WorldWideScience

Sample records for hybrid multi-robot control

  1. Multi-robot control interface

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  2. A Framework for Multi Robot Guidance Control

    Science.gov (United States)

    Keskin, Onur; Uyar, Erol

    In this paper we present a framework for path planning and path finding for multiple mobile robots with global vision. Our framework model considers the agents’ dynamic status and their environment with obstacles to perform given tasks. The global vision system provides feedback to main controller computer and mobile robots are directed towards to their tasks with avoiding obstacles and without any collision. Different kinds of scenario are prepared to simulate manipulating tasks and non-collision behavior with our framework. Experiment results with Lego Mindstorms NXT shows that our framework can be used where a multi robot system is needed with minimum resources.

  3. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi......-modal hybrid automata. The notion of bisimulations is used to abstract robots in the network. The result is a network of interacting timed automata which allows coordination among the robots and timing constraints to be considered. The model checker UPPAAL is used for formal symbolic model checking against...

  4. Flexible Morphogenesis based Formation Control for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jan Carlo Barca

    2012-09-01

    Full Text Available Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.

  5. A Biologically Inspired Cooperative Multi-Robot Control Architecture

    Science.gov (United States)

    Howsman, Tom; Craft, Mike; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

    2002-01-01

    A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

  6. A Gradient Optimization Approach to Adaptive Multi-Robot Control

    Science.gov (United States)

    2009-09-01

    and Machine Intelligence, 25(10):1355-1360, 2003. [51] C. S. Kong, N. A. Peng, and I. Rekleitis . Distributed coverage with multi- robot system. In...2005. [82] I. Rekleitis , G. Dudek, and E. Milios. Mulit-robot collaboration for robust exploration. Annals of Mathematics and Artificial Intelligence

  7. A Hybrid Multi-Robot Control Architecture

    Science.gov (United States)

    2007-12-01

    Kostas Kostiadis, Johan Kummeneje, Itsuki Noda, Oliver Obst , Pat Rile, Timo Steffens, Yi Wang, and Xiang Yin. “Users Manual: RoboCup Soccer Server for... Williams . “Remote Agent: To Boldly Go Where No AI System Has Gone Before”. Artificial Intelligence, 103(1-2):5–47, 1998. 38. Myers, Karen L. “A Procedural...for Autonomous Robots”. IEEE trans- actions on Robotics and Automation, 10(1):34–43, February 1994. 50. Snedecor, George W. and William G. Cochran

  8. Automatic approach to stabilization and control for multi robot teams by multilayer network operator

    Directory of Open Access Journals (Sweden)

    Diveev Askhat

    2016-01-01

    Full Text Available The paper describes a novel methodology for synthesis a high-level control of autonomous multi robot teams. The approach is based on multilayer network operator method that belongs to a symbolic regression class. Synthesis is accomplished in three steps: stabilizing robots about some given position in a state space, finding optimal trajectories of robots’ motion as sets of stabilizing points and then approximating all the points of optimal trajectories by some multi-dimensional function of state variables. The feasibility and effectiveness of the proposed approach is verified on simulations of the task of control synthesis for three mobile robots parking in the constrained space.

  9. Towards Human-Friendly Efficient Control of Multi-Robot Teams

    Science.gov (United States)

    Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

    2013-01-01

    This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

  10. A reinforcement learning trained fuzzy neural network controller for maintaining wireless communication connections in multi-robot systems

    Science.gov (United States)

    Zhong, Xu; Zhou, Yu

    2014-05-01

    This paper presents a decentralized multi-robot motion control strategy to facilitate a multi-robot system, comprised of collaborative mobile robots coordinated through wireless communications, to form and maintain desired wireless communication coverage in a realistic environment with unstable wireless signaling condition. A fuzzy neural network controller is proposed for each robot to maintain the wireless link quality with its neighbors. The controller is trained through reinforcement learning to establish the relationship between the wireless link quality and robot motion decision, via consecutive interactions between the controller and environment. The tuned fuzzy neural network controller is applied to a multi-robot deployment process to form and maintain desired wireless communication coverage. The effectiveness of the proposed control scheme is verified through simulations under different wireless signal propagation conditions.

  11. A Hybrid of Modified PSO and Local Search on a Multi-robot Search System

    Directory of Open Access Journals (Sweden)

    Mohammad Naim Rastgoo

    2015-07-01

    Full Text Available Particle swarm optimization (PSO, a new population-based algorithm, has recently been used on multi-robot systems. Although this algorithm is applied to solve many optimization problems as well as multi-robot systems, it has some drawbacks when it is applied on multi-robot search systems to find a target in a search space containing big static obstacles. One of these defects is premature convergence. This means that one of the properties of basic PSO is that when particles are spread in a search space, as time increases they tend to converge in a small area. This shortcoming is also evident on a multi-robot search system, particularly when there are big static obstacles in the search space that prevent the robots from finding the target easily; therefore, as time increases, based on this property they converge to a small area that may not contain the target and become entrapped in that area. Another shortcoming is that basic PSO cannot guarantee the global convergence of the algorithm. In other words, initially particles explore different areas, but in some cases they are not good at exploiting promising areas, which will increase the search time. This study proposes a method based on the particle swarm optimization (PSO technique on a multi-robot system to find a target in a search space containing big static obstacles. This method is not only able to overcome the premature convergence problem but also establishes an efficient balance between exploration and exploitation and guarantees global convergence, reducing the search time by combining with a local search method, such as A-star. To validate the effectiveness and usefulness of algorithms, a simulation environment has been developed for conducting simulation-based experiments in different scenarios and for reporting experimental results. These experimental results have demonstrated that the proposed method is able to overcome the premature convergence problem and guarantee global

  12. Multi-Robot Path-Planning Problem for a Heavy Traffic Control Application: A Survey

    Directory of Open Access Journals (Sweden)

    Ebtehal Turki Saho Alotaibi

    2016-06-01

    Full Text Available This survey looked at the methods used to solve multi-autonomous vehicle path-planning for an application of heavy traffic control in cities. Formally, the problem consisted of a graph and a set of robots. Each robot has to reach its destination in the minimum time and number of movements, considering the obstacles and other robots’ paths, hence, the problem is NP-hard. The study found that decoupled centralised approaches are the most relevant approaches for an autonomous vehicle path-planning problem for three reasons: (1 a city is a large environment and coupled centralised approaches scale weakly, (2 the overhead of a coupled decentralised approach to achieve the global optimal will affect the time and memory of the other robots, which is not important in a city configuration and (3 the coupled approaches suppose that the number of robots is defined before they start to find the paths and resolve collisions, while in a city, any car can start at any time and hence, each car should work individually and resolve collisions as they arise. In addition, the study reviewed four decoupled centralised techniques to solve the problem: multi-robot path-planning rapidly exploring random tree (MRRRT, push and swap (PAS, push and rotate (PAR and the Bibox algorithm. The experiments showed that MRRRT is the best for exploring any search space and optimizing the solution. On the other hand, PAS, PAR and Bibox are better in terms of providing a complete solution for the problem and resolving collisions in significantly much less time, the analysis, however, shows that a wider class of solvable instances are excluded from PAS and PAR domain. In addition, Bibox solves a smaller class than the class solved by PAS and PAR in less time, in the worst case, and with a shorter path than PAS and PAR.

  13. A scalable hybrid multi-robot SLAM method for highly detailed maps

    NARCIS (Netherlands)

    M. Pfingsthorn; B. Slamet; A. Visser

    2007-01-01

    Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by Howar

  14. A scalable hybrid multi-robot SLAM method for highly detailed maps

    NARCIS (Netherlands)

    Pfingsthorn, M.; Slamet, B.; Visser, A.

    2008-01-01

    Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by Howar

  15. On Open- source Multi-robot simulators

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-07-01

    Full Text Available Open source software simulators play a major role in robotics design and research as platforms for developing, testing and improving architectures, concepts and algorithms for cooperative/multi-robot systems. Simulation environment enables control...

  16. Stable Formation Control of Multi-robot System with Communication Delay

    Directory of Open Access Journals (Sweden)

    Limei Jiang

    2012-03-01

    Full Text Available In this paper, a distributed formation control algorithm with delayed information exchange is discussed. The algorithm, which is derived from the flocking behaviour of birds and consensus theory, enables robots to move in formation at a desired velocity. After a series of orthogonal transformations to the original formation system, the upper bound tolerable delay is obtained by using matrix theory and the Nyquist criterion. According to the results, the upper bound tolerable delay depends on the control parameters and eigenvalues of the Laplacian matrix. Therefore, the effect of the parameters on the maximum tolerable delay is analysed, obtaining the following conclusions: the upper bound tolerable delay is proportional to the parameters associated with the velocity, inversely proportional to the parameters associated with the position, and inversely proportional to the difference between the eigenvalue of Laplacian matrix and 1. The simulation results of a four‐ robot formation system with different communication delays verify the effectiveness of the formation control algorithm and the correctness of the theoretical analysis.

  17. Stable Formation Control of Multi-Robot System with Communication Delay

    Directory of Open Access Journals (Sweden)

    Limei Jiang

    2012-03-01

    Full Text Available In this paper, a distributed formation control algorithm with delayed information exchange is discussed. The algorithm, which is derived from the flocking behaviour of birds and consensus theory, enables robots to move in formation at a desired velocity. After a series of orthogonal transformations to the original formation system, the upper bound tolerable delay is obtained by using matrix theory and the Nyquist criterion. According to the results, the upper bound tolerable delay depends on the control parameters and eigenvalues of the Laplacian matrix. Therefore, the effect of the parameters on the maximum tolerable delay is analysed, obtaining the following conclusions: the upper bound tolerable delay is proportional to the parameters associated with the velocity, inversely proportional to the parameters associated with the position, and inversely proportional to the difference between the eigenvalue of Laplacian matrix and 1. The simulation results of a four-robot formation system with different communication delays verify the effectiveness of the formation control algorithm and the correctness of the theoretical analysis.

  18. Distributed control of multi-robot teams: Cooperative baton passing task

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

  19. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  20. 多机器人远程监控系统的多智能体控制结构%Multi-Agent Control Structure of Multi-robot Remote Monitoring System

    Institute of Scientific and Technical Information of China (English)

    刘鑫; 于振中; 郑为凑; 惠晶

    2014-01-01

    针对多机器人远程监控系统信息错综复杂、协作不稳定的问题,建立基于多智能体(Multi-Agent)技术的系统体系结构,描述系统各组件之间的信息交互关系,优化人-机智能分配。分析系统物理结构的特点,提出一种基于 Multi-Agent 技术的共享控制系统分层体系结构,结合黑板结构和点对点结构,给出 Multi-Agent 的混合通信模型。针对遥操作系统的特点,设计一种混合型Agent 体系结构,举例研究 Agent 的实现方法。通过多操作者控制机器人保持队形的实验,验证了该混合型 Agent 体系结构的实用性和有效性。%According to the problem of multi-robot intricate and multi-robot collaboration unstable for remote monitoring system of multi-mobile robot, a system architecture based on multi-Agent technology can be established to optimize the man-machine intelligence allocation and to give a clear description of the various components of the system. By the analysis of the physical structure of the system, the architecture of hierarchical system based on share control mode of multi-Agent is proposed and a mixed communication model of multi-Agent combining the blackboard architecture and peer-to-peer structure is designed. According to the characteristics of the teleoperation system, a hybrid Agent architecture is designed. An example of the realization of the Agent is given, and an experiment that multi-operator keep robots controlled in line is designed to verify the effectiveness of the hybrid Agent architecture.

  1. 多机器人主—从行星式编队控制%Multi-robot Leader-follower Planetary Formation Control

    Institute of Scientific and Technical Information of China (English)

    郑秀娟; 吴怀宇; 程磊; 陈洋; 张玉礼

    2012-01-01

    研究了二阶积分器描述的多机器人主—从行星式编队控制问题,提出了将多机器人编队分解为每个机器人对各自具有时变速度的虚拟机器人的跟踪控制,使得每个机器人相对于虚拟机器人的位置与速度跟踪误差收敛为零且彼此不相碰撞,此时编队系统收敛到理想队形.在统一的算法框架下,分别实现了跟随者以领航者为中心的公转运动编队(revolution formation,RF)模式和跟随者与领航者保持期望距离、期望速度的编队(desired formation,DF)模式.公转运动编队(RF)模式适用于异构多机器人系统的环境探索任务;保持期望距离、期望速度的编队(DF)模式适用于自主水下机器人(AUV)、无人机(UAV)等合作与协调任务.应用李亚普诺夫稳定性理论对控制算法的稳定性进行了分析,并通过计算机仿真验证了该方法的有效性.%The leader-follower planetary formation control problem for multiple robots with double-integrator is studied, and an approach is proposed to transform the multi-robot formation control method into tracking control problem of desired virtual robot with varying velocity for each robot, and then the position and velocity tracking errors between each robot and its virtual robot converge to zero without any collision, while the formation system converges to the desired formation. Under the unified algorithm framework, two kinds of formation modes are realized respectively, including the followers moving around the leader formation (revolution Formation, RF) mode and the followers maintaining desired distance and velocity with the leader formation (desired formation, DF) mode. The RF mode is applied to the exploration mission for heterogeneous multi-robot system, and the DF mode is applied to the cooperation and coordination tasks for AUVs (autonomous underwater vehicle) and UAVs (unmanned aerial vehicle). The stability of the control algorithm is analyzed through Lyapunov

  2. T he formation control of multi-robot fish based on leader-follower and fuzzy feedback mechanism%采用 Leader-follower 和模糊反馈机制的机器鱼队形控制

    Institute of Scientific and Technical Information of China (English)

    2013-01-01

    In the formation control of multi-robot fish under the leader-follower framework, the fuzzy feedback con-troller was introduced to traditional leader-follower formation control algorithm in efforts to cope with the relative in-dependence of the leader and followers , as well as the desertion of the laggard robot fishes .The goal was to ensure that the pilot robotic fish could check the position of followers regularly .In order to enhance the stability of the for-mation control of multi-robot fish and complete the task of collaborative operation , the formation control problem of multi-robot fish system was transformed into the problem of followers ’ tracking the position and orientation of the leader with the addition of the feedback regulation .Simulations verify that the proposed method can better realize the formation control of the robotic fish system .%  在Leader-follower框架下的多机器鱼系统队形控制中,针对Leader和Follower相对独立及落后机器鱼离队等问题,在传统的Leader -follower队形控制算法中引入模糊反馈控制器进行反馈调节,使得领航机器鱼Leader能定时检查Follower的位置,将多机器鱼系统的队形控制问题转化为具有反馈调节的Follower跟踪Leader的位置和方向的问题,以增强多机器鱼队形控制的稳定性,更好地协同作业完成任务。仿真试验验证了所提出的方法能较好地实现多机器鱼系统的队形控制。

  3. An Intelligent Man-Machine Interface-Multi-Robot Control Adapted for Task Engagement Based on Single-Trial Detectability of P300.

    Science.gov (United States)

    Kirchner, Elsa A; Kim, Su K; Tabie, Marc; Wöhrle, Hendrik; Maurus, Michael; Kirchner, Frank

    2016-01-01

    Advanced man-machine interfaces (MMIs) are being developed for teleoperating robots at remote and hardly accessible places. Such MMIs make use of a virtual environment and can therefore make the operator immerse him-/herself into the environment of the robot. In this paper, we present our developed MMI for multi-robot control. Our MMI can adapt to changes in task load and task engagement online. Applying our approach of embedded Brain Reading we improve user support and efficiency of interaction. The level of task engagement was inferred from the single-trial detectability of P300-related brain activity that was naturally evoked during interaction. With our approach no secondary task is needed to measure task load. It is based on research results on the single-stimulus paradigm, distribution of brain resources and its effect on the P300 event-related component. It further considers effects of the modulation caused by a delayed reaction time on the P300 component evoked by complex responses to task-relevant messages. We prove our concept using single-trial based machine learning analysis, analysis of averaged event-related potentials and behavioral analysis. As main results we show (1) a significant improvement of runtime needed to perform the interaction tasks compared to a setting in which all subjects could easily perform the tasks. We show that (2) the single-trial detectability of the event-related potential P300 can be used to measure the changes in task load and task engagement during complex interaction while also being sensitive to the level of experience of the operator and (3) can be used to adapt the MMI individually to the different needs of users without increasing total workload. Our online adaptation of the proposed MMI is based on a continuous supervision of the operator's cognitive resources by means of embedded Brain Reading. Operators with different qualifications or capabilities receive only as many tasks as they can perform to avoid mental

  4. An Intelligent Man-Machine Interface—Multi-Robot Control Adapted for Task Engagement Based on Single-Trial Detectability of P300

    Science.gov (United States)

    Kirchner, Elsa A.; Kim, Su K.; Tabie, Marc; Wöhrle, Hendrik; Maurus, Michael; Kirchner, Frank

    2016-01-01

    Advanced man-machine interfaces (MMIs) are being developed for teleoperating robots at remote and hardly accessible places. Such MMIs make use of a virtual environment and can therefore make the operator immerse him-/herself into the environment of the robot. In this paper, we present our developed MMI for multi-robot control. Our MMI can adapt to changes in task load and task engagement online. Applying our approach of embedded Brain Reading we improve user support and efficiency of interaction. The level of task engagement was inferred from the single-trial detectability of P300-related brain activity that was naturally evoked during interaction. With our approach no secondary task is needed to measure task load. It is based on research results on the single-stimulus paradigm, distribution of brain resources and its effect on the P300 event-related component. It further considers effects of the modulation caused by a delayed reaction time on the P300 component evoked by complex responses to task-relevant messages. We prove our concept using single-trial based machine learning analysis, analysis of averaged event-related potentials and behavioral analysis. As main results we show (1) a significant improvement of runtime needed to perform the interaction tasks compared to a setting in which all subjects could easily perform the tasks. We show that (2) the single-trial detectability of the event-related potential P300 can be used to measure the changes in task load and task engagement during complex interaction while also being sensitive to the level of experience of the operator and (3) can be used to adapt the MMI individually to the different needs of users without increasing total workload. Our online adaptation of the proposed MMI is based on a continuous supervision of the operator's cognitive resources by means of embedded Brain Reading. Operators with different qualifications or capabilities receive only as many tasks as they can perform to avoid mental

  5. MRPPSim: A Multi-Robot Path Planning Simulation

    Directory of Open Access Journals (Sweden)

    Ebtehal Turki Saho Alotaibi

    2016-08-01

    Full Text Available Multi-robot path planning problem is an interesting problem of research having great potential for several optimization problems in the world. In multi-robot path planning problem domain (MRPP, robots must move from their start locations to their goal locations avoiding collisions with each other. MRPP is a relevant problem in several domains, including; automatic packages inside a warehouse, automated guided vehicles, planetary exploration, robotics mining, and video games. This work introduces MRPPSim; a new modeling, evaluation and simulation tool for multi-robot path planning algorithms and its applications. In doing so, it handles all the aspects related to the multi-robot path planning algorithms. Through its working, MRPPSim unifies the representation for the input. This algorithm provides researchers with a set of evaluation models with each of them serving a set of objectives. It provides a comprehensive method to evaluate and compare the algorithm’s performance to the ones that solve public benchmark problems inas shown in literature. The work presented in this paper also provides a complete tool to reformat and control user input, critical small benchmark, biconnected, random and grid problems. Once all of this is performed, it calculates the common performance measurements of multi-robot path planning algorithms in a unified way. The work presented in this paper animates the results so the researchers can follow their algorithms’ executions. In addition, MRPPSim is designed as set of models, each is dedicated to a specific function, this allows new algorithm, evaluation model, or performance measurements to be easily plugged into the simulator.

  6. Discrete-event modeling for internet multi-robotics

    Institute of Scientific and Technical Information of China (English)

    赵杰; 高胜; 蔡鹤皋

    2004-01-01

    Intemet multi-robotics is a typical discrete-event system. In order to describe joint activities between multiple operators and multiple robots, a 4-level discrete-event model is proposed in this paper based on the controlled condition/event Petri nets (CCEP). On the first or mission level, the task splitting of the system is defined; on the second or multi-operator level, a precedence graph is introduced for every operator to plan his or her robotic actions; on the third or coordination level, the above precedence graphs are translated and integrated into the corresponding CCEPs in terms of specific rules; and on the last or multi-robot level, operators can select their control range by setting the corresponding control marks of the obtained CCEPs. As a consequence, a clear mechanism of operator-robot collaboration is obtained to conduct the development of the system.

  7. Safety architecture of internet based multi-robot teleoperation system

    Institute of Scientific and Technical Information of China (English)

    ZHAO Jie; GAO Yong-sheng; CAI He-gao

    2005-01-01

    Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

  8. 考虑障碍环境下的多机器人编队控制研究%Research on Formation and Control of Multi-robot in Obstacle Environment

    Institute of Scientific and Technical Information of China (English)

    何锦璇

    2013-01-01

    编队和避障控制是机器人路径规划设计中的典型问题,文中提出了将leader-following法和人工势场法相结合的方法,来更好地完成多机器人在未知环境下的编队和避障控制。之前的研究只将leader-following算法用于多机器人的编队控制,而文中提出此方法也可以用于多机器人系统的避障控制。基于leader-following法,多机器人能自动编队并保持队形;而结合人工势场法,多机器人可以保持队形行进,在遇到障碍物的情况下变换队形避障,在避障后恢复原队形,最终到达目标。通过仿真实验证明,该算法实现了多机器人在未知环境下的自动编队和避障,从而证明了leader-following算法可以用于机器人的避障控制。%Formation and obstacle avoidance control is a typical problem in the design of path planning of robots. Combining the leader-following method with the artificial potential field method,realize the formation and obstacle avoidance control of multiple mobile robots in an unknown environment. In the previous study,the leader-following method is used only for multiple robots formation control,but this method presented can also be used for obstacle avoidance control of multiple robots system. Through leader-following method,multi-robot system can automatically formation and keep the formation;with the artificial potential field method,multi-robot system can avoid obstacles and keep formation in the unknown environment. The simulation results show that the proposed method is effective.

  9. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

    Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

  10. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot

  11. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot team

  12. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    OpenAIRE

    C. Wei

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot teams. Social deliberation should be taken into consideration in such a multi-robot system, which requires that the robots are capable of generating long term plans to achieve a global or team goal, ra...

  13. Multi-Robot Systems for Subsurface Planetary Exploration Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed innovation is a heterogeneous multi-robot team developed as a platform for effective subsurface planetary exploration. State-of-art robotic exploration...

  14. Multi-robot system learning based on evolutionary classification

    Directory of Open Access Journals (Sweden)

    Manko Sergey

    2016-01-01

    Full Text Available This paper presents a novel machine learning method for agents of a multi-robot system. The learning process is based on knowledge discovery through continual analysis of robot sensory information. We demonstrate that classification trees and evolutionary forests may be a basis for creation of autonomous robots capable both of learning and knowledge exchange with other agents in multi-robot system. The results of experimental studies confirm the effectiveness of the proposed approach.

  15. 一种多机械手编码控制系统的果蔬采摘机器人设计%Design of Picking Robot for Fruits and Vegetables Based on Encoding Control System for Multi Robot Manipulators

    Institute of Scientific and Technical Information of China (English)

    李素云; 余长庚

    2016-01-01

    为了提高果蔬的采摘效率,对果蔬采摘机器人进行了改进,设计了一种新的多机械手的编码控制采摘机器人. 通过对机器人功能和结构的设计,使机器人具有了利用机器视觉技术的图像边缘提取来划分每个机械手的作业区间的功能,并可以利用编码器对每个机械手进行编码,从而完成多机械手的协同作业. 对机器人的采摘作业性能进行了测试,首先利用机器视觉模块完成了苹果采摘区间的划分,并预设了每个机械手的采摘作业轨迹,利用编码器对预设轨迹进行了追踪. 通过测试发现:机器人多机械手的实际追踪轨迹和预设轨迹的误差很小,满足设计需求,多机械手的协同采摘平均速度可以达到8 0 个/min 以上,具有高效的果蔬采摘性能.%In order to improve the efficiency of picking fruits and vegetables, a new kind of robot with multi robot hand is designed, which is used to improve the picking efficiency of fruits and vegetables.Through the function and structure of robot,the design enables the robot extract the image edge ion based on machine vision technology to divide each manipu -lator the operating range of the function.And it can use the encoder to encode each manipulator, so as to complete the multi robot cooperative working industry.The robot's picking performance were tested.First of all, the machine vision module apple picking interval of the partition, and the default of each manipulator picking operation trajectory,the coder for the preset trajectory tracking.Through the test found that multi robot manipulator of actual trajectory tracking and pre -set trajectory error is very small, meet the design requirements, multi robot cooperative picking average speed can reach more than 80/min, with high fruit and vegetable picking performance.

  16. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses.

    Science.gov (United States)

    Roldán, Juan Jesús; Garcia-Aunon, Pablo; Garzón, Mario; de León, Jorge; Del Cerro, Jaime; Barrientos, Antonio

    2016-07-01

    The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.

  17. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses

    Directory of Open Access Journals (Sweden)

    Juan Jesús Roldán

    2016-07-01

    Full Text Available The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.

  18. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses

    Science.gov (United States)

    Roldán, Juan Jesús; Garcia-Aunon, Pablo; Garzón, Mario; de León, Jorge; del Cerro, Jaime; Barrientos, Antonio

    2016-01-01

    The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments. PMID:27376297

  19. A Case Study of Collaboration with Multi-Robots and Its Effect on Children's Interaction

    Science.gov (United States)

    Hwang, Wu-Yuin; Wu, Sheng-Yi

    2014-01-01

    Learning how to carry out collaborative tasks is critical to the development of a student's capacity for social interaction. In this study, a multi-robot system was designed for students. In three different scenarios, students controlled robots in order to move dice; we then examined their collaborative strategies and their behavioral…

  20. Continuity Controlled Hybrid Automata

    OpenAIRE

    Bergstra, J. A.; Middelburg, C.A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of hybrid automata as timed transition systems. We also relate the synchronized product operator on hybrid automata to the parallel composition operator of the process algebra. It turns out that the f...

