov (United States)

de Cock Buning, Madeleine; de Bruin, Roeland

2017-07-01

Principle 2 of the EPSRC's principles of robotics (AISB workshop on Principles of Robotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be designed; operated as far as is practicable to comply with existing laws and fundamental rights and freedoms, including privacy by design. It will show that some legal questions arising from autonomous intelligent driving technology can be answered by the technology itself.

Intelligent, Autonomous Electrical Power System Management and Distribution, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — EPS-MAESTRO (EPS Management through intelligent, AdaptivE, autonomouS, faulT identification and diagnosis, Reconfiguration/replanning/rescheduling Optimization)...

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

Institute of Scientific and Technical Information of China (English)

无

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.

Intelligent Autonomous Aerial Vehicles in the National Airspace, Phase I

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...

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.

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. PMID:22219692

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.

TERESA: a socially intelligent semi-autonomous telepresence system

NARCIS (Netherlands)

Shiarlis, Kyriacos; Messias, Joao; van Someren, Maarten; Whiteson, Shimon; Kim, Jaebok; Vroon, Jered Hendrik; Englebienne, Gwenn; Truong, Khiet Phuong; Pérez-Higueras, Noé; Pérez-Hurtado, Ignacio; Ramon-Vigo, Rafael; Caballero, Fernando; Merino, Luis; Shen, Jie; Petridis, Stavros; Pantic, Maja; Hedman, Lasse; Scherlund, Marten; Koster, Raphaël; Michel, Hervé

2015-01-01

TERESA is a socially intelligent semi-autonomous telepresence system that is currently being developed as part of an FP7-STREP project funded by the European Union. The ultimate goal of the project is to deploy this system in an elderly day centre to allow elderly people to participate in social

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.

A multi-agent decentralized energy management system based on distributed intelligence for the design and control of autonomous polygeneration microgrids

International Nuclear Information System (INIS)

Karavas, Christos-Spyridon; Kyriakarakos, George; Arvanitis, Konstantinos G.; Papadakis, George

2015-01-01

Highlights: • A decentralized energy management system based on multi agent systems theory. • A decentralized energy management system is technically feasible. • A decentralized approach utilizes the devices better than a centralized one. • A decentralized energy management system is economically competitive. - Abstract: The autonomous polygeneration microgrid topology has been developed in order to cover holistically needs in a remote area such as electrical energy, space heating and cooling, potable water through desalination and hydrogen as fuel for transportation. The existence of an advanced energy management system is essential for the operation of an autonomous polygeneration microgrid. So far, energy management systems based on a centralized management and control have been developed for the autonomous polygeneration microgrid topology based on computational intelligence approaches. A decentralized management and control energy management system can have important benefits, when taking into consideration the autonomous character of these microgrids. This paper presents the design and investigation of a decentralized energy management system for the autonomous polygeneration microgrid topology. The decentralized energy management system gives the possibility to control each unit of the microgrid independently. The most important advantage of using a decentralized architecture is that the managed microgrid has much higher chances of partial operation in cases when malfunctions occur at different parts of it, instead of a complete system breakdown. The designed system was based on a multi-agent system and employed Fuzzy Cognitive Maps for its implementation. It was then compared through a case study with an existing centralized energy management system. The technical performance of the decentralized solution performance is on par with the existing centralized one, presenting improvements in financial and operational terms for the implementation and

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

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

A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles

Science.gov (United States)

1994-05-02

AD-A282 787 " A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles Alonzo Kelly CMU-RI-TR-94-17 The Robotics...follow, or a direction to prefer, it cannot generate its own strategic goals. Therefore, it solves the local planning problem for autonomous vehicles . The... autonomous vehicles . It is intelligent because it uses range images that are generated from either a laser rangefinder or a stereo triangulation

Intelligent energy management control of vehicle air conditioning system coupled with engine

International Nuclear Information System (INIS)

Khayyam, Hamid; Abawajy, Jemal; Jazar, Reza N.

2012-01-01

Vehicle Air Conditioning (AC) systems consist of an engine powered compressor activated by an electrical clutch. The AC system imposes an extra load to the vehicle's engine increasing the vehicle fuel consumption and emissions. Energy management control of the vehicle air conditioning is a nonlinear dynamic system, influenced by uncertain disturbances. In addition, the vehicle energy management control system interacts with different complex systems, such as engine, air conditioning system, environment, and driver, to deliver fuel consumption improvements. In this paper, we describe the energy management control of vehicle AC system coupled with vehicle engine through an intelligent control design. The Intelligent Energy Management Control (IEMC) system presented in this paper includes an intelligent algorithm which uses five exterior units and three integrated fuzzy controllers to produce desirable internal temperature and air quality, improved fuel consumption, low emission, and smooth driving. The three fuzzy controllers include: (i) a fuzzy cruise controller to adapt vehicle cruise speed via prediction of the road ahead using a Look-Ahead system, (ii) a fuzzy air conditioning controller to produce desirable temperature and air quality inside vehicle cabin room via a road information system, and (iii) a fuzzy engine controller to generate the required engine torque to move the vehicle smoothly on the road. We optimised the integrated operation of the air conditioning and the engine under various driving patterns and performed three simulations. Results show that the proposed IEMC system developed based on Fuzzy Air Conditioning Controller with Look-Ahead (FAC-LA) method is a more efficient controller for vehicle air conditioning system than the previously developed Coordinated Energy Management Systems (CEMS). - Highlights: ► AC interacts: vehicle, environment, driver components, and the interrelationships between them. ► Intelligent AC algorithm which uses

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.

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

Sensing and control for autonomous vehicles applications to land, water and air vehicles

CERN Document Server

Pettersen, Kristin; Nijmeijer, Henk

2017-01-01

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite sy...

Evolving intelligent vehicle control using multi-objective NEAT

NARCIS (Netherlands)

Willigen, W.H. van; Haasdijk, E.; Kester, L.J.H.M.

2013-01-01

The research in this paper is inspired by a vision of intelligent vehicles that autonomously move along motorways: they join and leave trains of vehicles (platoons), overtake other vehicles, etc. We propose a multi-objective algorithm based on NEAT and SPEA2 that evolves controllers for such

The Intelligent Control System and Experiments for an Unmanned Wave Glider.

Science.gov (United States)

Liao, Yulei; Wang, Leifeng; Li, Yiming; Li, Ye; Jiang, Quanquan

2016-01-01

The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the "Ocean Rambler" UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified.

The Intelligent Control System and Experiments for an Unmanned Wave Glider

Science.gov (United States)

Liao, Yulei; Wang, Leifeng; Li, Yiming; Li, Ye; Jiang, Quanquan

2016-01-01

The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the “Ocean Rambler” UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified. PMID:28005956

A basic system architecture for sensor data diffusion of environment sensors for intelligent cruise control systems; Eine Basis-Systemarchitektur zur Sensordatenfusion von Umfeldsensoren fuer Fahrerassistenzsysteme

Energy Technology Data Exchange (ETDEWEB)

Darms, M.

2007-07-01

The design of the system architecture for sensor data diffusion at the beginning of the development process has significant influence on the cost. With a view to intelligent cruise control systems, the author investigated general assumptions concerning data association and data filtering for sensor data diffusion of environment sensors which must be considered when designing an architecture or may be considered for optimisation. The validity of the assumption is illustrated by simulations of adaptive speed control and time-to-collision calculations as well as on the basis of available literature. A basic sytem architecture is presented as a precursor of the final architecture which is based on these assumptions. Their applicability is proved by implementation in the PRORETA project. The author's work provides a validated basis for architects of a serial system architecture enabling them to design and implement their ultimate systems. (orig.)

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.

Lateral control strategy for a hypersonic cruise missile

Directory of Open Access Journals (Sweden)

Yonghua Fan

2017-04-01

Full Text Available Hypersonic cruise missile always adopts the configuration of waverider body with the restraint of scramjet. As a result, the lateral motion exhibits serious coupling, and the controller design of the lateral lateral system cannot be conducted separately for yaw channel and roll channel. A multiple input and multiple output optimal control method with integrators is presented to design the lateral combined control system for hypersonic cruise missile. A hypersonic cruise missile lateral model is linearized as a multiple input and multiple output plant, which is coupled by kinematics and fin deflection between yaw and roll. In lateral combined controller, the integrators are augmented, respectively, into the loop of roll angle and lateral overload to ensure that the commands are tracked with zero steady-state error. Through simulation, the proposed controller demonstrates good performance in tracking the command of roll angle and lateral overload.

Intelligent control and automation technology for nuclear applications

International Nuclear Information System (INIS)

Kim, Jae Hui; Huh, Young Hwan; Lee, Jang Soo; Kim, Ko Ryeo; Cha, Kyoung Ho; Lee, Jae Cheol; Dong, In Sook

1993-01-01

This project intends to establish the basic technology of intelligent control and automation to be applied to the next generation nuclear plant. For that, the research status of those technologies is surveyed for various application areas at first. The characteristics and availability of those techniques such as neural network, fuzzy rule based control and reasoning, multimedia, real-time software and qualitative modelling are studied through a series of simulations and experiments. By integrating each technologies studied above, we developed a hierarchical, intelligent control system for an autonomous mobile robot as a test bed. The system is composed of several modules of software and hardware subsystems, which are implemented by use of the intelligent techniques. Through the analysis of the results and experiences, we investigated the feasibility of application of the basic technology to the next generation plant. (Author)

Fuel Economy Impacts of Manual, Conventional Cruise Control, and Predictive Eco-Cruise Control Driving

Directory of Open Access Journals (Sweden)

Sangjun Park

2013-09-01

Full Text Available The paper presents the results of a field experiment that was designed to compare manual driving, conventional cruise control (CCC driving, and Eco-cruise control (ECC driving with regard to fuel economy. The field experiment was conducted on five test vehicles along a section of Interstate 81 that was comprised of ±4% uphill and downhill grade sections. Using an Onboard Diagnostic II reader, instantaneous fuel consumption rates and other driving parameters were collected with and without the CCC system enabled. The collected data were compared with regard to fuel economy, throttle control, and travel time. The results demonstrate that CCC enhances vehicle fuel economy by 3.3 percent on average relative to manual driving, however this difference was not found to be statistically significant at a 5 percent significance level. The results demonstrate that CCC driving is more efficient on downhill versus uphill sections. In addition, the study demonstrates that an ECC system can produce fuel savings ranging between 8 and 16 percent with increases in travel times ranging between 3 and 6 percent. These benefits appear to be largest for heavier vehicles (SUVs.

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.

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

NARCIS (Netherlands)

de Bruin, R.W.; de Cock Buning, M.

2017-01-01

Principle 2 of the EPSRC’s principles of robotics (AISB workshop on PrinciplesofRobotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be

Automated Merging in a Cooperative Adaptive Cruise Control (CACC) System

NARCIS (Netherlands)

Klein Wolterink, W.; Heijenk, Geert; Karagiannis, Georgios

2011-01-01

Cooperative Adaptive Cruise Control (CACC) is a form of cruise control in which a vehicle maintains a constant headway to its preceding vehicle using radar and vehicle-to-vehicle (V2V) communication. Within the Connect & Drive1 project we have implemented and tested a prototype of such a system,

Automated Merging in a Cooperative Adaptive Cruise Control (CACC) System

NARCIS (Netherlands)

Klein Wolterink, W.; Karagiannis, Georgios; Brogle, Marc; Masip Bruin, Xavier; Braun, Torsten; Heijenk, Gerhard J.

Cooperative Adaptive Cruise Control (CACC) is a form of cruise control in which a vehicle maintains a constant headway to its preceding vehicle using radar and vehicle-to-vehicle (V2V) communication. Within the Connect & Drive1 project we have implemented and tested a prototype of such a system,

Semi-autonomous unmanned ground vehicle control system

Science.gov (United States)

Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

2006-05-01

Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

Towards Realization of Intelligent Medical Treatment at Nanoscale by Artificial Microscopic Swarm Control Systems

Directory of Open Access Journals (Sweden)

Alireza Rowhanimanesh

2017-07-01

Full Text Available Background: In this paper, the novel concept of artificial microscopic swarm control systems is proposed as a promising approach towards realization of intelligent medical treatment at nanoscale. In this new paradigm, treatment is done autonomously at nanoscale within the patient’s body by the proposed swarm control systems.Methods: From control engineering perspective, medical treatment can be considered as a control problem, in which the ultimate goal is to find the best feasible way to change the state of diseased tissue from unhealthy to healthy in presence of uncertainty. Although a living tissue is a huge swarm of microscopic cells, nearly all of the common treatment methods are based on macroscopic centralized control paradigm. Inspired by natural microscopic swarm control systems such as nervous, endocrine and immune systems that work based on swarm control paradigm, medical treatment needs a paradigm shift from macroscopic centralized control to microscopic swarm control. An artificial microscopic swarm control system consists of a huge number of very simple autonomous microscopic agents that exploit swarm intelligence to realize sense, control (computing and actuation at nanoscale in local, distributed and decentralized manner. This control system can be designed based on mathematical analysis and computer simulation.Results: The proposed approach is used for treatment of atherosclerosis and cancer based on mathematical analysis and in-silico study.Conclusion: The notion of artificial microscopic swarm control systems opens new doors towards realization of autonomous and intelligent medical treatment at nanoscale within the patient’s body.

An Intention-Driven Semi-autonomous Intelligent Robotic System for Drinking

Directory of Open Access Journals (Sweden)

Zhijun Zhang

2017-09-01

Full Text Available In this study, an intention-driven semi-autonomous intelligent robotic (ID-SIR system is designed and developed to assist the severely disabled patients to live independently. The system mainly consists of a non-invasive brain–machine interface (BMI subsystem, a robot manipulator and a visual detection and localization subsystem. Different from most of the existing systems remotely controlled by joystick, head- or eye tracking, the proposed ID-SIR system directly acquires the intention from users’ brain. Compared with the state-of-art system only working for a specific object in a fixed place, the designed ID-SIR system can grasp any desired object in a random place chosen by a user and deliver it to his/her mouth automatically. As one of the main advantages of the ID-SIR system, the patient is only required to send one intention command for one drinking task and the autonomous robot would finish the rest of specific controlling tasks, which greatly eases the burden on patients. Eight healthy subjects attended our experiment, which contained 10 tasks for each subject. In each task, the proposed ID-SIR system delivered the desired beverage container to the mouth of the subject and then put it back to the original position. The mean accuracy of the eight subjects was 97.5%, which demonstrated the effectiveness of the ID-SIR system.

Cruise control in personenauto's : een literatuur-oriëntatie op verkeersveiligheidsaspecten.

NARCIS (Netherlands)

Kampen, L.T.B. van

1996-01-01

In this literature survey little evidence is found of studies primarily investigating the road safety effects of cruise control. Those effects which were examined (mainly through practical tests with and without cruise control) showed that in addition to positive effects governing individual fuel

Enabling autonomous control for space reactor power systems

International Nuclear Information System (INIS)

Wood, R. T.

2006-01-01

functional architecture that can support SRPS control for an extended deep space mission. The desirable characteristics of autonomous control include intelligence, robustness, optimization, flexibility, and adaptability. The degree of autonomy that is necessary for a given mission will depend on resource constraints, performance goals, operational complexity, technological capabilities, and mission risk considerations. The prospective architectural framework employs a hierarchical structure to integrate needed control, diagnostic, and decision functions and thus enable autonomy. (authors)

Autonomous development and learning in artificial intelligence and robotics: Scaling up deep learning to human-like learning.

Science.gov (United States)

Oudeyer, Pierre-Yves

2017-01-01

Autonomous lifelong development and learning are fundamental capabilities of humans, differentiating them from current deep learning systems. However, other branches of artificial intelligence have designed crucial ingredients towards autonomous learning: curiosity and intrinsic motivation, social learning and natural interaction with peers, and embodiment. These mechanisms guide exploration and autonomous choice of goals, and integrating them with deep learning opens stimulating perspectives.

Fault tolerancy in cooperative adaptive cruise control

NARCIS (Netherlands)

Nunen, E. van; Ploeg, J.; Medina, A.M.; Nijmeijer, H.

2013-01-01

Future mobility requires sound solutions in the field of fault tolerance in real-time applications amongst which Cooperative Adaptive Cruise Control (CACC). This control system cannot rely on the driver as a backup and is constantly active and therefore more prominent to the occurrences of faults

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 .

Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy

NARCIS (Netherlands)

Mullakkal Babu, F.A.; Wang, M.; van Arem, B.; Happee, R.; Rosetti, R.; Wolf, D.

2016-01-01

Current Full Range Adaptive Cruise Control (FRACC) systems switch between separate adaptive cruise control and collision avoidance systems. This can lead to jerky responses and discomfort during the transition between the two control modes. We propose a Full Range Adaptive Cruise Control (FRACC)

Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

Science.gov (United States)

Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

2018-02-01

We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

Toward Intelligent Autonomous Agents for Cyber Defense: Report of the 2017 Workshop by the North Atlantic Treaty Organization (NATO) Research Group IST-152 RTG

Science.gov (United States)

2018-04-18

simple example? 15. SUBJECT TERMS cybersecurity , cyber defense, autonomous agents, resilience, adversarial intelligence 16. SECURITY CLASSIFICATION...explained” based on other attack sequences (e.g., Kullback–Leibler [K-L] divergence). For example, the DARPA Explainable Artificial Intelligence ...a failure of humanity, not artificial intelligence . The notion of self-guidance approaches the field of robot ethics. How can autonomous agents be

Toward Intelligent Autonomous Agents for Cyber Defense: Report of the 2017 Workshop by the North Atlantic Treaty Organization (NATO) Research Group IST-152-RTG

Science.gov (United States)

2018-04-01

simple example? 15. SUBJECT TERMS cybersecurity , cyber defense, autonomous agents, resilience, adversarial intelligence 16. SECURITY CLASSIFICATION...explained” based on other attack sequences (e.g., Kullback–Leibler [K-L] divergence). For example, the DARPA Explainable Artificial Intelligence ...a failure of humanity, not artificial intelligence . The notion of self-guidance approaches the field of robot ethics. How can autonomous agents be

Active Learning for Autonomous Intelligent Agents: Exploration, Curiosity, and Interaction

OpenAIRE

Lopes, Manuel; Montesano, Luis

2014-01-01

In this survey we present different approaches that allow an intelligent agent to explore autonomous its environment to gather information and learn multiple tasks. Different communities proposed different solutions, that are in many cases, similar and/or complementary. These solutions include active learning, exploration/exploitation, online-learning and social learning. The common aspect of all these approaches is that it is the agent to selects and decides what information to gather next. ...

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.

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

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......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...

Graceful degradation of cooperative adaptive cruise control

NARCIS (Netherlands)

Ploeg, J.; Semsar-Kazerooni, E.; Lijster, G.; Wouw, N. van de; Nijmeijer, H.

2015-01-01

Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and

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.

Autonomous vehicles: from paradigms to technology

Science.gov (United States)

Ionita, Silviu

2017-10-01

Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

Cooperative adaptive cruise control : tradeoffs between control and network specifications

NARCIS (Netherlands)

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

2011-01-01

In this study, we consider a Cooperative Adaptive Cruise Control (CACC) system which regulates inter-vehicle distances in a vehicle string. Improved performance can be achieved by utilizing information exchange between vehicles through wireless communication besides local sensor measurements.

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.

Autonomous Control of Nuclear Power Plants

International Nuclear Information System (INIS)

Basher, H.

2003-01-01

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

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

Science.gov (United States)

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-05-30

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

Directory of Open Access Journals (Sweden)

Gaining Han

2017-05-01

Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

Science.gov (United States)

Soeder, James F.; Dever, Timothy P.; McNelis, Anne M.; Beach, Raymond F.; Trase, Larry M.; May, Ryan D.

2014-01-01

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASA's current long term human space platform, the International Space Station, is in low Earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond low Earth orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

Advanced Cruise Control en verkeersveiligheid : een literatuurstudie.

NARCIS (Netherlands)

Hoetink, A.E.

2003-01-01

Manufacturers and dealers present Advanced Cruise Control (ACC) as a system to increase the comfort of car driving, but not as a system to increase road safety. This study presents the possible road safety effects of ACC, based on research results of recent literature. A structure was created for

Vehicle-to-infrastructure program cooperative adaptive cruise control.

Science.gov (United States)

2015-03-01

This report documents the work completed by the Crash Avoidance Metrics Partners LLC (CAMP) Vehicle to Infrastructure (V2I) Consortium during the project titled Cooperative Adaptive Cruise Control (CACC). Participating companies in the V2I Cons...

Overview of Intelligent Systems and Operations Development

Science.gov (United States)

Pallix, Joan; Dorais, Greg; Penix, John

2004-01-01

To achieve NASA's ambitious mission objectives for the future, aircraft and spacecraft will need intelligence to take the correct action in a variety of circumstances. Vehicle intelligence can be defined as the ability to "do the right thing" when faced with a complex decision-making situation. It will be necessary to implement integrated autonomous operations and low-level adaptive flight control technologies to direct actions that enhance the safety and success of complex missions despite component failures, degraded performance, operator errors, and environment uncertainty. This paper will describe the array of technologies required to meet these complex objectives. This includes the integration of high-level reasoning and autonomous capabilities with multiple subsystem controllers for robust performance. Future intelligent systems will use models of the system, its environment, and other intelligent agents with which it interacts. They will also require planners, reasoning engines, and adaptive controllers that can recommend or execute commands enabling the system to respond intelligently. The presentation will also address the development of highly dependable software, which is a key component to ensure the reliability of intelligent systems.

Concept design and cluster control of advanced space connectable intelligent microsatellite

Science.gov (United States)

Wang, Xiaohui; Li, Shuang; She, Yuchen

2017-12-01

In this note, a new type of advanced space connectable intelligent microsatellite is presented to extend the range of potential application of microsatellite and improve the efficiency of cooperation. First, the overall concept of the micro satellite cluster is described, which is characterized by autonomously connecting with each other and being able to realize relative rotation through the external interfaces. Second, the multi-satellite autonomous assembly algorithm and control algorithm of the cluster motion are developed to make the cluster system combine into a variety of configurations in order to achieve different types of functionality. Finally, the design of the satellite cluster system is proposed, and the possible applications are discussed.

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.

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.