  1. Continuity Controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  2. Continuity controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2008-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  3. Graph rigidity and localization of multi-robot formations

    Institute of Scientific and Technical Information of China (English)

    张帆

    2004-01-01

    This paper provides theoretical foundation tor the problem ot localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.

  4. Graph rigidity and localization of multi-robot formations

    Institute of Scientific and Technical Information of China (English)

    张帆

    2004-01-01

    This paper provides theoretical foundation for the problem of localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.

  5. 协作多机器人系统研究进展综述%A survey of recent advances in cooperative multi-robot systems

    Institute of Scientific and Technical Information of China (English)

    吴军; 徐昕; 连传强; 贺汉根

    2011-01-01

    Cooperative multi-robot systems have been a particularly popular topic within robotics because of their potential applications. To meet the demand of promoting relevant study, the current research and development situation of cooperative multi-robot systems were systematically reviewed and summarized. Research concerning the unconscious bionic swarm-cooperation multi-robot and the heterogeneous intentional-cooperation multi-robot was discussed. In particular, to build and optimize heterogeneous intentional-cooperation multi-robot systems. the recent advances in system structure, environment perception. and control optimization were surveyed and analyzed. Moreover, the benchmark tasks and universal software/hardware platforms for a multi-robot were summarized. Finally,future developments in cooperative multi-robot system research were discussed.%协作多机器人系统是近年来机器人研究的热点,具有良好的应用前景.针对开展相关研究的迫切需要,总结了协作多机器人系统研究的国内外发展现状,并分别对无意识协作的仿生多机器人系统和有意识协作的异构多机器人系统研究进行论述.重点从系统构建和优化控制的宏观角度出发,对有意识协作异构多机器人系统的体系结构、环境感知以及优化控制3个方面的研究进展分别展开论述;对典型的多机器人验证任务和软硬件实验平台进行了总结;最后对协作多机器人系统的研究方向进行了展望.

  6. Probabilistic Verification of Multi-Robot Missions in Uncertain Environments

    Science.gov (United States)

    2015-11-01

    uncertain environment. Verification of robot software is related to general purpose software verification in its objective of taking a program as...input and automatically determining whether that program achieves a desired objective or not [1]. It differs in that a robot program continually...Probabilistic Verification of Multi -Robot Missions in Uncertain Environments Damian M. Lyons*, Ronald C. Arkin‡, Shu Jiang‡, Dagan Harrington

  7. Autonomous multi-robot exploration in communication-limited environments

    NARCIS (Netherlands)

    de Hoog, J.; Cameron, S.; Visser, A.; Belpaeme, T.; Bugmann, G.; Melhuish, C.; Witkowski, M.

    2010-01-01

    Teams of communicating robots are likely to be used for a wide range of applications in the near future, such as robotic search and rescue or robotic exploration of hostile and remote environments. In such scenarios, environments are likely to contain significant interference and multi-robot systems

  8. Intelligent learning technique based-on fuzzy logic for multi-robot path planning

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Soccer robot system is a tremendously challenging intelligent system developed to mimic human soc cer competition based on the multi-discipline research: robotics, intelligent control, computer vision, etc. robot path planning strategy is a very important subject concerning to the performance and intelligence degree of the multi-robot system. Therefore, this paper studies the path planning strategy of soccer system by using fuzzy log ic. After setting up two fuzziers and two sorts of fuzzy rules for soccer system, fuzzy logic is applied to work space partition and path revision. The experiment results show that this technique can well enhance the perform ance and intelligence degree of the system.

  9. Hybrid spacecraft attitude control system

    Directory of Open Access Journals (Sweden)

    Renuganth Varatharajoo

    2016-02-01

    Full Text Available The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.

  10. DECENTRALIZED MULTI-ROBOT PLANNING TO EXPLORE AND PERCEIVE

    Directory of Open Access Journals (Sweden)

    Laetitia Matignon

    2015-06-01

    Full Text Available In a recent French robotic contest, the objective was to develop a multi-robot system able to autonomously map and explore an unknown area while also detecting and localizing objects. As a participant in this challenge, we proposed a new decentralized Markov decision process (Dec-MDP resolution based on distributed value functions (DVF to compute multi-robot exploration strategies. The idea is to take advantage of sparse interactions by allowing each robot to calculate locally a strategy that maximizes the explored space while minimizing robots interactions. In this paper, we propose an adaptation of this method to improve also object recognition by integrating into the DVF the interest in covering explored areas with photos. The robots will then act to maximize the explored space and the photo coverage, ensuring better perception and object recognition.

  11. Multi-robot Task Allocation for Search and Rescue Missions

    Science.gov (United States)

    Hussein, Ahmed; Adel, Mohamed; Bakr, Mohamed; Shehata, Omar M.; Khamis, Alaa

    2014-12-01

    Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions.

  12. Guaranteeing Spoof-Resilient Multi-Robot Networks

    Science.gov (United States)

    2016-02-12

    Effective coordination, however, requires trust. In order for these multi- robot systems to perform their tasks optimally, transmitted data is often assumed...of anten- nas. SAR can be implemented using a well-studied signal processing algorithm called MUSIC [16] to obtain spatial fingerprints at each...empirical results in Sec. §9 demonstrate that α performs well when applied both in continuous and discrete settings. However, it is natural to ask

  13. Multi-Robot Motion Planning Using Swarm Intelligence

    Directory of Open Access Journals (Sweden)

    Gerasimos G. Rigatos

    2008-11-01

    Full Text Available Swarm intelligence theory is proposed for motion planning of multi-robot systems. Multiple particles start from different points in the solutions space and interact to each other while moving towards the goal position. Swarm intelligence theory is a derivative-free approach to the problem of multi-robotcooperation which works by searching iteratively in regions defined by each robot's best previous move and the best previous move of its neighbors. The method's performance is evaluated through simulation tests.

  14. Distributed consensus with visual perception in multi-robot systems

    CERN Document Server

    Montijano, Eduardo

    2015-01-01

    This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: ·         distributed consensus algorithms; ·         data association and robustne...

  15. Optimal control of hybrid vehicles

    CERN Document Server

    Jager, Bram; Kessels, John

    2013-01-01

    Optimal Control of Hybrid Vehicles provides a description of power train control for hybrid vehicles. The background, environmental motivation and control challenges associated with hybrid vehicles are introduced. The text includes mathematical models for all relevant components in the hybrid power train. The power split problem in hybrid power trains is formally described and several numerical solutions detailed, including dynamic programming and a novel solution for state-constrained optimal control problems based on Pontryagin’s maximum principle.   Real-time-implementable strategies that can approximate the optimal solution closely are dealt with in depth. Several approaches are discussed and compared, including a state-of-the-art strategy which is adaptive for vehicle conditions like velocity and mass. Two case studies are included in the book: ·        a control strategy for a micro-hybrid power train; and ·        experimental results obtained with a real-time strategy implemented in...

  16. Theory and Application of Multi-robot Service-oriented Architecture

    Institute of Scientific and Technical Information of China (English)

    Yunfei Cai; Zhenmin Tang; Yuhua Ding; Bin Qian

    2016-01-01

    In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot’s underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.

  17. Hybrid vehicle control

    Energy Technology Data Exchange (ETDEWEB)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  18. Hybrid vehicle control

    Science.gov (United States)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  19. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  20. The Evolution of Cooperative Behaviours in Physically Heterogeneous Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Yang

    2012-12-01

    Full Text Available Evolutionary Robotics (ER is a methodology that uses evolutionary computation to develop controllers for autonomous robots. The existing works focus on single robot systems or physically homogenous multi-robot teams, although physical heterogeneousness is more prevalent in the real world. It is therefore instructive to examine whether cooperative behaviours can be synthesized using artificial evolution for a team of physically heterogeneous robots. This paper makes an important contribution in answering the question of whether robots with distinct capabilities can synthesize their control strategies to accommodate their own capabilities without human intervention. We present an empirical analysis of the collaboration mechanisms and suggest guidelines about how to choose appropriate evolution methods. Simulated experiments with a team of e-puck robots show that evolution can lead to effective controllers for robots with distinct capabilities.

  1. Multi-robot team design for real-world applications

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1996-10-01

    Many of these applications are in dynamic environments requiring capabilities distributed in functionality, space, or time, and therefore often require teams of robots to work together. While much research has been done in recent years, current robotics technology is still far from achieving many of the real world applications. Two primary reasons for this technology gap are that (1) previous work has not adequately addressed the issues of fault tolerance and adaptivity in multi-robot teams, and (2) existing robotics research is often geared at specific applications and is not easily generalized to different, but related, applications. This paper addresses these issues by first describing the design issues of key importance in these real-world cooperative robotics applications: fault tolerance, reliability, adaptivity, and coherence. We then present a general architecture addressing these design issues (called ALLIANCE) that facilities multi-robot cooperation of small- to medium-sized teams in dynamic environments, performing missions composed of loosely coupled subtasks. We illustrate an implementation of ALLIANCE in a real-world application, called Bounding Overwatch, and then discuss how this architecture addresses our key design issues.

  2. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  3. Hybrid Systems: Computation and Control.

    Science.gov (United States)

    2007-11-02

    elbow) and a pinned first joint (shoul- der) (see Figure 2); it is termed an underactuated system since it is a mechanical system with fewer...Montreal, PQ, Canada, 1998. [10] M. W. Spong. Partial feedback linearization of underactuated mechanical systems . In Proceedings, IROS󈨢, pages 314-321...control mechanism and search for optimal combinations of control variables. Besides the nonlinear and hybrid nature of powertrain systems , hardware

  4. L-ALLIANCE: a mechanism for adaptive action selection in heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-11-01

    In practical applications of robotics, it is usually quite difficult, if not impossible, for the system designer to fully predict the environmental states in which the robots will operate. The complexity of the problem is further increased when dealing with teams of robots which themselves may be incompletely known and characterized in advance. It is thus highly desirable for robot teams to be able to adapt their performance during the mission due to changes in the environment, or to changes in other robot team members. In previous work, we introduced a behavior-based mechanism called the ALLIANCE architecture -- that facilitates the fault tolerant cooperative control of multi-robot teams. However, this previous work did not address the issue of how to dynamically update the control parameters during a mission to adapt to ongoing changes in the environment or in the robot team, and to ensure the efficiency of the collective team actions. In this paper, we address this issue by proposing the L-ALLIANCE mechanism, which defines an automated method whereby robots can use knowledge learned from previous experience to continually improve their collective action selection when working on missions composed of loosely coupled, discrete subtasks. This ability to dynamically update robotic control parameters provides a number of distinct advantages: it alleviates the need for human tuning of control parameters, it facilitates the use of custom-designed multi-robot teams for any given application, it improves the efficiency of the mission performance, and It allows robots to continually adapt their performance over time due to changes in the robot team and/or the environment. We describe the L-ALLIANCE mechanism, present the results of various alternative update strategies we investigated, present the formal model of the L-ALLIANCE mechanism, and present the results of a simple proof of concept implementation on a small team of heterogeneous mobile robots.

  5. IMPULSE CONTROL HYBRID ELECTRICAL SYSTEM

    Directory of Open Access Journals (Sweden)

    A. A. Lobaty

    2016-01-01

    Full Text Available This paper extends the recently introduced approach for modeling and solving the optimal control problem of fixedswitched mode DC-DC power converter. DCDC converters are a class of electric power circuits that used extensively in regulated DC power supplies, DC motor drives of different types, in Photovoltaic Station energy conversion and other applications due to its advantageous features in terms of size, weight and reliable performance. The main problem in controlling this type converters is in their hybrid nature as the switched circuit topology entails different modes of operation, each of it with its own associated linear continuous-time dynamics.This paper analyses the modeling and controller synthesis of the fixed-frequency buck DC-DC converter, in which the transistor switch is operated by a pulse sequence with constant frequency. In this case the regulation of the DC component of the output voltage is via the duty cycle. The optimization of the control system is based on the formation of the control signal at the output.It is proposed to solve the problem of optimal control of a hybrid system based on the formation of the control signal at the output of the controller, which minimizes a given functional integral quality, which is regarded as a linear quadratic Letov-Kalman functional. Search method of optimal control depends on the type of mathematical model of control object. In this case, we consider a linear deterministic model of the control system, which is common for the majority of hybrid electrical systems. For this formulation of the optimal control problem of search is a problem of analytical design of optimal controller, which has the analytical solution.As an example of the hybrid system is considered a step-down switching DC-DC converter, which is widely used in various electrical systems: as an uninterruptible power supply, battery charger for electric vehicles, the inverter in solar photovoltaic power plants.. A

  6. JL-2: A Mobile Multi-robot System with Docking and Manipulating Capabilities

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2010-02-01

    Full Text Available This paper presents a new version of the JL series reconfigurable multi-robot system called JL-2. By virtue of the docking manipulator composed of a parallel mechanism and a cam gripper, every mobile robot in the JL-2 system is able to not only perform tasks in parallel, e.g. moving and grasping, but also dock with each other even if there are large misalignments between two robots. A motorized spherical joint is formed between two docked robots to enhance the locomotion capability of JL-2. To fulfill the demands of reconfiguration, a distributed control system and sonar based docking guidance system are designed for the JL-2 prototype. Based on the above design, the JL-2 prototype has been built and successfully demonstrated to confirm the validity and functionality of the proposed capabilities.

  7. COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS

    Directory of Open Access Journals (Sweden)

    Nassim Kalde

    2015-06-01

    Full Text Available Multi-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion.

  8. JL-2: A Mobile Multi-robot System with Docking and Manipulating Capabilities

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2010-03-01

    Full Text Available This paper presents a new version of the JL series reconfigurable multi-robot system called JL-2. By virtue of the docking manipulator composed of a parallel mechanism and a cam gripper, every mobile robot in the JL-2 system is able to not only perform tasks in parallel, e.g. moving and grasping, but also dock with each other even if there are large misalignments between two robots. A motorized spherical joint is formed between two docked robots to enhance the locomotion capability of JL-2. To fulfill the demands of reconfiguration, a distributed control system and sonar based docking guidance system are designed for the JL-2 prototype. Based on the above design, the JL-2 prototype has been built and successfully demonstrated to confirm the validity and functionality of the proposed capabilities.

  9. COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH

    Directory of Open Access Journals (Sweden)

    Miroslav Kulich

    2015-06-01

    Full Text Available Searching for a stationary object in an unknown environment can be formulated as an iterative procedure consisting of map updating, selection of a next goal and navigation to this goal. It finishes when the object of interest is found. This formulation and a general search structure is similar to the related exploration problem. The only difference is in goal-selection, as search and exploration objectives are not the same. Although search is a key task in many search and rescue scenarios, the robotics community has paid little attention to the problem. There is no goal-selection strategy that has been designed specifically for search. In this paper, we study four state-of-the-art strategies for multi-robot exploration, and we evaluate their performance in various environments with respect to the expected time needed to find an object, i.e. to achieve the objective of the search.

  10. Multi-robot system using low-cost infrared sensors

    Directory of Open Access Journals (Sweden)

    Anubhav Kakkar

    2013-03-01

    Full Text Available This paper presents a proposed set of the novel technique, methods, and algorithm for simultaneous path planning, area exploration, area retrieval, obstacle avoidance, object detection, and object retrieval   autonomously by a multi-robot system. The proposed methods and algorithms are built considering the use of low cost infrared sensors with the ultimate function of efficiently exploring the given unknown area and simultaneously identifying desired objects by analyzing the physical characteristics of several of the objects that come across during exploration. In this paper, we have explained the scenario by building a coordinative multi-robot system consisting of two autonomously operated robots equipped with low-cost and low-range infrared sensors to perform the assigned task by analyzing some of the sudden changes in their environment. Along with identifying and retrieving the desired object, the proposed methodology also provide an inclusive analysis of the area being explored. The novelties presented in the paper may significantly provide a cost-effective solution to the problem of area exploration and finding a known object in an unknown environment by demonstrating an innovative approach of using the infrared sensors instead of high cost long range sensors and cameras. Additionally, the methodology provides a speedy and uncomplicated method of traversing a complicated arena while performing all the necessary and inter-related tasks of avoiding the obstacles, analyzing the area as well as objects, and reconstructing the area using all these information collected and interpreted for an unknown environment. The methods and algorithms proposed are simulated over a complex arena to depict the operations and manually tested over a physical environment which provided 78% correct results with respect to various complex parameters set randomly.

  11. Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata

    Energy Technology Data Exchange (ETDEWEB)

    Cameron, S.M.; Robinett, R.; Stantz, K.M.; Trahan, M.W.; Wagner, J.S.

    1999-03-11

    Recent attention has been given to the deployment of an adaptable sensor array realized by multi-robotic systems. Our group has been studying the collective behavior of autonomous, multi-agent systems and their applications in the area of remote-sensing and emerging threats. To accomplish such tasks, an interdisciplinary research effort at Sandia National Laboratories are conducting tests in the fields of sensor technology, robotics, and multi-robotic and multi-agents architectures. Our goal is to coordinate a constellation of point sensors that optimizes spatial coverage and multivariate signal analysis using unmanned robotic vehicles (e.g., RATLERs, Robotic All-ten-sin Lunar Exploration Rover-class vehicles). Overall design methodology is to evolve complex collective behaviors realized through simple interaction (kinetic) physics and artificial intelligence to enable real-time operational responses to emerging threats. This paper focuses on our recent work understanding the dynamics of many-body systems using the physics-based hydrodynamic model of lattice gas automata. Three design features are investigated. One, for single-speed robots, a hexagonal nearest-neighbor interaction topology is necessary to preserve standard hydrodynamic flow. Two, adaptability, defined by the swarm's deformation rate, can be controlled through the hydrodynamic viscosity term, which, in turn, is defined by the local robotic interaction rules. Three, due to the inherent non-linearity of the dynamical equations describing large ensembles, development of stability criteria ensuring convergence to equilibrium states is developed by scaling information flow rates relative to a swarm's hydrodynamic flow rate. An initial test case simulates a swarm of twenty-five robots that maneuvers past an obstacle while following a moving target. A genetic algorithm optimizes applied nearest-neighbor forces in each of five spatial regions distributed over the simulation domain. Armed with

  12. Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators

    Institute of Scientific and Technical Information of China (English)

    高胜; 赵杰; 蔡鹤皋

    2003-01-01

    Adaptive genetic algorithm ASAGA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated multi-robot manipulators. Over the task space of a multi-robot, a strategy of decoupled planning is also applied to the evolutionary process, which enables a multi-robot to avoid falling into deadlock and calculating of composite C-space. Finally, two representative tests are given to validate ASA GA and the strategy of decoupled planning.

  13. A multi-sensorial hybrid control for robotic manipulation in human-robot workspaces.

    Science.gov (United States)

    Pomares, Jorge; Perea, Ivan; García, Gabriel J; Jara, Carlos A; Corrales, Juan A; Torres, Fernando

    2011-01-01

    Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.

  14. A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

    Directory of Open Access Journals (Sweden)

    Juan A. Corrales

    2011-10-01

    Full Text Available Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.

  15. Control for a class of hybrid systems

    NARCIS (Netherlands)

    J.H. van Schuppen (Jan)

    1997-01-01

    textabstractA hybrid control system is a control theoretic model for a computer controlled engineering system. A definition of a hybrid control system is formulated that consists of a product of a finite state automaton and of a family of continuous control systems. An example of a transportation

  16. Theory and Application of Multi-robot Service-oriented Architecture

    Institute of Scientific and Technical Information of China (English)

    Yunfei Cai; Zhenmin Tang; Yuhua Ding; Bin Qian

    2016-01-01

    In order to solve the problem of heterogeneity in multi-robot cooperation,a new service-oriented architecture is proposed for multi-robot cooperation.Service provision and energy consumption are the basic cooperative behaviors.A set of basic concepts of robot service are proposed.A layered multi-robot service-oriented architecture is designed.Finally,the experiments illustrate the superiority of the proposed architecture which makes robot's underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked,which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction,expansion,restructuring and maintenance.

  17. 基于生物刺激神经网络的多机器人编队方法%Multi-robot formation based on biological inspired neural network

    Institute of Scientific and Technical Information of China (English)

    仰晓芳; 倪建军

    2013-01-01

    Multi-robot formation control is an important issue in the multi-robot cooperation field. It is a hot and difficult problem to achieve multi-robot dynamic formation while making them move toward the same target. Concerning this problem, a new biological inspired neural network based approach for multi-robot formation was proposed in this paper. In the proposed approach, a leader-referenced formation model was used to calculate the virtual target location for each robot in real-time, and a biological neural network was used to realize multi-robot navigation. Finally, some simulation experiments were carried out. The experimental results show that the proposed approach has some good performances, such as the real-time obstacle avoidance, keeping formation and moving toward the same target. Furthermore, multi-robots can change the formation quickly, which proves the real-time and intelligence of the proposed approach.%多机器人编队控制是多机器人协作领域的重要研究内容之一,如何实现多机器人朝同一目标移动的同时保持队形是多机器人编队的一个热点和难点问题.针对这一问题,提出一种新的基于生物刺激神经网络的多机器人动态编队方法,采用基于leader-referenced编队模型实时计算各机器人的虚拟目标位置,利用生物刺激神经网络进行机器人导航.最后进行仿真实验,实验结果表明该方法在实现多机器人实时避障并保持队形的同时,朝同一目标移动,而且可以很快实现队形变换,具有较好的实时性和灵活性.

  18. Multi-Robot Planetary Exploration Command and Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Aurora Flight Sciences, The MIT Manned Vehicle Laboratory (MVL), and the MIT Humans and Automation Laboratory (HAL) together propose to adapt existing software,...

  19. Intraply Hybrid Composites Would Contain Control Strips

    Science.gov (United States)

    Chamis, Christos C.; Shiao, Chi-Yu

    1996-01-01

    "Smart" structural components with sensors and/or actuators distributed throughout their volumes made of intraply hybrid composite materials, according to proposal. Strips of hybrid control material interspersed with strips of ordinary (passive) composite material in some layers, providing distributed control capability. For example, near and far edges of plate bent upward by commanding bottom control strips to expand and simultaneously commanding upper control strips to contract.

  20. Fault tolerant control design for hybrid systems

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Hao; Jiang, Bin [Nanjing University of Aeronautics and Astronautics, Nanjing (China); Cocquempot, Vincent [Universite des Sciences et Technologies de Lille, Villeneuve d' Ascq (France)

    2010-07-01

    This book intends to provide the readers a good understanding on how to achieve Fault Tolerant Control goal of Hybrid Systems. The book can be used as a reference for the academic research on Fault Tolerant Control and Hybrid Systems or used in Ph.D. study of control theory and engineering. The knowledge background for this monograph would be some undergraduate and graduate courses on Fault Diagnosis and Fault Tolerant Control theory, linear system theory, nonlinear system theory, Hybrid Systems theory and Discrete Event System theory. (orig.)

  1. Flocking of multi-robot systems with connectivity maintenance on directed graphs

    Institute of Scientific and Technical Information of China (English)

    Yutian Mao; Lihua Dou; Hao Fang; Jie Chen

    2014-01-01

    Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity mainte-nance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via careful y designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, col ision avoidance and distance stabilization simultaneously during the system evolu-tion. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved pro-vided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more general-ized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that al robots can asymptotical y move with the desired velocity and orientation even if there is only one in-formed robot in the team. Final y, nontrivial simulations and exper-iments are conducted to verify the effectiveness of the proposed algorithm.

  2. Collision avoidance planning in multi-robot system based on improved artificial potential field and rules

    Institute of Scientific and Technical Information of China (English)

    YUAN Xin; ZHU Qi-dan; YAN Yong-jie

    2009-01-01

    For real-time and distributed features of multi-robot system, the strategy of combining the improved artificial potential field method and the mles based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method, so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots, collisions between robots can be detected, thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-basod simulated environment.

  3. Genetic Algorithm Based Combinatorial Auction Method for Multi-Robot Task Allocation

    Institute of Scientific and Technical Information of China (English)

    GONG Jian-wei; HUANG Wan-ning; XIONG Guang-ming; MAN Yi-ming

    2007-01-01

    An improved genetic algorithm is proposed to solve the problem of bad real-time performance or inability to get a global optimal/better solution when applying single-item auction (SIA) method or combinatorial auction method to multi-robot task allocation.The genetic algorithm based combinatorial auction (GACA) method which combines the basic-genetic algorithm with a new concept of ringed chromosome is used to solve the winner determination problem (WDP) of combinatorial auction.The simulation experiments are conducted in OpenSim, a multi-robot simulator.The results show that GACA can get a satisfying solution in a reasonable shot time, and compared with SIA or parthenogenesis algorithm combinatorial auction (PGACA) method, it is the simplest and has higher search efficiency, also, GACA can get a global better/optimal solution and satisfy the high real-time requirement of multi-robot task allocation.

  4. HYBRID CONTROL APPROACH FOR CONTAINER CRANES

    Institute of Scientific and Technical Information of China (English)

    Wang Xiaojun; Shao Huihe

    2005-01-01

    A hybrid control approach is proposed to achieve the desired performance. Firstly a robust input shaper is designed to reduce the transient vibration and residual vibration of the container efficiently. Then a simple fuzzy logic controller is designed to eliminate the residual vibration completely in order to guarantee the positioning precision. Such a hybrid approach is simple in structure and readily realizable. Simulation results verify the fine performance of this hybrid control approach. It can achieve perfect elimination of residual vibration and concise positioning of the container load, and it is robust to parameter variations (mainly for cable length) and external disturbances.