DEVELOPING A HUMAN CONTROLLED MODEL FOR SAFE ARTIFICIAL INTELLIGENCE SYSTEMS

OpenAIRE

KÖSE, Utku

2018-01-01

Artificial Intelligence is known as one of the most effective research field of nowadays and the future. But rapid rise of Artificial Intelligence and its potential to solve all real world problems autonomously, it has caused also several anxieties. Some scientists think that intelligent systems can reach to a level, which is dangerous for the humankind so because of that some precautions should be taken. So, many sub-research fields like Machine Ethics or Artificial Intelligence Safety have ...

Mining in the Future: Autonomous Robotics for Safer Mines

CSIR Research Space (South Africa)

Shahdi, A

2012-10-01

Full Text Available ? Require less support infrastructure ? Advanced sensors ? CSIR 2012 Slide 4 Degree of Autonomy ? Teleoperation ? Semi-autonomous ? Autonomous ? CSIR 2012 Slide 5 Mobile Intelligent Autonomous Systems Group ? The Mobile Intelligent Autonomous...

Intelligent CAMAC crate controller incorporating a transputer

International Nuclear Information System (INIS)

Saeki, T.; Ueda, I.; Anraku, K.

1995-01-01

A CAMAC crate controller module having a built-in transputer was developed, being named the ''Intelligent CAMAC Crate Controller (ICCC)''. Due to the transputer's architecture, multiple ICCCs can be networked by simple serial link connections. The control programs are developed in Occam or C language, which support conccurrent algorithms and their implementation in transputer networks. Each ICCC controls the front-end CAMAC modules in the crate, operates in parallel, and interpretes commands from the host computer. Data read from the modules is concurrently and autonomously processed, and then transmitted to the network where it is gathered into the host computer file system. The present paper describes the ICCC's hardware and software using a simple configuration network. Our particular device application for a balloon-borne experiment is also discussed, i.e., a data acquisition system networking twenty-seven transputers. ((orig.))

Adaptive Sampling in Autonomous Marine Sensor Networks

National Research Council Canada - National Science Library

Eickstedt, Donald P

2006-01-01

... oceanographic network scenario. This architecture has three major components, an intelligent, logical sensor that provides high-level environmental state information to a behavior-based autonomous vehicle control system, a new...

Quality control of intelligence research

International Nuclear Information System (INIS)

Lu Yan; Xin Pingping; Wu Jian

2014-01-01

Quality control of intelligence research is the core issue of intelligence management, is a problem in study of information science This paper focuses on the performance of intelligence to explain the significance of intelligence research quality control. In summing up the results of the study on the basis of the analysis, discusses quality control methods in intelligence research, introduces the experience of foreign intelligence research quality control, proposes some recommendations to improve quality control in intelligence research. (authors)

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.

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

Artificial Consciousness or Artificial Intelligence

OpenAIRE

Spanache Florin

2017-01-01

Artificial intelligence is a tool designed by people for the gratification of their own creative ego, so we can not confuse conscience with intelligence and not even intelligence in its human representation with conscience. They are all different concepts and they have different uses. Philosophically, there are differences between autonomous people and automatic artificial intelligence. This is the difference between intelligence and artificial intelligence, autonomous versus a...

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.

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.

Decentralized Control of Autonomous Vehicles

Science.gov (United States)

2003-01-01

Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

Experimental Autonomous Road Vehicle with Logical Artificial Intelligence

OpenAIRE

Sergey Sergeevich Shadrin; Oleg Olegovich Varlamov; Andrey Mikhailovich Ivanov

2017-01-01

This article describes some technical issues regarding the adaptation of a production car to a platform for the development and testing of autonomous driving technologies. A universal approach to performing the reverse engineering of electric power steering (EPS) for the purpose of external control is also presented. The primary objective of the related study was to solve the problem associated with the precise prediction of the dynamic trajectory of an autonomous vehicle. This was accomplish...

Artificial Intelligence and Moral intelligence

OpenAIRE

Laura Pana

2008-01-01

We discuss the thesis that the implementation of a moral code in the behaviour of artificial intelligent systems needs a specific form of human and artificial intelligence, not just an abstract intelligence. We present intelligence as a system with an internal structure and the structural levels of the moral system, as well as certain characteristics of artificial intelligent agents which can/must be treated as 1- individual entities (with a complex, specialized, autonomous or selfdetermined,...

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.

Autonomous construction using scarce resources in unknown environments - Ingredients for an intelligent robotic interaction with the physical world

OpenAIRE

Magnenat, Stéphane; Philippsen, Roland; Mondada, Francesco

2012-01-01

The goal of creating machines that autonomously perform useful work in a safe, robust and intelligent manner continues to motivate robotics research. Achieving this autonomy requires capabilities for understanding the environment, physically interacting with it, predicting the outcomes of actions and reasoning with this knowledge. Such intelligent physical interaction was at the centre of early robotic investigations and remains an open topic. In this paper, we build on the fruit of decades ...

Distributed Data Logging and Intelligent Control Strategies for a Scaled Autonomous Vehicle

OpenAIRE

Tilman Happek; Uwe Lang; Torben Bockmeier; Dimitrji Neubauer; Alexander Kuznietsov

2016-01-01

In this paper we present an autonomous car with distributed data processing. The car is controlled by a multitude of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is verified by the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if t...

Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

Science.gov (United States)

Parker, Lynne E.; Pin, Francois G.

1988-10-01

The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

Computer vision for an autonomous mobile robot

CSIR Research Space (South Africa)

Withey, Daniel J

2015-10-01

Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...

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

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.

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.

Cooperative Target Tracking in a Distributed Autonomous Sensor Network

National Research Council Canada - National Science Library

Eickstedt, Donald P; Benjamin, Michael R

2006-01-01

... network. This framework has two major components, an intelligent sensor that provides highlevel state information to a behavior-based autonomous vehicle control system and a new approach to behavior-based...

Integrating adjustable autonomy in an intelligent control framework

Science.gov (United States)

DeKoven, Elyon A. M.; Wood, Scott D.

2005-10-01

Currently, multiple humans are needed to operate a single uninhabited aerial vehicle (UAV). In the near future, combat techniques will involve single operators controlling multiple uninhabited ground and air vehicles. This situation creates both technological hurdles as well as interaction design challenges that must be addressed to support future fighters. In particular, the system will need to negotiate with the operator about proper task delegation, keeping the operator appropriately apprised of autonomous actions. This in turn implies that the system must know what the user is doing, what needs to be done in the present situation, and the comparative strengths for of the human and the system in each task. Towards building such systems, we are working on an Intelligent Control Framework (ICF) that provides a layer of intelligence to support future warfighters in complex task environments. The present paper presents the Adjustable Autonomy Module (AAM) in ICF. The AAM encapsulates some capabilities for user plan recognition, situation reasoning, and authority delegation control. The AAM has the knowledge necessary to support operator-system dialogue about autonomy changes, and it also provides the system with the ability to act on this knowledge. Combined with careful interaction design, planning and plan-execution capabilities, the AAM enables future design and development of effective human-robot teams.

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.

SOLON: An autonomous vehicle mission planner

Science.gov (United States)

Dudziak, M. J.

1987-01-01

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

Autonomous Mission Operations for Sensor Webs

Science.gov (United States)

Underbrink, A.; Witt, K.; Stanley, J.; Mandl, D.

2008-12-01

We present interim results of a 2005 ROSES AIST project entitled, "Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations", or SWAMO. The goal of the SWAMO project is to shift the control of spacecraft missions from a ground-based, centrally controlled architecture to a collaborative, distributed set of intelligent agents. The network of intelligent agents intends to reduce management requirements by utilizing model-based system prediction and autonomic model/agent collaboration. SWAMO agents are distributed throughout the Sensor Web environment, which may include multiple spacecraft, aircraft, ground systems, and ocean systems, as well as manned operations centers. The agents monitor and manage sensor platforms, Earth sensing systems, and Earth sensing models and processes. The SWAMO agents form a Sensor Web of agents via peer-to-peer coordination. Some of the intelligent agents are mobile and able to traverse between on-orbit and ground-based systems. Other agents in the network are responsible for encapsulating system models to perform prediction of future behavior of the modeled subsystems and components to which they are assigned. The software agents use semantic web technologies to enable improved information sharing among the operational entities of the Sensor Web. The semantics include ontological conceptualizations of the Sensor Web environment, plus conceptualizations of the SWAMO agents themselves. By conceptualizations of the agents, we mean knowledge of their state, operational capabilities, current operational capacities, Web Service search and discovery results, agent collaboration rules, etc. The need for ontological conceptualizations over the agents is to enable autonomous and autonomic operations of the Sensor Web. The SWAMO ontology enables automated decision making and responses to the dynamic Sensor Web environment and to end user science requests. The current ontology is compatible with Open Geospatial Consortium (OGC

Study on large scale knowledge base with real time operation for autonomous nuclear power plant. 1. Basic concept and expecting performance

International Nuclear Information System (INIS)

Ozaki, Yoshihiko; Suda, Kazunori; Yoshikawa, Shinji; Ozawa, Kenji

1996-04-01

Since it is desired to enhance availability and safety of nuclear power plants operation and maintenance by removing human factor, there are many researches and developments for intelligent operation or diagnosis using artificial intelligence (AI) technique. We have been developing an autonomous operation and maintenance system for nuclear power plants by substituting AI's and intelligent robots. It is indispensable to use various and large scale knowledge relative to plant design, operation, and maintenance, that is, whole life cycle data of the plant for the autonomous nuclear power plant. These knowledge must be given to AI system or intelligent robots adequately and opportunely. Moreover, it is necessary to insure real time operation using the large scale knowledge base for plant control and diagnosis performance. We have been studying on the large scale and real time knowledge base system for autonomous plant. In the report, we would like to present the basic concept and expecting performance of the knowledge base for autonomous plant, especially, autonomous control and diagnosis system. (author)

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.

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.

Experiments in Competence Acquisition for Autonomous Mobile Robots

OpenAIRE

Nehmzow, Ulrich

1992-01-01

This thesis addresses the problem of intelligent control of autonomous mobile robots, particularly under circumstances unforeseen by the designer.As the range of applications for autonomous robots widens and increasingly includes operation in unknown environments (exploration) and tasks which are not clearly specifiable a priori (maintenance work), this question is becoming more and more important. It is argued that in order to achieve such flexibility in unforeseen situations it is necess...

Comparison of three filters in asteroid-based autonomous navigation

International Nuclear Information System (INIS)

Cui Wen; Zhu Kai-Jian

2014-01-01

At present, optical autonomous navigation has become a key technology in deep space exploration programs. Recent studies focus on the problem of orbit determination using autonomous navigation, and the choice of filter is one of the main issues. To prepare for a possible exploration mission to Mars, the primary emphasis of this paper is to evaluate the capability of three filters, the extended Kalman filter (EKF), unscented Kalman filter (UKF) and weighted least-squares (WLS) algorithm, which have different initial states during the cruise phase. One initial state is assumed to have high accuracy with the support of ground tracking when autonomous navigation is operating; for the other state, errors are set to be large without this support. In addition, the method of selecting asteroids that can be used for navigation from known lists of asteroids to form a sequence is also presented in this study. The simulation results show that WLS and UKF should be the first choice for optical autonomous navigation during the cruise phase to Mars

Artificial Consciousness or Artificial Intelligence

Directory of Open Access Journals (Sweden)

Spanache Florin

2017-05-01

Full Text Available Artificial intelligence is a tool designed by people for the gratification of their own creative ego, so we can not confuse conscience with intelligence and not even intelligence in its human representation with conscience. They are all different concepts and they have different uses. Philosophically, there are differences between autonomous people and automatic artificial intelligence. This is the difference between intelligence and artificial intelligence, autonomous versus automatic. But conscience is above these differences because it is neither conditioned by the self-preservation of autonomy, because a conscience is something that you use to help your neighbor, nor automatic, because one’s conscience is tested by situations which are not similar or subject to routine. So, artificial intelligence is only in science-fiction literature similar to an autonomous conscience-endowed being. In real life, religion with its notions of redemption, sin, expiation, confession and communion will not have any meaning for a machine which cannot make a mistake on its own.

Intelligent Mission Controller Node

National Research Council Canada - National Science Library

Perme, David

2002-01-01

The goal of the Intelligent Mission Controller Node (IMCN) project was to improve the process of translating mission taskings between real-world Command, Control, Communications, Computers, and Intelligence (C41...

Combined Intelligent Control (CIC an Intelligent Decision Making Algorithm

Directory of Open Access Journals (Sweden)

Moteaal Asadi Shirzi

2007-03-01

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.

Driving characteristics and adaptive cruise control : A naturalistic driving study

NARCIS (Netherlands)

Schakel, W.J.; Gorter, C.M.; de Winter, J.C.F.; van Arem, B.

2017-01-01

With the increasing number of vehicles equipped with Adaptive Cruise Control (ACC), it becomes important to assess its impact on traffic flow efficiency, in particular with respect to capacity and queue discharge rate. Simulation studies and surveys suggest that ACC has both positive and negative

Distributed Data Logging and Intelligent Control Strategies for a Scaled Autonomous Vehicle

Directory of Open Access Journals (Sweden)

Tilman Happek

2016-04-01

Full Text Available In this paper we present an autonomous car with distributed data processing. The car is controlled by a multitude of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is verified by the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if the gap is large enough. The car is built on a scale of 1:10 and shows excellent results on a test track.

Intelligent landing strategy for the small bodies: from passive bounce to active trajectory control

Science.gov (United States)

Cui, Pingyuan; Liu, Yanjie; Yu, Zhengshi; Zhu, Shengying; Shao, Wei

2017-08-01

Landing exploration is an important way to improve the understanding of small bodies. Considering the weak gravity field as well as the strict attitude constraints which make bounce a common situation and a tough issue for safe landing on small bodies, a novel active trajectory control-based intelligent landing strategy is proposed to improve the safety and reliability of mission. The scenarios of intelligent landing strategy for both safe landing and hopping exploration are introduced in detail and a potential structure for autonomous navigation and control system is presented. Furthermore, a convex optimization-based control algorithm is developed, which is the key technology fulfilling the active trajectory control. Meanwhile a novel discretization method based on the fourth-order Runge-Kutta rule is proposed to improve the accuracy. A helpful adjustment process of time-to-landing is also introduced when the feasible trajectory does not exist. Comprehensive simulations about the proposed intelligent landing strategy are performed to demonstrate the improved safety and accuracy of both landing and hopping exploration on small bodies. Meanwhile, the performance and accuracy of the proposed convex optimization-based control algorithms is also compared and discussed thoroughly. Some useful conclusions for control system design are also obtained.

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

Science.gov (United States)

2007-11-01

Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

Cloud Incubator Car: A Reliable Platform for Autonomous Driving

Directory of Open Access Journals (Sweden)

Raúl Borraz

2018-02-01

Full Text Available It appears clear that the future of road transport is going through enormous changes (intelligent transport systems, the main one being the Intelligent Vehicle (IV. Automated driving requires a huge research effort in multiple technological areas: sensing, control, and driving algorithms. We present a comprehensible and reliable platform for autonomous driving technology development as well as for testing purposes, developed in the Intelligent Vehicles Lab at the Technical University of Cartagena. We propose an open and modular architecture capable of easily integrating a wide variety of sensors and actuators which can be used for testing algorithms and control strategies. As a proof of concept, this paper presents a reliable and complete navigation application for a commercial vehicle (Renault Twizy. It comprises a complete perception system (2D LIDAR, 3D HD LIDAR, ToF cameras, Real-Time Kinematic (RTK unit, Inertial Measurement Unit (IMU, an automation of the driving elements of the vehicle (throttle, steering, brakes, and gearbox, a control system, and a decision-making system. Furthermore, two flexible and reliable algorithms are presented for carrying out global and local route planning on board autonomous vehicles.

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....

Integration Framework for Building Autonomous Intelligent Systems, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Among the many challenges of Mars exploration is the creation of autonomous systems that support crew activities without reliance on Earth mission control. These...

Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

Directory of Open Access Journals (Sweden)

Hongbo Gao

2017-12-01

Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

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.

Intelligent control systems 1990

International Nuclear Information System (INIS)

Shoureshi, R.

1991-01-01

The field of artificial intelligence (Al) has generated many useful ideas and techniques that can be integrated into the design of control systems. It is believed and, for special cases, has been demonstrated, that integration of Al into control systems would provide the necessary tools for solving many of the complex problems that present control techniques and Al algorithms are unable to do, individually. However, this integration requires the development of basic understanding and new fundamentals to provide scientific bases for achievement of its potential. This book presents an overview of some of the latest research studies in the area of intelligent control systems. These papers present techniques for formulation of intelligent control, and development of the rule-based control systems. Papers present applications of control systems in nuclear power plants and HVAC systems

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...

Behavioural domain knowledge transfer for autonomous agents

CSIR Research Space (South Africa)

Rosman, Benjamin S

2014-11-01

Full Text Available , and Behavior Transfer in Autonomous Robots, AAAI 2014 Fall Symposium Series, 13-15 November 2014 Behavioural Domain Knowledge Transfer for Autonomous Agents Benjamin Rosman Mobile Intelligent Autonomous Systems Modelling and Digital Science Council...

Acoustic Doppler current profiling from the JGOFS Arabian sea cruises aboard the RV T.G. Thompson

Energy Technology Data Exchange (ETDEWEB)

Kim, Hyun-Sook; Flagg, C.N.; Shi, Yan

1996-06-01

Acoustic Doppler current profiler (ADCP) data is part of the core data for the U.S. JGOFS Arabian Sea project, along with hydrographic and nutrient data. Seventeen cruises are scheduled to take place between September 1994 and January 1996 on the R/V T.G. Thompson. They are numbered consecutively from the ship`s commissioning with the first JGOFS cruise designated TN039. Table 1 lists start and end dates of each cruise with its mission. All but the first cruise have been or will be staged from Muscat, Oman. Each cruise is scheduled for a duration of between two weeks and one month. Seven of the cruises, referred to as process cruises, follow a standard cruise track, taking hydrographic, chemical and biological measurements. The rest of the cruises, which take place generally within the standard cruise region defined by a set track, are for the deployment and recovery of moored equipments and towing of a SeaSoar. ADCP data are collected using an autonomous data acquisition system developed for ship-of-opportunity cruises, named the AutoADCP system. The system is an extension of RD instrument`s DAS version 2.48 using enhancements made possible with {open_quotes}user-exit{close_quotes} programs. It makes it possible to collect ADCP data without the constant monitoring usually necessary and insures constant data coverage and uniform data quality.

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.

Adaptive Oceanographic Sampling in a Coastal Environment Using Autonomous Gliding Vehicles

National Research Council Canada - National Science Library

Fratantoni, David

2003-01-01

... and modular sensor payload. Particular emphasis is placed on the development of adaptive sampling strategies and the intelligent control of large glider fleets operating within the framework of an autonomous oceanographic sampling network...

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

Science.gov (United States)

Jungbluth, Jan; Gerke, Wolfgang; Plapper, Peter

2017-09-01

One key for successful and fluent human-robot-collaboration in disassembly processes is equipping the robot system with higher autonomy and intelligence. In this paper, we present an informed software agent that controls the robot behavior to form an intelligent robot assistant for disassembly purposes. While the disassembly process first depends on the product structure, we inform the agent using a generic approach through product models. The product model is then transformed to a directed graph and used to build, share and define a coarse disassembly plan. To refine the workflow, we formulate “the problem of loosening a connection and the distribution of the work” as a search problem. The created detailed plan consists of a sequence of actions that are used to call, parametrize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with knowledge and skills to allow them to be autonomous in the performance of their assistance to finally improve the ergonomics of disassembly workstations.

The impact of cooperative adaptive cruise control on traffic- flow characteristics

NARCIS (Netherlands)

van Arem, Bart; van Driel, Cornelie; Visser, Ruben

2006-01-01

Cooperative adaptive cruise control (CACC) is an extension of ACC. In addition to measuring the distance to a predecessor, a vehicle can also exchange information with a predecessor by wireless communication. This enables a vehicle to follow its predecessor at a closer distance under tighter

LHC train control system for autonomous inspections and measurements

OpenAIRE

Di Castro, Mario; Baiguera Tambutti, Maria Laura; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

2018-01-01

Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously d...

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

Science.gov (United States)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

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

A computer architecture for intelligent machines

Science.gov (United States)

Lefebvre, D. R.; Saridis, G. N.

1992-01-01

The theory of intelligent machines proposes a hierarchical organization for the functions of an autonomous robot based on the principle of increasing precision with decreasing intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed. The authors present a computer architecture that implements the lower two levels of the intelligent machine. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Execution-level controllers for motion and vision systems are briefly addressed, as well as the Petri net transducer software used to implement coordination-level functions. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.

Behavioural effects of advanced cruise control use : a meta-analytic approach.

NARCIS (Netherlands)

Dragutinovic, N. Brookhuis, K.A. Hagenzieker, M.P. & Marchau, V.A.W.J.

2006-01-01

In this study, a meta-analytic approach was used to analyse effects of Advanced Cruise Control (ACC) on driving behaviour reported in seven driving simulator studies. The effects of ACC on three consistent outcome measures, namely, driving speed, headway and driver workload have been analysed. The

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.

Bilateral human-robot control for semi-autonomous UAV navigation

NARCIS (Netherlands)

Wopereis, Han Willem; 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

Control of autonomous robot using neural networks

Science.gov (United States)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

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.

CMO: Cruise Metadata Organizer for JAMSTEC Research Cruises

Science.gov (United States)

Fukuda, K.; Saito, H.; Hanafusa, Y.; Vanroosebeke, A.; Kitayama, T.

2011-12-01

JAMSTEC's Data Research Center for Marine-Earth Sciences manages and distributes a wide variety of observational data and samples obtained from JAMSTEC research vessels and deep sea submersibles. Generally, metadata are essential to identify data and samples were obtained. In JAMSTEC, cruise metadata include cruise information such as cruise ID, name of vessel, research theme, and diving information such as dive number, name of submersible and position of diving point. They are submitted by chief scientists of research cruises in the Microsoft Excel° spreadsheet format, and registered into a data management database to confirm receipt of observational data files, cruise summaries, and cruise reports. The cruise metadata are also published via "JAMSTEC Data Site for Research Cruises" within two months after end of cruise. Furthermore, these metadata are distributed with observational data, images and samples via several data and sample distribution websites after a publication moratorium period. However, there are two operational issues in the metadata publishing process. One is that duplication efforts and asynchronous metadata across multiple distribution websites due to manual metadata entry into individual websites by administrators. The other is that differential data types or representation of metadata in each website. To solve those problems, we have developed a cruise metadata organizer (CMO) which allows cruise metadata to be connected from the data management database to several distribution websites. CMO is comprised of three components: an Extensible Markup Language (XML) database, an Enterprise Application Integration (EAI) software, and a web-based interface. The XML database is used because of its flexibility for any change of metadata. Daily differential uptake of metadata from the data management database to the XML database is automatically processed via the EAI software. Some metadata are entered into the XML database using the web

Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

Energy Technology Data Exchange (ETDEWEB)

Taraglio, S; Zanela, S; Santini, A; Nanni, V [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

1999-10-01

The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

Robust model predictive cooperative adaptive cruise control subject to V2V impairments

NARCIS (Netherlands)

Van Nunen, Ellen; Verhaegh, Jan; Silvas, Emilia; Semsar-Kazerooni, Elham; Van De Wouw, Nathan

2018-01-01

To improve traffic throughput, Cooperative Adaptive Cruise Control (CACC) has been proposed as a solution. The usage of Vehicle-to-Vehicle (V2V) communication enables short following distances, thereby increasing road capacity and fuel reduction (especially for trucks). Control designs for CACC use

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.

The Autonomous Maintenance Implementation Directory as a Step Toward the Intelligent Quality Management System

Science.gov (United States)

Molenda, Michał

2016-12-01

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 selfimprovement 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.

Are Autonomous and Controlled Motivations School-Subjects-Specific?

Science.gov (United States)

Chanal, Julien; Guay, Frédéric

2015-01-01

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. PMID:26247788

Research and applications: Artificial intelligence

Science.gov (United States)

Chaitin, L. J.; Duda, R. O.; Johanson, P. A.; Raphael, B.; Rosen, C. A.; Yates, R. A.

1970-01-01

The program is reported for developing techniques in artificial intelligence and their application to the control of mobile automatons for carrying out tasks autonomously. Visual scene analysis, short-term problem solving, and long-term problem solving are discussed along with the PDP-15 simulator, LISP-FORTRAN-MACRO interface, resolution strategies, and cost effectiveness.

Autonomous scheduling technology for Earth orbital missions

Science.gov (United States)

Srivastava, S.

1982-01-01

The development of a dynamic autonomous system (DYASS) of resources for the mission support of near-Earth NASA spacecraft is discussed and the current NASA space data system is described from a functional perspective. The future (late 80's and early 90's) NASA space data system is discussed. The DYASS concept, the autonomous process control, and the NASA space data system are introduced. Scheduling and related disciplines are surveyed. DYASS as a scheduling problem is also discussed. Artificial intelligence and knowledge representation is considered as well as the NUDGE system and the I-Space system.

The adaptive cruise control vehicles in the cellular automata model

International Nuclear Information System (INIS)

Jiang Rui; Wu Qingsong

2006-01-01

This Letter presented a cellular automata model where the adaptive cruise control vehicles are modelled. In this model, the constant time headway policy is adopted. The fundamental diagram is presented. The simulation results are in good agreement with the analytical ones. The mixture of ACC vehicles with manually driven vehicles is investigated. It is shown that with the introduction of ACC vehicles, the jam can be suppressed

The implementation of intelligent home controller

Science.gov (United States)

Li, Biqing; Li, Zhao

2018-04-01

This paper mainly talks about the working way of smart home terminal controller and the design of hardware and software. Controlling the lights and by simulating the lamp and the test of the curtain, destroy the light of lamp ON-OFF and the curtain's UP-DOWN by simulating the lamp and the test of the cuetain. Through the sensor collects the ambient information and sends to the network, such as light, temperature and humidity. Besides, it can realise the control of intelligent home control by PCS. Terminal controller of intelligent home which is based on ZiBee technology has into the intelligent home system, it provides people with convenient, safe and intelligent household experience.

Robust output feedback cruise control for high-speed train movement with uncertain parameters

International Nuclear Information System (INIS)

Li Shu-Kai; Yang Li-Xing; Li Ke-Ping

2015-01-01

In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible couplers, which is subject to rolling mechanical resistance, aerodynamic drag and wind gust. Based on Lyapunov’s stability theory, the sufficient condition for the existence of the robust output feedback cruise control law is given in terms of linear matrix inequalities (LMIs), under which the high-speed train tracks the desired speed, the relative spring displacement between the two neighboring cars is stable at the equilibrium state, and meanwhile a small prescribed H ∞ disturbance attenuation level is guaranteed. One numerical example is given to illustrate the effectiveness of the proposed methods. (paper)

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.

Intelligent robotic tracker

Science.gov (United States)

Otaguro, W. S.; Kesler, L. O.; Land, K. C.; Rhoades, D. E.

1987-01-01

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Pleasure in using adaptive cruise control : A questionnaire study in The Netherlands

NARCIS (Netherlands)

de Winter, J.C.F.; Gorter, C.M.; Schakel, W.J.; van Arem, B.

2017-01-01

Objective: Adaptive cruise control (ACC), a technology that allows for automated car following, is becoming increasingly prevalent. Previous surveys have shown that drivers generally regard ACC as pleasant but that they have to intervene when the ACC reaches its operational limits. The former

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 ...

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.

Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

Science.gov (United States)

2006-08-14

COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

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.

Alterations in cardiac autonomic control in spinal cord injury.

Science.gov (United States)

Biering-Sørensen, Fin; Biering-Sørensen, Tor; Liu, Nan; Malmqvist, Lasse; Wecht, Jill Maria; Krassioukov, Andrei

2018-01-01

A spinal cord injury (SCI) interferes with the autonomic nervous system (ANS). The effect on the cardiovascular system will depend on the extent of damage to the spinal/central component of ANS. The cardiac changes are caused by loss of supraspinal sympathetic control and relatively increased parasympathetic cardiac control. Decreases in sympathetic activity result in heart rate and the arterial blood pressure changes, and may cause arrhythmias, in particular bradycardia, with the risk of cardiac arrest in those with cervical or high thoracic injuries. The objective of this review is to give an update of the current knowledge related to the alterations in cardiac autonomic control following SCI. With this purpose the review includes the following subheadings: 2. Neuro-anatomical plasticity and cardiac control 2.1 Autonomic nervous system and the heart 2.2 Alteration in autonomic control of the heart following spinal cord injury 3. Spinal shock and neurogenic shock 3.1 Pathophysiology of spinal shock 3.2 Pathophysiology of neurogenic shock 4. Autonomic dysreflexia 4.1 Pathophysiology of autonomic dysreflexia 4.2 Diagnosis of autonomic dysreflexia 5. Heart rate/electrocardiography following spinal cord injury 5.1 Acute phase 5.2 Chronic phase 6. Heart rate variability 6.1 Time domain analysis 6.2 Frequency domain analysis 6.3 QT-variability index 6.4 Nonlinear (fractal) indexes 7. Echocardiography 7.1 Changes in cardiac structure following spinal cord injury 7.2 Changes in cardiac function following spinal cord injury 8. International spinal cord injury cardiovascular basic data set and international standards to document the remaining autonomic function in spinal cord injury. Copyright © 2017 Elsevier B.V. All rights reserved.

A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

Science.gov (United States)

2013-09-01

Autonomous Vehicles Joseph DiVita, PhD Robert L. Morris Maria Olinda Rodas SSC Pacific Approved...298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 09–2013 Final A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles Joseph...Mission Area: Command and Control, Queueing Model; Supervisory Control; Unmanned Autonomous Vehicles M. O. Rodas U U U U 38 (619)

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.

Design of an Autonomous Transport System for Coastal Areas

Directory of Open Access Journals (Sweden)

Andrzej Lebkowski

2018-03-01

Full Text Available The article presents a project of an autonomous transport system that can be deployed in coastal waters, bays or between islands. Presented solutions and development trends in the transport of autonomous and unmanned units (ghost ships are presented. The structure of the control system of autonomous units is discussed together with the presentation of applied solutions in the field of artificial intelligence. The paper presents the concept of a transport system consisting of autonomous electric powered vessels designed to carry passengers, bikes, mopeds, motorcycles or passenger cars. The transport task is to be implemented in an optimal way, that is, most economically and at the same time as safe as possible. For this reason, the structure of the electric propulsion system that can be found on such units is shown. The results of simulation studies of autonomous system operation using simulator of marine navigational environment are presented.

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

Cooperative Control of Multiple Unmanned Autonomous Vehicles

Science.gov (United States)

2005-06-03

I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

Structured control for autonomous robots

International Nuclear Information System (INIS)

Simmons, R.G.

1994-01-01

To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

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.

Intelligent computer-aided training and tutoring

Science.gov (United States)

Loftin, R. Bowen; Savely, Robert T.

1991-01-01

Specific autonomous training systems based on artificial intelligence technology for use by NASA astronauts, flight controllers, and ground-based support personnel that demonstrate an alternative to current training systems are described. In addition to these specific systems, the evolution of a general architecture for autonomous intelligent training systems that integrates many of the features of traditional training programs with artificial intelligence techniques is presented. These Intelligent Computer-Aided Training (ICAT) systems would provide, for the trainee, much of the same experience that could be gained from the best on-the-job training. By integrating domain expertise with a knowledge of appropriate training methods, an ICAT session should duplicate, as closely as possible, the trainee undergoing on-the-job training in the task environment, benefitting from the full attention of a task expert who is also an expert trainer. Thus, the philosophy of the ICAT system is to emulate the behavior of an experienced individual devoting his full time and attention to the training of a novice - proposing challenging training scenarios, monitoring and evaluating the actions of the trainee, providing meaningful comments in response to trainee errors, responding to trainee requests for information, giving hints (if appropriate), and remembering the strengths and weaknesses displayed by the trainee so that appropriate future exercises can be designed.

[Improvement of universal salt iodization program on the intelligence quotient among children in Linxia Hui Autonomous Prefecture of Gansu].

Science.gov (United States)

Cao, Yong-qin; Wang, Yan-ling; Zhu, Xiao-nan; Dou, Yu-gui; Li, Hong-bo; Sun, Wei; Zheng, Jing

2012-09-01

To assess the improvement of intelligence quotient through an Universal Salt Iodization Supply Program, among children. 3518 and 1611 children were selected from primary schools in Linxia Hui Autonomous Prefecture of Gansu in 2006 and 2010 respectively. Intelligence quotient (IQ) were measured by the revised Chinese Combined Raven Test-C2 (CRT-C2). In 2006, the average IQ of children aged 8-10 was 85.1, including 16.7% of them with IQ ≤ 69. The average IQ was between 80-90 in different counties and cities, with significant differences (P 0.05). The average IQ of children aged 8-10 in 2010 was 97.2 and 12 points higher than in 2006 (P 0.05), but in boys (98.8) and in girls (95.9) the difference was significant (P intelligence. However, the average IQ was still lower than the average level of the whole Gansu province in 2010.

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...

Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

Energy Technology Data Exchange (ETDEWEB)

Taraglio, S.; Zanela, S.; Santini, A.; Nanni, V. [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

1999-10-01

The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

Editorial for special issue on Perception and Navigation for Autonomous Vehicles

OpenAIRE

Laugier , Christian; Philippe , Martinet; Urbano , Nunes

2014-01-01

International audience; This Special Issue of the IEEE Robotics and Automation Magazine has been prepared in the scope of the activities of the Technical Committee on "Autonomous Ground Vehicle and Intelligent Transportation System" (AGV-ITS) (http://www.ieee-ras.org/autonomous-groundvehicles- and-intelligent-transportation-systems) of the IEEE Robotics and Automation Society (IEEE RAS).

Artificial intelligence in robot control systems

Science.gov (United States)

Korikov, A.

2018-05-01

This paper analyzes modern concepts of artificial intelligence and known definitions of the term "level of intelligence". In robotics artificial intelligence system is defined as a system that works intelligently and optimally. The author proposes to use optimization methods for the design of intelligent robot control systems. The article provides the formalization of problems of robotic control system design, as a class of extremum problems with constraints. Solving these problems is rather complicated due to the high dimensionality, polymodality and a priori uncertainty. Decomposition of the extremum problems according to the method, suggested by the author, allows reducing them into a sequence of simpler problems, that can be successfully solved by modern computing technology. Several possible approaches to solving such problems are considered in the article.

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

Science.gov (United States)

Ni, Jun; Hu, Jibin

2017-06-01

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

The autonomous house: a bio-hydrogen based energy self-sufficient approach.

Science.gov (United States)

Chen, Shang-Yuan; Chu, Chen-Yeon; Cheng, Ming-Jen; Lin, Chiu-Yue

2009-04-01

In the wake of the greenhouse effect and global energy crisis, finding sources of clean, alternative energy and developing everyday life applications have become urgent tasks. This study proposes the development of an "autonomous house" emphasizing the use of modern green energy technology to reduce environmental load, achieve energy autonomy and use energy intelligently in order to create a sustainable, comfortable living environment. The houses' two attributes are: (1) a self-sufficient energy cycle and (2) autonomous energy control to maintain environmental comfort. The autonomous house thus combines energy-conserving, carbon emission-reducing passive design with active elements needed to maintain a comfortable environment.

The Autonomous House: A Bio-Hydrogen Based Energy Self-Sufficient Approach

Science.gov (United States)

Chen, Shang-Yuan; Chu, Chen-Yeon; Cheng, Ming-jen; Lin, Chiu-Yue

2009-01-01

In the wake of the greenhouse effect and global energy crisis, finding sources of clean, alternative energy and developing everyday life applications have become urgent tasks. This study proposes the development of an “autonomous house” emphasizing the use of modern green energy technology to reduce environmental load, achieve energy autonomy and use energy intelligently in order to create a sustainable, comfortable living environment. The houses’ two attributes are: (1) a self-sufficient energy cycle and (2) autonomous energy control to maintain environmental comfort. The autonomous house thus combines energy-conserving, carbon emission-reducing passive design with active elements needed to maintain a comfortable environment. PMID:19440531

Development of autonomous operation system

International Nuclear Information System (INIS)

Endou, Akira; Watanabe, Kenshiu; Miki, Tetsushi

1992-01-01

To enhance operation reliability of nuclear plants by removing human factors, study on an autonomous operation system has been carried out to substitute artificial intelligence (AI) for plant operators and, in addition, traditional controllers used in existing plants. For construction of the AI system, structurization of knowledge on the basis of the principles such as physical laws, function and structure of relevant objects and generalization of problem solving process are intended. A hierarchical distributed cooperative system configuration in employed because it is superior from the viewpoint of dynamical reorganization of system functions. This configuration is realized by an object-oriented multi-agent system. Construction of a prototype system was planned and the conceptual design was made for FBR plant in order to evaluate applicability of AI to the autonomous operation and to have a prospect for the realization of the system. The prototype system executes diagnosis, state evaluation, operation and control for the main plant subsystems. (author)

The role of automation and artificial intelligence

Science.gov (United States)

Schappell, R. T.

1983-07-01

Consideration is given to emerging technologies that are not currently in common use, yet will be mature enough for implementation in a space station. Artificial intelligence (AI) will permit more autonomous operation and improve the man-machine interfaces. Technology goals include the development of expert systems, a natural language query system, automated planning systems, and AI image understanding systems. Intelligent robots and teleoperators will be needed, together with improved sensory systems for the robotics, housekeeping, vehicle control, and spacecraft housekeeping systems. Finally, NASA is developing the ROBSIM computer program to evaluate level of automation, perform parametric studies and error analyses, optimize trajectories and control systems, and assess AI technology.

Intelligent perception control based on a blackboard architecture

International Nuclear Information System (INIS)

Taibi, I.; Koenig, A.; Vacherand, F.

1991-01-01

In this paper, is described the intelligent perception control system GESPER which is presently equipped with a set of three cameras, a telemeter and a camera associated with a structured strip light. This system is of great interest for all our robotic applications as it is capable of autonomously planning, triggering acquisitions, integrating and interpreting multisensory data. The GESPER architecture, based on the blackboard model, provides a generic development method for indoor and outdoor perception. The modularity and the independence of the knowledge sources make the software evolving easily without breaking down the architecture. New sensors and/or new data processing can be integrated by the addition of new knowledge sources that modelize them. At present, first results are obtained in our testbed hall which simulates the nuclear plant as gives similar experimental conditions. Our ongoing research concerns the improvement of fusion algorithms and the embedding of the whole system (hardware and software) on target robots and distributed architecture

Intelligent Flow Control Valve

Science.gov (United States)

Kelley, Anthony R (Inventor)

2015-01-01

The present invention is an intelligent flow control valve which may be inserted into the flow coming out of a pipe and activated to provide a method to stop, measure, and meter flow coming from the open or possibly broken pipe. The intelligent flow control valve may be used to stop the flow while repairs are made. Once repairs have been made, the valve may be removed or used as a control valve to meter the amount of flow from inside the pipe. With the addition of instrumentation, the valve may also be used as a variable area flow meter and flow controller programmed based upon flowing conditions. With robotic additions, the valve may be configured to crawl into a desired pipe location, anchor itself, and activate flow control or metering remotely.

Requirement analysis for autonomous systems and intelligent ...

African Journals Online (AJOL)

user

Danish Power System and a requirement analysis for the use of intelligent agents and ..... tries to make an optimal islanding plan at this state and tries to blackstart. ... 4 Foundation for Physical Intelligent Agents (FIPA): http://www.fipa.org ...

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...

Intelligent Lighting Control System

OpenAIRE

García, Elena; Rodríguez González, Sara; de Paz Santana, Juan F.; Bajo Pérez, Javier

2014-01-01

This paper presents an adaptive architecture that allows centralized control of public lighting and intelligent management, in order to economise on lighting and maintain maximum comfort status of the illuminated areas. To carry out this management, architecture merges various techniques of artificial intelligence (AI) and statistics such as artificial neural networks (ANN), multi-agent systems (MAS), EM algorithm, methods based on ANOVA and a Service Oriented Aproach (SOA). It performs optim...

Intelligent control of dynamic LED lighting; Intelligent styring af dynamisk LED belysning. Slutrapport

Energy Technology Data Exchange (ETDEWEB)

Thorseth, A.; Corell, D.; Hansen, Soeren S.; Dam-Hansen, C.; Petersen, Paul Michael

2013-01-15

The project has resulted in a prototype of a new intelligent lighting control system. The control system enables the end user to control his or her own local lighting environment (lighting zone) according to individual preferences and needs. The report provides a description of how the developed intelligent lighting system is composed and functions. The system is designed as a work lamp that enables dynamic change of the light color scheme according to a number of light control algorithms. It is specifically designed in relation to user tests of the intelligent lighting system, which is carried out in the final part of the project. An intelligent and advanced control of LED lighting was developed, which enables optimization of the user's light conditions in a given situation. Based on a number of known parameters, the system can control lighting so that at any time optimal light conditions are created, using a minimum of electric power. (LN)

Intelligent Traffic Light Based on PLC Control

Science.gov (United States)

Mei, Lin; Zhang, Lijian; Wang, Lingling

2017-11-01

The traditional traffic light system with a fixed control mode and single control function is contradicted with the current traffic section. The traditional one has been unable to meet the functional requirements of the existing flexible traffic control system. This paper research and develop an intelligent traffic light called PLC control system. It uses PLC as control core, using a sensor module for receiving real-time information of vehicles, traffic control mode for information to select the traffic lights. Of which control mode is flexible and changeable, and it also set the countdown reminder to improve the effectiveness of traffic lights, which can realize the goal of intelligent traffic diversion, intelligent traffic diversion.

Why the United States Must Adopt Lethal Autonomous Weapon Systems

Science.gov (United States)

2017-05-25

intelligence , Lethal Autonomous Weapon Systems, energy production, energy storage, three-dimensional printing , bandwidth improvements, computer...views on the morality of artificial intelligence (AI) and robotics technology. Eastern culture sees artificial intelligence as an economic savior...capable of improving their society. In contrast, Western culture regards artificial intelligence with paranoia, anxiety, and skepticism. As Eastern

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy.

Science.gov (United States)

Zhang, Libo; Zhu, Junjie; Ren, Hao; Liu, Dongdong; Meng, Dan; Wu, Yanjun; Luo, Tiejian

2017-10-14

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function. First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application. The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

Impact of cruise control on traffic safety, energy consumption and environmental pollution : final report

NARCIS (Netherlands)

Hoedemaeker, D.M.; Brouwer, R.F.T.; Malone, K.; Klunder, G.; et al

2006-01-01

In this subproject, the impact of Cruise Control (CC) was analysed with respect to traffic safety, energy consumption, and environmental pollution. In order to work on this topic from a European perspective, a team of European experts in the fields of driver assistance systems, human factors,

On how AI & Law can help autonomous systems obey the law: a position paper

NARCIS (Netherlands)

Prakken, Hendrik

2016-01-01

In this position paper I discuss to what extent current and past AI & law research is relevant for research on autonomous intelligent systems that exhibit legally relevant behaviour. After a brief review of the history of AI & law, I will compare the problems faced by autonomous intelligent systems

Autonomous Agents on Expedition: Humans and Progenitor Ants and Planetary Exploration

Science.gov (United States)

Rilee, M. L.; Clark, P. E.; Curtis, S. A.; Truszkowski, W. F.

2002-01-01

The Autonomous Nano-Technology Swarm (ANTS) is an advanced mission architecture based on a social insect analog of many specialized spacecraft working together to achieve mission goals. The principal mission concept driving the ANTS architecture is a Main Belt Asteroid Survey in the 2020s that will involve a thousand or more nano-technology enabled, artificially intelligent, autonomous pico-spacecraft (architecture. High level, mission-oriented behaviors are to be managed by a control / communications layer of the swarm, whereas common low level functions required of all spacecraft, e.g. attitude control and guidance and navigation, are handled autonomically on each spacecraft. At the higher levels of mission planning and social interaction deliberative techniques are to be used. For the asteroid survey, ANTS acts as a large community of cooperative agents while for precursor missions there arises the intriguing possibility of Progenitor ANTS and humans acting together as agents. For optimal efficiency and responsiveness for individual spacecraft at the lowest levels of control we have been studying control methods based on nonlinear dynamical systems. We describe the critically important autonomous control architecture of the ANTS mission concept and a sequence of partial implementations that feature increasingly autonomous behaviors. The scientific and engineering roles that these Progenitor ANTS could play in human missions or remote missions with near real time human interactions, particularly to the Moon and Mars, will be discussed.