  5. Multi-robot coverage to locate fixed targets using formation structures

    CERN Document Server

    Rogge, Jonathan

    2012-01-01

    This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers the entire free space in a sweeping fashion and as such relies on the use of robot formations. The geometry of the robot group is a lateral line formation, which is allowed to split and rejoin when passing obstacles. It is our main goal to exploit this formation structure in order to reduce robot resources to a minimum. Each robot has a limited and finite amount of memory available. No information of the topography is recorded. Communication between two robots is only possible up to a maximum inter-robot distance, and if the line-of-sight between both robots is not obstructed. Broadcasting capabilities and indirect communication are not allowed. Supervisory control is prohibited. The number of robots equipped with GPS is kept as small as possible. Applications of the algorith...

  6. Online Mapping and Perception Algorithms for Multi-robot Teams Operating in Urban Environments

    Science.gov (United States)

    2015-01-01

    best suited for near -term predictions. For use in a multi-robot exploration system , the performance around 0-6 seconds in the future is of most...and A. Voldsund, “A study of the noise-level in two infrared marker-based motion capture systems ,” pp. 258–263, 2012. [64] M. Li, “Camera calibration of... LIDAR and camera sensors. Multi-robot teams are ideal for deployment in large, real-world environments due to their ability to parallelize exploration

  7. Analysis and design of hybrid control systems

    Energy Technology Data Exchange (ETDEWEB)

    Malmborg, J.

    1998-05-01

    Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

  8. Modular supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Lemos Pereira, A. de

    2000-06-01

    The power supply of remote places has been commonly provided by thermal power plants, usually diesel generators. Although hybrid power systems may constitute the most economical solution in many applications their widespread application to the electrification schemes of remote areas still depends on improvements in the issues of design and operation control. The main limitations of the present hybrid power systems technology, which are identified in this work, are related to the control and supervision of the power system. Therefore this thesis focuses on the modularity of supervisory controllers in order to design cost-competitive and reliable hybrid power systems. The modular supervisory controller created in this project is considered an important part of a system design approach that aims to overcome the technical difficulties of the current engineering practice and contribute to open the market of hybrid power systems. The term modular refers to a set of design characteristics that allows the use of basically the same supervisory controller in different projects. The modularization and standardisation of the controller include several issues such as interfacing components, communication protocols, modelling, programming and control strategies. The modularity can reduce the highly specialised system engineering related to the integration of components, operation and control. It can also avoid the high costs for installation, service and maintenance. A modular algorithm for supervisory controllers has been developed (a Matlab program called SuperCon) using an object-oriented design and it has been tested through several simulations using different hybrid system configurations and different control strategies. This thesis presents a complete control system design process which can be used as the basis for the development and implementation of intelligent and autonomous supervisory controllers for hybrid power systems with modular characteristics. (au)

  9. Evolved Finite State Controller For Hybrid System

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2009-01-01

    This paper presents an evolutionary methodology to automatically generate nite state automata (FSA) controllers to control hybrid systems. FSA controllers for a case study of two-tank system have been successfully obtained using the proposed evolutionary approach. Experimental results show...

  10. Full Gradient Solution to Adaptive Hybrid Control

    Science.gov (United States)

    Bean, Jacob; Schiller, Noah H.; Fuller, Chris

    2017-01-01

    This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

  11. Hybrid Predictive Control for Dynamic Transport Problems

    CERN Document Server

    Núñez, Alfredo A; Cortés, Cristián E

    2013-01-01

    Hybrid Predictive Control for Dynamic Transport Problems develops methods for the design of predictive control strategies for nonlinear-dynamic hybrid discrete-/continuous-variable systems. The methodology is designed for real-time applications, particularly the study of dynamic transport systems. Operational and service policies are considered, as well as cost reduction. The control structure is based on a sound definition of the key variables and their evolution. A flexible objective function able to capture the predictive behaviour of the system variables is described. Coupled with efficient algorithms, mainly drawn from the area of computational intelligence, this is shown to optimize performance indices for real-time applications. The framework of the proposed predictive control methodology is generic and, being able to solve nonlinear mixed-integer optimization problems dynamically, is readily extendable to other industrial processes. The main topics of this book are: ●hybrid predictive control (HPC) ...

  12. Hybrid dynamical systems observation and control

    CERN Document Server

    Defoort, Michael

    2015-01-01

    This book is a collection of contributions defining the state of current knowledge and new trends in hybrid systems – systems involving both continuous dynamics and discrete events – as described by the work of several well-known groups of researchers. Hybrid Dynamical Systems presents theoretical advances in such areas as diagnosability, observability and stabilization for various classes of system. Continuous and discrete state estimation and self-triggering control of nonlinear systems are advanced. The text employs various methods, among them, high-order sliding modes, Takagi–Sugeno representation and sampled-data switching to achieve its ends. The many applications of hybrid systems from power converters to computer science are not forgotten; studies of flexible-joint robotic arms and – as representative biological systems – the behaviour of the human heart and vasculature, demonstrate the wide-ranging practical significance of control in hybrid systems. The cross-disciplinary origins of study ...

  13. Multi-robot terrain coverage and task allocation for autonomous detection of landmines

    Science.gov (United States)

    Dasgupta, Prithviraj; Muñoz-Meléndez, Angélica; Guruprasad, K. R.

    2012-06-01

    Multi-robot systems comprising of heterogeneous autonomous vehicles on land, air, water are being increasingly used to assist or replace humans in different hazardous missions. Two crucial aspects in such multi-robot systems are to: a) explore an initially unknown region of interest to discover tasks, and, b) allocate and share the discovered tasks between the robots in a coordinated manner using a multi-robot task allocation (MRTA) algorithm. In this paper, we describe results from our research on multi-robot terrain coverage and MRTA algorithms within an autonomous landmine detection scenario, done as part of the COMRADES project. Each robot is equipped with a different type of landmine detection sensor and different sensors, even of the same type, can have different degrees of accuracy. The landmine detection-related operations performed by each robot are abstracted as tasks and multiple robots are required to complete a single task. First, we describe a distributed and robust terrain coverage algorithm that employs Voronoi partitions to divide the area of interest among the robots and then uses a single-robot coverage algorithm to explore each partition for potential landmines. Then, we describe MRTA algorithms that use the location information of discovered potential landmines and employ either a greedy strategy, or, an opportunistic strategy to allocate tasks among the robots while attempting to minimize the time (energy) expended by the robots to perform the tasks. We report experimental results of our algorithms using accurately-simulated Corobot robots within the Webots simulator performing a multi-robot, landmine detection operation.

  14. A "Hybrid" Approach for Synthesizing Optimal Controllers of Hybrid Systems

    DEFF Research Database (Denmark)

    Zhao, Hengjun; Zhan, Naijun; Kapur, Deepak

    2012-01-01

    We propose an approach to reduce the optimal controller synthesis problem of hybrid systems to quantifier elimination; furthermore, we also show how to combine quantifier elimination with numerical computation in order to make it more scalable but at the same time, keep arising errors due...... to discretization manageable and within bounds. A major advantage of our approach is not only that it avoids errors due to numerical computation, but it also gives a better optimal controller. In order to illustrate our approach, we use the real industrial example of an oil pump provided by the German company HYDAC...

  15. Locomotion control of hybrid cockroach robots

    Science.gov (United States)

    Sanchez, Carlos J.; Chiu, Chen-Wei; Zhou, Yan; González, Jorge M.; Vinson, S. Bradleigh; Liang, Hong

    2015-01-01

    Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroaches, wherein implanted electrodes were used to apply an electrical stimulus to the prothoracic ganglia. Using this approach, larger discoid cockroaches were engineered into a remotely controlled hybrid robotic system. Locomotion control was achieved through electrical stimulation of the prothoracic ganglia, via a remotely operated backpack system and implanted electrodes. The backpack consisted of a microcontroller with integrated transceiver protocol, and a rechargeable battery. The hybrid discoid roach was able to walk, and turn in response to an electrical stimulus to its nervous system with high repeatability of 60%. PMID:25740855

  16. Hybrid Intelligent Control for Submarine Stabilization

    Directory of Open Access Journals (Sweden)

    Minghui Wang

    2013-05-01

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

  17. Hybrid Intelligent Control for Submarine Stabilization

    Directory of Open Access Journals (Sweden)

    Minghui Wang

    2013-05-01

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

  18. Infinite Dimensional Differential Games with Hybrid Controls

    Indian Academy of Sciences (India)

    A J Shaiju; Sheetal Dharmatti

    2007-05-01

    A two-person zero-sum infinite dimensional differential game of infinite duration with discounted payoff involving hybrid controls is studied. The minimizing player is allowed to take continuous, switching and impulse controls whereas the maximizing player is allowed to take continuous and switching controls. By taking strategies in the sense of Elliott–Kalton, we prove the existence of value and characterize it as the unique viscosity solution of the associated system of quasi-variational inequalities.

  19. An object oriented multi-robotic graphic simulation environment for programming the welding tasks

    Institute of Scientific and Technical Information of China (English)

    崔泽; 赵杰; 崔岩; 蔡鹤皋

    2002-01-01

    An object-oriented multi-robotic graphic simulation environment is described in this paper. Object-oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user-friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi-robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi-thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.

  20. Multi-robot path planning in a dynamic environment using improved gravitational search algorithm

    Directory of Open Access Journals (Sweden)

    P.K. Das

    2016-09-01

    Full Text Available This paper proposes a new methodology to optimize trajectory of the path for multi-robots using improved gravitational search algorithm (IGSA in a dynamic environment. GSA is improved based on memory information, social, cognitive factor of PSO (particle swarm optimization and then, population for next generation is decided by the greedy strategy. A path planning scheme has been developed using IGSA to optimally obtain the succeeding positions of the robots from the existing position. Finally, the analytical and experimental results of the multi-robot path planning have been compared with those obtained by IGSA, GSA and PSO in a similar environment. The simulation and the Khepera environmental results outperform IGSA as compared to GSA and PSO with respect to performance matrix.

  1. Multi-Robot Dynamic Task Allocation Using Modified Ant Colony System

    Science.gov (United States)

    Xu, Zhenzhen; Xia, Feng; Zhang, Xianchao

    This paper presents a dynamic task allocation algorithm for multiple robots to visit multiple targets. This algorithm is specifically designed for the environment where robots have dissimilar starting and ending locations. And the constraint of balancing the number of targets visited by each robot is considered. More importantly, this paper takes into account the dynamicity of multi-robot system and the obstacles in the environment. This problem is modeled as a constrained MTSP which can not be transformed to TSP and can not be solved by classical Ant Colony System (ACS). The Modified Ant Colony System (MACS) is presented to solve this problem and the unvisited targets are allocated to appropriate robots dynamically. The simulation results show that the output of the proposed algorithm can satisfy the constraints and dynamicity for the problem of multi-robot task allocation.

  2. MERCURY CONTROL WITH ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Ye Zhuang; Stanley J. Miller

    2005-05-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addressed Technical Topical Area 4-Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team included the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Power Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and has been marketed as the Advanced Hybrid{trademark} filter by Gore. The Advanced Hybrid{trademark} filter combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The Advanced Hybrid{trademark} filter provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The Advanced Hybrid{trademark} filter also appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas--solid contactor. The objective of the project was to demonstrate 90% total mercury control in the Advanced Hybrid{trademark} filter at a lower cost than current mercury control estimates. The approach included bench-scale batch tests, larger-scale pilot testing with real flue gas on a coal-fired combustion system, and field demonstration at the 2.5-MW (9000-acfm) scale at a utility power plant to prove scale-up and demonstrate longer-term mercury control

  3. Experiments Toward the Application of Multi-Robot Systems to Disaster-Relief Scenarios

    Science.gov (United States)

    2015-09-01

    robot that wades through a flooded disaster site to extinguish a critical fire, we believe a heterogeneous, multi-robot team that can quickly navigate...prior maps of the environment, a classical formulation would suffice. Initially it could be as a well-studied Vehicle Routing Problem (VRP): with known...GTSAM software library developed at Georgia Tech.25 Our technique leverages the Generalized Iterative Closet Point (ICP) algorithm26 for dense inter

  4. Democratic Inspired Particle Swarm Optimization for Multi-Robot Exploration Task

    OpenAIRE

    Moslah, Oussama; Hachaïchi, Yassine; Lahbib, Younes

    2016-01-01

    In this paper, we propose a new method for exploring an unknown environment with a team of homogeneous mobile robots. The goal of our approach is to minimize the exploration time. The challenge in multi-robot exploration is how to develop distributed algorithm to govern the colony of robots while choosing its new direction so that they simultaneously explore different regions. In this paper we use the extended version of Particle Swarm Optimization (PSO) to robotic applications, which is refe...

  5. Internet Based General Computer Simulation Platform for Distributed Multi-Robotic System

    Institute of Scientific and Technical Information of China (English)

    迟艳玲; 张斌; 王硕; 谭民

    2002-01-01

    A general computer simulation platform is designed for the purpose of catrrying out experiments on the Distributed Multi-Robotic System. The simulation platform is based on Internet and possesses generality, validity, real-time display and function of supporting algorithm developing. In addition, the platform is equipped wit recording and replay module, and simulation experiment can be reviewed at anytime.By now; a few algorithms have been developed on the Simulation Platform designed.

  6. Multi-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction

    Directory of Open Access Journals (Sweden)

    Juan Jesús Roldán

    2017-07-01

    Full Text Available Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation.

  7. Multi-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction

    Science.gov (United States)

    Peña-Tapia, Elena; Martín-Barrio, Andrés; Olivares-Méndez, Miguel A.

    2017-01-01

    Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation. PMID:28749407

  8. Multi-Robot Coalitions Formation with Deadlines: Complexity Analysis and Solutions.

    Science.gov (United States)

    Guerrero, Jose; Oliver, Gabriel; Valero, Oscar

    2017-01-01

    Multi-robot task allocation is one of the main problems to address in order to design a multi-robot system, very especially when robots form coalitions that must carry out tasks before a deadline. A lot of factors affect the performance of these systems and among them, this paper is focused on the physical interference effect, produced when two or more robots want to access the same point simultaneously. To our best knowledge, this paper presents the first formal description of multi-robot task allocation that includes a model of interference. Thanks to this description, the complexity of the allocation problem is analyzed. Moreover, the main contribution of this paper is to provide the conditions under which the optimal solution of the aforementioned allocation problem can be obtained solving an integer linear problem. The optimal results are compared to previous allocation algorithms already proposed by the first two authors of this paper and with a new method proposed in this paper. The results obtained show how the new task allocation algorithms reach up more than an 80% of the median of the optimal solution, outperforming previous auction algorithms with a huge reduction of the execution time.

  9. Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Hope, Mark E [Marshall, MI; Zou, Zhanjiang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-02-10

    A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

  10. Modelling supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Pereira, A.; Bindner, H.; Lundsager, P. [Risoe National Lab., Roskilde (Denmark); Jannerup, O. [Technical Univ. of Denmark, Dept. of Automation, Lyngby (Denmark)

    1999-03-01

    Supervisory controllers are important to achieve optimal operation of hybrid power systems. The performance and economics of such systems depend mainly on the control strategy for switching on/off components. The modular concept described in this paper is an attempt to design standard supervisory controllers that could be used in different applications, such as village power and telecommunication applications. This paper presents some basic aspects of modelling and design of modular supervisory controllers using the object-oriented modelling technique. The functional abstraction hierarchy technique is used to formulate the control requirements and identify the functions of the control system. The modular algorithm is generic and flexible enough to be used with any system configuration and several goals (different applications). The modularity includes accepting modification of system configuration and goals during operation with minor or no changes in the supervisory controller. (au)

  11. Hybrid Genetic Algorithms with Fuzzy Logic Controller

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    In this paper, a new implementation of genetic algorithms (GAs) is developed for the machine scheduling problem, which is abundant among the modern manufacturing systems. The performance measure of early and tardy completion of jobs is very natural as one's aim, which is usually to minimize simultaneously both earliness and tardiness of all jobs. As the problem is NP-hard and no effective algorithms exist, we propose a hybrid genetic algorithms approach to deal with it. We adjust the crossover and mutation probabilities by fuzzy logic controller whereas the hybrid genetic algorithm does not require preliminary experiments to determine probabilities for genetic operators. The experimental results show the effectiveness of the GAs method proposed in the paper.``

  12. Hybrid upconversion nanomaterials for optogenetic neuronal control

    Science.gov (United States)

    Shah, Shreyas; Liu, Jing-Jing; Pasquale, Nicholas; Lai, Jinping; McGowan, Heather; Pang, Zhiping P.; Lee, Ki-Bum

    2015-10-01

    Nanotechnology-based approaches offer the chemical control required to develop precision tools suitable for applications in neuroscience. We report a novel approach employing hybrid upconversion nanomaterials, combined with the photoresponsive ion channel channelrhodopsin-2 (ChR2), to achieve near-infrared light (NIR)-mediated optogenetic control of neuronal activity. Current optogenetic methodologies rely on using visible light (e.g. 470 nm blue light), which tends to exhibit high scattering and low tissue penetration, to activate ChR2. In contrast, our approach enables the use of 980 nm NIR light, which addresses the short-comings of visible light as an excitation source. This was facilitated by embedding upconversion nanomaterials, which can convert NIR light to blue luminescence, into polymeric scaffolds. These hybrid nanomaterial scaffolds allowed for NIR-mediated neuronal stimulation, with comparable efficiency as that of 470 nm blue light. Our platform was optimized for NIR-mediated optogenetic control by balancing multiple physicochemical properties of the nanomaterial (e.g. size, morphology, structure, emission spectra, concentration), thus providing an early demonstration of rationally-designing nanomaterial-based strategies for advanced neural applications.Nanotechnology-based approaches offer the chemical control required to develop precision tools suitable for applications in neuroscience. We report a novel approach employing hybrid upconversion nanomaterials, combined with the photoresponsive ion channel channelrhodopsin-2 (ChR2), to achieve near-infrared light (NIR)-mediated optogenetic control of neuronal activity. Current optogenetic methodologies rely on using visible light (e.g. 470 nm blue light), which tends to exhibit high scattering and low tissue penetration, to activate ChR2. In contrast, our approach enables the use of 980 nm NIR light, which addresses the short-comings of visible light as an excitation source. This was facilitated by

  13. Multi-Robot FastSLAM for Large Domains

    Science.gov (United States)

    2007-03-01

    Vicente Matellan, Robot Localization using Wifi Signal without Intensity Map. Proceedings of the V Workshop Agentes Fisicos WAF, 2004, 4, 79-88 27...Larry D. Pyeatt. Multi- agent mapping using dynamic allocation utilizing a centralized storage system. 12th Annual Mediterranean Conference on Control

  14. Self-organizing method for collaboration in multi-robot system on basis of balance principle

    Institute of Scientific and Technical Information of China (English)

    Yangbin DONA; Jinping JIANG; Yan HE

    2008-01-01

    By analyzing the operation characteristics of two subtasks that have resource dependency on each other, this paper demonstrates the impact of progress relation between the two subtasks on the whole task's progress, and then puts forward a self-organizing prin-ciple called balance principle that keeps the individual profit between robots equal. Furthermore, an algorithm is designed for adjusting subtask selection on the basis of this principle. Simulation shows the validity of the algorithm on self-organizing task allocation in a multi-robot system.

  15. Internet based design of distributed virtual environment for multi-robot teleoperation

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Studies the design of distributed virtual environments (DVEs) for tele-multi-robotics. The proposed design, incorporating two models (distribution-supported model and VE-supported model), attempts to represent common functionality, communication issues, and requirements found in multi-operator DVEs. The distribution-supported model concentrates on the introduction of computer-supported collaborative work (CSCW) to realize the coordination of multi-operators, while the VE-supported model concentrates on the utilization of an object-oriented approach to strengthen the expandability and robustness of the system. Finally, the configuration and running environments of the system are given.

  16. Collaborative task planning for an internet based multi-operator multi-robot system

    Institute of Scientific and Technical Information of China (English)

    GAO Sheng; ZHAO Jie; CAI He-gao

    2005-01-01

    In an Internet based multi-operator and multi-robot system (IMOMR), operators have to work collaboratively to overcome the constraints of space and time. Inherently, the activities among them can be defined as a computer-supported cooperative work (CSCW). As a practical application of CSCW, a collaborative task planning system (CTPS) for IMOMR is proposed in this paper on the basis of Petri nets. Its definition, components design, and concrete implementation are given in detail, respectively. As a result, a clear collaboration mechanism of multiple operators in an IMOMR is obtained to guarantee their task planning.

  17. Hybrid adaptive control of a dragonfly model

    Science.gov (United States)

    Couceiro, Micael S.; Ferreira, Nuno M. F.; Machado, J. A. Tenreiro

    2012-02-01

    Dragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive ( HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive ( DA) method in terms of faster and improved tracking and parameter convergence.

  18. Multi-Robot Motion Planning: A Timed Automata Approach

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

    2004-01-01

    This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar...... against specification requirements formulated in computational tree logic (CTL). In this way, all feasible trajectories that satisfy specifications and which moves the robots from a set of initial positions to a set of desired goal positions may be algorithmically analyzed. The trajectories can...... then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research....

  19. Multi-Robot Motion Planning: A Timed Automata Approach

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

    This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar...... against specification requirements formulated in computational tree logic (CTL). In this way, all feasible trajectories that satisfy specifications and which moves the robots from a set of initial positions to a set of desired goal positions may be algorithmically analyzed. The trajectories can...... then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research....

  20. Scalable Task Assignment for Heterogeneous Multi-Robot Teams

    Directory of Open Access Journals (Sweden)

    Paula García

    2013-02-01

    Full Text Available This work deals with the development of a dynamic task assignment strategy for heterogeneous multi‐robot teams in typical real world scenarios. The strategy must be efficiently scalable to support problems of increasing complexity with minimum designer intervention. To this end, we have selected a very simple auction‐based strategy, which has been implemented and analysed in a multi‐robot cleaning problem that requires strong coordination and dynamic complex subtask organization. We will show that the selection of a simple auction strategy provides a linear computational cost increase with the number of robots that make up the team and allows the solving of highly complex assignment problems in dynamic conditions by means of a hierarchical sub‐auction policy. To coordinate and control the team, a layered behaviour‐based architecture has been applied that allows the reusing of the auction‐based strategy to achieve different coordination levels.

  1. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

  2. Awareness and Self-Awareness for Multi-Robot Organisms

    CERN Document Server

    Kernbach, Serge

    2011-01-01

    Awareness and self-awareness are two different notions related to knowing the environment and itself. In a general context, the mechanism of self-awareness belongs to a class of co-called "self-issues" (self-* or self-star): self-adaptation, self-repairing, self-replication, self-development or self-recovery. The self-* issues are connected in many ways to adaptability and evolvability, to the emergence of behavior and to the controllability of long-term developmental processes. Self-* are either natural properties of several systems, such as self-assembling of molecular networks, or may emerge as a result of homeostatic regulation. Different computational processes, leading to a global optimization, increasing scalability and reliability of collective systems, create such a homeostatic regulation. Moreover, conditions of ecological survival, imposed on such systems, lead to a discrimination between "self" and "non-self" as well as to the emergence of different self-phenomena. There are many profound challeng...

  3. CVT shift control for a hybrid driveline

    Energy Technology Data Exchange (ETDEWEB)

    Mueller, C. [VDI (Germany); Schroeder, D.

    2002-07-01

    In this contribution, chain drive CVTs will be investigated. Pushing belt CVTs are characterized by a different construction, but some basic concepts can be partly transferred. The identification results refer to the drive train of a parallel hybrid passenger car which is discussed as an example for application. It is equipped with a special CVT based gearbox. A set of clutches allows the squaring of the single CVT range of possible gear ratios. A detailed description of the system is given in [2]. CVT models discussed in literature [15],[10] focus primarily on component strain in order to support the design process. These models are usually rather complex and are not well-suited for control purposes. In the following, a short system description will be given. Properties relevant for control will be outlined. (orig.)

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

    Institute of Scientific and Technical Information of China (English)

    GAO Qiang; WANG Hongli

    2005-01-01

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

  5. A Spatial Queuing-Based Algorithm for Multi-Robot Task Allocation

    Directory of Open Access Journals (Sweden)

    William Lenagh

    2015-08-01

    Full Text Available Multi-robot task allocation (MRTA is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring that a certain metric, such as the time required to complete all tasks, or the distance traveled, or the energy expended by the robots is reduced. We consider a scenario where tasks can appear dynamically and a task needs to be performed by multiple robots to be completed. We propose a new algorithm called SQ-MRTA (Spatial Queueing-MRTA that uses a spatial queue-based model to allocate tasks between robots in a distributed manner. We have implemented the SQ-MRTA algorithm on accurately simulated models of Corobot robots within the Webots simulator for different numbers of robots and tasks and compared its performance with other state-of-the-art MRTA algorithms. Our results show that the SQ-MRTA algorithm is able to scale up with the number of tasks and robots in the environment, and it either outperforms or performs comparably with respect to other distributed MRTA algorithms.