Facts about Noroviruses on Cruise Ships

Science.gov (United States)

... Cruise Tips for Healthy Cruising Related Resources Cruise Ship Inspection Scores & Information Inspection Scores Cruise Line Directory Green ... 800-CDC-INFO ( 1-800-232-4636 ). Cruise Ship Inspection Scores & Information Inspection Scores Cruise Line Directory Green ...

Control algorithms for autonomous robot navigation

International Nuclear Information System (INIS)

Jorgensen, C.C.

1985-01-01

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

Relation of intelligence to ego functioning in an adult psychiatric population.

Science.gov (United States)

Allen, J G; Coyne, L; David, E

1986-01-01

Wechsler Adult Intelligence Scale-Revised (WAIS-R) IQs and clinical ratings of 10 ego functions in a diagnostically heterogeneous sample of 60 adult psychiatric inpatients were correlated. With severity of pathology statistically controlled, higher intelligence was associated with more adequate ego functioning in several spheres: primary autonomous functions, thought processes, object relations, and mastery-competence. There were also some clinically meaningful differences between the Verbal and Performance IQs in the pattern of correlations. Extending Hartmann's original views, the authors employ an ethological framework to conceptualize intelligence in relation to the ego's role in adaptation, emphasizing that intelligence is an important-albeit neglected-aspect of ego functioning.

2nd International Conference on Robot Intelligence Technology and Applications

CERN Document Server

Matson, Eric; Myung, Hyun; Xu, Peter; Karray, Fakhri

2014-01-01

We are facing a new technological challenge on how to store and retrieve knowledge and manipulate intelligence for autonomous services by intelligent systems which should be capable of carrying out real world tasks autonomously. To address this issue, robot researchers have been developing intelligence technology (InT) for “robots that think” which is in the focus of this book. The book covers all aspects of intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving resear...

A Characterization of the Utility of Using Artificial Intelligence to Test Two Artificial Intelligence Systems

Directory of Open Access Journals (Sweden)

Jeremy Straub

2013-05-01

Full Text Available An artificial intelligence system, designed for operations in a real-world environment faces a nearly infinite set of possible performance scenarios. Designers and developers, thus, face the challenge of validating proper performance across both foreseen and unforeseen conditions, particularly when the artificial intelligence is controlling a robot that will be operating in close proximity, or may represent a danger, to humans. While the manual creation of test cases allows limited testing (perhaps ensuring that a set of foreseeable conditions trigger an appropriate response, this may be insufficient to fully characterize and validate safe system performance. An approach to validating the performance of an artificial intelligence system using a simple artificial intelligence test case producer (AITCP is presented. The AITCP allows the creation and simulation of prospective operating scenarios at a rate far exceeding that possible by human testers. Four scenarios for testing an autonomous navigation control system are presented: single actor in two-dimensional space, multiple actors in two-dimensional space, single actor in three-dimensional space, and multiple actors in three-dimensional space. The utility of using the AITCP is compared to that of human testers in each of these scenarios.

Autonomous Training for Long-Term Spaceflight

Data.gov (United States)

National Aeronautics and Space Administration — This project will develop the autonomous capability to intelligently select/generate practice scenarios in order to provide individually targeted crew training when...

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Francisco García-Córdova

2013-04-01

Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

World modeling for cooperative intelligent vehicles

NARCIS (Netherlands)

Papp, Z.; Brown, C.; Bartels, C.

2008-01-01

Cooperative intelligent vehicle systems constitute a promising way to improving traffic throughput, safety and comfort. The state-of-the-art intelligent-vehicle applications usually can be described as a collection of interacting, highly autonomous, complex dynamical systems (the individual

Scheduling lessons learned from the Autonomous Power System

Science.gov (United States)

Ringer, Mark J.

1992-01-01

The Autonomous Power System (APS) project at NASA LeRC is designed to demonstrate the applications of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Diagnosis, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The AIPS scheduler was tested within the APS system. This scheduler is able to efficiently assign available power to the requesting activities and share this information with other software agents within the APS system in order to implement the generated schedule. The AIPS scheduler is also able to cooperatively recover from fault situations by rescheduling the affected loads on the Brassboard in conjunction with the APEX FDIR system. AIPS served as a learning tool and an initial scheduling testbed for the integration of FDIR and automated scheduling systems. Many lessons were learned from the AIPS scheduler and are now being integrated into a new scheduler called SCRAP (Scheduler for Continuous Resource Allocation and Planning). This paper will service three purposes: an overview of the AIPS implementation, lessons learned from the AIPS scheduler, and a brief section on how these lessons are being applied to the new SCRAP scheduler.

Hydrography and biogeochemistry dedicated to the Mediterranean BGC-Argo network during a cruise with RV Tethys 2 in May 2015

Science.gov (United States)

Taillandier, Vincent; Wagener, Thibaut; D'Ortenzio, Fabrizio; Mayot, Nicolas; Legoff, Hervé; Ras, Joséphine; Coppola, Laurent; Pasqueron de Fommervault, Orens; Schmechtig, Catherine; Diamond, Emilie; Bittig, Henry; Lefevre, Dominique; Leymarie, Edouard; Poteau, Antoine; Prieur, Louis

2018-03-01

We report on data from an oceanographic cruise, covering western, central and eastern parts of the Mediterranean Sea, on the French research vessel Tethys 2 in May 2015. This cruise was fully dedicated to the maintenance and the metrological verification of a biogeochemical observing system based on a fleet of BGC-Argo floats. During the cruise, a comprehensive data set of parameters sensed by the autonomous network was collected. The measurements include ocean currents, seawater salinity and temperature, and concentrations of inorganic nutrients, dissolved oxygen and chlorophyll pigments. The analytical protocols and data processing methods are detailed, together with a first assessment of the calibration state for all the sensors deployed during the cruise. Data collected at stations are available at https://doi.org/10.17882/51678" target="_blank">https://doi.org/10.17882/51678 and data collected along the ship track are available at https://doi.org/10.17882/51691" target="_blank">https://doi.org/10.17882/51691.

Advanced cruise control (ACC) : gewenste beleidsmaatregelen bij de invoering van ACC. In opdracht van het Directoraat-Generaal Rijkswaterstaat, Adviesdienst Verkeer en Vervoer AVV.

NARCIS (Netherlands)

Oei, H.-l.

1999-01-01

Advanced Cruise Control (ACC) concerns an `ordinary' cruise control in which the desired speed is fixed manually, but also in which the headway to the vehicle in front is taken into account. Such an ACC system is meant for use on rural roads that are not too busy. The system is not meant to avoid a

Expectation-based intelligent control

International Nuclear Information System (INIS)

Zak, Michail

2006-01-01

New dynamics paradigms-negative diffusion and terminal attractors-are introduced to control noise and chaos. The applied control forces are composed of expectations governed by the associated Fokker-Planck and Liouville equations. The approach is expanded to a general concept of intelligent control via expectations. Relevance to control in livings is emphasized and illustrated by neural nets with mirror neurons

Autonomous Control Capabilities for Space Reactor Power Systems

International Nuclear Information System (INIS)

Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

2004-01-01

The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission

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.

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...

Intelligent electrical outlet for collective load control

Science.gov (United States)

Lentine, Anthony L.; Ford, Justin R.; Spires, Shannon V.; Goldsmith, Steven Y.

2015-10-27

Various technologies described herein pertain to an electrical outlet that autonomously manages loads in a microgrid. The electrical outlet can provide autonomous load control in response to variations in electrical power generation supply in the microgrid. The electrical outlet includes a receptacle, a sensor operably coupled to the receptacle, and an actuator configured to selectively actuate the receptacle. The sensor measures electrical parameters at the receptacle. Further, a processor autonomously controls the actuator based at least in part on the electrical parameters measured at the receptacle, electrical parameters from one or more disparate electrical outlets in the microgrid, and a supply of generated electric power in the microgrid at a given time.

Dynamism Patterns of Western Mediterranean Cruise Ports and the Coopetition Relationships Between Major Cruise Ports

Directory of Open Access Journals (Sweden)

Esteve-Perez Jeronimo

2018-03-01

Full Text Available The Mediterranean Sea has seen an increase of ports hosting cruise ships during the first fifteen years of the 21st century. The increase in cruise ship presence in Mediterranean ports is associated with the dynamism of cruise traffic in recent years, with an average annual growth of 7.45% for cruise passengers worldwide during the period of 1990-2015. Cruise traffic is a maritime business that is primarily composed of two elements, maritime affairs and tourism. This article focuses on the maritime component. With the growth of the cruise industry, cruise lines have been forced to seek new ports to meet demand in an attempt to create differentiated products based on the ports that compose the itinerary. The itinerary system of cruise traffic makes the cruise ports depend on one another to design an itinerary. This feature results in both complex geographic relationships in the design of a cruise itinerary and complex competitive/cooperative relationships between ports. The aim of this article is to present the hierarchic picture of a sample of 29 cruise ports in the Western Mediterranean region during the period of 2000-2015. To achieve this goal, a port size classification is proposed and a shift-share analysis at the inter- and intra-group size level is applied. Moreover, concentration measures are used to determine the changes in the levels of market concentration. Furthermore, a dynamic model is proposed to determine the competitive or cooperative relationships between cruise ports. The proposed model is applied to the largest ports with data from the 2001-2015 period.

Data Provisioning Systems for Autonomous Vehicles

National Research Council Canada - National Science Library

Varaiya, Pravin

1999-01-01

This project is part of a portfolio comprising four other projects to investigate the possibility of operating a collection of intelligent autonomous agents so that the collection can undertakes complex missions...

Cruise Missile Defense

National Research Council Canada - National Science Library

Hichkad, Ravi R; Bolkcom, Christopher

2005-01-01

Congress has expressed interest in cruise missile defense for years. Cruise missiles (CMs) are essentially unmanned attack aircraft -- vehicles composed of an airframe, propulsion system, guidance system, and weapons payload...

Cruise Missile Defense

National Research Council Canada - National Science Library

Hichkad, Ravi R; Bolkcom, Christopher

2004-01-01

Congress has expressed interest in cruise missile defense for years. Cruise missiles (CMs) are essentially unmanned attack aircraft -- vehicles composed of an airframe, propulsion system, guidance system, and weapons payload...

Full autonomous microline trace robot

Science.gov (United States)

Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

2000-10-01

Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

Launch vehicle operations cost reduction through artificial intelligence techniques

Science.gov (United States)

Davis, Tom C., Jr.

1988-01-01

NASA's Kennedy Space Center has attempted to develop AI methods in order to reduce the cost of launch vehicle ground operations as well as to improve the reliability and safety of such operations. Attention is presently given to cost savings estimates for systems involving launch vehicle firing-room software and hardware real-time diagnostics, as well as the nature of configuration control and the real-time autonomous diagnostics of launch-processing systems by these means. Intelligent launch decisions and intelligent weather forecasting are additional applications of AI being considered.

Comparison of three control methods for an autonomous vehicle

Science.gov (United States)

Deshpande, Anup; Mathur, Kovid; Hall, Ernest

2010-01-01

The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

Towards Autonomous Control of HVAC Systems

DEFF Research Database (Denmark)

Brath, P.

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...... temperature controller, based on airflow control, was designed. Feedback linearisation is used together with an auto-tuning procedure, based on relay feedback. Design of a new CO2 controller was made to achieve a demand controlled ventilation system, in order to save energy. Feedback linearisation was used...

An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

Science.gov (United States)

Nelson, Kurt

1991-01-01

The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

International Conference on Intelligent Unmanned Systems (ICIUS)

CERN Document Server

Kartidjo, Muljowidodo; Yoon, Kwang-Joon; Budiyono, Agus; Autonomous Control Systems and Vehicles : Intelligent Unmanned Systems

2013-01-01

The International Conference on Intelligent Unmanned Systems 2011 was organized by the International Society of Intelligent Unmanned Systems and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan. The event was the 7th conference continuing from previous conferences held in Seoul, Korea (2005, 2006), Bali, Indonesia (2007), Nanjing, China (2008), Jeju, Korea (2009), and Bali, Indonesia (2010). ICIUS 2011 focused on both theory and application, primarily covering the topics of robotics, autonomous vehicles, intelligent unmanned technologies, and biomimetics. We invited seven keynote speakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs), flapping wings (FWs), unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. This book is a collection of excellent papers that were updated after presentation at ICIUS2011. All papers ...

Management and Marketing Elements in Maritime Cruises Industry. European Cruise Market

Directory of Open Access Journals (Sweden)

Romeo Boşneagu

2015-05-01

Full Text Available European cruises market has a major impact on all aspects of maritime industry: boarding ports, ports of call, shipbuilding, ship maintenance, supplies, sales and marketing, ship crews and administrative facilities. While in 2013, fiscal and economic conditions in Europe have continued to have a constraint to increasing demand for cruises, the number of passengers, Europeans or visitors of European ports, has grown moderately. For the next years, a higher growth of Europena market cruises is expected.

Development of intelligent supervisory control system

International Nuclear Information System (INIS)

Takizawa, Y.; Fukumoto, A.; Makino, M.; Takiguchi, S.

1994-01-01

The objective of the development of an intelligent supervisory control system for next generation plants is enhancement of the operational reliability by applying the recent outcome of artificial intelligence and computer technologies. This system consists of the supervisory control and monitoring for automatic operation, the equipment operation support for historical data management and for test scheduling, the operators' decision making support for accidental plant situations and the human-friendly interface of these support functions. The verification test results showed the validity of the functions realized by this system for the next generation control room. (author)

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. PMID:26648901

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

An Experimental Platform for Autonomous Bus Development

Directory of Open Access Journals (Sweden)

Héctor Montes

2017-11-01

Full Text Available Nowadays, with highly developed instrumentation, sensing and actuation technologies, it is possible to foresee an important advance in the field of autonomous and/or semi-autonomous transportation systems. Intelligent Transport Systems (ITS have been subjected to very active research for many years, and Bus Rapid Transit (BRT is one area of major interest. Among the most promising transport infrastructures, the articulated bus is an interesting, low cost, high occupancy capacity and friendly option. In this paper, an experimental platform for research on the automatic control of an articulated bus is presented. The aim of the platform is to allow full experimentation in real conditions for testing technological developments and control algorithms. The experimental platform consists of a mobile component (a commercial articulated bus fully instrumented and a ground test area composed of asphalt roads inside the Consejo Superior de Investigaciones Científicas (CSIC premises. This paper focuses also on the development of a human machine interface to ease progress in control system evaluation. Some experimental results are presented in order to show the potential of the proposed platform.

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.

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

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...

Autonomous power expert fault diagnostic system for Space Station Freedom electrical power system testbed

Science.gov (United States)

Truong, Long V.; Walters, Jerry L.; Roth, Mary Ellen; Quinn, Todd M.; Krawczonek, Walter M.

1990-01-01

The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control to the Space Station Freedom Electrical Power System (SSF/EPS) testbed being developed and demonstrated at NASA Lewis Research Center. The objectives of the program are to establish artificial intelligence technology paths, to craft knowledge-based tools with advanced human-operator interfaces for power systems, and to interface and integrate knowledge-based systems with conventional controllers. The Autonomous Power EXpert (APEX) portion of the APS program will integrate a knowledge-based fault diagnostic system and a power resource planner-scheduler. Then APEX will interface on-line with the SSF/EPS testbed and its Power Management Controller (PMC). The key tasks include establishing knowledge bases for system diagnostics, fault detection and isolation analysis, on-line information accessing through PMC, enhanced data management, and multiple-level, object-oriented operator displays. The first prototype of the diagnostic expert system for fault detection and isolation has been developed. The knowledge bases and the rule-based model that were developed for the Power Distribution Control Unit subsystem of the SSF/EPS testbed are described. A corresponding troubleshooting technique is also described.

77 FR 12843 - Fees for Sanitation Inspections of Cruise Ships

Science.gov (United States)

2012-03-02

... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... diseases. The fee schedule for sanitation inspections of passenger cruise ships inspected under VSP was... sanitation inspections. These inspections are conducted by CDC's Vessel Sanitation Program (VSP). VSP assists...

The Influence of Control on the Acceptance of Ambient Intelligence by Elderly : an Explorative Study

NARCIS (Netherlands)

Lambert Zaad

2008-01-01

This paper presents the results of a study on how elderly people perceive an intelligent system, embedded in their home, which should enable them to live independently longer. Users of a motion sensor system were interviewed about their experiences. A sensor system that autonomously works as well as

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.

Socially intelligent autonomous agents that learn from human reward

NARCIS (Netherlands)

Li, Guangliang

2016-01-01

In the future, autonomous agents will operate in human inhabited environments in many real world applications and become an integral part of human’s daily lives. Therefore, when autonomous agents enter into the real world, they need to adapt to many novel, dynamic and complex situations that cannot

Cruise tourism shore excursions

DEFF Research Database (Denmark)

João Lopes, Maria; Dredge, Dianne

2018-01-01

Very complex yet highly integrated business logics characterise cruise tourism with shore excursions frequently identified as a key source of value. This paper presents a case study of cruise tourism and shore excursion planning in Copenhagen, Denmark. The aim of this paper is to investigate...... the characteristics of cruise tourism, itinerary and shore excursion planning with a view to understanding the value generated from cruise tourism shore excursions. We argue that economic value is a blunt measure, and there are other types of value, positive and negative, that are also generated. This research...... reveals that a range of local conditions and structural characteristics create barriers and opportunities for generating different types of value. Using a case study of shore excursions in Copenhagen, the Baltic’s most important port, this paper explains the dynamics between cruise tourism and shore...

Research on artificial intelligence systems for nuclear installations

International Nuclear Information System (INIS)

Sakuma, Minoru

1992-01-01

The development and utilization of atomic energy in Japan has be advanced in conformity with the long term plan of atomic energy development and utilization decided in 1987. As one of the basic targets, the upbringing of creative and innovative science and technology is put up. Artificial intelligence technology has been positioned as one of the important basic technologies for promoting future atomic energy development. The research and development of artificial intelligence technology have been advanced aiming at making nuclear power stations autonomous, by the guidance of Science and Technology Agency and the cooperation of several research institutes. The upbringing of creative science and technology, the preponderant development of basic technology, the concept of developing the basic technology for atomic energy, the concept of autonomous plants, the standard for autonomy, the approach to autonomous plants, the present state of the researches in respective research institutes on autonomous operation and autonomous maintenance are described. (K.I.)

77 FR 50511 - Fees for Sanitation Inspections of Cruise Ships

Science.gov (United States)

2012-08-21

... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... schedule for sanitation inspections of passenger cruise ships by VSP was first published in the Federal...), announces fees for vessel sanitation inspections for Fiscal Year (FY) 2013. These inspections are conducted...

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

Science.gov (United States)

Muscettola, Nicola

2004-01-01

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

A framework for the intelligent control of nuclear rockets

International Nuclear Information System (INIS)

Parlos, A.G.; Metzger, J.D.

1993-01-01

An intelligent control system architecture is proposed for nuclear rockets, and its various components are briefly described. The objective of the intelligent controller is the satisfaction of performance, robustness, fault-tolerance and reliability design specifications. The proposed hierarchical architecture consists of three levels: hardware, signal processing, and knowledge processing. The functionality of the intelligent controller is implemented utilizing advanced information processing technologies such as artificial neutral networks and fuzzy expert systems. The feasibility of a number of the controller architecture components have been independently validated using computer simulations. Preliminary results are presented demonstrating some of the signal processing capabilities of the intelligent nuclear rocket controller. Further work, currently in progress, is attempting to implement a number of the knowledge processing capabilities of the controller and their interface with the lower levels of the proposed architecture

Intelligent distributed control for nuclear power plants

International Nuclear Information System (INIS)

Klevans, E.H.

1993-01-01

This project was initiated in September 1989 as a three year project to develop and demonstrate Intelligent Distributed Control (IDC) for Nuclear Power Plants. There were two primary goals of this research project. The first goal was to combine diagnostics and control to achieve a highly automated power plant as described by M.A. Schultz. The second goal was to apply this research to develop a prototype demonstration on an actual power plant system, the EBR-2 steam plant. Described in this Final (Third Annual) Technical Progress Report is the accomplishment of the project's final milestone, an in-plant intelligent control experiment conducted on April 1, 1993. The development of the experiment included: simulation validation, experiment formulation and final programming, procedure development and approval, and experimental results. Other third year developments summarized in this report are: (1) a theoretical foundation for Reconfigurable Hybrid Supervisory Control, (2) a steam plant diagnostic system, (3) control console design tools and (4) other advanced and intelligent control

International Conference on Intelligent and Interactive Systems and Applications

CERN Document Server

Patnaik, Srikanta; Yu, Zhengtao

2017-01-01

This book provides the latest research findings and developments in the field of interactive intelligent systems, addressing diverse areas such as autonomous systems, Internet and cloud computing, pattern recognition and vision systems, mobile computing and intelligent networking, and e-enabled systems. It gathers selected papers from the International Conference on Intelligent and Interactive Systems and Applications (IISA2016) held on June 25–26, 2016 in Shanghai, China. Interactive intelligent systems are among the most important multi-disciplinary research and development domains of artificial intelligence, human–computer interaction, machine learning and new Internet-based technologies. Accordingly, these systems embrace a considerable number of application areas such as autonomous systems, expert systems, mobile systems, recommender systems, knowledge-based and semantic web-based systems, virtual communication environments, and decision support systems, to name a few. To date, research on interactiv...

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.

Robot Advanced Intelligent Control developed through Versatile ...

African Journals Online (AJOL)

pc

2018-03-05

Mar 5, 2018 ... environments of human life exposed to great dangers such as support and repair in .... intelligent control interfaces, network quality of service, shared resources and ..... Artificial Intelligence series, volume 6556, p. 336-349 ...

Fixed Point Learning Based Intelligent Traffic Control System

Science.gov (United States)

Zongyao, Wang; Cong, Sui; Cheng, Shao

2017-10-01

Fixed point learning has become an important tool to analyse large scale distributed system such as urban traffic network. This paper presents a fixed point learning based intelligence traffic network control system. The system applies convergence property of fixed point theorem to optimize the traffic flow density. The intelligence traffic control system achieves maximum road resources usage by averaging traffic flow density among the traffic network. The intelligence traffic network control system is built based on decentralized structure and intelligence cooperation. No central control is needed to manage the system. The proposed system is simple, effective and feasible for practical use. The performance of the system is tested via theoretical proof and simulations. The results demonstrate that the system can effectively solve the traffic congestion problem and increase the vehicles average speed. It also proves that the system is flexible, reliable and feasible for practical use.