  6. Development of a Survivable Cloud Multi-Robot Framework for Heterogeneous Environments

    Directory of Open Access Journals (Sweden)

    Isaac Osunmakinde

    2014-10-01

    Full Text Available Cloud robotics is a paradigm that allows for robots to offload computationally intensive and data storage requirements into the cloud by providing a secure and customizable environment. The challenge for cloud robotics is the inherent problem of cloud disconnection. A major assumption made in the development of the current cloud robotics frameworks is that the connection between the cloud and the robot is always available. However, for multi-robots working in heterogeneous environments, the connection between the cloud and the robots cannot always be guaranteed. This work serves to assist with the challenge of disconnection in cloud robotics by proposing a survivable cloud multi-robotics (SCMR framework for heterogeneous environments. The SCMR framework leverages the combination of a virtual ad hoc network formed by robot-to-robot communication and a physical cloud infrastructure formed by robot-to-cloud communications. The quality of service (QoS on the SCMR framework was tested and validated by determining the optimal energy utilization and time of response (ToR on drivability analysis with and without cloud connection. The design trade-off, including the result, is between the computation energy for the robot execution and the offloading energy for the cloud execution.

  7. Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring.

    Science.gov (United States)

    Comparetti, Mirko Daniele; Vaccarella, Alberto; Dyagilev, Ilya; Shoham, Moshe; Ferrigno, Giancarlo; De Momi, Elena

    2012-05-01

    Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align the probe onto a desired planned trajectory. The probe is then inserted in the brain, towards the planned target, by means of a haptic interface. This paper presents a new iterative targeting approach to be used in surgical robotic navigation, where the multi-robot chain is used to align the surgical probe to the planned pose, and an external sensor is used to decrease the alignment errors. The iterative targeting was tested in an operating room environment using a skull phantom, and the targets were selected on magnetic resonance images. The proposed targeting procedure allows about 0.3 mm to be obtained as the residual median Euclidean distance between the planned and the desired targets, thus satisfying the surgical accuracy requirements (1 mm), due to the resolution of the diffused medical images. The performances proved to be independent of the robot optical sensor calibration accuracy.

  8. Development of a Survivable Cloud Multi-robot Framework for Heterogeneous Environments

    Directory of Open Access Journals (Sweden)

    Isaac Osunmakinde

    2014-10-01

    Full Text Available Cloud robotics is a paradigm that allows for robots to offload computationally intensive and data storage requirements into the cloud by providing a secure and customizable environment. The challenge for cloud robotics is the inherent problem of cloud disconnection. A major assumption made in the development of the current cloud robotics frameworks is that the connection between the cloud and the robot is always available. However, for multi-robots working in heterogeneous environments, the connection between the cloud and the robots cannot always be guaranteed. This work serves to assist with the challenge of disconnection in cloud robotics by proposing a survivable cloud multi-robotics (SCMR framework for heterogeneous environments. The SCMR framework leverages the combination of a virtual ad hoc network formed by robot-to-robot communication and a physical cloud infrastructure formed by robot-to- cloud communications. The quality of service (QoS on the SCMR framework was tested and validated by determining the optimal energy utilization and time of response (ToR on drivability analysis with and without cloud connection. The design trade-off, including the result, is between the computation energy for the robot execution and the offloading energy for the cloud execution.

  9. Multi-robot task allocation based on two dimensional artificial fish swarm algorithm

    Science.gov (United States)

    Zheng, Taixiong; Li, Xueqin; Yang, Liangyi

    2007-12-01

    The problem of task allocation for multiple robots is to allocate more relative-tasks to less relative-robots so as to minimize the processing time of these tasks. In order to get optimal multi-robot task allocation scheme, a twodimensional artificial swarm algorithm based approach is proposed in this paper. In this approach, the normal artificial fish is extended to be two dimension artificial fish. In the two dimension artificial fish, each vector of primary artificial fish is extended to be an m-dimensional vector. Thus, each vector can express a group of tasks. By redefining the distance between artificial fish and the center of artificial fish, the behavior of two dimension fish is designed and the task allocation algorithm based on two dimension artificial swarm algorithm is put forward. At last, the proposed algorithm is applied to the problem of multi-robot task allocation and comparer with GA and SA based algorithm is done. Simulation and compare result shows the proposed algorithm is effective.

  10. Hybrid optimization schemes for quantum control

    Energy Technology Data Exchange (ETDEWEB)

    Goerz, Michael H.; Koch, Christiane P. [Universitaet Kassel, Theoretische Physik, Kassel (Germany); Whaley, K. Birgitta [University of California, Department of Chemistry, Berkeley, CA (United States)

    2015-12-15

    Optimal control theory is a powerful tool for solving control problems in quantum mechanics, ranging from the control of chemical reactions to the implementation of gates in a quantum computer. Gradient-based optimization methods are able to find high fidelity controls, but require considerable numerical effort and often yield highly complex solutions. We propose here to employ a two-stage optimization scheme to significantly speed up convergence and achieve simpler controls. The control is initially parametrized using only a few free parameters, such that optimization in this pruned search space can be performed with a simplex method. The result, considered now simply as an arbitrary function on a time grid, is the starting point for further optimization with a gradient-based method that can quickly converge to high fidelities. We illustrate the success of this hybrid technique by optimizing a geometric phase gate for two superconducting transmon qubits coupled with a shared transmission line resonator, showing that a combination of Nelder-Mead simplex and Krotov's method yields considerably better results than either one of the two methods alone. (orig.)

  11. Hybrid systems, optimal control and hybrid vehicles theory, methods and applications

    CERN Document Server

    Böhme, Thomas J

    2017-01-01

    This book assembles new methods showing the automotive engineer for the first time how hybrid vehicle configurations can be modeled as systems with discrete and continuous controls. These hybrid systems describe naturally and compactly the networks of embedded systems which use elements such as integrators, hysteresis, state-machines and logical rules to describe the evolution of continuous and discrete dynamics and arise inevitably when modeling hybrid electric vehicles. They can throw light on systems which may otherwise be too complex or recondite. Hybrid Systems, Optimal Control and Hybrid Vehicles shows the reader how to formulate and solve control problems which satisfy multiple objectives which may be arbitrary and complex with contradictory influences on fuel consumption, emissions and drivability. The text introduces industrial engineers, postgraduates and researchers to the theory of hybrid optimal control problems. A series of novel algorithmic developments provides tools for solving engineering pr...

  12. Control of aggregation-induced emission by DNA hybridization

    OpenAIRE

    Li, Shaoguang; Langenegger, Simon Matthias; Häner, Robert

    2013-01-01

    Aggregation-induced emission (AIE) was studied by hybridization of dialkynyl-tetraphenylethylene (DATPE) modified DNA strands. Molecular aggregation and fluorescence of DATPEs are controlled by duplex formation.

  13. Multi-Robot, Multi-Target Particle Swarm Optimization Search in Noisy Wireless Environments

    Energy Technology Data Exchange (ETDEWEB)

    Kurt Derr; Milos Manic

    2009-05-01

    Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perform tasks that are difficult or impossible for a single robot to accomplish. The problem considered in this paper is exploration of an unknown environment with the goal of finding a target(s) at an unknown location(s) using multiple small mobile robots. This work demonstrates the use of a distributed PSO algorithm with a novel adaptive RSS weighting factor to guide robots for locating target(s) in high risk environments. The approach was developed and analyzed on multiple robot single and multiple target search. The approach was further enhanced by the multi-robot-multi-target search in noisy environments. The experimental results demonstrated how the availability of radio frequency signal can significantly affect robot search time to reach a target.

  14. A People-Localization Method for Multi-Robot Systems First Approach for Guiding-Tours

    Directory of Open Access Journals (Sweden)

    Edgar Martinez-Garcia

    2008-11-01

    Full Text Available Throughout this article we present a methodology to localize multiple people in a group by a multi-robot system (MRS. The aim of the MRS is to conduct people through hallways in indoors as a guided-tour service task. However, further than guidance process, we detail a method for humans' localization by sharing distributed sensor data arising from the team of robots instrumented with stereo vision. The robustness of the method is presented, and by matching the real environment against the computed results, error in human localization is showed as well. As a first approach of the entire MRS goal, this paper explains from a task approach the way for environment ranging, spatial noise filtering, distributed sensor data fusion and clustering based segmentation. Likewise, through the paper experimental results are shown to verify the feasibility of the method.

  15. Multi-Robot Searching Algorithm Using Levy Flight and Artificial Potential Field

    CERN Document Server

    Sutantyo, Donny K; Nepomnyashchikh, Valentin A; Levi, Paul

    2011-01-01

    An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is not sufficient to scan an area or volume by a single robot, multiple robots should be involved to perform the collective exploration. In this paper, we propose to combine bio-inspired search algorithm called Levy flight and artificial potential field method to perform an efficient searching algorithm for multi-robot applications. The main focus of this work is not only to prove the concept or to measure the efficiency of the algorithm by experiments, but also to develop an appropriate generic framework to be implemented both in simulation and on real robotic platforms. Several experiments, which compare different search algorithms, are also performed.

  16. Simultaneous Task Subdivision and Allocation using Negotiations in Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Claudio Rossi

    2015-03-01

    Full Text Available This paper presents a negotiations based approach for simultaneous task subdivision and assignment in hetero-geneous multi-robot systems. We first propose an abstraction of the concept of a task that allows for the generalizing of a variety of different problems. Based on such an abstraction, we have developed a negotiation protocol based on Rubinstein’s alternate offers protocol. This is extended to the multi-dimensional space and employs a heuristic search step for evaluating and generating offers. Furthermore, the issue of how to extend a bilateral negotiations protocol to more than two parties is taken into consideration. The protocol was first tested in numerical simulations with different scenarios and then applied to three real world missions.

  17. Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication

    Directory of Open Access Journals (Sweden)

    Shao Shiliang

    2014-06-01

    Full Text Available In this paper, we focus on distributed fault detection and isolation (FDI for a multi-robot system where multiple robots execute a flocking task. Firstly, we propose a fault detection method based on the local-information-exchange and sensor-measurement technologies to cover cases of both perfect communication and imperfect communication. The two detection technologies can be adaptively selected according to the packet loss rate (PLR. Secondly, we design a fault isolation method, considering a situation in which faulty robots still influence the behaviours of other robots. Finally, a complete FDI scheme, based on the proposed detection and isolation methods, is simulated in various scenarios. The results demonstrate that our FDI scheme is effective.

  18. DSP Control of Line Hybrid Active Filter

    DEFF Research Database (Denmark)

    Dan, Stan George; Benjamin, Doniga Daniel; Magureanu, R.;

    2005-01-01

    Active Power Filters have been intensively explored in the past decade. Hybrid active filters inherit the efficiency of passive filters and the improved performance of active filters, and thus constitute a viable improved approach for harmonic compensation. In this paper a parallel hybrid filter ...

  19. SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

    Directory of Open Access Journals (Sweden)

    Abhijeet Ravankar

    2016-06-01

    Full Text Available Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel smooth hypocycloidal paths (SHP for robot motion. It is integrated with collision-free and decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments the points of sharp turns in the global path of the map into nodes, which are used to generate smooth hypocycloidal curves that maintain a safe clearance in relation to the obstacles. These nodes are also used as safe points of retreat to avoid collision with other robots. The novel contributions of this work are as follows: (1 The proposed work is the first use of hypocycloid geometry to produce smooth and continuous paths for robot motion. A mathematical analysis of SHP generation in various scenarios is discussed. (2 The proposed work is also the first to consider the case of smooth and collision-free path generation for a load carrying robot. (3 Traditionally, path smoothing and collision avoidance have been addressed as separate problems. This work proposes integrated and decoupled collision-free multi-robot path planning. ‵Node caching‵ is proposed to improve efficiency. A decoupled approach with local communication enables the paths of robots to be dynamically changed. (4 A novel ‵multi-robot map update‵ in case of dynamic obstacles in the map is proposed, such that robots update other robots about the positions of dynamic obstacles in the map. A timestamp feature ensures that all the robots have the most updated map. Comparison between SHP and other path smoothing techniques and experimental results in real environments confirm that SHP can generate smooth paths for robots and avoid collision with other robots through local communication.

  20. A hybrid electromechanical solid state switch for ac power control

    Science.gov (United States)

    1972-01-01

    Bidirectional thyristor coupled to a series of actuator driven electromechanical contacts generates hybrid electromechanical solid state switch for ac power control. Device is useful in power control applications where zero crossover switching is required.

  1. Controllable hybrid shape of correlation and squeezing

    Science.gov (United States)

    Abdisa, Garuma; Ahmed, Irfan; Wang, Xiuxiu; Liu, Zongchen; Wang, Hongxing; Zhang, Yanpeng

    2016-08-01

    Two- and three-mode correlation and squeezing of spontaneous parametric four-wave mixing (SPFWM) and fourth-order fluorescence (FL) composite signals are investigated theoretically and experimentally in both homonuclear (two-level) and heteronuclearlike (V-type level) molecular systems of P r3 + :YSO. By selecting different time positions, changing the power, and changing the frequency detuning of the laser field, the competition between the composite signals is demonstrated. It is found that as the laser parameters change, the signal evolves from a nonlinear χ(4 ) process resulting in a FL signal to a SPFWM signal (χ(3 ) process). In addition, the competition effect between the signals determines the evolution of the shape of the correlation from a pure sharp to a two-stage (mixed) shape and finally to a pure broad peak amplitude. Furthermore, the signal evolution determines the magnitude of squeezing, which can control the noise level. Such progress may find potential applications in optical hybrid communication and information processing.

  2. Review of hybrid laminar flow control systems

    Science.gov (United States)

    Krishnan, K. S. G.; Bertram, O.; Seibel, O.

    2017-08-01

    The aeronautic community always strived for fuel efficient aircraft and presently, the need for ecofriendly aircraft is even more, especially with the tremendous growth of air traffic and growing environmental concerns. Some of the important drivers for such interests include high fuel prices, less emissions requirements, need for more environment friendly aircraft to lessen the global warming effects. Hybrid laminar flow control (HLFC) technology is promising and offers possibility to achieve these goals. This technology was researched for decades for its application in transport aircraft, and it has achieved a new level of maturity towards integration and safety and maintenance aspects. This paper aims to give an overview of HLFC systems research and associated flight tests in the past years both in the US and in Europe. The review makes it possible to distinguish between the successful approaches and the less successful or outdated approaches in HLFC research. Furthermore, the technology status shall try to produce first estimations regarding the mass, power consumption and performance of HLFC systems as well as estimations regarding maintenance requirements and possible subsystem definitions.

  3. Hybrid Dislocated Control and General Hybrid Projective Dislocated Synchronization for Memristor Chaotic Oscillator System

    Directory of Open Access Journals (Sweden)

    Junwei Sun

    2014-01-01

    Full Text Available Some important dynamical properties of the memristor chaotic oscillator system have been studied in the paper. A novel hybrid dislocated control method and a general hybrid projective dislocated synchronization scheme have been realized for memristor chaotic oscillator system. The paper firstly presents hybrid dislocated control method for stabilizing chaos to the unstable equilibrium point. Based on the Lyapunov stability theorem, general hybrid projective dislocated synchronization has been studied for the drive memristor chaotic oscillator system and the same response memristor chaotic oscillator system. For the different dimensions, the memristor chaotic oscillator system and the other chaotic system have realized general hybrid projective dislocated synchronization. Numerical simulations are given to show the effectiveness of these methods.

  4. Control system for a hybrid powertrain system

    Energy Technology Data Exchange (ETDEWEB)

    Naqvi, Ali K.; Demirovic, Besim; Gupta, Pinaki; Kaminsky, Lawrence A.

    2014-09-09

    A vehicle includes a powertrain with an engine, first and second torque machines, and a hybrid transmission. A method for operating the vehicle includes operating the engine in an unfueled state, releasing an off-going clutch which when engaged effects operation of the hybrid transmission in a first continuously variable mode, and applying a friction braking torque to a wheel of the vehicle to compensate for an increase in an output torque of the hybrid transmission resulting from releasing the off-going clutch. Subsequent to releasing the off-going clutch, an oncoming clutch which when engaged effects operation of the hybrid transmission in a second continuously variable mode is synchronized. Subsequent to synchronization of the oncoming clutch, the oncoming clutch is engaged.

  5. Dopamine-induced silica-polydopamine hybrids with controllable morphology.

    Science.gov (United States)

    Ho, Chia-Che; Ding, Shinn-Jyh

    2014-04-01

    Novel silica-polydopamine hybrids, with controllable morphology, are facilely fabricated in an emulsion system consisting of tetraethyl orthosilicate, dopamine, water, and NaOH under weakly basic conditions (pH 8.5-10). An increase in initial pH favors the formation of nano-structured spherical silica-PDA hybrids from a flocculated structure.

  6. Investigating Transgenic Corn Hybrids as a Method for Mycotoxin Control

    Science.gov (United States)

    Transgenic Bt corn hybrids have been available for more than 10 years and are known to control specific insects. More recently, so-called “stacked-gene” hybrids, have been released with multiple insect resistance genes and genes for herbicide resistance, resulting in up to 6 traits per plant. Beca...

  7. Supermarket Refrigeration System - Benchmark for Hybrid System Control

    DEFF Research Database (Denmark)

    Sloth, Lars Finn; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2007-01-01

    This paper presents a supermarket refrigeration system as a benchmark for development of new ideas and a comparison of methods for hybrid systems' modeling and control. The benchmark features switch dynamics and discrete valued input making it a hybrid system, furthermore the outputs are subjected...

  8. Hybrid viscous damper with filtered integral force feedback control

    DEFF Research Database (Denmark)

    Høgsberg, Jan; Brodersen, Mark L.

    2016-01-01

    In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...

  9. Hybrid Testing of Composite Structures with Single-Axis Control

    DEFF Research Database (Denmark)

    Waldbjørn, Jacob Paamand; Høgh, Jacob Herold; Stang, Henrik

    2013-01-01

    a hybrid testing platform is introduced for single-component hybrid testing. In this case, the boundary between the numerical model and experimental setup is defined by multiple Degrees-Of-Freedoms (DOFs) which highly complicate the transferring of response between the two substructures. Digital Image......Hybrid testing is a substructuring technique where a structure is emulated by modelling a part of it in a numerical model while testing the remainder experimentally. Previous research in hybrid testing has been performed on multi-component structures e.g. damping fixtures, however in this paper...... Correlation (DIC) is therefore implemented for displacement control of the experimental setup. The hybrid testing setup was verified on a multicomponent structure consisting of a beam loaded in three point bending and a numerical structure of a frame. Furthermore, the stability of the hybrid testing loop...

  10. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

    The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused...

  11. High Precision Motion Control of Hybrid Five-Bar Mechanism with an Intelligent Control

    Institute of Scientific and Technical Information of China (English)

    ZHANG Ke; WANG Sheng-ze

    2009-01-01

    Hybrid mechanism is a new type of planar controllable mechanism. Position control accuracy of system determines the output acctracy of the mechanism In order to achieve the desired high accuracy, nonlinear factors as friction must be accurately compensated in the real-time servo control algarithm. In this paper, the model of a hybrid flve-bar mechanism is introduced In terms of the characteristics of the hybrid mechanism, a hybrid intelligent control algorithm based on proportional-integral-derivative(PID) control and cerebellar model articulation control techniques was presented and used to perform control of hybrid five-bar mechanism for the first time. The simulation results show that the hybrid control method can improve the control effect remarkably, compared with the traditional PID control strategy.

  12. Evolutionary design of discrete controllers for hybrid mechatronic systems

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2015-01-01

    This paper investigates the issue of evolutionary design of controllers for hybrid mechatronic systems. Finite State Automaton (FSA) is selected as the representation for a discrete controller due to its interpretability, fast execution speed and natural extension to a statechart, which is very...... popular in industrial applications. A case study of a two-tank system is used to demonstrate that the proposed evolutionary approach can lead to a successful design of an FSA controller for the hybrid mechatronic system, represented by a hybrid bond graph. Generalisation of the evolved FSA controller...... of the evolutionary design of controllers for hybrid mechatronic systems. Finally, some important future research directions are pointed out, leading to the major work of the succeeding part of the research....

  13. Design of Magnetic Flux Feedback Controller in Hybrid Suspension System

    Directory of Open Access Journals (Sweden)

    Wenqing Zhang

    2013-01-01

    Full Text Available Hybrid suspension system with permanent magnet and electromagnet consumes little power consumption and can realize larger suspension gap. But realizing stable suspension of hybrid magnet is a tricky problem in the suspension control sphere. Considering from this point, we take magnetic flux signal as a state variable and put this signal back to suspension control system. So we can get the hybrid suspension mathematical model based on magnetic flux signal feedback. By application of MIMO feedback linearization theory, we can further realize linearization of the hybrid suspension system. And then proportion, integral, differentiation, magnetic flux density B (PIDB controller is designed. Some hybrid suspension experiments have been done on CMS04 magnetic suspension bogie of National University of Defense Technology (NUDT in China. The experiments denote that the new hybrid suspension control algorithm based on magnetic flux signal feedback designed in this paper has more advantages than traditional position-current double cascade control algorithm. Obviously, the robustness and stability of hybrid suspension system have been enhanced.

  14. Control approach for comfortable power shifting in hybrid transmissions - ML 450 hybrid

    Energy Technology Data Exchange (ETDEWEB)

    Saenger Zetina, Siegfried; Neiss, Konstantin [Daimler AG, Hybrid Development Center, Troy, MI (United States)

    2008-07-01

    The comfortable shifting control in a luxury class vehicle is extremely important, due to competitive automatic transmissions with torque converters; clutch automated manual transmissions and dual clutch transmissions. Hybrid transmissions play a key role in comfort and performance enhancement while at the same time being fuel efficient with the aid of electric machines and battery packs. Here, the alternative to conventional add-on hybrid power head transmissions: the power split hybrid transmission is studied. As a practical example, the Two Mode of the Hybrid Development Center is used within the ML450 Hybrid. For achieving a smooth shifting, there are model based algorithms needed. As objective measure to evaluate the shifting the VDV (Vibration Dose Value) is used. (orig.)

  15. HYBRID FUZZY CONTROL FOR ELECTRO-HYDRAULIC ACTIVE DAMPING SUSPENSION

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    A new control scheme, the hybrid fuzzy control method, for active damping suspension system is presented. The scheme is the result of effective combination of the statistical optimal control method based on the statistical property of suspension system, with the bang-bang control method based on the real-time characteristics of suspension system. Computer simulations are performed to compare the effectiveness of hybrid fuzzy control scheme with that of optimal damping control, bang-bang control, and passive suspension. It takes the effects of time-variant factors into full account. The superiority of the proposed hybrid fuzzy control scheme for active damping suspension to the passive suspension is verified in the experiment study.

  16. Stochastic Optimal Control for Series Hybrid Electric Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Malikopoulos, Andreas [ORNL

    2013-01-01

    Increasing demand for improving fuel economy and reducing emissions has stimulated significant research and investment in hybrid propulsion systems. In this paper, we address the problem of optimizing online the supervisory control in a series hybrid configuration by modeling its operation as a controlled Markov chain using the average cost criterion. We treat the stochastic optimal control problem as a dual constrained optimization problem. We show that the control policy that yields higher probability distribution to the states with low cost and lower probability distribution to the states with high cost is an optimal control policy, defined as an equilibrium control policy. We demonstrate the effectiveness of the efficiency of the proposed controller in a series hybrid configuration and compare it with a thermostat-type controller.

  17. Hybrid stabilizing control on a real mobile robot

    NARCIS (Netherlands)

    Oelen, Wilco; Berghuis, Harry; Nijmeijer, Henk; Canudas de Wit, Carlos

    1995-01-01

    To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system wi

  18. Intelligent-based multi-robot path planning inspired by improved classical Q-learning and improved particle swarm optimization with perturbed velocity

    Directory of Open Access Journals (Sweden)

    P.K. Das

    2016-03-01

    Full Text Available Classical Q-learning takes huge computation to calculate the Q-value for all possible actions in a particular state and takes large space to store its Q-value for all actions, as a result of which its convergence rate is slow. This paper proposed a new methodology to determine the optimize trajectory of the path for multi-robots in clutter environment using hybridization of improving classical Q-learning based on four fundamental principles with improved particle swarm optimization (IPSO by modifying parameters and differentially perturbed velocity (DV algorithm for improving the convergence. The algorithms are used to minimize path length and arrival time of all the robots to their respective destination in the environment and reducing the turning angle of each robot to reduce the energy consumption of each robot. In this proposed scheme, the improve classical Q-learning stores the Q-value of the best action of the state and thus save the storage space, which is used to decide the Pbest and gbest of the improved PSO in each iteration, and the velocity of the IPSO is adjusted by the vector differential operator inherited from differential evolution (DE. The validation of the algorithm is studied in simulated and Khepera-II robot.

  19. S2 BHCA-Multiple AUVs cooperation oriented control architecture

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.

  20. Control of DNA hybridization by photoswitchable molecular glue.

    Science.gov (United States)

    Dohno, Chikara; Nakatani, Kazuhiko

    2011-12-01

    Hybridization of DNA is one of the most intriguing events in molecular recognition and is essential for living matter to inherit life beyond generations. In addition to the function of DNA as genetic material, DNA hybridization is a key to control the function of DNA-based materials in nanoscience. Since the hybridization of two single stranded DNAs is a thermodynamically favorable process, dissociation of the once formed DNA duplex is normally unattainable under isothermal conditions. As the progress of DNA-based nanoscience, methodology to control the DNA hybridization process has become increasingly important. Besides many reports using the chemically modified DNA for the regulation of hybridization, we focused our attention on the use of a small ligand as the molecular glue for the DNA. In 2001, we reported the first designed molecule that strongly and specifically bound to the mismatched base pairs in double stranded DNA. Further studies on the mismatch binding molecules provided us a key discovery of a novel mode of the binding of a mismatch binding ligand that induced the base flipping. With these findings we proposed the concept of molecular glue for DNA for the unidirectional control of DNA hybridization and, eventually photoswitchable molecular glue for DNA, which enabled the bidirectional control of hybridization under photoirradiation. In this tutorial review, we describe in detail how we integrated the mismatch binding ligand into photoswitchable molecular glue for DNA, and the application and perspective in DNA-based nanoscience.