Smart Collision Avoidance and Hazard Routing Mechanism for Intelligent Transport Network

Science.gov (United States)

Singh, Gurpreet; Gupta, Pooja; Wahab, Mohd Helmy Abd

2017-08-01

The smart vehicular ad-hoc network is the network that consists of vehicles for smooth movement and better management of the vehicular connectivity across the given network. This research paper aims to propose a set of solution for the VANETs consisting of the automatic driven vehicles, also called as the autonomous car. Such vehicular networks are always prone to collision due to the natural or un-natural reasons which must be solved before the large-scale deployment of the autonomous transport systems. The newly designed intelligent transport movement control mechanism is based upon the intelligent data propagation along with the vehicle collision and traffic jam prevention schema [8], which may help the future designs of smart cities to become more robust and less error-prone. In the proposed model, the focus is on designing a new dynamic and robust hazard routing protocol for intelligent vehicular networks for improvement of the overall performance in various aspects. It is expected to improve the overall transmission delay as well as the number of collisions or adversaries across the vehicular network zone.

Application of artificial intelligence in process control

CERN Document Server

Krijgsman, A

1993-01-01

This book is the result of a united effort of six European universities to create an overall course on the appplication of artificial intelligence (AI) in process control. The book includes an introduction to key areas including; knowledge representation, expert, logic, fuzzy logic, neural network, and object oriented-based approaches in AI. Part two covers the application to control engineering, part three: Real-Time Issues, part four: CAD Systems and Expert Systems, part five: Intelligent Control and part six: Supervisory Control, Monitoring and Optimization.

Machine Visual Guidance For An Autonomous Undersea Submersible

Science.gov (United States)

Nguyen, Hoa G.; Kaomea, Peter K.; Heckman, Paul J.

1988-12-01

Optical imaging is the preferred sensory modality for underwater robotic activities requiring high resolution at close range, such as station keeping, docking, control of manipulator, and object retrieval. Machine vision will play a vital part in the design of next generation autonomous underwater submersibles. This paper describes an effort to demonstrate that real-time vision-based guidance and control of autonomous underwater submersibles is possible with compact, low-power, and vehicle-imbeddable hardware. The Naval Ocean Systems Center's EAVE-WEST (Experimental Autonomous Vehicle-West) submersible is being used as the testbed. The vision hardware consists of a PC-bus video frame grabber and an IBM-PC/AT compatible single-board computer, both residing in the artificial intelligence/vision electronics bottle of the submersible. The specific application chosen involves the tracking of underwater buoy cables. Image recognition is performed in two steps. Feature points are identified in the underwater video images using a technique which detects one-dimensional local brightness minima and maxima. Hough transformation is then used to detect the straight line among these feature points. A hierarchical coarse-to-fine processing method is employed which terminates when enough feature points have been identified to allow a reliable fit. The location of the cable identified is then reported to the vehicle controller computer for automatic steering control. The process currently operates successfully with a throughput of approximately 2 frames per second.

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.

Intelligent Home Control System Based on ARM10

Science.gov (United States)

Chen, G. X.; Jiang, J.; Zhong, L. H.

2017-10-01

Intelligent home is becoming the hot spot of social attention in the 21st century. When it is in China, it is a really new industry. However, there is no doubt that Intelligent home will become a new economic growth point of social development; it will change the life-style of human being. To develop the intelligent home, we should keep up with the development trend of technology. This is the reason why I talk about the intelligent home control system here. In this paper, intelligent home control system is designed for alarm and remote control on gas- leaking, fire disaster, earthquake prediction, etc., by examining environmental changes around house. When the Intelligent home control system has detected an accident occurs, the processor will communicate with the GSM module, informing the house keeper the occurrence of accident. User can receive and send the message to the system to cut the power by mobile phone. The system can get access to DCCthrough ARM10 JTAG interface, using DCC to send and receive messages. At the same time, the debugger on the host is mainly used to receive the user’s command and send it to the debug component in the target system. The data that returned from the target system is received and displayed to the user in a certain format.

Haptic shared control improves hot cell remote handling despite controller inaccuracies

NARCIS (Netherlands)

van Oosterhout, J.; Abbink, D. A.; Koning, J. F.; Boessenkool, H.; Wildenbeest, J. G. W.; Heemskerk, C. J. M.

2013-01-01

A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested

IMPROVEMENT OF TRAFFIC SAFETY BY ROAD-VEHICLE COOPERATIVE SMART CRUISE SYSTEMS

Directory of Open Access Journals (Sweden)

Akio HOSAKA

2000-01-01

Full Text Available Hopes have been pinned on the development of intelligent systems for road traffic as a way of solving road traffic safety and other such issues. To be sure, work is moving ahead with the incorporation of intelligent systems into automobiles but, with automobiles alone, there are limits in areas such as environment recognition. Compensation for the limits imposed by automobiles can be provided by the support given to environment recognition and related areas of road infrastructure. This paper examines the special features of vehicles and road infrastructure, and describes what role is played by roads and what role is played by vehicles. On the basis of the observations made, road-vehicle cooperative support systems called “smart cruise systems”, which are currently being developed, will be introduced and the expected effects of these systems will be outlined.

Adaptive Sensor Optimization and Cognitive Image Processing Using Autonomous Optical Neuroprocessors; TOPICAL

International Nuclear Information System (INIS)

CAMERON, STEWART M.

2001-01-01

Measurement and signal intelligence demands has created new requirements for information management and interoperability as they affect surveillance and situational awareness. Integration of on-board autonomous learning and adaptive control structures within a remote sensing platform architecture would substantially improve the utility of intelligence collection by facilitating real-time optimization of measurement parameters for variable field conditions. A problem faced by conventional digital implementations of intelligent systems is the conflict between a distributed parallel structure on a sequential serial interface functionally degrading bandwidth and response time. In contrast, optically designed networks exhibit the massive parallelism and interconnect density needed to perform complex cognitive functions within a dynamic asynchronous environment. Recently, all-optical self-organizing neural networks exhibiting emergent collective behavior which mimic perception, recognition, association, and contemplative learning have been realized using photorefractive holography in combination with sensory systems for feature maps, threshold decomposition, image enhancement, and nonlinear matched filters. Such hybrid information processors depart from the classical computational paradigm based on analytic rules-based algorithms and instead utilize unsupervised generalization and perceptron-like exploratory or improvisational behaviors to evolve toward optimized solutions. These systems are robust to instrumental systematics or corrupting noise and can enrich knowledge structures by allowing competition between multiple hypotheses. This property enables them to rapidly adapt or self-compensate for dynamic or imprecise conditions which would be unstable using conventional linear control models. By incorporating an intelligent optical neuroprocessor in the back plane of an imaging sensor, a broad class of high-level cognitive image analysis problems including geometric

Evolution of the Marginal Ice Zone: Adaptive Sampling with Autonomous Gliders

Science.gov (United States)

2015-09-30

release; distribution is unlimited. Evolution of the Marginal Ice Zone: Adaptive Sampling with Autonomous Gliders Craig M. Lee, Luc Rainville and Jason I...missions in ice-covered waters , where they provide several unique capabilities. Ice-capable Seagliders can maintain persistent (many months) sampling ...irradiance. Careful calibration casts, including water sampling , were conducted during both the deployment and recovery cruises. An example of a

An outbreak of Cyclospora infection on a cruise ship.

Science.gov (United States)

Gibbs, R A; Nanyonjo, R; Pingault, N M; Combs, B G; Mazzucchelli, T; Armstrong, P; Tarling, G; Dowse, G K

2013-03-01

In 2010, an outbreak of cyclosporiasis affected passengers and crew on two successive voyages of a cruise ship that departed from and returned to Fremantle, Australia. There were 73 laboratory-confirmed and 241 suspected cases of Cyclospora infection reported in passengers and crew from the combined cruises. A case-control study performed in crew members found that illness was associated with eating items of fresh produce served onboard the ship, but the study was unable conclusively to identify the responsible food(s). It is likely that one or more of the fresh produce items taken onboard at a south-east Asian port during the first cruise was contaminated. If fresh produce supplied to cruise ships is sourced from countries or regions where Cyclospora is endemic, robust standards of food production and hygiene should be applied to the supply chain.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

Science.gov (United States)

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-04-13

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

Science.gov (United States)

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-01-01

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car. PMID:28406426

Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

Science.gov (United States)

Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

2017-09-26

Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

Mobile autonomous robot for radiological surveys

International Nuclear Information System (INIS)

Dudar, A.M.; Wagner, D.G.; Teese, G.D.

1992-01-01

The robotics development group at the Savannah River Laboratory (SRL) is developing a mobile autonomous robot that performs radiological surveys of potentially contaminated floors. The robot is called SIMON, which stands for Semi-Intelligent Mobile Observing Navigator. Certain areas of SRL are classified as radiologically controlled areas (RCAs). In an RCA, radioactive materials are frequently handled by workers, and thus, the potential for contamination is ever present. Current methods used for floor radiological surveying includes labor-intensive manual scanning or random smearing of certain floor locations. An autonomous robot such as SIMON performs the surveying task in a much more efficient manner and will track down contamination before it is contacted by humans. SIMON scans floors at a speed of 1 in./s and stops and alarms upon encountering contamination. Its environment is well defined, consisting of smooth building floors with wide corridors. The kind of contaminations that SIMON is capable of detecting are alpha and beta-gamma. The contamination levels of interest are low to moderate

Computational intelligence in nuclear engineering

International Nuclear Information System (INIS)

Uhrig, Robert E.; Hines, J. Wesley

2005-01-01

Approaches to several recent issues in the operation of nuclear power plants using computational intelligence are discussed. These issues include 1) noise analysis techniques, 2) on-line monitoring and sensor validation, 3) regularization of ill-posed surveillance and diagnostic measurements, 4) transient identification, 5) artificial intelligence-based core monitoring and diagnostic system, 6) continuous efficiency improvement of nuclear power plants, and 7) autonomous anticipatory control and intelligent-agents. Several Changes to the focus of Computational Intelligence in Nuclear Engineering have occurred in the past few years. With earlier activities focusing on the development of condition monitoring and diagnostic techniques for current nuclear power plants, recent activities have focused on the implementation of those methods and the development of methods for next generation plants and space reactors. These advanced techniques are expected to become increasingly important as current generation nuclear power plants have their licenses extended to 60 years and next generation reactors are being designed to operate for extended fuel cycles (up to 25 years), with less operator oversight, and especially for nuclear plants operating in severe environments such as space or ice-bound locations

On the problem of making autonomous vehicles conform to traffic law

NARCIS (Netherlands)

Prakken, H.

2017-01-01

Autonomous vehicles are one of the most spectacular recent developments of Artificial Intelligence. Among the problems that still need to be solved before they can fully autonomously participate in traffic is the one of making their behaviour conform to the traffic laws. This paper discusses this

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

Design and implementation of adaptive cruise control system for the TU/e solar powered electric car

NARCIS (Netherlands)

Papaliouras, I.

2016-01-01

The technical report presents the design and implementation of Adaptive Cruise Control. (ACC) system for the “Stella Lux” solar powered electric car, which was built by Solar Team Eindhoven and won the World Solar Challenge in Australia in 2015. Initially, an over-view of the context of the project

Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

Science.gov (United States)

Feary, Michael S.; Palanque, Philippe Andre Rolan; Martinie, De Almeida; Tscheligi, Manfred

2016-01-01

This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault-tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

Autonomic symptoms in idiopathic REM behavior disorder: a multicentre case-control study.

Science.gov (United States)

Ferini-Strambi, Luigi; Oertel, Wolfgang; Dauvilliers, Yves; Postuma, Ronald B; Marelli, Sara; Iranzo, Alex; Arnulf, Isabelle; Högl, Birgit; Birgit, Högl; Manni, Raffaele; Miyamoto, Tomoyuki; Fantini, Maria-Livia; Puligheddu, Monica; Jennum, Poul; Sonka, Karel; Santamaria, Joan; Zucconi, Marco; Rancoita, Paola M V; Leu-Semenescu, Smeranda; Frauscher, Birgit; Terzaghi, Michele; Miyamoto, Masayuki; Unger, Marcus; Stiasny-Kolster, Karin; Desautels, Alex; Wolfson, Christina; Pelletier, Amélie; Montplaisir, Jacques

2014-06-01

Patients with idiopathic REM sleep behavior disorder (iRBD) are at very high risk of developing neurodegenerative synucleinopathies, which are disorders with prominent autonomic dysfunction. Several studies have documented autonomic dysfunction in iRBD, but large-scale assessment of autonomic symptoms has never been systematically performed. Patients with polysomnography-confirmed iRBD (318 cases) and controls (137 healthy volunteers and 181 sleep center controls with sleep diagnoses other than RBD) were recruited from 13 neurological centers in 10 countries from 2008 to 2011. A validated scale to study the disorders of the autonomic nervous system in Parkinson's disease (PD) patients, the SCOPA-AUT, was administered to all the patients and controls. The SCOPA-AUT consists of 25 items assessing the following domains: gastrointestinal, urinary, cardiovascular, thermoregulatory, pupillomotor, and sexual dysfunction. Our results show that compared to control subjects with a similar overall age and sex distribution, patients with iRBD experience significantly more problems with gastrointestinal, urinary, and cardiovascular functioning. The most prominent differences in severity of autonomic symptoms between our iRBD patients and controls emerged in the gastrointestinal domain. Interestingly, it has been reported that an altered gastrointestinal motility can predate the motor phase of PD. The cardiovascular domain SCOPA-AUT score in our study in iRBD patients was intermediate with respect to the scores reported in PD patients by other authors. Our findings underline the importance of collecting data on autonomic symptoms in iRBD. These data may be used in prospective studies for evaluating the risk of developing neurodegenerative disorders.

Net community production from autonomous oxygen observations in the Sargasso Sea

Science.gov (United States)

Feen, M.; Estapa, M. L.

2016-02-01

Optical sensors on autonomous floats provide high-resolution profiles of oxygen concentration over time. Improved spatiotemporal resolution in our measurements of oxygen will allow for better estimates of net community production and a greater understanding of the biological pump. Two autonomous profiling floats (NAVIS BGCi, Sea-Bird) equipped with SBE-63 optodes to measure dissolved oxygen were deployed in the Sargasso Sea on a series of five Bermuda Atlantic Time-series Study (BATS) cruises from July 2013 to April 2014. In situ calibration of the oxygen sensors to Winkler titration bottle samples at BATS did not show systematic drift in the oxygen sensors over time. Calibrations were applied to determine oxygen concentrations in profiles collected in the Sargasso Sea at 1.5 to 2.5 day intervals over a year. Oxygen concentrations were used to quantify sub-mixed layer net community production. Changes in production rates from this study were compared with upper water column biology and particle flux measurements obtained independently from optical sensors on the profiling floats, allowing us to examine processes controlling carbon export into the deep ocean.

Intelligence Level Performance Standards Research for Autonomous Vehicles.

Science.gov (United States)

Bostelman, Roger B; Hong, Tsai H; Messina, Elena

2015-01-01

United States and European safety standards have evolved to protect workers near Automatic Guided Vehicles (AGV's). However, performance standards for AGV's and mobile robots have only recently begun development. Lessons can be learned from research and standards efforts for mobile robots applied to emergency response and military applications. Research challenges, tests and evaluations, and programs to develop higher intelligence levels for vehicles can also used to guide industrial AGV developments towards more adaptable and intelligent systems. These other efforts also provide useful standards development criteria for AGV performance test methods. Current standards areas being considered for AGVs are for docking, navigation, obstacle avoidance, and the ground truth systems that measure performance. This paper provides a look to the future with standards developments in both the performance of vehicles and the dynamic perception systems that measure intelligent vehicle performance.

Enabling Autonomous Space Mission Operations with Artificial Intelligence

Science.gov (United States)

Frank, Jeremy

2017-01-01

For over 50 years, NASA's crewed missions have been confined to the Earth-Moon system, where speed-of-light communications delays between crew and ground are practically nonexistent. This ground-centered mode of operations, with a large, ground-based support team, is not sustainable for NASAs future human exploration missions to Mars. Future astronauts will need smarter tools employing Artificial Intelligence (AI) techniques make decisions without inefficient communication back and forth with ground-based mission control. In this talk we will describe several demonstrations of astronaut decision support tools using AI techniques as a foundation. These demonstrations show that astronauts tasks ranging from living and working to piloting can benefit from AI technology development.

Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

National Research Council Canada - National Science Library

McCamish, Shawn B

2007-01-01

This research contributes to multiple spacecraft control by developing an autonomous distributed control algorithm for close proximity operations of multiple spacecraft systems, including rendezvous...

Autonomous Control, Climate and Environmental Changes Effects ...

African Journals Online (AJOL)

Autonomous Control, Climate and Environmental Changes Effects on Trypanosomiasis in Sub-Saharan Africa: A Review. ... African trypanosomiasis is a parasitic disease that causes serious economic losses in livestock due to anemia, loss of condition and emaciation. The disease when neglected is lethal and untreated ...

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

Interactive animated displayed of man-controlled and autonomous robots

International Nuclear Information System (INIS)

Crane, C.D. III; Duffy, J.

1986-01-01

An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

CTD, nephelometry and currentmeter measurements at the N.E.A. dumpsite during the 1984 Epicea cruise

International Nuclear Information System (INIS)

Vangriesheim, A.

1989-01-01

In May of 1984, an EPICEA cruise to the N.E.A. dumpsite was conducted aboard the french research vessel LE SUROIT. The site work was jointly sponsored by IFREMER and CEA and followed IFREMER studies over Meriadzek Terrace. The main purposes of this joint cruise included first an exploration of a part of the site with the IFREMER unmanned submersible EPAULARD, including bottom photographs. Biological measurements included baited cameras, fish and amphipod traps, radioactive baited traps and one-year mooring of a bottom-mounted autonomous colonisation module (the M.A.C.). Geological measurements were made with a 3.5 Khz echo sounder. Radiochemistry included water samples. Physical oceanography included a CTD equipped with a nephelometer. Five CTD vertical profiles to the bottom were made over the dumpsite, 4 of them in the area previously covered by the SEABEAM and 1 outside of that to the East. At the end of the cruise, a M.A.C. was equipped with a currentmeter at 10 meters above the bottom, and moored for one year. The results of the CTD, nephelometry and current measurements are presented

Applications of artificial intelligence V; Proceedings of the Meeting, Orlando, FL, May 18-20, 1987

Science.gov (United States)

Gilmore, John F. (Editor)

1987-01-01

The papers contained in this volume focus on current trends in applications of artificial intelligence. Topics discussed include expert systems, image understanding, artificial intelligence tools, knowledge-based systems, heuristic systems, manufacturing applications, and image analysis. Papers are presented on expert system issues in automated, autonomous space vehicle rendezvous; traditional versus rule-based programming techniques; applications to the control of optional flight information; methodology for evaluating knowledge-based systems; and real-time advisory system for airborne early warning.

More Effective Use of Urban Space by Autonomous Double Parking

Directory of Open Access Journals (Sweden)

Rafael Estepa

2017-01-01

Full Text Available The new capabilities of autonomous cars can be used to mitigate to a large extent safety concerns and nuisance traditionally associated with double parking. In this paper double parking for autonomous cars is proposed as a new approach to temporarily increase parking capacity in locations in clear need for extra provision when best alternatives cannot be found. The basic requirements, operation, and procedures of the proposed solution are outlined. A curbside parking has been simulated implementing the suggested double parking operation and important advantages have been identified for drivers, the environment, and the city. Double parking can increase over 50% the parking capacity of a given area. Autonomous car owners would (at least double their probabilities of finding parking compared to traditional drivers, saving cruising time and emissions. However, significant work and technological advances are still needed in order to make this feasible in the near future.

Study on autonomous decentralized-cooperative function monitoring system

International Nuclear Information System (INIS)

Matsuoka, Takeshi; Numano, Masayoshi; Someya, Minoru; Fukuto, Junji; Mitomo, Nobuo; Miyazaki, Keiko; Matsukura, Hiroshi; Tanba, Yasuyuki

1999-01-01

In this study, a study further advanced on a base of results of study on artificial intelligence for nuclear power', one of nuclear basis crossover studies, conducted at five years planning from 1989 fiscal year was executed. Here was conducted on study on a system technology for supplying cooperation, judgement process, judgement results, and so forth between decentralized artificial intelligent elements (agents) to operation managers (supervisors) by focussing a system for monitoring if autonomous decentralized system containing plant operation and robot group action functioned appropriately. In 1997 fiscal year, by mainly conducting development for displaying working state of robot group, some investigations on integrated management of each function already development and maintained were executed. Furthermore, some periodical meetings on realization of its integration with operation control system and maintenance system with other research institutes were conducted. (G.K.)

Supervised-machine Learning for Intelligent Collision Avoidance Decision-making and Sensor Tasking

Data.gov (United States)

National Aeronautics and Space Administration — Building an autonomous architecture that uses directed self-learning neuro-fuzzy networks with the aim of developing an intelligent autonomous collision avoidance...

SIG: Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

Science.gov (United States)

Feary, Michael; Palanque, Philippe; Martinie, Célia; Tscheligi, Manfred

2016-01-01

This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects/systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

Traffic Control Models Based on Cellular Automata for At-Grade Intersections in Autonomous Vehicle Environment

OpenAIRE

Wei Wu; Yang Liu; Yue Xu; Quanlun Wei; Yi Zhang

2017-01-01

Autonomous vehicle is able to facilitate road safety and traffic efficiency and has become a promising trend of future development. With a focus on highways, existing literatures studied the feasibility of autonomous vehicle in continuous traffic flows and the controllability of cooperative driving. However, rare efforts have been made to investigate the traffic control strategies in autonomous vehicle environment on urban roads, especially in urban intersections. In autonomous vehicle enviro...

Intelligent computational control of multi-fingered dexterous robotic hand

OpenAIRE

Chen, Disi; Li, Gongfa; Jiang, Guozhang; Fang, Yinfeng; Ju, Zhaojie; Liu, Honghai

2015-01-01

We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural n...