  1. Predictive cruise control in hybrid electric vehicles

    NARCIS (Netherlands)

    Keulen, T. van; Naus, M.J.G.; Jager, B. de; Molengraft, G.J.L. van de; Steinbuch, M.; Aneke, N.P.I.

    2009-01-01

    Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To suppor

  2. Novel hybrid adaptive controller for manipulation in complex perturbation environments.

    Directory of Open Access Journals (Sweden)

    Alex M C Smith

    Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

  3. Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments

    Science.gov (United States)

    Smith, Alex M. C.; Yang, Chenguang; Ma, Hongbin; Culverhouse, Phil; Cangelosi, Angelo; Burdet, Etienne

    2015-01-01

    In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing. PMID:26029916

  4. Performance impact of mutation operators of a subpopulation-based genetic algorithm for multi-robot task allocation problems.

    Science.gov (United States)

    Liu, Chun; Kroll, Andreas

    2016-01-01

    Multi-robot task allocation determines the task sequence and distribution for a group of robots in multi-robot systems, which is one of constrained combinatorial optimization problems and more complex in case of cooperative tasks because they introduce additional spatial and temporal constraints. To solve multi-robot task allocation problems with cooperative tasks efficiently, a subpopulation-based genetic algorithm, a crossover-free genetic algorithm employing mutation operators and elitism selection in each subpopulation, is developed in this paper. Moreover, the impact of mutation operators (swap, insertion, inversion, displacement, and their various combinations) is analyzed when solving several industrial plant inspection problems. The experimental results show that: (1) the proposed genetic algorithm can obtain better solutions than the tested binary tournament genetic algorithm with partially mapped crossover; (2) inversion mutation performs better than other tested mutation operators when solving problems without cooperative tasks, and the swap-inversion combination performs better than other tested mutation operators/combinations when solving problems with cooperative tasks. As it is difficult to produce all desired effects with a single mutation operator, using multiple mutation operators (including both inversion and swap) is suggested when solving similar combinatorial optimization problems.

  5. Fitting method for hybrid temperature control in smart home environment

    OpenAIRE

    CHENG, Zhuo; TAN, Yasuo; Lim, Azman Osman

    2014-01-01

    The design of control system is crucial for improving the comfort level of home environment. Cyber-Physical Systems (CPSs) can offer numerous opportunities to design high efficient control systems. In this paper, we focus on the design of temperature control systems. By using the idea of CPS, a hybrid temperature control (HTC) system is proposed. It combines supervisory and proportional-integral-derivative (PID) controllers. Through an energy efficient temperature control (EETC) algorithm, HT...

  6. Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments.

    Science.gov (United States)

    Ravankar, Abhijeet; Ravankar, Ankit A; Kobayashi, Yukinori; Emaru, Takanori

    2017-08-15

    Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from `driver-lost' scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results.

  7. ADОPTIVE CONTROL OF THE HYBRID VEHICLE POWER UNIT

    Directory of Open Access Journals (Sweden)

    S. Serikov

    2014-10-01

    Full Text Available The problem of adaptive control of the hybrid vehicle power unit, which makes it possible to minimize the quality criterion under constraints on the state parameters and the control vector is considered. A formal statement of the optimization problem is given. The solution of this problem by the method of neural network control based on the adaptive criticism is considered.

  8. Military Hybrid Vehicle Optimization and Control

    Science.gov (United States)

    2012-08-14

    and energy security, as well as reduce overall energy u ’C the concept of a microgrid has been introduced [7 ]. A microgricl is defined as an...vehicle-to-grid (V2G) technology has been show to have the ability to upport the microgrid ru a source, but also a storage device for excess energy [9...understood. The scope of this proposal includes introducing the concept of regarding a military hybrid vehicle as a microgrid and utilizing battery state

  9. A hybrid adaptive control strategy for a smart prosthetic hand.

    Science.gov (United States)

    Chen, Cheng-Hung; Naidu, D Subbaram; Perez-Gracia, Alba; Schoen, Marco P

    2009-01-01

    This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two-dimensional movement of a prosthetic hand with a thumb and index finger. In particular, ANFIS is used for inverse kinematics, and the adaptive control is used for linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance. Work is in progress to extend this methodology to a five-fingered, three-dimensional prosthetic hand.

  10. Robust spacecraft attitude tracking control using hybrid actuators with uncertainties

    Science.gov (United States)

    Cao, Xibin; Wu, Baolin

    2017-07-01

    The problem of spacecraft attitude tracking using hybrid actuators with uncertainties is addressed in this paper. A hybrid actuators configuration that combines reaction wheels for fine pointing and single gimbal control moment gyros for rapid maneuvering is employed for agile spacecraft. A robust control algorithm for the spacecraft attitude tracking problem when the torque axis direction and/or input scaling of the actuators are uncertain is developed. Furthermore, a torque allocation method is proposed for the hybrid actuator configuration to allow a smooth switch between single gimbal control moment gyros and reaction wheels. With this method, single gimbal control moment gyros are used for the phase of rapid maneuvering, while reaction wheels are used for the phase of fine pointing. Simulation results demonstrate the effectiveness of the proposed control scheme.

  11. Filtering and control of stochastic jump hybrid systems

    CERN Document Server

    Yao, Xiuming; Zheng, Wei Xing

    2016-01-01

    This book presents recent research work on stochastic jump hybrid systems. Specifically, the considered stochastic jump hybrid systems include Markovian jump Ito stochastic systems, Markovian jump linear-parameter-varying (LPV) systems, Markovian jump singular systems, Markovian jump two-dimensional (2-D) systems, and Markovian jump repeated scalar nonlinear systems. Some sufficient conditions are first established respectively for the stability and performances of those kinds of stochastic jump hybrid systems in terms of solution of linear matrix inequalities (LMIs). Based on the derived analysis conditions, the filtering and control problems are addressed. The book presents up-to-date research developments and novel methodologies on stochastic jump hybrid systems. The contents can be divided into two parts: the first part is focused on robust filter design problem, while the second part is put the emphasis on robust control problem. These methodologies provide a framework for stability and performance analy...

  12. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  13. Viability of Hybrid Systems A Controllability Operator Approach

    CERN Document Server

    Labinaz, G

    2012-01-01

    The problem of viability of hybrid systems is considered in this work. A model for a hybrid system is developed including a means of including three forms of uncertainty: transition dynamics, structural uncertainty, and parametric uncertainty. A computational basis for viability of hybrid systems is developed and applied to three control law classes. An approach is developed for robust viability based on two extensions of the controllability operator. The three-tank example is examined for both the viability problem and robust viability problem. The theory is applied through simulation to an active magnetic bearing system and to a batch polymerization process showing that viability can be satisfied in practice. The problem of viable attainability is examined based on the controllability operator approach introduced by Nerode and colleagues. Lastly, properties of the controllability operator are presented.

  14. Viewing hybrid systems as products of control systems and automata

    Science.gov (United States)

    Grossman, R. L.; Larson, R. G.

    1992-01-01

    The purpose of this note is to show how hybrid systems may be modeled as products of nonlinear control systems and finite state automata. By a hybrid system, we mean a network of consisting of continuous, nonlinear control system connected to discrete, finite state automata. Our point of view is that the automata switches between the control systems, and that this switching is a function of the discrete input symbols or letters that it receives. We show how a nonlinear control system may be viewed as a pair consisting of a bialgebra of operators coding the dynamics, and an algebra of observations coding the state space. We also show that a finite automata has a similar representation. A hybrid system is then modeled by taking suitable products of the bialgebras coding the dynamics and the observation algebras coding the state spaces.

  15. Energy-Efficient Building HVAC Control Using Hybrid System LBMPC

    CERN Document Server

    Aswani, Anil; Taneja, Jay; Krioukov, Andrew; Culler, David; Tomlin, Claire

    2012-01-01

    Improving the energy-efficiency of heating, ventilation, and air-conditioning (HVAC) systems has the potential to realize large economic and societal benefits. This paper concerns the system identification of a hybrid system model of a building-wide HVAC system and its subsequent control using a hybrid system formulation of learning-based model predictive control (LBMPC). Here, the learning refers to model updates to the hybrid system model that incorporate the heating effects due to occupancy, solar effects, outside air temperature (OAT), and equipment, in addition to integrator dynamics inherently present in low-level control. Though we make significant modeling simplifications, our corresponding controller that uses this model is able to experimentally achieve a large reduction in energy usage without any degradations in occupant comfort. It is in this way that we justify the modeling simplifications that we have made. We conclude by presenting results from experiments on our building HVAC testbed, which s...

  16. NASA Workshop on Hybrid (Mixed-Actuator) Spacecraft Attitude Control

    Science.gov (United States)

    Dennehy, Cornelius J.; Kunz, Nans

    2014-01-01

    At the request of the Science Mission Directorate Chief Engineer, the NASA Technical Fellow for Guidance, Navigation & Control assembled and facilitated a workshop on Spacecraft Hybrid Attitude Control. This multi-Center, academic, and industry workshop, sponsored by the NASA Engineering and Safety Center (NESC), was held in April 2013 to unite nationwide experts to present and discuss the various innovative solutions, techniques, and lessons learned regarding the development and implementation of the various hybrid attitude control system solutions investigated or implemented. This report attempts to document these key lessons learned with the 16 findings and 9 NESC recommendations.

  17. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...... feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  18. R&D of FMS and multi-robot comprehensive training platform facing vocational education%面向职教的FMS与多机器人综合实训平台研究与开发

    Institute of Scientific and Technical Information of China (English)

    雷云涛; 杨薇; 李全利; 邴志刚

    2012-01-01

    以职业教育为应用背景,为提升FMS(flexible manufacture system)的整体性能、拓展其适用面,将多机器人、传感器网络等技术融入FMS.给出了FMS总体结构、传感器网络环境下多机器人协同控制系统结构,以及FMS物流子系统基于Petri网的建模和优化算法.实际应用验证了所设计平台以及相关算法和软件的有效性.%Taking vocational education as the application background, several techniques, including the multi-robot and the wireless sensor networks, are integrated into the FMS to promote the whole performance and to extend the applicability. Some key issues such as the general structure of FMS, the multi-robot collaboration control system under the wireless sensor networks environment, the FMS logistics system modeling based on Petri network and optimization algorithms are discussed. The practical application is implemented to verify the effectiveness of the platform, algorithms and software.

  19. Hybrid-impulsive second order sliding mode control: Lyapunov approach

    NARCIS (Netherlands)

    Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.

    2013-01-01

    A perturbed nonlinear system of relative degree two controlled by discontinuous-impulsive feedbacks is studied. The hybrid-impulsive terms serve to drive instantaneously the system trajectories to the origin or to its small vicinity. In particular, impulsive-twisting control exhibits an uniform exac

  20. Spontaneous emission control in a tunable hybrid photonic system

    NARCIS (Netherlands)

    Frimmer, M.; Koenderink, A.F.

    2013-01-01

    We experimentally demonstrate control of the rate of spontaneous emission in a tunable hybrid photonic system that consists of two canonical building blocks for spontaneous emission control, an optical antenna and a mirror, each providing a modification of the local density of optical states (LDOS).

  1. Study of optimal control problems for hybrid dynamical systems

    Institute of Scientific and Technical Information of China (English)

    Gao Rui; Wang Lei; Wang Yuzhen

    2006-01-01

    From the viewpoint of continuous systems, optimal control problem is proposed for a class of controlled Hybrid dynamical systems. Then a mathematical method- HDS minimum principle is put forward, which can solve the above problem. The HDS minimum principle is proved by means of Ekeland's variational principle.

  2. Hybrid-impulsive second order sliding mode control: Lyapunov approach

    NARCIS (Netherlands)

    Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.

    2013-01-01

    A perturbed nonlinear system of relative degree two controlled by discontinuous-impulsive feedbacks is studied. The hybrid-impulsive terms serve to drive instantaneously the system trajectories to the origin or to its small vicinity. In particular, impulsive-twisting control exhibits an uniform

  3. Route-Based Control of Hybrid Electric Vehicles: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Gonder, J. D.

    2008-01-01

    Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.

  4. Real Time Energy Management Control Strategies for Hybrid Powertrains

    Science.gov (United States)

    Zaher, Mohamed Hegazi Mohamed

    In order to improve fuel efficiency and reduce emissions of mobile vehicles, various hybrid power-train concepts have been developed over the years. This thesis focuses on embedded control of hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real time energy management strategy for continuous operations. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, or the motion is driven by gravitational force, or load driven. There are three main concepts for regernerative energy storing devices in hybrid vehicles: electric, hydraulic, and flywheel. The real time control challenge is to balance the system power demand from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle, while making optimal use of the energy saving opportunities in a given operational, often repetitive cycle. In the worst case scenario, only engine is used and hybrid system completely disabled. A rule based control is developed and tuned for different work cycles and linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the machine and its position via GPS, and maps them to the gains.

  5. Novel hybrid method: pulse CO2 laser-TIG hybrid welding by coordinated control

    Institute of Scientific and Technical Information of China (English)

    Chen Yanbin; Lei Zhenglong; Li Liqun; Wu Lin; Xie Cheng

    2006-01-01

    In continuous wave CO2 laser-TIG hybrid welding process, the laser energy is not fully utilized because of the absorption and defocusing by plasma in the arc space. Therefore, the optimal welding result can only be achieved in a limited energy range. In order to improve the welding performance further, a novel hybrid welding method-pulse CO2 laser-TIG arc hybrid welding by coordinated control is proposed and investigated. The experimental results indicate that, compared with continuous wave CO2 laser-TIG hybrid welding, the absorption and defocusing of laser energy by plasma are decreased further, and at the same time, the availability ratio of laser and arc energy can be increased when a coordinated frequency is controlled. As a result, the weld appearance is also improved as well as the weld depth is deepened. Furthermore, the effect of frequency and phase of pulse laser and TIG arc on the arc images and welding characteristics is also studied. However, the novel hybrid method has great potentials in the application of industrials from views of techniques and economy.

  6. Adaptive powertrain control for plugin hybrid electric vehicles

    Science.gov (United States)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  7. Adaptive powertrain control for plugin hybrid electric vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  8. Hybrid dislocated control and general hybrid projective dislocated synchronization for the modified Lue chaotic system

    Energy Technology Data Exchange (ETDEWEB)

    Xu Yuhua [College of Information Science and Technology, Donghua University, Shanghai 201620 (China) and Department of Maths, Yunyang Teacher' s College, Hubei 442000 (China)], E-mail: yuhuaxu2004@163.com; Zhou Wuneng [College of Information Science and Technology, Donghua University, Shanghai 201620 (China)], E-mail: wnzhou@163.com; Fang Jianan [College of Information Science and Technology, Donghua University, Shanghai 201620 (China)

    2009-11-15

    This paper introduces a modified Lue chaotic system, and some basic dynamical properties are studied. Based on these properties, we present hybrid dislocated control method for stabilizing chaos to unstable equilibrium and limit cycle. In addition, based on the Lyapunov stability theorem, general hybrid projective dislocated synchronization (GHPDS) is proposed, which includes complete dislocated synchronization, dislocated anti-synchronization and projective dislocated synchronization as its special item. The drive and response systems discussed in this paper can be strictly different dynamical systems (including different dimensional systems). As examples, the modified Lue chaotic system, Chen chaotic system and hyperchaotic Chen system are discussed. Numerical simulations are given to show the effectiveness of these methods.

  9. A hybrid Jacobian control for uncalibrated robot visual servoing

    Institute of Scientific and Technical Information of China (English)

    ZHANG Qizhi; GE Xinsheng; TEO Chee-Leong; LIM Siak-Piang

    2005-01-01

    This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive leastsquares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.

  10. A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents.

    Science.gov (United States)

    Conesa-Muñoz, Jesús; Valente, João; Del Cerro, Jaime; Barrientos, Antonio; Ribeiro, Angela

    2016-08-10

    Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons.

  11. A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents

    Science.gov (United States)

    Conesa-Muñoz, Jesús; Valente, João; del Cerro, Jaime; Barrientos, Antonio; Ribeiro, Angela

    2016-01-01

    Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons. PMID:27517934

  12. A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents

    Directory of Open Access Journals (Sweden)

    Jesús Conesa-Muñoz

    2016-08-01

    Full Text Available Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons.

  13. Fast Algorithms for Hybrid Control System Design

    Science.gov (United States)

    2007-11-02

    Controls for Petri Nets with Unobservable Transitions", Proceedings of the 1997 American Control Conference, pp. 2354- 2358, Albuquerque, New Mexico , June...Automation Conference, April 20-25, 1997, 1997, Albuquerque New Mexico . - Invited Speaker at special session on "Intelligent Control Systems" at the 3rd...0 (11) Moreover, if either (hence, both) of these statements hold, then one controller that renders iVa (Ji(P, K)) < 7 is ffiven by A + B2J- aYaC2

  14. Hybrid active vibration control of rotorbearing systems using piezoelectric actuators

    Science.gov (United States)

    Palazzolo, A. B.; Jagannathan, S.; Kascak, A. F.; Montague, G. T.; Kiraly, L. J.

    1993-01-01

    The vibrations of a flexible rotor are controlled using piezoelectric actuators. The controller includes active analog components and a hybrid interface with a digital computer. The computer utilizes a grid search algorithm to select feedback gains that minimize a vibration norm at a specific operating speed. These gains are then downloaded as active stillnesses and dampings with a linear fit throughout the operating speed range to obtain a very effective vibration control.

  15. Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

    OpenAIRE

    2015-01-01

    El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la activi...

  16. A hybrid approach to space power control

    Science.gov (United States)

    Gholdston, E. W.; Janik, D. F.; Newton, K. A.

    1990-01-01

    Conventional control systems have traditionally been utilized for space-based power designs. However, the use of expert systems is becoming important for NASA applications. Rocketdyne has been pursuing the development of expert systems to aid and enhance control designs of space-based power systems. The need for integrated expert systems is vital for the development of autonomous power systems.

  17. Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

    Science.gov (United States)

    Bean, Jacob; Fuller, Chris; Schiller, Noah

    2016-01-01

    Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

  18. Hybrid adaptive ascent flight control for a flexible launch vehicle

    Science.gov (United States)

    Lefevre, Brian D.

    For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

  19. 基于虚拟环境的多操作者多机器人协作遥操作系统%Virtual Environment-Based Multi-Operator Multi-Robot Cooperative Teleoperation System

    Institute of Scientific and Technical Information of China (English)

    马良; 闫继宏; 赵杰; 陈志峰

    2011-01-01

    A virtual environment-based multi-operator multi-robot cooperative teleoperation system is proposed, and the software framework of control system with three layered C/S (client/server) structure is adopted.The model of distributed virtual environment is built according to work scene of the experimental platform for accomplishing distributed control of multiple robots by multiple operators.Based on the structure of multi-operator multi-robot teleoperation system, a method based on local lag is presented to realize consistency control in distributed virtual environment, and the problems of clock synchronization, lag time and state repairing in teleoperation system are overcome.Finally, multi-robot cooperative control experiment including different types of cooperation is conducted on the proposed platform, and interaction between the operator and virtual environment is achieved.The operator interacts with virtual environment, observes the task environment and controls the robots in real time with the aid of real-time multi-video image feedback and force feedback, and completes the given task safely and efficiently, which verifies the reasonability and feasibility of the system.%建立了基于虚拟环境的多操作者多机器人协作遥操作系统,采用3层C/S结构的控制系统软件构架.根据实验系统平台工作场景对分布式虚拟环境进行建模,以实现多操作者对多机器人的分布式控制.结合多操作者多机器人遥操作系统的结构特点,采用本地滞后原理对分布式虚拟环境的一致性控制进行了研究,解决了遥操作系统一致性控制中时钟同步、滞后时间、状态修复等问题.最后在提出的系统平台上进行了不同协作类型的多机器人协调控制实验,操作者与虚拟环境进行交互,在力反馈及实时多视频图像反馈辅助下,实时地观察作业环境并控制机器人运动,安全、高效地完成了作业任务,验证了该系统的合理性和有效性.

  20. Hybrid systems: a real-time interface to control engineering

    DEFF Research Database (Denmark)

    Eriksen, Thomas Juul; Heilmann, Søren; Holdgaard, Michael

    1996-01-01

    are usually investigated by control engineers that base their work on the theory of dynamic systems. The mathematical tool for this work is thus mathematical analysis, in particular the theory of differential equations. The paper gives an introduction to a general hybrid systems model for definition of system...

  1. Real-Time Energy Management Control for Hybrid Electric Powertrains

    Directory of Open Access Journals (Sweden)

    Mohamed Zaher

    2013-01-01

    Full Text Available This paper focuses on embedded control of a hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real-time energy management strategy. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in the opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, the motion is driven by gravitational force, or load driven. There are three main concepts for energy storing devices in hybrid vehicles: electric, hydraulic, and mechanical (flywheel. The real-time control challenge is to balance the system power demands from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle. In the worst-case scenario, only the engine is used and the hybrid system is completely disabled. A rule-based control algorithm is developed and is tuned for different work cycles and could be linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the work machine and its position via GPS and maps both of them to the gains.

  2. 7 CFR 201.78 - Pollen control for hybrids.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Pollen control for hybrids. 201.78 Section 201.78... REGULATIONS Additional Requirements for the Certification of Plant Materials of Certain Crops § 201.78 Pollen... branches, or any combination thereof, shedding pollen. (c) Sorghum. Shedders in the seed parent, at any...

  3. Impulsive and hybrid dynamical systems stability, dissipativity, and control

    CERN Document Server

    Haddad, Wassim M; Nersesov, Sergey G

    2014-01-01

    This book develops a general analysis and synthesis framework for impulsive and hybrid dynamical systems. Such a framework is imperative for modern complex engineering systems that involve interacting continuous-time and discrete-time dynamics with multiple modes of operation that place stringent demands on controller design and require implementation of increasing complexity--whether advanced high-performance tactical fighter aircraft and space vehicles, variable-cycle gas turbine engines, or air and ground transportation systems. Impulsive and Hybrid Dynamical Systems goes beyond similar

  4. Controllable proximity effect in superconducting hybrid devices

    NARCIS (Netherlands)

    Bakurskiy, Sergey

    2015-01-01

    This thesis is devoted to the study of controllable proximity effects in superconductors, both in terms of fundamental aspects and applications. As a part of this thesis theoretical description was suggested for a number of structures with superconducting electrodes and multiple interlayers. These s

  5. Engagement and Floor Control in Hybrid Meetings

    NARCIS (Netherlands)

    op den Akker, Hendrikus J.A.; Devanthéry, V.; Zwiers, Jakob; Hondorp, G.H.W.; van Dijk, Elisabeth M.A.G.; Kulyk, Olga Anatoliyivna; Hofs, D.H.W.; Nijholt, Antinus; Reidsma, Dennis

    2010-01-01

    The Human Media Interaction group of the University of Twente has developed a User Engagment and Floor Control Demonstrator, a system that uses modules for online speech recognition, real-time visual focus of attention as well as a module that signals who is being addressed by the speaker. A

  6. Hybrid control of the distributed refrigeration system

    DEFF Research Database (Denmark)

    Chen, L.; Wisniewski, R.

    2010-01-01

    The supermarket refrigeration system typically has a distributed control structure, which neglects interactions between its subsystems. These interactions from time to time lead to a synchronization operation of the display-cases which causes an inferior control performance and increased energy...... or a chaotic behavior, the system is considered away from the synchronization. Therefore, the paper proposes a concept that the system may be de-synchronized by making it chaotic. A de-synchronization scheme is developed. It includes a synchronization-early-monitoring detector by calculating the maximum...... consumption. The paper focuses on synchronization dynamics of the refrigeration system modeled as a piecewise-affine switched system. System behaviors are analyzed using chaos theory. The synchronization phenomenon is interpreted as a stable low-period orbit; if the system has a high-order periodic orbit...

  7. Feedback controlled hybrid fast ferrite tuners

    Energy Technology Data Exchange (ETDEWEB)

    Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P. [General Atomics, San Diego, CA (United States); Arnold, W.; Martin, S.; Pivit, E. [ANT-Bosch, Backnang (Germany)

    1993-09-01

    A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 {Omega} source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec.

  8. Development of Strategy for Multi-Robot Control In Confrontational Environments

    OpenAIRE

    Lu, Chunqiu

    2014-01-01

    This thesis introduces the development of team strategy for Botnia RoboCup Small Size League (SSL) Robot Team. It aims to optimize the strategy software and apply STP architecture for team strategy development to obtain satisfactory performance. Meanwhile, introduction to several important algorithms, such as ERRT, safe navigation and STP architecture is another target. The main contribution of this thesis is that it optimizes the strategy software, thereby providing more stable and convenien...