Intelligent control of HVAC systems. Part II: perceptron performance analysis

Directory of Open Access Journals (Sweden)

Ioan URSU

2013-09-01

Full Text Available This is the second part of a paper on intelligent type control of Heating, Ventilating, and Air-Conditioning (HVAC systems. The whole study proposes a unified approach in the design of intelligent control for such systems, to ensure high energy efficiency and air quality improving. In the first part of the study it is considered as benchmark system a single thermal space HVAC system, for which it is assigned a mathematical model of the controlled system and a mathematical model(algorithm of intelligent control synthesis. The conception of the intelligent control is of switching type, between a simple neural network, a perceptron, which aims to decrease (optimize a cost index,and a fuzzy logic component, having supervisory antisaturating role for neuro-control. Based on numerical simulations, this Part II focuses on the analysis of system operation in the presence only ofthe neural control component. Working of the entire neuro-fuzzy system will be reported in a third part of the study.

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;

Combining metric episodes with semantic event concepts within the Symbolic and Sub-Symbolic Robotics Intelligence Control System (SS-RICS)

Science.gov (United States)

Kelley, Troy D.; McGhee, S.

2013-05-01

This paper describes the ongoing development of a robotic control architecture that inspired by computational cognitive architectures from the discipline of cognitive psychology. The Symbolic and Sub-Symbolic Robotics Intelligence Control System (SS-RICS) combines symbolic and sub-symbolic representations of knowledge into a unified control architecture. The new architecture leverages previous work in cognitive architectures, specifically the development of the Adaptive Character of Thought-Rational (ACT-R) and Soar. This paper details current work on learning from episodes or events. The use of episodic memory as a learning mechanism has, until recently, been largely ignored by computational cognitive architectures. This paper details work on metric level episodic memory streams and methods for translating episodes into abstract schemas. The presentation will include research on learning through novelty and self generated feedback mechanisms for autonomous systems.

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.

The external cruising costs of parking

NARCIS (Netherlands)

Inci, E.; van Ommeren, J.N.; Kobus, Martijn

2017-01-01

Existing work emphasizes the importance of traffic congestion externalities, but typically ignores cruising-for-parking externalities. We estimate the marginal external cruising costs of parking—that is, the time costs that an additional parked car imposes on drivers by inducing them to cruise for

Intelligent process control operator aid -- An artificial intelligence approach

International Nuclear Information System (INIS)

Sharma, D.D.; Miller, D.D.; Hajek, B.; Chandrasekaran, B.

1986-01-01

This paper describes an approach for designing intelligent process and power plant control operator aids. It is argued that one of the key aspects of an intelligent operator aid is the capability for dynamic procedure synthesis with incomplete definition of initial state, unknown goal states, and the dynamic world situation. The dynamic world state is used to determine the goal, select appropriate plan steps from prespecified procedures to achieve the goal, control the execution of the synthesized plan, and provide for dynamic recovery from failure often using a goal hierarchy. The dynamic synthesis of a plan requires integration of various problems solving capabilities such as plan generation, plan synthesis, plan modification, and failure recovery from a plan. The programming language for implementing the DPS framework provides a convenient tool for developing applications. An application of the DPS approach to a Nuclear Power Plant emergency procedure synthesis is also described. Initial test results indicate that the approach is successful in dynamically synthesizing the procedures. The authors realize that the DPS framework is not a solution for all control tasks. However, many existing process and plant control problems satisfy the requirements discussed in the paper and should be able to benefit from the framework described

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.

Artificial intelligence and information-control systems of robots - 87

International Nuclear Information System (INIS)

Plander, I.

1987-01-01

Independent research areas of artificial intelligence represent the following problems: automatic problem solving and new knowledge discovering, automatic program synthesis, natural language, picture and scene recognition and understanding, intelligent control systems of robots equipped with sensoric subsystems, dialogue of two knowledge systems, as well as studying and modelling higher artificial intelligence attributes, such as emotionality and personality. The 4th Conference draws on the problems treated at the preceding Conferences, and presents the most recent knowledge on the following topics: theoretical problems of artificial intelligence, knowledge-based systems, expert systems, perception and pattern recognition, robotics, intelligent computer-aided design, special-purpose computer systems for artificial intelligence and robotics

Materials learning from life: concepts for active, adaptive and autonomous molecular systems.

Science.gov (United States)

Merindol, Rémi; Walther, Andreas

2017-09-18

Bioinspired out-of-equilibrium systems will set the scene for the next generation of molecular materials with active, adaptive, autonomous, emergent and intelligent behavior. Indeed life provides the best demonstrations of complex and functional out-of-equilibrium systems: cells keep track of time, communicate, move, adapt, evolve and replicate continuously. Stirred by the understanding of biological principles, artificial out-of-equilibrium systems are emerging in many fields of soft matter science. Here we put in perspective the molecular mechanisms driving biological functions with the ones driving synthetic molecular systems. Focusing on principles that enable new levels of functionalities (temporal control, autonomous structures, motion and work generation, information processing) rather than on specific material classes, we outline key cross-disciplinary concepts that emerge in this challenging field. Ultimately, the goal is to inspire and support new generations of autonomous and adaptive molecular devices fueled by self-regulating chemistry.

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 l...... load diversity. Numerical simulations of the hybrid controller in a representative distribution system show the peak system load was reduced by 12% compared to a purely frequency sensitive load controller.......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...

Intelligent distributed control for nuclear power plants

International Nuclear Information System (INIS)

Klevans, E.H.

1991-01-01

In September of 1989 work began on the DOE University Program grant DE-FG07-89ER12889. The grant provides support for a three year project to develop and demonstrate Intelligent Distributed Control (IDC) for Nuclear Power Plants. The body of this First Annual Technical Progress report summarizes the first year tasks while the appendices provide detailed information presented at conference meetings. One major addendum report, authored by M.A. Schultz, describes the ultimate goals and projected structure of an automatic distributed control system for EBR-2. The remaining tasks of the project develop specific implementations of various components required to demonstrate the intelligent distributed control concept

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.

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

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

NARCIS (Netherlands)

de Winter, Joost C.F.; Happee, Riender; Martens, Marieke Hendrikje; 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

Hardware-in-the-Loop Simulation of Distributed Intelligent Energy Management System for Microgrids

Directory of Open Access Journals (Sweden)

Dong-Jun Won

2013-07-01

Full Text Available Microgrids are autonomous low-voltage power distribution systems that contain multiple distributed energy resources (DERs and smart loads that can provide power system operation flexibility. To effectively control and coordinate multiple DERs and loads of microgrids, this paper proposes a distributed intelligent management system that employs a multi-agent-based control system so that delicate decision-making functions can be distributed to local intelligent agents. This paper presents the development of a hardware-in-the-loop simulation (HILS system for distributed intelligent management system for microgrids and its promising application to an emergency demand response program. In the developed HILS system, intelligent agents are developed using microcontrollers and ZigBee wireless communication technology. Power system dynamic models are implemented in real-time simulation environments using the Opal-RT system. This paper presents key features of the data communication and management schemes based on multi-agent concepts. The performance of the developed system is tested for emergency demand response program applications.

Learning for intelligent mobile robots

Science.gov (United States)

Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

2003-10-01

Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

Controls and Health Management Technologies for Intelligent Aerospace Propulsion Systems

Science.gov (United States)

Garg, Sanjay

2004-01-01

With the increased emphasis on aircraft safety, enhanced performance and affordability, and the need to reduce the environmental impact of aircraft, there are many new challenges being faced by the designers of aircraft propulsion systems. The Controls and Dynamics Technology Branch at NASA (National Aeronautics and Space Administration) Glenn Research Center (GRC) in Cleveland, Ohio, is leading and participating in various projects in partnership with other organizations within GRC and across NASA, the U.S. aerospace industry, and academia to develop advanced controls and health management technologies that will help meet these challenges through the concept of an Intelligent Engine. The key enabling technologies for an Intelligent Engine are the increased efficiencies of components through active control, advanced diagnostics and prognostics integrated with intelligent engine control to enhance component life, and distributed control with smart sensors and actuators in an adaptive fault tolerant architecture. This paper describes the current activities of the Controls and Dynamics Technology Branch in the areas of active component control and propulsion system intelligent control, and presents some recent analytical and experimental results in these areas.

Intelligent Flight Control Simulation Research Program

National Research Council Canada - National Science Library

Stolarik, Brian

2007-01-01

...). Under the program, entitled "Intelligent Flight Control Simulation Research Laboratory," a variety of technologies were investigated or developed during the course of the research for AFRL/VAC...

Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

National Research Council Canada - National Science Library

Van Reet, Alan R

2005-01-01

In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

Low-cost autonomous orbit control about Mars: Initial simulation results

Science.gov (United States)

Dawson, S. D.; Early, L. W.; Potterveld, C. W.; Königsmann, H. J.

1999-11-01

Interest in studying the possibility of extraterrestrial life has led to the re-emergence of the Red Planet as a major target of planetary exploration. Currently proposed missions in the post-2000 period are routinely calling for rendezvous with ascent craft, long-term orbiting of, and sample-return from Mars. Such missions would benefit greatly from autonomous orbit control as a means to reduce operations costs and enable contact with Mars ground stations out of view of the Earth. This paper present results from initial simulations of autonomously controlled orbits around Mars, and points out possible uses of the technology and areas of routine Mars operations where such cost-conscious and robust autonomy could prove most effective. These simulations have validated the approach and control philosophies used in the development of this autonomous orbit controller. Future work will refine the controller, accounting for systematic and random errors in the navigation of the spacecraft from the sensor suite, and will produce prototype flight code for inclusion on future missions. A modified version of Microcosm's commercially available High Precision Orbit Propagator (HPOP) was used in the preparation of these results due to its high accuracy and speed of operation. Control laws were developed to allow an autonomously controlled spacecraft to continuously control to a pre-defined orbit about Mars with near-optimal propellant usage. The control laws were implemented as an adjunct to HPOP. The GSFC-produced 50 × 50 field model of the Martian gravitational potential was used in all simulations. The Martian atmospheric drag was modeled using an exponentially decaying atmosphere based on data from the Mars-GRAM NASA Ames model. It is hoped that the simple atmosphere model that was implemented can be significantly improved in the future so as to approach the fidelity of the Mars-GRAM model in its predictions of atmospheric density at orbital altitudes. Such additional work

Fuzzy Logic Controller Design for Intelligent Robots

Directory of Open Access Journals (Sweden)

Ching-Han Chen

2017-01-01

Full Text Available This paper presents a fuzzy logic controller by which a robot can imitate biological behaviors such as avoiding obstacles or following walls. The proposed structure is implemented by integrating multiple ultrasonic sensors into a robot to collect data from a real-world environment. The decisions that govern the robot’s behavior and autopilot navigation are driven by a field programmable gate array- (FPGA- based fuzzy logic controller. The validity of the proposed controller was demonstrated by simulating three real-world scenarios to test the bionic behavior of a custom-built robot. The results revealed satisfactorily intelligent performance of the proposed fuzzy logic controller. The controller enabled the robot to demonstrate intelligent behaviors in complex environments. Furthermore, the robot’s bionic functions satisfied its design objectives.

Research methods of simulate digital compensators and autonomous control systems

Directory of Open Access Journals (Sweden)

V. S. Kudryashov

2016-01-01

Full Text Available The peculiarity of the present stage of development of the production is the need to control and regulate a large number of process parameters, the mutual influence on each other that when using single-circuit systems significantly reduces the quality of the transition process, resulting in significant costs of raw materials and energy, reduce the quality of the products. Using a stand-alone digital control system eliminates the correlation of technological parameters, to give the system the desired dynamic and static properties, improve the quality of regulation. However, the complexity of the configuration and implementation of procedures (modeling compensators autonomous systems of this type, associated with the need to perform a significant amount of complex analytic transformation significantly limit the scope of their application. In this regard, the approach based on the decompo sition proposed methods of calculation and simulation (realization, consisting in submitting elements autonomous control part digital control system in a series parallel connection. The above theoretical study carried out in a general way for any dimension systems. The results of computational experiments, obtained during the simulation of the four autonomous control systems, comparative analysis and conclusions on the effectiveness of the use of each of the methods. The results obtained can be used in the development of multi-dimensional process control systems.

New control approach for a PV-diesel autonomous power system

Energy Technology Data Exchange (ETDEWEB)

Rashed, Mohamed; Elmitwally, A.; Kaddah, Sahar [Electrical Engineering Department, Mansoura University, Mansoura 35516 (Egypt)

2008-06-15

A new control scheme for the hybrid photovoltaic-diesel single-phase autonomous power system is proposed. The main advantage of this scheme is that the voltage control is accomplished by the interface inverter without need to the automatic voltage regulator of the diesel-driven generator. Unlike three-phase systems, frequency and voltage control in single-phase autonomous power systems imposes additional complexity. This is due to the pulsating nature of the single-phase loads instantaneous power at twice the rated frequency that may degrade the control efficacy. This obstacle is addressed in this paper and a new scheme is presented. The approach includes three control loops for maximum power tracking, voltage control and frequency control. The generator field current is held constant at its nominal value avoiding the saturation in the field circuit. A robust fuzzy logic controller is adopted for the speed control loop of the diesel engine. The dynamic performance of the system is investigated under different operating conditions. (author)

Intelligent Shutter Speech Control System Based on DSP

Directory of Open Access Journals (Sweden)

Yonghong Deng

2017-01-01

Full Text Available Based on TMS320F28035 DSP, this paper designed a smart shutters voice control system, which realized the functions of opening and closing shutters, intelligent switching of lighting mode and solar power supply through voice control. The traditional control mode is converted to voice control at the same time with automatic lighting and solar power supply function. In the convenience of people’s lives at the same time more satisfied with today’s people on the intelligent and environmental protection of the two concepts of the pursuit. The whole system is simple, low cost, safe and reliable.

Patients With Fibromyalgia Have Significant Autonomic Symptoms But Modest Autonomic Dysfunction.

Science.gov (United States)

Vincent, Ann; Whipple, Mary O; Low, Phillip A; Joyner, Michael; Hoskin, Tanya L

2016-05-01

Research suggests that disordered autonomic function may be one contributor to deconditioning reported in fibromyalgia; however, no study to date has assessed these variables simultaneously with comprehensive measures. To characterize physical fitness and autonomic function with the use of clinically validated measures and subjective questionnaires between patients with fibromyalgia and healthy controls. Cross-sectional, observational, controlled study. Community sample of patients with fibromyalgia and healthy controls. Thirty patients with fibromyalgia and 30 pain and fatigue-free controls. Participants completed a battery of self-report questionnaires and physiological measures, including clinically validated measures of physical fitness and autonomic function. Six-Minute Walk Test total distance, maximal oxygen consumption as assessed by cardiopulmonary exercise testing, total steps using activity monitor, Composite Autonomic Scoring Scale as assessed by Autonomic Reflex Screen, total metabolic equivalents per week using the International Physical Activity Questionnaire, and self-reported autonomic symptoms via the 31-item Composite Autonomic Symptom Score questionnaire. Autonomic function, as assessed by self-report, was significantly different between patients and controls (P physical activity was not significantly different between patients and controls (P = .99), but levels of moderate and vigorous physical activity as measured by actigraphy were significantly lower in patients (P = .012 and P = .047, respectively). Exercise capacity (6-Minute Walk) was poorer in patients (P = .0006), but there was no significant difference in maximal volume of oxygen consumption (P = .07). Patients with fibromyalgia report more severe symptoms across all domains, including physical activity and autonomic symptoms, compared with controls, but the objective assessments only showed modest differences. Our results suggest that patients with widespread subjective impairment of

Intelligent Distributed Computing VI : Proceedings of the 6th International Symposium on Intelligent Distributed Computing

CERN Document Server

Badica, Costin; Malgeri, Michele; Unland, Rainer

2013-01-01

This book represents the combined peer-reviewed proceedings of the Sixth International Symposium on Intelligent Distributed Computing -- IDC~2012, of the International Workshop on Agents for Cloud -- A4C~2012 and of the Fourth International Workshop on Multi-Agent Systems Technology and Semantics -- MASTS~2012. All the events were held in Calabria, Italy during September 24-26, 2012. The 37 contributions published in this book address many topics related to theory and applications of intelligent distributed computing and multi-agent systems, including: adaptive and autonomous distributed systems, agent programming, ambient assisted living systems, business process modeling and verification, cloud computing, coalition formation, decision support systems, distributed optimization and constraint satisfaction, gesture recognition, intelligent energy management in WSNs, intelligent logistics, machine learning, mobile agents, parallel and distributed computational intelligence, parallel evolutionary computing, trus...

approximate controllability of a non-autonomous differential equation

Indian Academy of Sciences (India)

53

for a non-autonomous functional differential equation using the theory of linear ... approximate controllability of various functional differential equations in abstract ...... the operator A(t) and into the requirement that x(t) ∈ D(A) for all t ≥ 0.

Design, Modelling, and Implementation of a Fuzzy Controller for an Intelligent Road Signaling System

Directory of Open Access Journals (Sweden)

José Manuel Lozano Domínguez

2018-01-01

Full Text Available Crossing points are not always 100% visible for drivers due to different factors (e.g., poor road maintenance, occlusion of vertical signs, and adverse weather conditions. USA estimated in 2015 the number of traffic accidents involving pedestrians and vehicles in 70,000 of whom 5,376 resulted in deceased people. To contribute in this field, this paper presents the design, implementation, and testing of a smart prototype system applied to pedestrian crossings—not regulated by semaphores—which try to reduce the accident rate on roads. The hardware and software system consists of a set of autonomous, intelligent, and wireless low-cost devices that generate a visual warning barrier perceived by drivers from a suitable distance when pedestrians traverse a crosswalk. In this way, drivers can reduce the speed of their vehicles and stop safely. The system’s intelligence is carried out by a fuzzy controller that performs sensory fusion at both low level and high level with various types of sensors from local and neighboring devices. The tests conducted have determined an average success of 94.64% and a precision of 100%, thus corresponding with a very good test according to a ROC analysis. As a result, the system proposed has been patented and extended to international PCT.

Innovation in Active Vibration Control Strategy of Intelligent Structures

Directory of Open Access Journals (Sweden)

A. Moutsopoulou

2014-01-01

Full Text Available Large amplitudes and attenuating vibration periods result in fatigue, instability, and poor structural performance. In light of past approaches in this field, this paper intends to discuss some innovative approaches in vibration control of intelligent structures, particularly in the case of structures with embedded piezoelectric materials. Control strategies are presented, such as the linear quadratic control theory, as well as more advanced theories, such as robust control theory. The paper presents sufficiently a recognizable advance in knowledge of active vibration control in intelligent structures.

Intelligent on-line fault tolerant control for unanticipated catastrophic failures.

Science.gov (United States)

Yen, Gary G; Ho, Liang-Wei

2004-10-01

As dynamic systems become increasingly complex, experience rapidly changing environments, and encounter a greater variety of unexpected component failures, solving the control problems of such systems is a grand challenge for control engineers. Traditional control design techniques are not adequate to cope with these systems, which may suffer from unanticipated dynamic failures. In this research work, we investigate the on-line fault tolerant control problem and propose an intelligent on-line control strategy to handle the desired trajectories tracking problem for systems suffering from various unanticipated catastrophic faults. Through theoretical analysis, the sufficient condition of system stability has been derived and two different on-line control laws have been developed. The approach of the proposed intelligent control strategy is to continuously monitor the system performance and identify what the system's current state is by using a fault detection method based upon our best knowledge of the nominal system and nominal controller. Once a fault is detected, the proposed intelligent controller will adjust its control signal to compensate for the unknown system failure dynamics by using an artificial neural network as an on-line estimator to approximate the unexpected and unknown failure dynamics. The first control law is derived directly from the Lyapunov stability theory, while the second control law is derived based upon the discrete-time sliding mode control technique. Both control laws have been implemented in a variety of failure scenarios to validate the proposed intelligent control scheme. The simulation results, including a three-tank benchmark problem, comply with theoretical analysis and demonstrate a significant improvement in trajectory following performance based upon the proposed intelligent control strategy.

Evaluation of the impacts of cooperative adaptive cruise control on reducing rear-end collision risks on freeways.

Science.gov (United States)

Li, Ye; Wang, Hao; Wang, Wei; Xing, Lu; Liu, Shanwen; Wei, Xueyan

2017-01-01

Although plenty of studies have been conducted recently about the impacts of cooperative adaptive cruise control (CACC) system on traffic efficiency, there are few researches analyzing the safety effects of this advanced driving-assistant system. Thus, the primary objective of this study is to evaluate the impacts of the CACC system on reducing rear-end collision risks on freeways. The CACC model is firstly developed, which is based on the Intelligent Driver Model (IDM). Then, two surrogated safety measures, derived from the time-to-collision (TTC), denoting time exposed time-to-collision (TET) and time integrated time-to-collision (TIT), are introduced for quantifying the collision risks. And the safety effects are analyzed both theoretically and experimentally, by the linear stability analysis and simulations. The theoretical and simulation results conformably indicate that the CACC system brings dramatic benefits for reducing rear-end collision risks (TET and TIT are reduced more than 90%, respectively), when the desired time headway and time delay are set properly. The sensitivity analysis indicates there are few differences among different values of the threshold of TTC and the length of a CACC platoon. The results also show that the safety improvements weaken with the decrease of the penetration rates of CACC on the market and the increase of time delay between platoons. We also evaluate the traffic efficiency of the CACC system with different desired time headway. Copyright © 2016 Elsevier Ltd. All rights reserved.

Science, technology and the future of small autonomous drones.

Science.gov (United States)

Floreano, Dario; Wood, Robert J

2015-05-28

We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

Advanced Autonomous Systems for Space Operations

Science.gov (United States)

Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

2002-01-01

New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not

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 ...

Fault Tolerant Autonomous Lateral Control for Heavy Vehicles

OpenAIRE

Talbot, Craig Matthew; Papadimitriou, Iakovos; Tomizuka, Masayoshi

2004-01-01

This report summarizes the research results of TO4233, "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles". This project represents a continuing effort of PATH's research on Automated Highway Systems (AHS) and more specifically in the area of heavy vehicles. Research on the lateral control of heavy vehicles for AHS has been going on at PATH since 1993. MOU129, "Steering and Braking Control of Heavy Duty Vehicles" was the first project and it was followed by MOU242, "Lateral Control...

Intelligent Electronic Speed Controller, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — This project intends to design and develop an Intelligent Electronic Speed Controller (IESC) for use on Unmanned Aerial Vehicles (UAVs). The IESC will advance the...

Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

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.

Autonomous and controlled motivational regulations for multiple health-related behaviors: between- and within-participants analyses

Science.gov (United States)

Hagger, M.S.; Hardcastle, S.J.; Chater, A.; Mallett, C.; Pal, S.; Chatzisarantis, N.L.D.

2014-01-01

Self-determination theory has been applied to the prediction of a number of health-related behaviors with self-determined or autonomous forms of motivation generally more effective in predicting health behavior than non-self-determined or controlled forms. Research has been confined to examining the motivational predictors in single health behaviors rather than comparing effects across multiple behaviors. The present study addressed this gap in the literature by testing the relative contribution of autonomous and controlling motivation to the prediction of a large number of health-related behaviors, and examining individual differences in self-determined motivation as a moderator of the effects of autonomous and controlling motivation on health behavior. Participants were undergraduate students (N = 140) who completed measures of autonomous and controlled motivational regulations and behavioral intention for 20 health-related behaviors at an initial occasion with follow-up behavioral measures taken four weeks later. Path analysis was used to test a process model for each behavior in which motivational regulations predicted behavior mediated by intentions. Some minor idiosyncratic findings aside, between-participants analyses revealed significant effects for autonomous motivational regulations on intentions and behavior across the 20 behaviors. Effects for controlled motivation on intentions and behavior were relatively modest by comparison. Intentions mediated the effect of autonomous motivation on behavior. Within-participants analyses were used to segregate the sample into individuals who based their intentions on autonomous motivation (autonomy-oriented) and controlled motivation (control-oriented). Replicating the between-participants path analyses for the process model in the autonomy- and control-oriented samples did not alter the relative effects of the motivational orientations on intention and behavior. Results provide evidence for consistent effects

New developments of the GANIL control system

International Nuclear Information System (INIS)

Lecorche, E.

1985-10-01

Since its first ion beam, the GANIL accelerator has been driven by a Control System built around a minicomputer MITRA 125 and a distributed intelligence consisting of programmable Controllers and INTEL 8080 equipped autonomous CAMAC Controllers. After a brief description of the GANIL Control System, this paper will lay emphasis on the major improvements undertaken along four main directions: a) Upgrading the Control Computer. b) Introducing more powerful local intelligence. A microprocessorized autonomous CAMAC Controller called ''DIVA 68C'' using the 68000 microprocessor embedded in a VME card has been developed. Also, the 68000 will be used in a general purpose CAMAC module, the first application of which is to replace the existing data link modules. (c) Making human-machine dialog smarter with use of color graphic terminals. d) Meeting the requirements of the coming second injector. In this purpose a fully equipped auxiliary console is being installed near the main console for operation by summer 1985

Robots for Field Operations with Comprehensive Multilayer Control

DEFF Research Database (Denmark)

Jæger, Claes Lund Dühring; Griepentrog, H. W.; Paraforos, D. S.

2013-01-01

artificial intelligence. A multilayer controller has successfully been implemented on two outdoor machines with various implements to conduct several agricultural applications in autonomous mode. Future work has to be conducted to achieve a more integrated and flexible implement control....

Autonomous Assembly of Solar Array Modules by a Team of Robots

Data.gov (United States)

National Aeronautics and Space Administration — This project will investigate the hypothesis that Intelligent Precision Jigging Robots (IPJRs) and auxiliary robotic manipulators can autonomously perform the local...

Consistency of cruise data of the CARINA database in the Atlantic sector of the Southern Ocean

Directory of Open Access Journals (Sweden)

M. Hoppema

2009-12-01

Full Text Available Initially a North Atlantic project, the CARINA carbon synthesis was extended to include the Southern Ocean. Carbon and relevant hydrographic and geochemical ancillary data from cruises all across the Arctic Mediterranean Seas, Atlantic and Southern Ocean were released to the public and merged into a new database as part of the CARINA synthesis effort. Of a total of 188 cruises, 37 cruises are part of the Southern Ocean, including 11 from the Atlantic sector. The variables from all Southern Ocean cruises, including dissolved inorganic carbon (TCO₂, total alkalinity, oxygen, nitrate, phosphate and silicate, were examined for cruise-to-cruise consistency in one collective effort. Seawater pH and chlorofluorocarbons (CFCs are also part of the database, but the pH quality control (QC is described in another Earth System Science Data publication, while the complexity of the Southern Ocean physics and biogeochemistry prevented a proper QC analysis of the CFCs. The area-specific procedures of quality control, including crossover analysis between stations and inversion analysis of all crossover data (i.e. secondary QC, are briefly described here for the Atlantic sector of the Southern Ocean. Data from an existing, quality controlled database (GLODAP were used as a reference for our computations – however, the reference data were included into the analysis without applying the recommended GLODAP adjustments so the corrections could be independently verified. The outcome of this effort is an internally consistent, high-quality carbon data set for all cruises, including the reference cruises. The suggested corrections by the inversion analysis were allowed to vary within a fixed envelope, thus accounting for natural variability. The percentage of cruises adjusted ranged from 31% (for nitrate to 54% (for phosphate depending on the variable.

Distributed Hardware-in-the-loop simulator for autonomous continuous dynamical systems with spatially constrained interactions

NARCIS (Netherlands)

Verburg, D.J.; Papp, Z.; Dorrepaal, M.

2003-01-01

The state-of-the-art intelligent vehicle, autonomous guided vehicle and mobile robotics application domains can be described as collection of interacting highly autonomous complex dynamical systems. Extensive formal analysis of these systems – except special cases – is not feasible, consequently the

[Control of intelligent car based on electroencephalogram and neurofeedback].

Science.gov (United States)

Li, Song; Xiong, Xin; Fu, Yunfa

2018-02-01

To improve the performance of brain-controlled intelligent car based on motor imagery (MI), a method based on neurofeedback (NF) with electroencephalogram (EEG) for controlling intelligent car is proposed. A mental strategy of MI in which the energy column diagram of EEG features related to the mental activity is presented to subjects with visual feedback in real time to train them to quickly master the skills of MI and regulate their EEG activity, and combination of multi-features fusion of MI and multi-classifiers decision were used to control the intelligent car online. The average, maximum and minimum accuracy of identifying instructions achieved by the trained group (trained by the designed feedback system before the experiment) were 85.71%, 90.47% and 76.19%, respectively and the corresponding accuracy achieved by the control group (untrained) were 73.32%, 80.95% and 66.67%, respectively. For the trained group, the average, longest and shortest time consuming were 92 s, 101 s, and 85 s, respectively, while for the control group the corresponding time were 115.7 s, 120 s, and 110 s, respectively. According to the results described above, it is expected that this study may provide a new idea for the follow-up development of brain-controlled intelligent robot by the neurofeedback with EEG related to MI.

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 ...

Intelligent control and automation technology for nuclear applications

International Nuclear Information System (INIS)

Kim, Jae Hee; Kim, Ko Ryeo; Lee, Jae Cheol; Eom, Heung Seop; Lee, Jang Soo

1994-01-01

Using recently established intelligent mobile robot theory and high technologies in computer science, we have designed an inspection automation system for welded parts of the reactor vessel, and we intend to establish basic technologies. The recent status of those technologies is surveyed for various application areas, and the characteristics and availability of those techniques such as intelligent mobile robot, digital computer control, intelligent user interface, realtime data processing, ultrasonic signal processing, intelligent user interface, intelligent defect recognition, are studied and examined at first. The high performance and compact size inspection system is designed, and if implemented, it is expected to be very efficient in economic point of view. In addition, the use of integrated SW system leads to the reduction of human errors. Through the analysis results and experiences, we investigated the further feasibility of basic technology applications to the various similar operation systems in NPP. (Author)

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

International Nuclear Information System (INIS)

Dehkordi, Behzad Mirzaeian; Parsapoor, Amir; Moallem, Mehdi; Lucas, Caro

2011-01-01

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.

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.

Contribution to intelligent vehicle platoon control

OpenAIRE

Zhao , Jin

2010-01-01

This PhD thesis is dedicated to the control strategies for intelligent vehicle platoon in highway with the main aims of alleviating traffic congestion and improving traffic safety. After a review of the different existing automated driving systems, the vehicle longitudinal and lateral dynamic models are derived. Then, the longitudinal control and lateral control strategies are studied respectively. At first, the longitudinal control system is designed to be hierarchical with an upper level co...

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

High-frequency autonomic modulation: a new model for analysis of autonomic cardiac control.

Science.gov (United States)

Champéroux, Pascal; Fesler, Pierre; Judé, Sebastien; Richard, Serge; Le Guennec, Jean-Yves; Thireau, Jérôme

2018-05-03

Increase in high-frequency beat-to-beat heart rate oscillations by torsadogenic hERG blockers appears to be associated with signs of parasympathetic and sympathetic co-activation which cannot be assessed directly using classic methods of heart rate variability analysis. The present work aimed to find a translational model that would allow this particular state of the autonomic control of heart rate to be assessed. High-frequency heart rate and heart period oscillations were analysed within discrete 10 s intervals in a cohort of 200 healthy human subjects. Results were compared to data collected in non-human primates and beagle dogs during pharmacological challenges and torsadogenic hERG blockers exposure, in 127 genotyped LQT1 patients on/off β-blocker treatment and in subgroups of smoking and non-smoking subjects. Three states of autonomic modulation, S1 (parasympathetic predominance) to S3 (reciprocal parasympathetic withdrawal/sympathetic activation), were differentiated to build a new model of heart rate variability referred to as high-frequency autonomic modulation. The S2 state corresponded to a specific state during which both parasympathetic and sympathetic systems were coexisting or co-activated. S2 oscillations were proportionally increased by torsadogenic hERG-blocking drugs, whereas smoking caused an increase in S3 oscillations. The combined analysis of the magnitude of high-frequency heart rate and high-frequency heart period oscillations allows a refined assessment of heart rate autonomic modulation applicable to long-term ECG recordings and offers new approaches to assessment of the risk of sudden death both in terms of underlying mechanisms and sensitivity. © 2018 The Authors. British Journal of Pharmacology published by John Wiley & Sons Ltd on behalf of British Pharmacological Society.

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

2014-12-01

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 achievement motives and outcomes. We tested whether mastery approach, performance approach, and performance avoidance goals and their underlying autonomous and controlling reasons would jointly explain the relation between achievement motives (i.e., fear of failure and need for achievement) and learning strategies (Study 1). Additionally, we examined whether the autonomous and controlling reasons underlying learners' dominant achievement goal would account for the link between achievement motives and the educational outcomes of learning strategies and cheating (Study 2). Six hundred and six Greek adolescent students (Mage = 15.05, SD = 1.43) and 435 university students (Mage M = 20.51, SD = 2.80) participated in studies 1 and 2, respectively. In both studies, a correlational design was used and the hypotheses were tested via path modelling. Autonomous and controlling reasons underlying the pursuit of achievement goals mediated, respectively, the relation of need for achievement and fear of failure to aspects of learning outcomes. Autonomous and controlling reasons underlying achievement goals could further explain learners' functioning in achievement settings. © 2014 The British Psychological Society.

Design on human supervisory control of safety management for advance NPP

International Nuclear Information System (INIS)

Nugroho, D.H.; Soentono, S.; Taryo, T.; Wahyon, P.I.

2006-01-01

Full text: Full text: Characteristics of an advance NPP related with economic and safety enhancement was represented on capabilities in intelligent control and diagnostic to provide nearly autonomous operation with anticipatory maintenance. An autonomous control system should enable automatic operation while adapting to component faults and system variable upsets. It needs therefore to have many intelligent capabilities, such as modeling, analysis, self-validation, diagnosis and decision. This paper describes a human supervisory control design for nuclear reactor fault management which collaborates between human and autonomous control. The beneficial of collaboration is provided based on belief of information value evaluated from Dempster's rule of evidence. The belief of the collaboration is better compared with single usage. The collaboration was conducted in which agent will autonomously and periodically be conducting surveillance by checking the component abnormalities in the plant if anomalies occur. The anomalies were determined using fault detection module. Thereby the system will be able to conduct preventive maintenance. In the situation of accident happened, hence the system will diagnose to determine the location of component failure autonomously. A human supervisor will then determine the action of decison making based on the prediction result. The decision making will be conducted based on the 4th Sheridan's autonomous level in which the autonomous control will execute the duty autonomously when the plant is in normal condition, or in the predictable accident range. But if the unpredictable accident occurs in the plant, the supervisor will then take over the role to control the plant, and the machine will do what commanded by the supervisor. Sistematically, the system explained before was represented by Traveling Salesman Problem-based surveillance, modified ART-2 artificial neural networks-based fault detection and Bayesian Networks-based fault

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

Science.gov (United States)

1994-01-01

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

F-15 IFCS: Intelligent Flight Control System

Science.gov (United States)

Bosworth, John

2007-01-01

This viewgraph presentation describes the F-15 Intelligent Flight Control System (IFCS). The goals of this project include: 1) Demonstrate revolutionary control approaches that can efficiently optimize aircraft performance in both normal and failure conditions; and 2) Demonstrate advance neural network-based flight control technology for new aerospace systems designs.

The next step: intelligent digital assistance for clinical operating rooms

Directory of Open Access Journals (Sweden)

Miehle Juliana

2017-08-01

Full Text Available With the emergence of new technologies, the surgical working environment becomes increasingly complex and comprises many medical devices that have to be taken cared of. However, the goal is to reduce the workload of the surgical team to allow them to fully focus on the actual surgical procedure. Therefore, new strategies are needed to keep the working environment manageable. Existing research projects in the field of intelligent medical environments mostly concentrate on workflow modeling or single smart features rather than building up a complete intelligent environment. In this article, we present the concept of intelligent digital assistance for clinical operating rooms (IDACO, providing the surgeon assistance in many different situations before and during an ongoing procedure using natural spoken language. The speech interface enables the surgeon to concentrate on the surgery and control the technical environment at the same time, without taking care of how to interact with the system. Furthermore, the system observes the context of the surgery and controls several devices autonomously at the appropriate time during the procedure.

Linguistic Formalism for Semi-Autonomous Reactor Operation

International Nuclear Information System (INIS)

Joo, Sungmoon; Seo, Sang Mun; Suh, Yong-Suk; Park, Cheol

2017-01-01

The ultimate goal of our work is to develop a novel, integrated system for semi-autonomous reactor operation by introducing an interfacing language shared by human reactor operators and artificially intelligent service agents (e.g., robots). We envision that human operators and artificially intelligent service agents operate the reactor cooperatively in the future. For example, an artificially intelligent service agent carries out a human reactor operator's command or reports the result of a task commanded by the human reactor operator. This work presents preliminary work towards a unified linguistic formalism for cooperative, semiautonomous reactor operation. Application of the proposed formalism to reactor operator communication domain shows that the formalism effectively captures the syntax and semantics of the domain-specific language defined by the communication protocol.

Intelligent robotics and remote systems for the nuclear industry

International Nuclear Information System (INIS)

Wehe, D.K.; Lee, J.C.; Martin, W.R.; Tulenko, J.

1989-01-01

The nuclear industry has a recognized need for intelligent, multitask robots to carry out tasks in harsh environments. From 1986 to the present, the number of robotic systems available or under development for use in the nuclear industry has more than doubled. Presently, artificial intelligence (AI) plays a relatively small role in existing robots used in the nuclear industry. Indeed, the lack of intelligence has been labeled the ''Achilles heel'' of all current robotic technology. However, larger-scale efforts are underway to make the multitask robot more sensitive to its environment, more capable to move and perform useful work, and more fully autonomous via the use of AI. In this paper, we review the terminology, the history, and the factors which are motivating the development of robotics and remove systems; discuss the applications related to the nuclear industry; and, finally, examine the state of the art of the technologies being applied to introduce more autonomous capabilities. Much of this latter work can be classified as within the artificial intelligence framework. (orig.)

Robotic and artificial intelligence for keyhole neurosurgery: the ROBOCAST project, a multi-modal autonomous path planner.

Science.gov (United States)

De Momi, E; Ferrigno, G

2010-01-01

The robot and sensors integration for computer-assisted surgery and therapy (ROBOCAST) project (FP7-ICT-2007-215190) is co-funded by the European Union within the Seventh Framework Programme in the field of information and communication technologies. The ROBOCAST project focuses on robot- and artificial-intelligence-assisted keyhole neurosurgery (tumour biopsy and local drug delivery along straight or turning paths). The goal of this project is to assist surgeons with a robotic system controlled by an intelligent high-level controller (HLC) able to gather and integrate information from the surgeon, from diagnostic images, and from an array of on-field sensors. The HLC integrates pre-operative and intra-operative diagnostics data and measurements, intelligence augmentation, multiple-robot dexterity, and multiple sensory inputs in a closed-loop cooperating scheme including a smart interface for improved haptic immersion and integration. This paper, after the overall architecture description, focuses on the intelligent trajectory planner based on risk estimation and human criticism. The current status of development is reported, and first tests on the planner are shown by using a real image stack and risk descriptor phantom. The advantages of using a fuzzy risk description are given by the possibility of upgrading the knowledge on-field without the intervention of a knowledge engineer.

A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

OpenAIRE

Abdallah A. Hassan; Hesham A. Rakha

2014-01-01

Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is ques...

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...

Autonomous Congestion Control in Delay-Tolerant Networks

Science.gov (United States)

Burleigh, Scott; Jennings, Esther; Schoolcraft, Joshua

2006-01-01

This presentation highlights communication congestion control in delay-tolerant networks (DTNs). Large-scale future space exploration will offer complex communication challenges that may be best addressed by establishing a network infrastructure. However, current internet techniques for congestion control are not well suited for operation of a network over interplanetary distances. An alternative, delay-tolerant technique for congestion control in a delay-tolerant network is presented. A simple DTN was constructed and an experimental congestion control mechanism was applied. The mechanism appeared to be effective and each router was able to make its bundle acceptance decisions autonomously. Future research will examine more complex topologies and alternative bundle acceptance rules that might enhance performance.

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

A Lightweight Intelligent Virtual Cinematography System for Machinima Production

Science.gov (United States)

2007-01-01

portmanteau of machine and cinema , machinima refers to the innovation of leveraging video game technology to greatly ease the creation of computer...selecting camera angles to capture the action of an a priori unknown script as aesthetically appropriate cinema . There are a number of challenges therein...Proc. of the 4th International Conf. on Autonomous Agents. Young, R.M. and Riedl, M.O. 2003. Towards an Architecture for Intelligent Control of Narrative in Interactive Virtual Worlds. In Proc. of IUI 2003.

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

Intelligent Transportation Control based on Proactive Complex Event Processing

OpenAIRE

Wang Yongheng; Geng Shaofeng; Li Qian

2016-01-01

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 p...

Improving Energy Efficiency of an Autonomous Bicycle with Adaptive Controller Design

Directory of Open Access Journals (Sweden)

David Rodriguez-Rosa

2017-05-01

Full Text Available A method is proposed to achieve lateral stability of an autonomous bicycle with only the rotation of the front wheel. This can be achieved with a classic controller. However, if the energy consumption of the bicycle also has to be minimized, this solution is not valid. To solve this problem, an adaptive controller has been designed, which modifies its gains according to the bicycle’s forward velocity, adapting its response with minimum energy consumption and satisfying the design specifications. The study demonstrates the efficiency of the proposed control, achieving an energy saving of 73 . 8 % in trajectory tracking with respect to a conventional proportional-integral ( P I controller. These results show the importance of designing energy-efficient controllers, not only for autonomous vehicles but also for any automatic system where the energy consumption can be minimized.

Legionella risk assessment in cruise ships and ferries.

Science.gov (United States)

Laganà, Pasqualina; Gambuzza, Maria Elsa; Delia, Santi

2017-06-12

Introduction. The increasing development of marine traffic has led to a rise in the incidence of legionellosis among travellers. It occurs in similar environments, especially closed and crowded, and aboard ships Legionella survives and multiplies easily in water pipes, spreading into the environment through air conditioning systems and water distribution points. Although in recent years in the construction of cruise ships preventive measures aimed at curbing the proliferation of Legionella (design, materials, focus on the operation and maintenance of the water system), have been taken account, little or no attention has been paid to small ships which, in many cases, are old and not well maintained. Objective. The aim of the study was to evaluate the frequency and severity of Legionella contamination in ferries and cruise ships in order to adopt more specific control measures. Materials and method. A prevalence study was carried out on 10 ferries and 6 cruise ships docking or in transit across the port of Messina (Sicily, Italy). Water and air samples collected from many critical points were tested for qualitative and quantitative identification of Legionella. Results and conclusions. Legionella pneumophila sg 1 was isolated from the samples of shower and tap water in 7 (70%) of the 10 ferries examined, and in 3 (33%) of the 6 cruise ships examined, and L. pneumophila sg 2-14 in 8 (80%) and 1 (16.7%) of these ships, respectively. No Legionella contamination was found in whirlpool baths, air and ice samples. In conclusion, the data obtained confirm higher levels of Legionella contamination in local ferries and cruise ships, underlining the need to adopt corrective actions more specific for these smaller vessels.

Composite Intelligent Learning Control of Strict-Feedback Systems With Disturbance.

Science.gov (United States)

Xu, Bin; Sun, Fuchun

2018-02-01

This paper addresses the dynamic surface control of uncertain nonlinear systems on the basis of composite intelligent learning and disturbance observer in presence of unknown system nonlinearity and time-varying disturbance. The serial-parallel estimation model with intelligent approximation and disturbance estimation is built to obtain the prediction error and in this way the composite law for weights updating is constructed. The nonlinear disturbance observer is developed using intelligent approximation information while the disturbance estimation is guaranteed to converge to a bounded compact set. The highlight is that different from previous work directly toward asymptotic stability, the transparency of the intelligent approximation and disturbance estimation is included in the control scheme. The uniformly ultimate boundedness stability is analyzed via Lyapunov method. Through simulation verification, the composite intelligent learning with disturbance observer can efficiently estimate the effect caused by system nonlinearity and disturbance while the proposed approach obtains better performance with higher accuracy.