  9. Human-Agent Teaming for Multi-Robot Control: A Literature Review

    Science.gov (United States)

    2013-02-01

    lower-reliability system (i.e., system-wide trust calibration versus. component-specific calibration). Roth et al., (2004) also reported that, in...Frontiers in Human- Robot Interaction. Edinburgh, Scotland , 6–9 April 2009. Dong, X.; Hayes, C. Uncertainty Visualization: Helping Decision...Information Visualization. Reviews of Human Factors and Ergonomics 2009, 5, 41–81. Roth , E.; Hanson, M.; Hopkins, C.; Mancuso, V.; Zacharias, G

  10. Controlling Chaos of Hybrid Systems by Variable Threshold Values

    Science.gov (United States)

    Ito, Daisuke; Ueta, Tetsushi; Kousaka, Takuji; Imura, Jun'ichi; Aihara, Kazuyuki

    We try to stabilize unstable periodic orbits embedded in a given chaotic hybrid dynamical system by a perturbation of a threshold value. In conventional chaos control methods, a control input is designed by state-feedback, which is proportional to the difference between the target orbit and the current state, and it is applied to a specific system parameter or the state as a small perturbation. During a transition state, the control system consumes a certain control energy given by the integration of such perturbations. In our method, we change the threshold value dynamically to control the chaotic orbit. Unlike the OGY method and the delayed feedback control, no actual control input is added into the system. The state-feedback is utilized only to determine the dynamic threshold value, thus the orbit starting from the current threshold value reaches the next controlled threshold value without any control energy. We obtain the variation of the threshold value from the composite Poincaré map, and the controller is designed by the linear feedback theory with this variation. We demonstrate this method in simple hybrid chaotic systems and show its control performances by evaluating basins of attraction.

  11. Chaotic attractor transforming control of hybrid Lorenz-Chen system

    Institute of Scientific and Technical Information of China (English)

    Qi Dong-Lian; Wang Qiao; Gu Hong

    2008-01-01

    Based on passive theory, this paper studies a hybrid chaotic dynamical system from the mathematics perspective to implement the control of system stabilization.According to the Jacobian matrix of the nonlinear system, the stabilization control region is gotten.The controller is designed to stabilize fast the minimum phase Lorenz-Chen chaotic system after equivalently transforming from chaotic system to passive system. The simulation results show that the system not only can be controlled at the different equilibria, but also can be transformed between the different chaotic attractors.

  12. Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

    Directory of Open Access Journals (Sweden)

    Muhammad Safwan

    2016-04-01

    Full Text Available A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller.

  13. Adaptive Current Control Method for Hybrid Active Power Filter

    Science.gov (United States)

    Chau, Minh Thuyen

    2016-09-01

    This paper proposes an adaptive current control method for Hybrid Active Power Filter (HAPF). It consists of a fuzzy-neural controller, identification and prediction model and cost function. The fuzzy-neural controller parameters are adjusted according to the cost function minimum criteria. For this reason, the proposed control method has a capability on-line control clings to variation of the load harmonic currents. Compared to the single fuzzy logic control method, the proposed control method shows the advantages of better dynamic response, compensation error in steady-state is smaller, able to online control is better and harmonics cancelling is more effective. Simulation and experimental results have demonstrated the effectiveness of the proposed control method.

  14. Backstepping and sliding mode control hybridized for a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G

    2009-02-01

    Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.

  15. Photoresponsive lipid-polymer hybrid nanoparticles for controlled doxorubicin release

    Science.gov (United States)

    Yao, Cuiping; Wu, Ming; Zhang, Cecheng; Lin, Xinyi; Wei, Zuwu; Zheng, Youshi; Zhang, Da; Zhang, Zhenxi; Liu, Xiaolong

    2017-06-01

    Currently, photoresponsive nanomaterials are particularly attractive due to their spatial and temporal controlled drug release abilities. In this work, we report a photoresponsive lipid-polymer hybrid nanoparticle for remote controlled delivery of anticancer drugs. This hybrid nanoparticle comprises three distinct functional components: (i) a poly(D,L-lactide-co-glycolide) (PLGA) core to encapsulate doxorubicin; (ii) a soybean lecithin monolayer at the interface of the core and shell to act as a molecular fence to prevent drug leakage; (iii) a photoresponsive polymeric shell with anti-biofouling properties to enhance nanoparticle stability, which could be detached from the nanoparticle to trigger the drug release via a decrease in the nanoparticle’s stability under light irradiation. In vitro results revealed that this core-shell nanoparticle had excellent light-controlled drug release behavior (76% release with light irradiation versus 10% release without light irradiation). The confocal microscopy and flow cytometry results also further demonstrated the light-controlled drug release behavior inside the cancer cells. Furthermore, a CCK8 assay demonstrated that light irradiation could significantly improve the efficiency of killing cancer cells. Meanwhile, whole-animal fluorescence imaging of a tumor-bearing mouse also confirmed that light irradiation could trigger drug release in vivo. Taken together, our data suggested that a hybrid nanoparticle could be a novel light controlled drug delivery system for cancer therapy.

  16. Hybrid sliding mode control of semi-active suspension systems

    Science.gov (United States)

    Assadsangabi, Babak; Eghtesad, Mohammad; Daneshmand, Farhang; Vahdati, Nader

    2009-12-01

    In order to design a controller which can take both ride comfort and road holding into consideration, a hybrid model reference sliding mode controller (HMRSMC) is proposed. The controller includes two separate model reference sliding mode controllers (MRSMC). One of the controllers is designed so as to force the plant to follow the ideal Sky-hook model and the other is to force the plant to follow the ideal Ground-hook model; then the outputs of these two controllers are linearly combined and applied to the plant as the input. Also, since the designed controller requires a knowledge of the terrain input, this input is approximated by the unsprung mass displacement. Finally, in the simulation section of this study, the effect of the relative ratio between the two MRSMCs and the knowledge of the terrain on the performance of the controller is numerically investigated for both steady-state and transient cases.

  17. Event-triggered hybrid control based on multi-Agent systems for Microgrids

    DEFF Research Database (Denmark)

    Dou, Chun-xia; Liu, Bin; Guerrero, Josep M.

    2014-01-01

    of distributed energy resources, thus it is typical hybrid dynamic network. Considering the complex hybrid behaviors, a hierarchical decentralized coordinated control scheme is firstly constructed based on multi-agent sys-tem, then, the hybrid model of the microgrid is built by using differential hybrid Petri...

  18. Active Vibration Control of Plate Partly Treated with ACLD Using Hybrid Control

    Directory of Open Access Journals (Sweden)

    Dongdong Zhang

    2014-01-01

    Full Text Available A finite element model of plate partly treated with ACLD treatments is developed based on the constitutive equations of elastic, piezoelectric, viscoelastic materials and Hamilton’s principle. The Golla-Hughes-Mctavish (GHM method is employed to describe the frequency-dependent characteristics of viscoelastic material (VEM. A model reduction is completed by using iterative dynamic condensation and balance model reduction method to design an effective control system. The emphasis is concerned on hybrid (combined feedback/feedforward control system to attenuate the vibration of plates with ACLD treatments. The optimal linear quadratic Gaussian (LQG controller is considered as a feedback channel and the adaptive filtered-reference LMS (FxLMS controller is used as a feedforward channel. They can be utilized individually or in a hybrid way to suppress the vibration of plate/ACLD system. The results show that the hybrid controller which combines feedback/feedforward together can reduce the displacement amplitude of plate/ACLD system subjected to a complicated disturbance substantially without requiring more control effort. Furthermore, the hybrid controller has more rapid and stable convergence rate than the adaptive feedforward FxLMS controller. Meanwhile, perfect robustness to phase error of the cancellation path in feedforward controller and the weight matrices in feedback LQG controller is demonstrated in proposed hybrid controller. Therefore, its application in structural engineering can be highly appreciated.

  19. The research of controller area network on hybrid electrical vehicle

    Institute of Scientific and Technical Information of China (English)

    Wu Hongxing; Song Liwei; Kou Baoquan; Cheng Shukang

    2006-01-01

    It is of increasing importance to design and implement vehicle networks for transferring information between electrical control units on Hybrid Electrical Vehicle (HEV). This paper presents a scheme of using Controller Area Network (CAN) technology to realize communication and datasharing between the electrical units on the HEV. The principle and communication protocol of Electrical Control Units (ECU) CAN node are introduced. By considering different sensitivity of the devices to the latency of data transportation, a new design procedure is proposed for the purpose of simplifying network codes and wiring harness, reducing assembly space and weight, improving assembly efficiency, and enhancing fault-diagnose in auto networks.

  20. Robust control of a parallel hybrid drivetrain with a CVT

    Energy Technology Data Exchange (ETDEWEB)

    Mayer, T.; Schroeder, D. [Technical Univ. of Munich (Germany)

    1996-09-01

    In this paper the design of a robust control system for a parallel hybrid drivetrain is presented. The drivetrain is based on a continuously variable transmission (CVT) and is therefore a highly nonlinear multiple-input-multiple-output system (MIMO-System). Input-Output-Linearization offers the possibility of linearizing and of decoupling the system. Since for example the vehicle mass varies with the load and the efficiency of the gearbox depends strongly on the actual working point, an exact linearization of the plant will mostly fail. Therefore a robust control algorithm based on sliding mode is used to control the drivetrain.

  1. Design and control of hybrid active power filters

    CERN Document Server

    Lam, Chi-Seng

    2014-01-01

    Design and Control of Hybrid Active Power Filters presents an overview of the current quality problems and their compensators. To get a balance between the system cost and performance, hybrid active power filters (HAPFs) are valuable. The book presents the coverage of resonance phenomena prevention capability, filtering performance and system robustness analysis of HAPF; nonlinear inverter current slope characteristics and their linear operation region requirement analysis of the hysteresis PWM for the HAPF; minimum inverter capacity design procedure of HAPF, adaptive dc-link voltage controller for the HAPF and the real design example of a 220V 10kVA HAPF, in which the system performance analysis method, minimum dc voltage deduction concept and adaptive dc voltage idea can be further extended into the other active compensators, such as APF, static synchronous compensator STATCOM, etc. This book will benefit researchers, graduate students, and electrical power engineers in the field of power-quality compensati...

  2. Adaptive and Reliable Control Algorithm for Hybrid System Architecture

    Directory of Open Access Journals (Sweden)

    Osama Abdel Hakeem Abdel Sattar

    2012-01-01

    Full Text Available A stand-alone system is defined as an autonomous system that supplies electricity without being connected to the electric grid. Hybrid systems combined renewable energy source, that are never depleted (such solar (photovoltaic (PV, wind, hydroelectric, etc. , With other sources of energy, like Diesel. If these hybrid systems are optimally designed, they can be more cost effective and reliable than single systems. However, the design of hybrid systems is complex because of the uncertain renewable energy supplies, load demands and the non-linear characteristics of some components, so the design problem cannot be solved easily by classical optimisation methods. The use of heuristic techniques, such as the genetic algorithms, can give better results than classical methods. This paper presents to a hybrid system control algorithm and also dispatches strategy design in which wind is the primary energy resource with photovoltaic cells. The dimension of the design (max. load is 2000 kW and the sources is implemented as flow 1500 kw from wind, 500 kw from solar and diesel 2000 kw. The main task of the preposed algorithm is to take full advantage of the wind energy and solar energy when it is available and to minimize diesel fuel consumption.

  3. Hybrid Engine Powered City Car: Fuzzy Controlled Approach

    Science.gov (United States)

    Rahman, Ataur; Mohiuddin, AKM; Hawlader, MNA; Ihsan, Sany

    2017-03-01

    This study describes a fuzzy controlled hybrid engine powered car. The car is powered by the lithium ion battery capacity of 1000 Wh is charged by the 50 cc hybrid engine and power regenerative mode. The engine is operated with lean mixture at 3000 rpm to charge the battery. The regenerative mode that connects with the engine generates electrical power of 500-600 W for the deceleration of car from 90 km/h to 20 km/h. The regenerated electrical power has been used to power the air-conditioning system and to meet the other electrical power. The battery power only used to propel the car. The regenerative power also found charging the battery for longer operation about 40 minutes and more. The design flexibility of this vehicle starts with whole-vehicle integration based on radical light weighting, drag reduction, and accessory efficiency. The energy efficient hybrid engine cut carbon dioxide (CO2) and nitrogen oxides (N2O) emission about 70-80% as the loads on the crankshaft such as cam-follower and its associated rotating components are replaced by electromagnetic systems, and the flywheel, alternator and starter motor are replaced by a motor generator. The vehicle was tested and found that it was able to travel 70 km/litre with the power of hybrid engine.

  4. Hybrid Porous Materials for Controlled Release and Catalysis

    OpenAIRE

    Liu, Rui

    2010-01-01

    First reported in 1992, ordered mesoporous materials exhibit unique features, such as regular pore geometry, high surface area, and large pore volume, and have shown great potential in various applications. This dissertation combines the knowledge from the field of ordered mesoporous materials and several other research areas to design advanced hybrid porous materials for controlled release and catalysis applications.The demand for better treatment of illness has led to ever-increasing effort...

  5. Controllability in hybrid kinetic equations modeling nonequilibrium multicellular systems.

    Science.gov (United States)

    Bianca, Carlo

    2013-01-01

    This paper is concerned with the derivation of hybrid kinetic partial integrodifferential equations that can be proposed for the mathematical modeling of multicellular systems subjected to external force fields and characterized by nonconservative interactions. In order to prevent an uncontrolled time evolution of the moments of the solution, a control operator is introduced which is based on the Gaussian thermostat. Specifically, the analysis shows that the moments are solution of a Riccati-type differential equation.

  6. Caged molecular beacons: controlling nucleic acid hybridization with light.

    Science.gov (United States)

    Wang, Chunming; Zhu, Zhi; Song, Yanling; Lin, Hui; Yang, Chaoyong James; Tan, Weihong

    2011-05-28

    We have constructed a novel class of light-activatable caged molecular beacons (cMBs) that are caged by locking two stems with a photo-labile biomolecular interaction or covalent bond. With the cMBs, the nucleic acid hybridization process can be easily controlled with light, which offers the possibility for a high spatiotemporal resolution study of intracellular mRNAs. © The Royal Society of Chemistry 2011

  7. Hybrid Porous Materials for Controlled Release and Catalysis

    OpenAIRE

    Liu, Rui

    2010-01-01

    First reported in 1992, ordered mesoporous materials exhibit unique features, such as regular pore geometry, high surface area, and large pore volume, and have shown great potential in various applications. This dissertation combines the knowledge from the field of ordered mesoporous materials and several other research areas to design advanced hybrid porous materials for controlled release and catalysis applications.The demand for better treatment of illness has led to ever-increasing effort...

  8. Cascade Control Solution for Traction Motor for Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zsuzsa Preitl

    2007-10-01

    Full Text Available In this paper a hybrid electric vehicle is considered, which contains both aninternal combustion engine and an electric motor (EM. Without focusing on the othercomponents of the vehicle, the EM is treated in detail, both regarding modelling aspectsand control solutions.After a brief modelling of the plant, two cascade speed control solutions are presented: firsta classical PI+PI cascade control solution is presented. The control systems related totraction electric motors (used in vehicle traction must be able to cope with differentrequests, such as variation of the reference signal, load disturbances which depend on thetransport conditions and parametric disturbances regarding changes in the total mass ofthe vehicle. For this purpose, in the design of the speed controller (external loop a specificmethodology based on extension of the symmetrical optimum method is presented. Thecontrollers are developed using the Modulus–Optimum method for the inner loop, and theExtended Symmetrical Optimum Method, corrected based on the 2p-SO-method, for theouter loop (for a more efficient disturbance rejection.In order to force the behaviour of the system regarding the reference input, a correctionterm is introduced as a non-homogenous structured PI controller solution.Simulations were performed using numerical values taken from a real applicationconsisting in a hybrid vehicle prototype, showing satisfactory behaviour.

  9. Electric and hybrid vehicles environmental control subsystem study

    Science.gov (United States)

    1981-01-01

    An environmental control subsystem (ECS) in the passenger compartment of electric and hybrid vehicles is studied. Various methods of obtaining the desired temperature control for the battery pack is also studied. The functional requirements of ECS equipment is defined. Following categorization by methodology, technology availability and risk, all viable ECS concepts are evaluated. Each is assessed independently for benefits versus risk, as well as for its feasibility to short, intermediate and long term product development. Selection of the preferred concept is made against these requirements, as well as the study's major goal of providing safe, highly efficient and thermally confortable ECS equipment.

  10. Novel hybrid coatings with controlled wettability by composite nanoparticle aggregation

    Science.gov (United States)

    Hritcu, Doina; Dodi, Gianina; Iordache, Mirabela L.; Draganescu, Dan; Sava, Elena; Popa, Marcel I.

    2016-11-01

    The aim of this study is to evaluate novel hybrid materials as potential candidates for producing coatings with hierarchical roughness and controlled wetting behaviour. Magnetite (Fe3O4) nanoparticles obtained by co-precipitation were embedded in matrices synthesized by radical graft co-polymerization of butyl acrylate (BA), butyl methacrylate (BMA), hexyl acrylate (HA) or styrene (ST) with ethylene glycol di-methacrylate (EGDMA) onto previously modified chitosan bearing surface vinyl groups. The resulting composite particles were characterized regarding their average size, composition and magnetic properties. Hybrid thin films containing suspension of composite particles in ethanol and pre-hydrolysed hexadecyltrimethoxysilane (HDTS) as a coupling/crosslinking agent were deposited by spin coating or spraying. The films were cured by heating and subsequently characterized regarding their morphology (scanning electron microscopy), contact angle with water and adhesion to substrate (scratch test). The structure-property relationship is discussed.

  11. Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D Cameras

    Directory of Open Access Journals (Sweden)

    Xiaoqin Wang

    2014-12-01

    Full Text Available We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, the robots with shared field-of-views estimate their relative poses in pairwise. The system does not need the existence of a single common view shared by all robots, and it works in 3D scenes without any specific calibration pattern or landmark. The proposed scheme distributes working loads evenly in the system, hence it is scalable and the computing power of the participating robots is efficiently used. The performance and robustness were analyzed both on synthetic and experimental data in different environments over a range of system configurations with varying number of robots and poses.

  12. Enhanced bandwidth of a microstrip antenna using a parasitic mushroom-like metamaterial structure for multi-robot cooperative navigation

    Science.gov (United States)

    Lee, Cherl-Hee; Lee, Jonghun; Kim, Yoon-Gu; An, Jinung

    2015-01-01

    The broadband design of a microstrip patch antenna is presented and experimentally studied for multi-robot cooperation. A parasitic mushroom-like metamaterial (MTM) patch close to a microstrip top patch is excited through gap-coupling, thereby producing a resonance frequency. Because of the design, the resonance frequency of the parasitic MTM patch is adjacent to that of the main patch, and the presented antenna can achieve an enhanced bandwidth of 450 MHz, which is about two times the bandwidth of a conventional patch antenna without the MTM parasitic patch. The error rate of packet transmissions for measuring the distance between a leader robot and a follower robot was also improved by almost two-fold.

  13. A hybrid joint based controller for an upper extremity exoskeleton

    Science.gov (United States)

    Mohd Khairuddin, Ismail; Taha, Zahari; Majeed, Anwar P. P. Abdul; Hakeem Deboucha, Abdel; Azraai Mohd Razman, Mohd; Aziz Jaafar, Abdul; Mohamed, Zulkifli

    2016-02-01

    This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture.

  14. Optimal Control Policies of Pests for Hybrid Dynamical Systems

    Directory of Open Access Journals (Sweden)

    Baolin Kang

    2013-01-01

    Full Text Available We improve the traditional integrated pest management (IPM control strategies and formulate three specific management strategies, which can be described by hybrid dynamical systems. These strategies can not only effectively control pests but also reduce the abuse of pesticides and protect the natural enemies. The aim of this work is to study how the factors, such as natural enemies optimum choice in the two kinds of different pests, timings of natural enemy releases, dosages and timings of insecticide applications, and instantaneous killing rates of pesticides on both pests and natural enemies, can affect the success of IPM control programmes. The results indicate that the pests outbreak period or frequency largely depends on the optimal selective feeding of the natural enemy between one of the pests and the control tactics. Ultimately, we obtain the only pest needs to be controlled below a certain threshold while not supervising pest .

  15. HYBRID CONTROL OF HYDRAULIC PRESS MACHINE BASED ON ROBUST CONTROL

    Institute of Scientific and Technical Information of China (English)

    FANG Yu; YANG Jian; CHAI Xiaodong

    2008-01-01

    A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional valve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.

  16. Control Valve Trajectories for SOFC Hybrid System Startup

    Energy Technology Data Exchange (ETDEWEB)

    Gorrell, Megan; Banta, Larry; Rosen, William; Restrepo, Bernardo; Tucker, David

    2012-07-01

    Control and management of cathode airflow in a solid oxide fuel cell gas turbine hybrid power system was analyzed using the Hybrid Performance (HyPer) hardware simulation at the National Energy Technology (NETL), U.S. Department of Energy. This work delves into previously unexplored operating practices for HyPer, via simultaneous manipulation of bypass valves and the electric load on the generator. The work is preparatory to the development of a Multi-Input, Multi-Output (MIMO) controller for HyPer. A factorial design of experiments was conducted to acquire data for 81 different combinations of the manipulated variables, which consisted of three air flow control valves and the electric load on the turbine generator. From this data the response surface for the cathode airflow with respect to bypass valve positions was analyzed. Of particular interest is the control of airflow through the cathode during system startup and during large load swings. This paper presents an algorithm for controlling air mass flow through the cathode based on a modification of the steepest ascent method.

  17. A Hybrid Flight Control for a Simulated Raptor-30 V2 Helicopter

    Directory of Open Access Journals (Sweden)

    Arbab Nighat Khizer

    2015-04-01

    Full Text Available This paper presents a hybrid flight control system for a single rotor simulated Raptor-30 V2 helicopter. Hybrid intelligent control system, combination of the conventional and intelligent control methodologies, is applied to small model helicopter. The proposed hybrid control used PID as a traditional control and fuzzy as an intelligent control so as to take the maximum advantage of advanced control theory. The helicopter?s model used; comes from X-Plane flight simulator and their hybrid flight control system was simulated using MATLAB/SIMULINK in a simulation platform. X-Plane is also used to visualize the performance of this proposed autopilot design. Through a series of numerous experiments, the operation of hybrid control system was investigated. Results verified that the proposed hybrid control has an excellent performance at hovering flight mode.

  18. Optimal Control of Engine Warmup in Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    van Reeven Vital

    2016-01-01

    Full Text Available An Internal Combustion Engine (ICE under cold conditions experiences increased friction losses due to a high viscosity of the lubricant. With the additional control freedom present in hybrid electric vehicles, the losses during warmup can be minimized and fuel can be saved. In this paper, firstly, a control-oriented model of the ICE, describing the warmup behavior, is developed and validated on measured vehicle data. Secondly, the two-state, non-autonomous fuel optimization, for a parallel hybrid electric vehicle with stop-start functionality, is solved using optimal control theory. The principal behavior of the Lagrange multipliers is explicitly derived, including the discontinuities (jumps that are caused by the constraints on the lubricant temperature and the energy in the battery system. The minimization of the Hamiltonian for this two-state problem is also explicitly solved, resulting in a computationally efficient algorithm. The optimal controller shows the fuel benefit, as a function of the initial temperature, for a long-haul truck simulated on the FTP-75.

  19. Combined Optimal Sizing and Control for a Hybrid Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2012-11-01

    Full Text Available The optimal sizing and control of a hybrid tracked vehicle is presented and solved in this paper. A driving schedule obtained from field tests is used to represent typical tracked vehicle operations. Dynamics of the diesel engine-permanent magnetic AC synchronous generator set, the lithium-ion battery pack, and the power split between them are modeled and validated through experiments. Two coupled optimizations, one for the plant parameters, forming the outer optimization loop and one for the control strategy, forming the inner optimization loop, are used to achieve minimum fuel consumption under the selected driving schedule. The dynamic programming technique is applied to find the optimal controller in the inner loop while the component parameters are optimized iteratively in the outer loop. The results are analyzed, and the relationship between the key parameters is observed to keep the optimal sizing and control simultaneously.

  20. Energy control strategy for parallel hydrostatic transmission hybrid vehicles

    Institute of Scientific and Technical Information of China (English)

    SUN Hui; JIANG Ji-hai; WANG Xin

    2009-01-01

    Aimed at the relatively lower energy density and complicated coordinating operation between two power sources, a special energy control strategy is required to maximize the fuel saving potential. Then a new type of configuration for hydrostatic transmission hybrid vehicles (PHHV) and the selection criterion for impor-tant components are proposed. Based on the optimization of planet gear transmission ratio and the analysis of op-timal energy distribution for the proposed PHHV on a representative urban driving cycle, a fuzzy torque control strategy and a braking energy regeneration strategy are designed and developed to realize the real-time control of energy for the proposed PHHV. Simulation results demonstrate that the energy control strategy effectively im-proves the fuel economy of PHHV.

  1. Hybrid Quantum-Classical Approach to Quantum Optimal Control.

    Science.gov (United States)

    Li, Jun; Yang, Xiaodong; Peng, Xinhua; Sun, Chang-Pu

    2017-04-14

    A central challenge in quantum computing is to identify more computational problems for which utilization of quantum resources can offer significant speedup. Here, we propose a hybrid quantum-classical scheme to tackle the quantum optimal control problem. We show that the most computationally demanding part of gradient-based algorithms, namely, computing the fitness function and its gradient for a control input, can be accomplished by the process of evolution and measurement on a quantum simulator. By posing queries to and receiving answers from the quantum simulator, classical computing devices update the control parameters until an optimal control solution is found. To demonstrate the quantum-classical scheme in experiment, we use a seven-qubit nuclear magnetic resonance system, on which we have succeeded in optimizing state preparation without involving classical computation of the large Hilbert space evolution.

  2. Designing hybrid grass genomes to control runoff generation

    Science.gov (United States)

    MacLeod, C.; Binley, A.; Humphreys, M.; King, I. P.; O'Donovan, S.; Papadopoulos, A.; Turner, L. B.; Watts, C.; Whalley, W. R.; Haygarth, P.