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

RoBlock: a prototype autonomous manufacturing cell

Science.gov (United States)

Baekdal, Lars K.; Balslev, Ivar; Eriksen, Rene D.; Jensen, Soren P.; Jorgensen, Bo N.; Kirstein, Brian; Kristensen, Bent B.; Olsen, Martin M.; Perram, John W.; Petersen, Henrik G.; Petersen, Morten L.; Ruhoff, Peter T.; Skjolstrup, Carl E.; Sorensen, Anders S.; Wagenaar, Jeroen M.

2000-10-01

RoBlock is the first phase of an internally financed project at the Institute aimed at building a system in which two industrial robots suspended from a gantry, as shown below, cooperate to perform a task specified by an external user, in this case, assembling an unstructured collection of colored wooden blocks into a specified 3D pattern. The blocks are identified and localized using computer vision and grasped with a suction cup mechanism. Future phases of the project will involve other processes such as grasping and lifting, as well as other types of robot such as autonomous vehicles or variable geometry trusses. Innovative features of the control software system include: The use of an advanced trajectory planning system which ensures collision avoidance based on a generalization of the method of artificial potential fields, the use of a generic model-based controller which learns the values of parameters, including static and kinetic friction, of a detailed mechanical model of itself by comparing actual with planned movements, the use of fast, flexible, and robust pattern recognition and 3D-interpretation strategies, integration of trajectory planning and control with the sensor systems in a distributed Java application running on a network of PC's attached to the individual physical components. In designing this first stage, the aim was to build in the minimum complexity necessary to make the system non-trivially autonomous and to minimize the technological risks. The aims of this project, which is planned to be operational during 2000, are as follows: To provide a platform for carrying out experimental research in multi-agent systems and autonomous manufacturing systems, to test the interdisciplinary cooperation architecture of the Maersk Institute, in which researchers in the fields of applied mathematics (modeling the physical world), software engineering (modeling the system) and sensor/actuator technology (relating the virtual and real worlds) could

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...

ADRES : autonomous decentralized regenerative energy systems

Energy Technology Data Exchange (ETDEWEB)

Brauner, G.; Einfalt, A.; Leitinger, C.; Tiefgraber, D. [Vienna Univ. of Technology (Austria)

2007-07-01

The autonomous decentralized regenerative energy systems (ADRES) research project demonstrates that decentralized network independent microgrids are the target power systems of the future. This paper presented a typical structure of a microgrid, demonstrating that all types of generation available can be integrated, from wind and small hydro to photovoltaic, fuel cell, biomass or biogas operated stirling motors and micro turbines. In grid connected operation the balancing energy and reactive power for voltage control will come from the public grid. If there is no interconnection to a superior grid, it will form an autonomous micro grid. In order to reduce peak power demand and base energy, autonomous microgrid technology requires highly efficient appliances. Otherwise large collector design, high storage and balancing generation capacities would be necessary, which would increase costs. End-use energy efficiency was discussed with reference to demand side management (DSM) strategies that match energy demand with actual supply in order to minimize the storage size needed. This paper also discussed network controls that comprise active and reactive power. Decentralized robust algorithms were investigated with reference to black-start ability and congestion management features. It was concluded that the trend to develop small decentralized grids in parallel to existing large systems will improve security of supply and reduce greenhouse gas emissions. Decentralized grids will also increase energy efficiency because regenerative energy will be used where it is collected in the form of electricity and heat, thus avoiding transport and the extension of transmission lines. Decentralized energy technology is now becoming more economic by efficient and economic mass production of components. Although decentralized energy technology requires energy automation, computer intelligence is becoming increasingly cost efficient. 2 refs., 4 figs.

Fuzzy gain scheduling of velocity PI controller with intelligent learning algorithm for reactor control

International Nuclear Information System (INIS)

Dong Yun Kim; Poong Hyun Seong; .

1997-01-01

In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate gains, which minimize the error of system. The proposed algorithm can reduce the time and effort required for obtaining the fuzzy rules through the intelligent learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller. (author)

Search and Tracking of an Unknown Number of Targets by a Team of Autonomous Agents Utilizing Time-evolving Partition Classification

OpenAIRE

Wood, Jared Gregory

2011-01-01

The advancement of computing technology has enabled the practical development of intelligent autonomous systems. Intelligent autonomous systems can be used to perform difficult sensing tasks. One such sensing task is to search for and track targets over large geographic areas. Searching for and tracking targets over geographic areas has important applications. These applications include search and rescue, boarder patrol, and reconnaissance. Inherent in applications such as these is the need ...

Cruise Report RV Poseidon cruise POS 295 [POS295], Lisbon 20.03.03 - Las Palmas 01.04.03

OpenAIRE

Christiansen, Bernd

2003-01-01

The cruise was a pilot cruise in the framework of the EU-project OASIS (Oceanic seamounts: an integrated study) which studies the functioning ecology of seamounts in the NE-Atlantic. The research programme during the cruise included measurements of the physical properties of the water column (temperature and salinity), the sampling of particulate organic matter, measurements of primary production and export fluxes and the sampling of zooplankton.

MASA-CIRCA: Multi-Agent Self-Adaptive Control for Mission-Critical Systems

National Research Council Canada - National Science Library

Musliner, David

2004-01-01

.... CIRCA is a coarse-grained architecture designed to control autonomous systems which require both intelligent, deliberative planning activity and highly reliable, hard real-time reaction to safety threats...

Collective intelligent wireless sensor networks

NARCIS (Netherlands)

Mihaylov, M.; Nowe, A.; Tuyls, K.P.; Nijholt, A.; Pantic, M.

2008-01-01

In this paper we apply the COllective INtelligence (COIN) framework ofWolpert et al. toWireless Sensor Networks (WSNs) with the aim to increase the autonomous lifetime of the network in a decentralized manner. COIN describes how selfish agents can learn to optimize their own performance, so that the

Maximizing Function through Intelligent Robot Actuator Control

Data.gov (United States)

National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

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.

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.

What Factors Are Associated with Autonomous and Controlled Motivation for Hearing Help-Seekers?

Science.gov (United States)

Ridgway, Jason; Hickson, Louise; Lind, Christopher

Hearing impairment is prevalent in older adults. Motivation is important in people's choice to seek help for their hearing and whether to adopt or not adopt hearing aids. To investigate associations between sociodemographic and audiometric characteristics and autonomous and controlled motivation among a sample of hearing help-seekers. A quantitative approach was taken for this cross-sectional cohort study. A total of 253 adult first-time hearing help-seekers were recruited to the study. Participants provided sociodemographic information and completed questionnaires adapted from self-determination theory that measured autonomous motivation (motivation that originates from within the self and is aligned with personal values and beliefs) and controlled motivation (motivation that stems from external pressures such as rewards or punishment, or conflicted inner feelings such as guilt or shame). Participants with higher autonomous motivation scores were younger, wanted hearing aids more, and reported greater hearing difficulty in everyday life than those with lower scores. Participants with higher controlled motivation scores were more often referred to the service by others and wanted hearing aids more than those with lower controlled motivation scores. Controlled motivation scores were not associated with perceptions of hearing difficulty in everyday life. Relationships among motivation and sociodemographic factors highlight the importance of characterizing autonomous and controlled motivation in first-time hearing help-seekers. Attention to personal characteristics in order to understand motivational processes involved in rehabilitation decisions such as hearing aid adoption may aid in consultations. American Academy of Audiology

A study on an autonomous pipeline maintenance robot, 8

International Nuclear Information System (INIS)

Fukuda, Toshio; Hosokai, Hidemi; Niitsu, Shunichi; Kaneshige, Masanori; Iwasaki, Shinnosuke.

1990-01-01

This paper deals with the path planning and sensing planning expert system with learning functions for the pipeline inspection and maintenance robot, Mark IV. The robot can carry out inspection tasks to autonomously detect malfunctions in a plant pipeline system. Furthermore, the robot becomes more intelligent by adding the following functions: (1) the robot, Mark IV, is capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces; (2) in path planning, the robot has a learning function using information generated in the past such as a moving path, task level and control commands of the robot; (3) in inspecting a pipeline system with plant equipment such as valves, franges, T- and L-joints, the robot is capable of inspecting continuous surfaces in pipeline. Thus, together with the improved path planning expert system (PPES) and the sensing planning expert system (SPES), the Mark IV robot becomes intelligent enough to automatically carry out given inspection tasks. (author)

PointCom: semi-autonomous UGV control with intuitive interface

Science.gov (United States)

Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

2008-04-01

Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

Hierarchical Controlled Grid-Connected Microgrid based on a Novel Autonomous Current Sharing Controller

DEFF Research Database (Denmark)

Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

2015-01-01

In this paper, a hierarchical control system based on a novel autonomous current sharing controller for grid-connected microgrids (MGs) is presented. A three-level hierarchical control system is implemented to guarantee the power sharing performance among voltage controlled parallel inverters......, while providing the required active and reactive power to the utility grid. A communication link is used to transmit the control signal from the tertiary and secondary control levels to the primary control. Simulation results from a MG based on two grid-connected parallel inverters are shown in order...

Survivability enhancement study for C/sup 3/I/BM (communications, command, control and intelligence/battle management) ground segments: Final report

Energy Technology Data Exchange (ETDEWEB)

1986-10-30

This study involves a concept developed by the Fairchild Space Company which is directly applicable to the Strategic Defense Initiative (SDI) Program as well as other national security programs requiring reliable, secure and survivable telecommunications systems. The overall objective of this study program was to determine the feasibility of combining and integrating long-lived, compact, autonomous isotope power sources with fiber optic and other types of ground segments of the SDI communications, command, control and intelligence/battle management (C/sup 3/I/BM) system in order to significantly enhance the survivability of those critical systems, especially against the potential threats of electromagnetic pulse(s) (EMP) resulting from high altitude nuclear weapon explosion(s). 28 figs., 2 tabs.

The consideration of emotional intelligence abilities in event volunteers

Directory of Open Access Journals (Sweden)

Reza Andam

2012-09-01

Full Text Available The measurement of emotional intelligence abilities is one of the new subjects and important in human behavior studies. According to this matter, purpose of this research is consideration of emotional intelligence abilities in public sport events volunteers in 2011. For this purpose, Bradbury and Cruise's standard questionnaire was completed by present volunteers in event (n=80. The results indicated that 4 levels of emotional intelligence in volunteers are higher than expectational average significantly (p<0.01. Also, priority of emotional intelligence abilities indicated that self-awareness is first priority and social awareness, relationship management and self-management are second, third and fourth priorities in volunteers. Finally, in the basis of parameter, results stated that there is no difference between male and female volunteers emotional intelligence in first Olympia of public sport. According to results of present research and advantages of attention to emotional intelligence and human behavior in organizations, it recommended sport events managers to be more sensitive relative to human behavior abilities in human behavior abilities in human resource (volunteers under his management. At least, result of this meditation in student's sport is recruitment and development of motivated volunteers for continuous attendance in sport events.

Evolution of an artificial neural network based autonomous land vehicle controller.

Science.gov (United States)

Baluja, S

1996-01-01

This paper presents an evolutionary method for creating an artificial neural network based autonomous land vehicle controller. The evolved controllers perform better in unseen situations than those trained with an error backpropagation learning algorithm designed for this task. In this paper, an overview of the previous connectionist based approaches to this task is given, and the evolutionary algorithms used in this study are described in detail. Methods for reducing the high computational costs of training artificial neural networks with evolutionary algorithms are explored. Error metrics specific to the task of autonomous vehicle control are introduced; the evolutionary algorithms guided by these error metrics reveal improved performance over those guided by the standard sum-squared error metric. Finally, techniques for integrating evolutionary search and error backpropagation are presented. The evolved networks are designed to control Carnegie Mellon University's NAVLAB vehicles in road following tasks.

Modeling connected and autonomous vehicles in heterogeneous traffic flow

Science.gov (United States)

Ye, Lanhang; Yamamoto, Toshiyuki

2018-01-01

The objective of this study was to develop a heterogeneous traffic-flow model to study the possible impact of connected and autonomous vehicles (CAVs) on the traffic flow. Based on a recently proposed two-state safe-speed model (TSM), a two-lane cellular automaton (CA) model was developed, wherein both the CAVs and conventional vehicles were incorporated in the heterogeneous traffic flow. In particular, operation rules for CAVs are established considering the new characteristics of this emerging technology, including autonomous driving through the adaptive cruise control and inter-vehicle connection via short-range communication. Simulations were conducted under various CAV-penetration rates in the heterogeneous flow. The impact of CAVs on the road capacity was numerically investigated. The simulation results indicate that the road capacity increases with an increase in the CAV-penetration rate within the heterogeneous flow. Up to a CAV-penetration rate of 30%, the road capacity increases gradually; the effect of the difference in the CAV capability on the growth rate is insignificant. When the CAV-penetration rate exceeds 30%, the growth rate is largely decided by the capability of the CAV. The greater the capability, the higher the road-capacity growth rate. The relationship between the CAV-penetration rate and the road capacity is numerically analyzed, providing some insights into the possible impact of the CAVs on traffic systems.

Intelligent system for lighting control in smart cities

OpenAIRE

de Paz Santana, Juan F.; Bajo Pérez, Javier; Rodríguez González, Sara; Villarrubia González, Gabriel; Corchado Rodríguez, Juan M.

2017-01-01

This paper presents an adaptive architecture that centralizes the control of public lighting and intelligent management to economize lighting and maintain maximum visual comfort in illuminated areas. To carry out this management, the architecture merges various techniques of artificial intelligence (AI) and statistics such as artificial neural networks (ANN), multi-agent systems (MAS), EM algorithm, methods based on ANOVA, and a Service Oriented Approach (SOA). It achieves optimization in ter...

Analysis of Cruise Tourism on Croatian Rivers

Directory of Open Access Journals (Sweden)

Astrid Zekić

2017-03-01

Full Text Available Cruise trips have been rising in popularity since the 1970sand are currently a trend in the tourism market. This is particularly true of river cruises, which record a constant growth in the number of ship calls. The general upward trend in the number of river cruise passengers and dockings is also present in Croatia. Prerequisites for the development of cruising on Croatian rivers include, in addition to other geographical features, also the length of navigable water ways, but a systematic approach to this issue is needed for further development. The authors investigate the level of development of infrastructure on Croatian rivers and analyse the passenger and ship traffic on them. Special attention is given to the importance of cruises for tourism on European rivers and worldwide. In accordance with the Croatian Tourism Development Strategy until 2020, the authors explore geographical and other conditions necessary for the development of river cruise tourism. The aim of the paper is to point to the importance of building infrastructure for accommodation of vessels sailing on Croatian rivers, and in particular to the need to improve tourism offer in river destinations.

Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

National Research Council Canada - National Science Library

Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

2005-01-01

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...

Artificial intelligence approach to accelerator control systems

International Nuclear Information System (INIS)

Schultz, D.E.; Hurd, J.W.; Brown, S.K.

1987-01-01

An experiment was recently started at LAMPF to evaluate the power and limitations of using artificial intelligence techniques to solve problems in accelerator control and operation. A knowledge base was developed to describe the characteristics and the relationships of the first 30 devices in the LAMPF H+ beam line. Each device was categorized and pertinent attributes for each category defined. Specific values were assigned in the knowledge base to represent each actual device. Relationships between devices are modeled using the artificial intelligence techniques of rules, active values, and object-oriented methods. This symbolic model, built using the Knowledge Engineering Environment (KEE) system, provides a framework for analyzing faults, tutoring trainee operators, and offering suggestions to assist in beam tuning. Based on information provided by the domain expert responsible for tuning this portion of the beam line, additional rules were written to describe how he tunes, how he analyzes what is actually happening, and how he deals with failures. Initial results have shown that artificial intelligence techniques can be a useful adjunct to traditional methods of numerical simulation. Successful and efficient operation of future accelerators may depend on the proper merging of symbolic reasoning and conventional numerical control algorithms

New trends in computational collective intelligence

CERN Document Server

Kim, Sang-Wook; Trawiński, Bogdan

2015-01-01

This book consists of 20 chapters in which the authors deal with different theoretical and practical aspects of new trends in Collective Computational Intelligence techniques. Computational Collective Intelligence methods and algorithms are one the current trending research topics from areas related to Artificial Intelligence, Soft Computing or Data Mining among others. Computational Collective Intelligence is a rapidly growing field that is most often understood as an AI sub-field dealing with soft computing methods which enable making group decisions and processing knowledge among autonomous units acting in distributed environments. Web-based Systems, Social Networks, and Multi-Agent Systems very often need these tools for working out consistent knowledge states, resolving conflicts and making decisions. The chapters included in this volume cover a selection of topics and new trends in several domains related to Collective Computational Intelligence: Language and Knowledge Processing, Data Mining Methods an...

Determinants of cruise passengers’ expenditures in the port of call

Directory of Open Access Journals (Sweden)

Maršenka Marksel

2016-12-01

Full Text Available Cruise tourism generates different types of cruise consumption and related indirect, direct and induced expenditure effects, in homeports as well as in ports of call. Cruise passengers’ expenditures produce positive economic effects for destinations, from increasing the incomes and employment, to tax incomes, duties, etc. Therefore, it is no doubt that cruise stakeholders and local economies can benefit from increased cruise passenger consumption. To stimulate higher consumption and passengers’ satisfaction, it is necessary to design the supportive policy framework and build appropriate quality of products and services. Identifying influential variables of cruise passengers’ expenditures in this sense enables the design of appropriate policies and measures. In the current research, based on a survey of 357 cruise passengers, several variables included in a new theoretical model of the expenditures determinants, such as gender, nationality, frequency of cruising and frequency of visits, were found to be statistically significantly associated with cruise passengers’ expenditures. Several conclusions and suggestions to stimulate cruise passenger expenditures based on research findings are provided.

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.

Impact on Congestion and Fuel Consumption of a Cooperative Adaptive Cruise Control System with Lane-Level Position Estimation

Directory of Open Access Journals (Sweden)

Edgar Talavera

2018-01-01

Full Text Available In recent years, vehicular communications systems have evolved and allowed for the improvement of adaptive cruise control (ACC systems to make them cooperative (cooperative adaptive cruise control, CACC. Conventional ACC systems use sensors on the ego-vehicle, such as radar or computer vision, to generate their behavioral decisions. However, by having vehicle-to-X (V2X onboard communications, the need to incorporate perception in the vehicle is drastically reduced. Thus, in this paper a CACC solution is proposed that only uses communications to make its decisions with the help of previous road mapping. At the same time, a method to develop these maps is presented, combining the information of a computer vision system to correct the positions obtained from the navigation system. In addition, the cut-in and cut-out maneuvers for a CACC platoon are taken into account, showing the tests of these situations in real environments with instrumented vehicles. To show the potential of the system in a larger-scale implementation, simulations of the behavior are provided under dense traffic conditions where the positive impact on the reduction of traffic congestion and fuel consumption is appreciated.

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

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......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...... 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...

A Cognitive Architecture Using Reinforcement Learning to Enable Autonomous Spacecraft Operations, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — We propose an architecture to enable the modular development and deployment of autonomous intelligent agents in support of spacecraft operations. This architecture...

Cruise Crimes: Economic-Legal Issues and Current Debates

OpenAIRE

Thomas R Panko; Babu P George; Tony L Henthorne

2009-01-01

Cruise tourism is one of the sunshine sectors of international tourism and is growing rapidly in many parts of the world. It is estimated that the growth rate of cruise tourism is twice the rate of tourism overall. Notwithstanding all the positives that accompany this growth, many critics have drawn attention to the “dark side” of cruise crimes. The eco-system aboard the cruise ship offers a fertile ground for the occurrence of crimes. The present paper examines the issue of crimes onboard fr...

Research and development of intelligent controller for high-grade sanitary ware

Science.gov (United States)

Bao, Kongjun; Shen, Qingping

2013-03-01

With the social and economic development and people's living standards improve, more and more emphasis on modern society, people improve the quality of family life, the use of intelligent controller applications in high-grade sanitary ware physiotherapy students. Analysis of high-grade sanitary ware physiotherapy common functions pointed out in the production and use of the possible risks, proposed implementation of the system hardware and matching, given the system software implementation process. High-grade sanitary ware physiotherapy intelligent controller not only to achieve elegant and beautiful, simple, physical therapy, water power, deodorant, multi-function, intelligent control, to meet the consumers, the high-end sanitary ware market, strong demand, Accelerate the enterprise product Upgrade and improve the competitiveness of enterprises.

Autonomous driving in urban environments: approaches, lessons and challenges.

Science.gov (United States)

Campbell, Mark; Egerstedt, Magnus; How, Jonathan P; Murray, Richard M

2010-10-13

The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.

Intelligent control systems: an introduction with examples

National Research Council Canada - National Science Library

Hangos, K. M; Lakner, Rozália; Gerzson, Miklós

2001-01-01

... The structure of the knowledge base 1.2 The reasoning algorithm 1.3 Conflict resolution 31 31 32 33 36 viiviii INTELLIGENT CONTROL SYSTEMS 2. 3. 4. 5. 1.4 Explanation of the reasoning Forward r...

Meaningful Human Control over Autonomous Systems: A Philosophical Account

Directory of Open Access Journals (Sweden)

Filippo Santoni de Sio

2018-02-01

Full Text Available Debates on lethal autonomous weapon systems have proliferated in the past 5 years. Ethical concerns have been voiced about a possible raise in the number of wrongs and crimes in military operations and about the creation of a “responsibility gap” for harms caused by these systems. To address these concerns, the principle of “meaningful human control” has been introduced in the legal–political debate; according to this principle, humans not computers and their algorithms should ultimately remain in control of, and thus morally responsible for, relevant decisions about (lethal military operations. However, policy-makers and technical designers lack a detailed theory of what “meaningful human control” exactly means. In this paper, we lay the foundation of a philosophical account of meaningful human control, based on the concept of “guidance control” as elaborated in the philosophical debate on free will and moral responsibility. Following the ideals of “Responsible Innovation” and “Value-sensitive Design,” our account of meaningful human control is cast in the form of design requirements. We identify two general necessary conditions to be satisfied for an autonomous system to remain under meaningful human control: first, a “tracking” condition, according to which the system should be able to respond to both the relevant moral reasons of the humans designing and deploying the system and the relevant facts in the environment in which the system operates; second, a “tracing” condition, according to which the system should be designed in such a way as to grant the possibility to always trace back the outcome of its operations to at least one human along the chain of design and operation. As we think that meaningful human control can be one of the central notions in ethics of robotics and AI, in the last part of the paper, we start exploring the implications of our account for the design and use of non

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