    2010-12-01

    Sustainable management of water in landscapes requires balancing demands of agricultural production whilst moderating downstream effects like flooding. Pasture comprises 69% of global agricultural areas and is essential for producing food and fibre alongside environmental goods and services. Thus there is a need to breed forage grasses that deliver multiple benefits through increased levels of productivity whilst moderating fluxes of water. Here we show that a novel grass hybrid that combines the entire genomes of perennial ryegrass (Lolium perenne - the grass of choice for Europe’s forage agriculture) and meadow fescue (Festuca pratensis) has a significant role in flood prevention. Field plot experiments established differences in runoff generation with the hybrid cultivar reducing runoff by 50% compared to perennial ryegrass cultivar, and by 35% compared to a meadow fescue cultivar (34 events over two years, replicated randomized-block design, statistically significant differences). This important research outcome was the result of a project that combined plant genetics, soil physics and plot scale hydrology to identify novel grass genotypes that can reduce runoff from grassland systems. Through a coordinated series of experiments examining effects from the gene to plot scale, we have identified that the rapid growth and then turnover of roots in the L. perenne x F. pratensis hybrid is likely to be a key mechanism in reducing runoff generation. More broadly this is an exciting first step to realizing the potential to design grass genomes to achieve both food production, and to deliver flood control, a key ecosystem service.

  3. Novel hybrid coatings with controlled wettability by composite nanoparticle aggregation

    Energy Technology Data Exchange (ETDEWEB)

    Hritcu, Doina, E-mail: dhritcu@ch.tuiasi.ro; Dodi, Gianina; Iordache, Mirabela L.; Draganescu, Dan; Sava, Elena; Popa, Marcel I.

    2016-11-30

    Highlights: • Magnetite-grafted chitosan composite nanoparticles were synthesized. • The particles are able to assemble under the influence of a silane derivative. • Thin films containing composites, chitosan and hydrolyzed silane were optimized. • The novel hybrid coatings show hierarchical roughness and high wetting angle. - Abstract: The aim of this study is to evaluate novel hybrid materials as potential candidates for producing coatings with hierarchical roughness and controlled wetting behaviour. Magnetite (Fe{sub 3}O{sub 4}) nanoparticles obtained by co-precipitation were embedded in matrices synthesized by radical graft co-polymerization of butyl acrylate (BA), butyl methacrylate (BMA), hexyl acrylate (HA) or styrene (ST) with ethylene glycol di-methacrylate (EGDMA) onto previously modified chitosan bearing surface vinyl groups. The resulting composite particles were characterized regarding their average size, composition and magnetic properties. Hybrid thin films containing suspension of composite particles in ethanol and pre-hydrolysed hexadecyltrimethoxysilane (HDTS) as a coupling/crosslinking agent were deposited by spin coating or spraying. The films were cured by heating and subsequently characterized regarding their morphology (scanning electron microscopy), contact angle with water and adhesion to substrate (scratch test). The structure-property relationship is discussed.

  4. Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture

    Directory of Open Access Journals (Sweden)

    Trevor Davies

    2008-08-01

    Full Text Available This paper presents the development and implementation a hybrid control architecture to direct a collective of three X80 mobile robots to multiple user-defined waypoints. The Genetic Algorithm Path Planner created an optimized, reduction in the time to complete the task, path plan for each robot in the collective such that each waypoint was visited once without colliding with a priori obstacles. The deliberative Genetic Algorithm Path Planner was then coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding a priori obstacles and obstacles detected using the robots' range sensors. The success of this hybrid control architecture was proven through simulation and experimentation using three of Dr. Robot's ™ wireless X80 mobile robots.

  5. 基于场地模型的多机器人动态协作技术%Multi-robot dynamic coordination based on field model

    Institute of Scientific and Technical Information of China (English)

    杜明晓; 陈启军

    2015-01-01

    针对机器人足球比赛中的协作问题,提出了一种多机器人系统协作控制方法。该方法包括时间同步机制、全局模型的建立以及角色的动态分配。该方法首先使用修改后的 TPSN 算法完成时间同步,然后通过机器人间共享信息的融合建立全局模型,最终通过竞标函数进行角色的动态分配,可使得机器人能够高效、稳定的完成比赛,并在实验及比赛中得到验证。%To solve the coordination problem in robot soccer competition,a multi-robot system control approach was presented,including time synchronization,world model building and dynamic role as-signment.This method firstly used an improved TPSN (timing-sync protocol for sensor network)al-gorithm to synchronize time and then built a global world model by using the shared information a-mong the robots.Finally,it implemented the dynamic role assignment with bid functions.The robots could achieve the game efficiently and stably by using this method.The experiments and result of the competitions have proved the effectiveness of the approach.

  6. Hybrid nanostructured drug carrier with tunable and controlled drug release

    Energy Technology Data Exchange (ETDEWEB)

    Depan, D.; Misra, R.D.K., E-mail: dmisra@louisiana.edu

    2012-08-01

    We describe here a transformative approach to synthesize a hybrid nanostructured drug carrier that exhibits the characteristics of controlled drug release. The synthesis of the nanohybrid architecture involved two steps. The first step involved direct crystallization of biocompatible copolymer along the long axis of the carbon nanotubes (CNTs), followed by the second step of attachment of drug molecule to the polymer via hydrogen bonding. The extraordinary inorganic-organic hybrid architecture exhibited high drug loading ability and is physically stable even under extreme conditions of acidic media and ultrasonic irradiation. The temperature and pH sensitive characteristics of the hybrid drug carrier and high drug loading ability merit its consideration as a promising carrier and utilization of the fundamental aspects used for synthesis of other promising drug carriers. The higher drug release response during the application of ultrasonic frequency is ascribed to a cavitation-type process in which the acoustic bubbles nucleate and collapse releasing the drug. Furthermore, the study underscores the potential of uniquely combining CNTs and biopolymers for drug delivery. - Graphical abstract: Block-copolymer crystallized on carbon nanotubes (CNTs). Nanohybrid drug carrier synthesized by attaching doxorubicin (DOX) to polymer crystallized CNTs. Crystallized polymer on CNTs provide mechanical stability. Triggered release of DOX. Highlights: Black-Right-Pointing-Pointer The novel synthesis of a hybrid nanostructured drug carrier is described. Black-Right-Pointing-Pointer The drug carrier exhibits high drug loading ability and is physically stable. Black-Right-Pointing-Pointer The high drug release is ascribed to a cavitation-type process.

  7. Hybrid model predictive control for speed control of permanent magnet synchronous motor with saturation

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    A discrete-time hybrid model of a permanent magnet synchronous motor (PMSM) with saturation in voltage and current is formulated.The controller design with incorporated constraints is achieved in a systematic way from modeling to control synthesis and implementation.The Hybrid System Description Language is used to obtain a mixed-logical dynamical (MLD) model.Based on the MLD model,a model predictive controller is designed for an optimal speed regulation of the motor.For reducing computation complexity and ...

  8. Electric and hybrid vehicle environmental control subsystem study

    Science.gov (United States)

    Heitner, K. L.

    1980-01-01

    An environmental control subsystem (ECS) in electric and hybrid vehicles is studied. A combination of a combustion heater and gasoline engine (Otto cycle) driven vapor compression air conditioner is selected. The combustion heater, the small gasoline engine, and the vapor compression air conditioner are commercially available. These technologies have good cost and performance characteristics. The cost for this ECS is relatively close to the cost of current ECS's. Its effect on the vehicle's propulsion battery is minimal and the ECS size and weight do not have significant impact on the vehicle's range.

  9. A Substractive Clustering Based Fuzzy Hybrid Reference Control Design for Transient Response Improvement of PID Controller

    Directory of Open Access Journals (Sweden)

    Endra Joelianto

    2009-11-01

    Full Text Available The well known PID controller has inherent limitations in fulfilling simultaneously the conflicting control design objectives. Parameters of the tuned PID controller should trade off the requirement of tracking set-point performances, disturbance rejection and stability robustness. Combination of hybrid reference control (HRC with PID controller results in the transient response performances can be independently achieved without deteriorating the disturbance rejection properties and the stability robustness requirement. This paper proposes a fuzzy based HRC where the membership functions of the fuzzy logic system are obtained by using a substractive clustering technique. The proposed method guarantees the transient response performances satisfaction while preserving the stability robustness of the closed loop system controlled by the PID controller with effective and systematic procedures in designing the fuzzy hybrid reference control system.

  10. Hybrid Active Noise Control using Adjoint LMS Algorithms

    Energy Technology Data Exchange (ETDEWEB)

    Nam, Hyun Do; Hong, Sik Ki [Dankook University (Korea, Republic of)

    1998-07-01

    A multi-channel hybrid active noise control(MCHANC) is derived by combining hybrid active noise control techniques and adjoint LMS algorithms, and this algorithm is applied to an active noise control system in a three dimensional enclosure. A MCHANC system uses feed forward and feedback filters simultaneously to cancel noises in an enclosure. The adjoint LMs algorithm, in which the error is filtered through an adjoint filter of the secondary channel, is also used to reduce the computational burden of adaptive filters. The overall attenuation performance and convergence characteristics of MCHANC algorithm is better than both multiple-channel feed forward algorithms and multiple-channel feedback algorithms. In a large enclosure, the acoustic reverberation can be very long, which means a very high order feed forward filter must be used to cancel the reverberation noises. Strong reverberation noises are generally narrow band and low frequency, which can be effectively predicted and canceled by a feedback adaptive filters. So lower order feed forward filter taps can be used in MCHANC algorithm which combines advantages of fast convergence and small excess mean square error. In this paper, computer simulations and real time implementations is carried out on a TMS320C31 processor to evaluate the performance of the MCHANC systems. (author). 11 refs., 11 figs., 1 tab.

  11. Hybrid control and motion planning of dynamical legged locomotion

    CERN Document Server

    2012-01-01

    "This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other types of planar and 3D legged robots".

  12. Hybrid intelligent PID control design for PEMFC anode system

    Institute of Scientific and Technical Information of China (English)

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

    2008-01-01

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

  13. Multi-Agent System based Event-Triggered Hybrid Controls for High-Security Hybrid Energy Generation Systems

    DEFF Research Database (Denmark)

    Dou, Chun-Xia; Yue, Dong; Guerrero, Josep M.

    2017-01-01

    This paper proposes multi-agent system based event- triggered hybrid controls for guaranteeing energy supply of a hybrid energy generation system with high security. First, a mul-ti-agent system is constituted by an upper-level central coordi-nated control agent combined with several lower...... switching control, distributed dynamic regulation and coordinated switching con-trol are designed fully dependent on the hybrid behaviors of all distributed energy resources and the logical relationships be-tween them, and interact with each other by means of the mul-ti-agent system to form hierarchical......-level unit agents. Each lower-level unit agent is responsible for dealing with internal switching control and distributed dynamic regula-tion for its unit system. The upper-level agent implements coor-dinated switching control to guarantee the power supply of over-all system with high security. The internal...

  14. CoRoBa, a Multi Mobile Robot Control and Simulation Framework

    Directory of Open Access Journals (Sweden)

    Eric Colon

    2008-11-01

    Full Text Available This paper describes on-going development of a multi robot control framework named CoRoBa. CoRoBa is theoretically founded by reifying Real Time Design Patterns. It uses CORBA as its communication Middleware and consequently benefits from the interoperability of this standard. A multi-robot 3D simulator written in Java3D integrates seamlessly with this framework. Several demonstration applications have been developed to validate the design and implementation options.

  15. Modeling, analysis and control of fuel cell hybrid power systems

    Science.gov (United States)

    Suh, Kyung Won

    Transient performance is a key characteristic of fuel cells, that is sometimes more critical than efficiency, due to the importance of accepting unpredictable electric loads. To fulfill the transient requirement in vehicle propulsion and portable fuel cell applications, a fuel cell stack is typically coupled with a battery through a DC/DC converter to form a hybrid power system. Although many power management strategies already exist, they all rely on low level controllers that realize the power split. In this dissertation we design controllers that realize various power split strategies by directly manipulating physical actuators (low level commands). We maintain the causality of the electric dynamics (voltage and current) and investigate how the electric architecture affects the hybridization level and the power management. We first establish the performance limitations associated with a stand-alone and power-autonomous fuel cell system that is not supplemented by an additional energy storage and powers all its auxiliary components by itself. Specifically, we examine the transient performance in fuel cell power delivery as it is limited by the air supplied by a compressor driven by the fuel cell itself. The performance limitations arise from the intrinsic coupling in the fluid and electrical domain between the compressor and the fuel cell stack. Feedforward and feedback control strategies are used to demonstrate these limitations analytically and with simulations. Experimental tests on a small commercial fuel cell auxiliary power unit (APU) confirm the dynamics and the identified limitations. The dynamics associated with the integration of a fuel cell system and a DC/DC converter is then investigated. Decentralized and fully centralized (using linear quadratic techniques) controllers are designed to regulate the power system voltage and to prevent fuel cell oxygen starvation. Regulating these two performance variables is a difficult task and requires a compromise

  16. Spontaneous Emission Control in a Tunable Hybrid Photonic System

    CERN Document Server

    Frimmer, Martin

    2013-01-01

    We experimentally demonstrate control of the rate of spontaneous emission in a tunable hybrid photonic system that consists of two canonical building blocks for spontaneous emission control, an optical antenna and a mirror, each providing a modification of the local density of optical states (LDOS).We couple fluorophores to a plasmonic antenna to create a superemitter with an enhanced decay rate. In a superemitter analog of the seminal Drexhage experiment we probe the LDOS of a nanomechanically approached mirror. Due to the electrodynamic interaction of the antenna with its own mirror image the superemitter traces the inverse LDOS of the mirror, in stark contrast to a bare source, whose decay rate is proportional to the mirror LDOS.

  17. Spontaneous emission control in a tunable hybrid photonic system.

    Science.gov (United States)

    Frimmer, Martin; Koenderink, A Femius

    2013-05-24

    We experimentally demonstrate control of the rate of spontaneous emission in a tunable hybrid photonic system that consists of two canonical building blocks for spontaneous emission control, an optical antenna and a mirror, each providing a modification of the local density of optical states (LDOS). We couple fluorophores to a plasmonic antenna to create a superemitter with an enhanced decay rate. In a superemitter analog of the seminal Drexhage experiment we probe the LDOS of a nanomechanically approached mirror. Because of the electrodynamic interaction of the antenna with its own mirror image, the superemitter traces the inverse of the LDOS enhancement provided by the mirror, in stark contrast to a bare source, whose decay rate is proportional to the mirror LDOS.

  18. Flux-weakening control methods for hybrid excitation synchronous motor

    Directory of Open Access Journals (Sweden)

    Mingming Huang

    2015-09-01

    Full Text Available The hybrid excitation synchronous motor (HESM, which aim at combining the advantages of permanent magnet motor and wound excitation motor, have the characteristics of low-speed high-torque hill climbing and wide speed range. Firstly, a new kind of HESM is presented in the paper, and its structure and mathematical model are illustrated. Then, based on a space voltage vector control, a novel flux-weakening method for speed adjustment in the high speed region is presented. The unique feature of the proposed control method is that the HESM driving system keeps the q-axis back-EMF components invariable during the flux-weakening operation process. Moreover, a copper loss minimization algorithm is adopted to reduce the copper loss of the HESM in the high speed region. Lastly, the proposed method is validated by the simulation and the experimental results.

  19. Wireless Network Control with Privacy Using Hybrid ARQ

    CERN Document Server

    Sarikaya, Yunus; Koksal, Emre C

    2012-01-01

    We consider the problem of resource allocation in a wireless cellular network, in which nodes have both open and private information to be transmitted to the base station over block fading uplink channels. We develop a cross-layer solution, based on hybrid ARQ transmission with incremental redundancy. We provide a scheme that combines power control, flow control, and scheduling in order to maximize a global utility function, subject to the stability of the data queues, an average power constraint, and a constraint on the privacy outage probability. Our scheme is based on the assumption that each node has an estimate of its uplink channel gain at each block, while only the distribution of the cross channel gains is available. We prove that our scheme achieves a utility, arbitrarily close to the maximum achievable utility given the available channel state information.

  20. Design and control of hybrid actuation lower limb exoskeleton

    Directory of Open Access Journals (Sweden)

    Hipolito Aguilar-Sierra

    2015-06-01

    Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

  1. Fuel optimal control of parallel hybrid electric vehicles

    Institute of Scientific and Technical Information of China (English)

    Jinhuan PU; Chenliang YIN; Jianwu ZHANG

    2008-01-01

    A mathematical model for fuel optimal control and its corresponding dynamic programming (DP) recurs-ive equation were established for an existing parallel hybrid electric vehicle (HEV). Two augmented cost func-tions for gear shifting and engine stop-starting were designed to limit their frequency. To overcome the prob-lem of numerical DP dimensionality, an algorithm to restrict the exploring region was proposed. The algorithm significantly reduced the computational complexity. The system model was converted into real-time simulation code by using MATLAB/RTW to improve computation efficiency. Comparison between the results of a chassis dynamometer test, simulation, and DP proves that the proposed method can compute the performance limita-tion of the HEV within an acceptable time period and can be used to evaluate and optimize the control strategy.

  2. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    Science.gov (United States)

    Pan, Yongping; Yu, Haoyong

    2017-06-01

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  3. Mercury Control With The Advanced Hybrid Paticulate Collector

    Energy Technology Data Exchange (ETDEWEB)

    Stanley J. Miller; Ye Zhuang; Jay Almlie

    2004-09-30

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4 - Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team included the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore and Associates, Inc., and is marketed as the Advanced Hybrid{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC also appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the original 5-task project was to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach included bench-scale batch tests, larger-scale pilot testing with real flue gas on a coal-fired combustion system, and field demonstration at the 2.5-MW scale at a utility power plant to prove scale-up and demonstrate longer-term mercury control. The scope of work was modified to include an additional sixth task, initiated in April 2003. The objective of this task

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-05-01

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

  5. 基于蚁群算法的多机器人环境探索%Environment exploration of multi-robots based on ant colony algorithm

    Institute of Scientific and Technical Information of China (English)

    蔡标; 戴学丰; 姜来浩

    2014-01-01

    To aim at the environment exploration of multi-robots,the ant algorithm is put forward to solve the target distribution and area coverage of multi-robots.According to the comparison of coverage percentage between the ant algorithm and the waiting auction algorithm in two different models,it illustrates that ant algorithm runs fewer steps in the same coverage.%针对多机器人的环境探索问题,采用了蚁群算法,解决了多机器人的目标分配与环境区域覆盖。通过对蚁群算法和等待拍卖算法在两种不同环境模型的覆盖率的比较,表明了蚁群算法在相同覆盖率的情况下运行次数较少。

  6. Hybrid internal model control and proportional control of chaotic dynamical systems

    Institute of Scientific and Technical Information of China (English)

    齐冬莲; 姚良宾

    2004-01-01

    A new chaos control method is proposed to take advantage of chaos or avoid it. The hybrid Internal Model Control and Proportional Control learning scheme are introduced. In order to gain the desired robust performance and ensure the system's stability, Adaptive Momentum Algorithms are also developed. Through properly designing the neural network plant model and neural network controller, the chaotic dynamical systems are controlled while the parameters of the BP neural network are modified. Taking the Lorenz chaotic system as example, the results show that chaotic dynamical systems can be stabilized at the desired orbits by this control strategy.

  7. Hybrid internal model control and proportional control of chaotic dynamical systems.

    Science.gov (United States)

    Qi, Dong-lian; Yao, Liang-bin

    2004-01-01

    A new chaos control method is proposed to take advantage of chaos or avoid it. The hybrid Internal Model Control and Proportional Control learning scheme are introduced. In order to gain the desired robust performance and ensure the system's stability, Adaptive Momentum Algorithms are also developed. Through properly designing the neural network plant model and neural network controller, the chaotic dynamical systems are controlled while the parameters of the BP neural network are modified. Taking the Lorenz chaotic system as example, the results show that chaotic dynamical systems can be stabilized at the desired orbits by this control strategy.

  8. MERCURY CONTROL WITH THE ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Ye Zhuang; Stanley J. Miller; Steven A. Benson; Michelle R. Olderbak

    2003-08-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4-Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team includes the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and is now marketed as the ''Advanced Hybrid''{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultra-high collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the three-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes bench-scale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal-fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot

  9. Hybrid control of bifurcation and chaos in stroboscopic model of Internet congestion control system

    Institute of Scientific and Technical Information of China (English)

    Ding Da-Wei; Zhu Jie; Luo Xiao-Shu

    2008-01-01

    Interaction between transmission control protocol (TCP) and random early detection (RED) gateway in the Internet congestion control system has been modelled as a discrete-time dynamic system which exhibits complex bifurcating and chaotic behaviours.In this paper,a hybrid control strategy using both state feedback and parameter perturbation is employed to control the bifurcation and stabilize the chaotic orbits embedded in this discrete-time dynamic system of TCP/RED.Theoretical analysis and numerical simulations show that the bifurcation is delayed and the chaotic orbits are stabilized to a fixed point,which reliably achieves a stable average queue size in an extended range of parameters and even completely eliminates the chaotic behaviour in a particular range of parameters.Therefore it is possible to decrease the sensitivity of RED to parameters.By using the hybrid strategy,we may improve the stability and performance of TCP/RED congestion control system significantly.

  10. A Novel Hybrid Safety-control Strategy for a Manipulator

    Directory of Open Access Journals (Sweden)

    Jing Xia

    2014-04-01

    Full Text Available As robots tend to work cooperatively with humans in shared workplaces, safety as regards robot- human interactions has caused a great deal of concern in the robot community, and control strategies have become a hot topic in robotics research. In order to guarantee the robot’s safety and continuous motions, this paper proposes a novel safety-control strategy, which is strictly conservative and which consists of a pre-contact and post-contact safety strategy. We adopt an optimal motion trajectory-planning method, by use of which the jerk, acceleration and velocity of the robot’s motion can be limited and a time-optimal motion can be obtained as a post-contact safety strategy for a position-controlled manipulator. The optimal motion trajectory planning not only reduces the impact forces during the collision period, but also maintains the efficiency of the manipulator and preserves continuous motions. Next, we describe a novel collision detection method as a pre-contact safety strategy to avoid collisions. The method proposed here can compute security warning region to handle the effect of robot motion on collision detection and detect collisions between non-convex polygon soups. Finally, the control strategy is implemented for a 7-DOF humanoid manipulator and the experimental results demonstrate the validity of this novel hybrid safety-control strategy.

  11. Hierarchical modeling and control of hybrid systems with two layers; Hierarchische Modellierung und Regelung hybrider Systeme auf zwei Ebenen

    Energy Technology Data Exchange (ETDEWEB)

    Stursberg, Olaf; Paschedag, Tina; Rungger, Matthias; Ding, Hao [Kassel Univ. (Germany). Fachgebiet Regelungs- und Systemtheorie

    2010-08-15

    While hybrid dynamic models are, to a certain degree, established for modeling systems with heterogeneous dynamics, most approaches for design and analysis of hybrid systems are restricted to monolithic models without hierarchy. This contribution first shows, how modular hybrid systems with two layers of decision, as appropriate for representing manufacturing systems for example, can be modeled systematically. The second part proposes a technique for fixing discrete inputs (for coordinating control) and continuous inputs (for embedded continuous controllers) in combination. The method uses a graph-based search on the upper decision layer, while principles of predictive control are used on the lower layer. The procedure of modeling and control is illustrated for a manufacturing process. (orig.)

  12. Control-relevant modeling and simulation of a SOFC-GT hybrid system

    Directory of Open Access Journals (Sweden)

    Rambabu Kandepu

    2006-07-01

    Full Text Available In this paper, control-relevant models of the most important components in a SOFC-GT hybrid system are described. Dynamic simulations are performed on the overall hybrid system. The model is used to develop a simple control structure, but the simulations show that more elaborate control is needed.

  13. Hybrid Wall Construction and Quality Control Issues in Wyandotte, Michigan

    Energy Technology Data Exchange (ETDEWEB)

    Lukachko, A. [National Renewable Energy Lab. (NREL), Golden, CO (United States); Grin, A. [National Renewable Energy Lab. (NREL), Golden, CO (United States); Bergey, D. [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2013-12-01

    This report is the second report on the Wyandotte NSP2 project in Wyandotte, MI and documents refinements to the design, construction, and quality control for the High R-value enclosure. The report will be of interest to designers and builders of production housing in Cold Climates. The focus of the second round of research was on using the hybrid insulation approach to develop a reliable methodof achieving consistently low airtightness numbers. There are two primary outcomes from this research. First, the airtightness measurements demonstrate that with a shallow learning curve, even new builders entering the program having little experience with the technology package are able to achieve consistent results that are less than 1.5 ACH50. Second, the process changes implemented to helpsecure these results were straightforward and ended up encouraging better communication between designer, builder, and the City officials supervising the project.

  14. Hybrid Wall Construction and Quality Control Issues in Wyandotte, Michigan

    Energy Technology Data Exchange (ETDEWEB)

    Lukachko, A. [Building Science Corporation, Somerville, MA (United States); Grin, A. [Building Science Corporation, Somerville, MA (United States); Bergey, D. [Building Science Corporation, Somerville, MA (United States)

    2013-12-01

    This report is the second report on the Wyandotte Neighborhood Stabilization Program 2 project in Wyandotte, MI, and documents refinements to the design, construction, and quality control for the high R-value enclosure. The report will be of interest to designers and builders of production housing in Cold Climates. The focus of the second round of research was on using the hybrid insulation approach to develop a reliable method of achieving consistently low airtightness numbers. There are two primary outcomes from this research. First, the airtightness measurements demonstrate that with a shallow learning curve, even new builders entering the program having little experience with the technology package are able to achieve consistent results that are less than 1.5 ACH50. Second, the process changes implemented to help secure these results were straightforward and ended up encouraging better communication between designer, builder, and the city officials supervising the project.

  15. Hybrid Polyaniline Systems under Chiral and Redox Control

    Institute of Scientific and Technical Information of China (English)

    Toshikazu Hirao; Toshiyuki Moriuchi; Xiuliang Shen; Kenji Morita

    2005-01-01

    @@ 1Introduction Polyanilines are one of the promising electrically conducting π-conjugated polymers with chemical stability. In recent year, there has been increased interest in chiral induction of polyanilines because of their potential use in diverse areas. Chiral polyaniline has been reported to be formed only by the chiral acid dopant[1]. In our previous papers, complexation of polyanilines or their oligomers with transition metals modulates the redox properties of the quinonediimine unit, which is related to the catalytic function in the oxidation reaction[2].The controlled complexation with palladium(Ⅱ) compounds has been achieved to afford the cross-linked network conjugated complexes, in which the quinonediimine moieties serve as bridging coordination sites[3].Another hybrid system consisting of π-conjugated polymer and transition metal is also described.

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

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2005-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2008-11-01

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

  18. A Novel Hybrid Statistical Particle Swarm Optimization for Multimodal Functions and Frequency Control of Hybrid Wind-Solar System

    Science.gov (United States)

    Verma, Harish Kumar; Jain, Cheshta

    2016-09-01

    In this article, a hybrid algorithm of particle swarm optimization (PSO) with statistical parameter (HSPSO) is proposed. Basic PSO for shifted multimodal problems have low searching precision due to falling into a number of local minima. The proposed approach uses statistical characteristics to update the velocity of the particle to avoid local minima and help particles to search global optimum with improved convergence. The performance of the newly developed algorithm is verified using various standard multimodal, multivariable, shifted hybrid composition benchmark problems. Further, the comparative analysis of HSPSO with variants of PSO is tested to control frequency of hybrid renewable energy system which comprises solar system, wind system, diesel generator, aqua electrolyzer and ultra capacitor. A significant improvement in convergence characteristic of HSPSO algorithm over other variants of PSO is observed in solving benchmark optimization and renewable hybrid system problems.

  19. 基于实时栅格法的多机器人协作建图%Multi-robot Collaboration Mapping Based on Real-Time Grid Method

    Institute of Scientific and Technical Information of China (English)

    王曙光; 唐浩漾

    2014-01-01

    针对多机器人协作建立空间地图的问题,提出一种实时栅格法,通过控制机器人的编队,在探索环境的过程中,实时生成栅格地图,并标示出障碍的位置。机器人之间采用定向红外测距和无线通信技术保持多机器人的编队形态,同时划分栅格区域。用领导-跟随法和VHF+避障法控制编队绕过障碍。论证了该方法的基本原理及可行性,在InnoSTAR机器人平台上验证了该方法的有效性。该方法计算简单,占用存储空间小,可以使用简单廉价的传感器在小型机器人上实现,但必须要精确控制机器人编队的相对位置。%Aiming at the problem of multi-robot collaboration mapping,a real-time grid method was proposed. Grid map was cre-ated during exploration through controlling robot formations,and the obstacle was located. Using wireless communication and direction-al infrared ranging technology,the fleet formation was maintained,grid area was divided at the same time. Adapting leader-following method and VHF+ obstacle avoidance method,the formation was controlled to round obstacle. The principle and feasibility of the method were demonstrated. The effectiveness of the method was verified with InnoSTAR robot. This method has simple calculation,and it occupies less storage space,can be realized on small robot with simple sensors,but the relative position of the robot fleet must be controlled.

  20. The Evaluation of Provided Methods in SLAM Problem and a Method Development in Order to Use in Multi Robot

    Directory of Open Access Journals (Sweden)

    Jenabzadeh MohammadReza

    2013-07-01

    Full Text Available Simultaneously Localization and Mapping (SLAM in mobile robots is an issue which is of utmost importance to Robotic Science researchers. The goal is to determine the position of intelligent mobile robots and their navigation to provide the overview map of the environment when no knowledge of it exists. So far, various methods have been presented in group robots to solve the SLAM problem. After about six years of research on mobile robots in Yazd Robotic Association and of applying available algorithms on rescue real robots, we will review major approaches on a robot and will introduce a new method that has been applied on two platforms of manual and autonomous robots in IranOpen 2011 competitions. We provide a method based on ROA-BlackWelized Particles filter (RBPF algorithm and Forgetting curve in Multi robots which, compared to the limitations of collecting environmental data in the past two years, has provided satisfactory results. In the end, we simulate the consequence method in order to provide the robot’s overview and local maps from the environment in PlayerStage software.

  1. Hybrid Approach to State Estimation for Bioprocess Control

    Directory of Open Access Journals (Sweden)

    Rimvydas Simutis

    2017-03-01

    Full Text Available An improved state estimation technique for bioprocess control applications is proposed where a hybrid version of the Unscented Kalman Filter (UKF is employed. The underlying dynamic system model is formulated as a conventional system of ordinary differential equations based on the mass balances of the state variables biomass, substrate, and product, while the observation model, describing the less established relationship between the state variables and the measurement quantities, is formulated in a data driven way. The latter is formulated by means of a support vector regression (SVR model. The UKF is applied to a recombinant therapeutic protein production process using Escherichia coli bacteria. Additionally, the state vector was extended by the specific biomass growth rate µ in order to allow for the estimation of this key variable which is crucial for the implementation of innovative control algorithms in recombinant therapeutic protein production processes. The state estimates depict a sufficiently low noise level which goes perfectly with different advanced bioprocess control applications.

  2. Hybrid Approach to State Estimation for Bioprocess Control

    Directory of Open Access Journals (Sweden)

    Rimvydas Simutis

    2017-03-01

    Full Text Available An improved state estimation technique for bioprocess control applications is proposed where a hybrid version of the Unscented Kalman Filter (UKF is employed. The underlying dynamic system model is formulated as a conventional system of ordinary differential equations based on the mass balances of the state variables biomass, substrate, and product, while the observation model, describing the less established relationship between the state variables and the measurement quantities, is formulated in a data driven way. The latter is formulated by means of a support vector regression (SVR model. The UKF is applied to a recombinant therapeutic protein production process using Escherichia coli bacteria. Additionally, the state vector was extended by the specific biomass growth rate µ in order to allow for the estimation of this key variable which is crucial for the implementation of innovative control algorithms in recombinant therapeutic protein production processes. The state estimates depict a sufficiently low noise level which goes perfectly with different advanced bioprocess control applications.

  3. Active sway control of a gantry crane using hybrid input shaping and PID control schemes

    Science.gov (United States)

    Mohd Tumari, M. Z.; Shabudin, L.; Zawawi, M. A.; Shah, L. H. Ahmad

    2013-12-01

    This project presents investigations into the development of hybrid input-shaping and PID control schemes for active sway control of a gantry crane system. The application of positive input shaping involves a technique that can reduce the sway by creating a common signal that cancels its own vibration and used as a feed-forward control which is for controlling the sway angle of the pendulum, while the proportional integral derivative (PID) controller is used as a feedback control which is for controlling the crane position. The PID controller was tuned using Ziegler-Nichols method to get the best performance of the system. The hybrid input-shaping and PID control schemes guarantee a fast input tracking capability, precise payload positioning and very minimal sway motion. The modeling of gantry crane is used to simulate the system using MATLAB/SIMULINK software. The results of the response with the controllers are presented in time domains and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specification.

  4. Spacecraft Hybrid (Mixed-Actuator) Attitude Control Experiences on NASA Science Missions

    Science.gov (United States)

    Dennehy, Cornelius J.

    2014-01-01

    There is a heightened interest within NASA for the design, development, and flight implementation of mixed-actuator hybrid attitude control systems for science spacecraft that have less than three functional reaction wheel actuators. This interest is driven by a number of recent reaction wheel failures on aging, but what could be still scientifically productive, NASA spacecraft if a successful hybrid attitude control mode can be implemented. Over the years, hybrid (mixed-actuator) control has been employed for contingency attitude control purposes on several NASA science mission spacecraft. This paper provides a historical perspective of NASA's previous engineering work on spacecraft mixed-actuator hybrid control approaches. An update of the current situation will also be provided emphasizing why NASA is now so interested in hybrid control. The results of the NASA Spacecraft Hybrid Attitude Control Workshop, held in April of 2013, will be highlighted. In particular, the lessons learned captured from that workshop will be shared in this paper. An update on the most recent experiences with hybrid control on the Kepler spacecraft will also be provided. This paper will close with some future considerations for hybrid spacecraft control.

  5. Rail-Guided Multi-Robot System for 3D Cellular Hydrogel Assembly with Coordinated Nanomanipulation

    Directory of Open Access Journals (Sweden)

    Huaping Wang

    2014-08-01

    Full Text Available The 3D assembly of micro-/nano-building blocks with multi-nanomanipulator coordinated manipulation is one of the central elements of nanomanipulation. A novel rail-guided nanomanipulation system was proposed for the assembly of a cellular vascular-like hydrogel microchannel. The system was equipped with three nanomanipulators and was restricted on the rail in order to realize the arbitrary change of the end-effectors during the assembly. It was set up with hybrid motors to achieve both a large operating space and a 30 nm positional resolution. The 2D components such as the assembly units were fabricated through the encapsulation of cells in the hydrogel. The coordinated manipulation strategies among the multi-nanomanipulators were designed with vision feedback and were demonstrated through the bottom-up assembly of the vascular-like microtube. As a result, the multi-layered microchannel was assembled through the cooperation of the nanomanipulation system.

  6. Rail-guided Multi-robot System for 3D Cellular Hydrogel Assembly with Coordinated Nanomanipulation

    Directory of Open Access Journals (Sweden)

    Huaping Wang

    2014-08-01

    Full Text Available The 3D assembly of micro-/nano-building blocks with multi-nanomanipulator coordinated manipulation is one of the central elements of nanomanipulation. A novel rail-guided nanomanipulation system was proposed for the assembly of a cellular vascular-like hydrogel microchannel. The system was equipped with three nanomanipulators and was restricted on the rail in order to realize the arbitrary change of the end-effectors during the assembly. It was set up with hybrid motors to achieve both a large operating space and a 30 nm positional resolution. The 2D components such as the assembly units were fabricated through the encapsulation of cells in the hydrogel. The coordinated manipulation strategies among the multi-nanomanipulators were designed with vision feedback and were demonstrated through the bottom-up assembly of the vascular-like microtube. As a result, the multi-layered microchannel was assembled through the cooperation of the nanomanipulation system.

  7. Hybrid multiscale simulation of a mixing-controlled reaction

    Energy Technology Data Exchange (ETDEWEB)

    Scheibe, Timothy D.; Schuchardt, Karen L.; Agarwal, Khushbu; Chase, Jared M.; Yang, Xiaofan; Palmer, Bruce J.; Tartakovsky, Alexandre M.; Elsethagen, Todd O.; Redden, George D.

    2015-09-01

    Continuum-scale models have been used to study subsurface flow, transport, and reactions for many years but lack the capability to resolve fine-grained processes. Recently, pore-scale models, which operate at scales of individual soil grains, have been developed to more accurately model and study pore-scale phenomena, such as mineral precipitation and dissolution reactions, microbially-mediated surface reactions, and other complex processes. However, these highly-resolved models are prohibitively expensive for modeling domains of sizes relevant to practical problems. To broaden the utility of pore-scale models for larger domains, we developed a hybrid multiscale model that initially simulates the full domain at the continuum scale and applies a pore-scale model only to areas of high reactivity. Since the location and number of pore-scale model regions in the model varies as the reactions proceed, an adaptive script defines the number and location of pore regions within each continuum iteration and initializes pore-scale simulations from macroscale information. Another script communicates information from the pore-scale simulation results back to the continuum scale. These components provide loose coupling between the pore- and continuum-scale codes into a single hybrid multiscale model implemented within the SWIFT workflow environment. In this paper, we consider an irreversible homogenous bimolecular reaction (two solutes reacting to form a third solute) in a 2D test problem. This paper is focused on the approach used for multiscale coupling between pore- and continuum-scale models, application to a realistic test problem, and implications of the results for predictive simulation of mixing-controlled reactions in porous media. Our results and analysis demonstrate that loose coupling provides a feasible, efficient and scalable approach for multiscale subsurface simulations.

  8. Portraits of colloidal hybrid nanostructures: controlled synthesis and potential applications.

    Science.gov (United States)

    Nguyen, Thanh-Dinh

    2013-03-01

    Inorganic hybrid nanostructures containing two or more nanocomponents have been emerging in many areas of materials science in recent years. The particle-particle interactions in a hybrid particle system could significantly improve existing local electronic structure and induce tunable physiochemical responses. The current work reviews the diverse inorganic hybrid nanostructures formed by adhesion of the different single components via seed-mediated method. The hybrid nanomaterials have great potentials for real applications in many other fields. The nanohybrids have been used as efficient heterocatalysts for carbon monoxide conversion and photodegradation of organic contaminants. The enhanced catalytic activity of these hybrid nanocatalysts could be attributed the formation of oxygen vacancies and electron transfer across the structural junction in a hybrid system as a result of the interfacial particle-particle interactions. The synergistic combination of up-converting and semiconducting properties in an up-converting semiconducting hybrid particle results in appearance of sub-band-gap photoconductivity. This behavior has a great significance for the design of photovoltaic devices for effective solar energy conversion. The functionalization and subsequent bioconjugation of the hybrid nanostructures to afford the multifunctional nanomedical platforms for simultaneous diagnosis and therapy are reviewed. The conjugated multifunctional hybrid nanostructures exhibit high biocompatibility and highly selective binding with functional groups-fabricated alive organs through delivering them to the tumor sites. The clever combinations of multifunctional features and antibody conjugation within these vehicles make them to generally offer new opportunities for clinical diagnostics and therapeutics.

  9. Output feedback hybrid-impulsive second order sliding mode control: Lyapunov approach

    NARCIS (Netherlands)

    Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.

    2014-01-01

    A perturbed nonlinear system of relative degree two controlled by output feedbacks discontinuous-hybrid-impulsive control is studied. The output hybrid-impulsive terms serve to drive instantaneously the system's trajectory to the origin or to its small vicinity. The output feedback impulsive action

  10. Multi-Objective Hybrid Optimal Control for Interplanetary Mission Planning

    Science.gov (United States)

    Englander, Jacob

    2015-01-01

    Preliminary design of low-thrust interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed, and in some cases the final destination. Because low-thrust trajectory design is tightly coupled with systems design, power and propulsion characteristics must be chosen as well. In addition, a time-history of control variables must be chosen which defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated. The customer who commissions a trajectory design is not usually interested in a point solution, but rather the exploration of the trade space of trajectories between several different objective functions. This can be very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very desirable. This work presents such an approach by posing the mission design problem as a multi-objective hybrid optimal control problem. The methods is demonstrated on hypothetical mission to the main asteroid belt and to Deimos.

  11. Monitoring and remote control of a hybrid photovoltaic microgrid

    Directory of Open Access Journals (Sweden)

    Henrique Tiggemann

    2016-07-01

    Full Text Available The search of new alternatives for energy supply in island communities has always been a challenge in scientific and social context. In order to attend these communities, in January 2013 a photovoltaic hybrid microgrid project had its beginning at Universidade do Vale do Rio dos Sinos (UNISINOS. This paper presents the characterization and the development of such microgrid, monitored remotely via internet, which allows visualizing the electrical measurements, energy production and performing remote control actions. This work also aims increasing the interaction between students of universities to perform laboratory practices. The system consists of two photovoltaic modules technologies, mono and multicrystalline, totaling 570 Wp, connected to an energy storage bank of 200 Ah in 24 V and a pure sinusoidal inverter of 1 kW to supply AC voltage loads of 220 V. All acquisition components of data, conversion and management system are located in a control cabinet. Currently, the microgrid uses the utility grid as an auxiliary generator, simulating an alternative source of energy, which can be further replaced by fuel cell, biodiesel generator, etc.

  12. An Hybrid Multi Level Inverter Based on DSTATCOM Control

    Directory of Open Access Journals (Sweden)

    K. Ramash Kumar

    2011-06-01

    Full Text Available This paper presents an investigation on the Hybrid Seven-Level (HSL H–bridge inverter, which is used in a Distribution Static Compensator (DSTATCOM in Power Systems (PS. Making use of HSLI has the benefits of low harmonics distortion, reduced number of switches required to achieve the seven- level inverter output over the conventional cascaded seven-level inverter, and also reduced switching losses. In order to compensate the reactive power and suppress the total harmonics distortion (THD drawn from a Non-Liner Diode Rectifier Load (NLDRL of DSTATCOM, we propose a Sub-Harmonics Pulse Width Modulation (SHPWM technique to control the switches of HSL H – bridge inverter. The D-Q reference frame theory is used to generate the reference compensating currents for DSTATCOM and proportional and integral (PI control is used for capacitors dc voltage regulation for DSTATCOM. An HSL H–bridge inverter is considered for the shunt compensation of a 4.5 kV distribution system. The results are validated by MatLab/Simulink simulation software.

  13. MERCURY CONTROL WITH THE ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Steven A. Benson; Stanley J. Miller; Charlene R. Crocker; Kevin C. Galbreath; Jason D. Laumb; Jill M. Zola; Ye Zhuang; Michelle R. Olderbak

    2004-08-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4-Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team includes the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and is now marketed as the Advanced Hybrid{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the original 5-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes bench-scale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal-fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot-scale testing at a

  14. Mercury Control With The Advanced Hybrid Particulate Collector

    Energy Technology Data Exchange (ETDEWEB)

    Steven A. Benson; Stanley J. Miller; Charlene R. Crocker; Kevin C. Galbreath; Jason D. Laumb; Jill M. Zola; Ye Zhuang; Michelle R. Olderbak

    2004-03-31

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4 - Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team includes the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore and Associates, Inc., and is now marketed as the Advanced Hybrid{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the original 5-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes benchscale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot-scale testing at

  15. MERCURY CONTROL WITH THE ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Charlene R. Crocker; Steven A. Benson; Stanley J. Miller

    2003-11-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4--Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team includes the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and is now marketed as the Advanced Hybrid{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultra-high collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the original 5-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes bench-scale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal-fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot-scale testing at a

  16. Mercury Control With The Advanced Hybrid Particulate Collector

    Energy Technology Data Exchange (ETDEWEB)

    Steven A. Benson; Stanley J. Miller; Charlene R. Crocker; Kevin C. Galbreath; Jason D. Laumb; Jill M. Zola; Ye Zhuang; Michelle R. Olderbak

    2003-12-31

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4 - Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team includes the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore and Associates, Inc., and is now marketed as the Advanced Hybrid{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the original 5-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes benchscale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot-scale testing at

  17. Multi-robot active SLAM under limited communication range%通讯范围受限条件下的多机器人主动SLAM

    Institute of Scientific and Technical Information of China (English)

    吴晓琳; 宋萌; 苑晶; 孙凤池; 陶通

    2012-01-01

    针对机器人通讯范围受限的问题,提出一种新的多机器人协作同时定位与建图(simultaneous localization and mapping,SLAM)方法.多个机器人采用基于最优控制的主动探索策略,创建自身周围区域的子地图,在每个建图周期内使用扩展的卡尔曼滤波器(extended Kalman filter,EKF)估计和维护子地图状态,并在一个周期结束后联络其通讯范围内的其他机器人,进行子地图的传递与融合.同时,为避免由通讯范围受限带来的地图过度融合问题,每个机器人保存每个建图周期内的局部子地图,待与其他机器人相遇时只传递并融合子地图的增量部分.仿真实验验证了该方法的有效性.%For the problem of communication constraint between robots caused by limited communication range, a new approach for cooperative multi-robot simultaneous localization and mapping (SLAM) is proposed. The robots adopt an active exploration strategy based on optimal control to build submaps around themselves, and use the extended Kalman filter(EKF) to estimate and maintain the states of submaps during every map-building cycle, and connect with other robots at the end of every cycle, sending and fusing submaps. At the same time, in order to avoid the over-fusion problem, which is introduced by limited communication range, it is suggested to save the submaps of every map-buildig cycle, sending and fusing the incremental parts when the robots meet each other. Simulation results validate the effectiveness of the presented approach.

  18. Double Motor Coordinated Control Based on Hybrid Genetic Algorithm and CMAC

    Science.gov (United States)

    Cao, Shaozhong; Tu, Ji

    A novel hybrid cerebellar model articulation controller (CMAC) and online adaptive genetic algorithm (GA) controller is introduced to control two Brushless DC motor (BLDCM) which applied in a biped robot. Genetic Algorithm simulates the random learning among the individuals of a group, and CMAC simulates the self-learning of an individual. To validate the ability and superiority of the novel algorithm, experiments have been done in MATLAB/SIMULINK. Analysis among GA, hybrid GA-CMAC and CMAC feed-forward control is also given. The results prove that the torque ripple of the coordinated control system is eliminated by using the hybrid GA-CMAC algorithm.

  19. Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator

    Institute of Scientific and Technical Information of China (English)

    Xiao LIN; Shuang-xia PAN; Dong-yun WANG

    2008-01-01

    The primary focus of this study is to investigate the control strategies of a hybrid system used in hydraulic excavators. First, the structure and evaluation target of hybrid hydraulic excavators are analyzed. Then the dynamic system model including batteries, motor and engine is built as the simulation environment to obtain control results. A so-called multi-work-point dynamic control strategy, which has both closed-loop speed PI (proportion integral) control and direct torque control, is proposed and studied in the simulation model. Simulation results indicate that the hybrid system with this strategy can meet the power demand and achieve better system stability and higher fuel efficiency.

  20. Optimal traffic light control method for a single intersection based on hybrid systems

    Institute of Scientific and Technical Information of China (English)

    赵晓华; 陈阳舟; 崔平远

    2003-01-01

    A single intersection of two phases is selected as a model to put forward a new optimal time-planning scheme for traffic light based on the model of hybrid automata for single intersection. A method of optimization is proposed for hybrid systems, and the average queue length over all queues is used as an objective function to find an optimal switching scheme for traffic light. It is illustrated that traffic light control for single intersection is a typical hybrid system, and the optimal planning-time scheme can be obtained using the optimal hybrid systems control based on the two stages method.

  1. Supporting Engagement and Floor Control in Hybrid Meetings

    NARCIS (Netherlands)

    op den Akker, Hendrikus J.A.; Hofs, D.H.W.; Hondorp, G.H.W.; op den Akker, Harm; Zwiers, Jakob; Nijholt, Antinus; Esposito, Anna; Vich, Robert

    2009-01-01

    Remote participants in hybrid meetings often have problems to follow what is going on in the (physical) meeting room they are connected with. This paper describes a videoconferencing system for participation in hybrid meetings. The system has been developed as a research vehicle to see how

  2. Test and numerical simulation of a new type of hybrid control technique

    Institute of Scientific and Technical Information of China (English)

    Meng Qingli; Zhang Minzheng; Cheng Dong

    2005-01-01

    In this paper, a new hybrid control technique, based on a combination of base-isolation and semi-active variable stiffness/damping in a superstructure, is presented. To illustrate the efficiency of the proposed control system, model tests on a mini-electromagnetic shaking table and a numerical simulation were performed. The test and numerical calculation results indicate that this new hybrid control mode with additional damping and smaller additional stiffness can achieve a better control efficiency.

  3. Two Beam Energy Exchange in Hybrid Liquid Crystal Cells with Photorefractive Field Controlled Boundary Conditions (Postprint)

    Science.gov (United States)

    2016-09-12

    AFRL-RX-WP-JA-2017-0209 TWO BEAM ENERGY EXCHANGE IN HYBRID LIQUID CRYSTAL CELLS WITH PHOTOREFRACTIVE FIELD CONTROLLED BOUNDARY...DATES COVERED (From - To) 29 August 2016 Interim 26 October 2015 – 29 July 2016 4. TITLE AND SUBTITLE TWO BEAM ENERGY EXCHANGE IN HYBRID LIQUID... energy gain when two light beams intersect in a hybrid nematic liquid crystal (LC) cell with photorefractive crystalline substrates. A periodic space

  4. Empirical Estimation of Hybrid Model: A Controlled Case Study

    Directory of Open Access Journals (Sweden)

    Sadaf Un Nisa

    2012-07-01

    Full Text Available Scrum and Extreme Programming (XP are frequently used models among all agile models whereas Rational Unified Process (RUP is one of the widely used conventional plan driven software development models. The agile and plan driven approaches both have their own strengths and weaknesses. Although RUP model has certain drawbacks, such as tendency to be over budgeted, slow in adaptation to rapidly changing requirements and reputation of being impractical for small and fast paced projects. XP model has certain drawbacks such as weak documentation and poor performance for medium and large development projects. XP has a concrete set of engineering practices that emphasizes on team work where managers, customers and developers are all equal partners in collaborative teams. Scrum is more concerned with the project management. It has seven practices namely Scrum Master, Scrum teams, Product Backlog, Sprint, Sprint Planning Meeting, Daily Scrum Meeting and Sprint Review. Keeping above mentioned context in view, this paper intends to propose a hybrid model naming SPRUP model by combining strengths of Scrum, XP and RUP by eliminating their weaknesses to produce high quality software. The proposed SPRUP model is validated through a controlled case study.

  5. Nucleic Acid-Peptide Complex Phase Controlled by DNA Hybridization

    Science.gov (United States)

    Vieregg, Jeffrey; Lueckheide, Michael; Leon, Lorraine; Marciel, Amanda; Tirrell, Matthew

    When polyanions and polycations are mixed, counterion release drives formation of polymer-rich complexes that can either be solid (precipitates) or liquid (coacervates) depending on the properties of the polyelectrolytes. These complexes are important in many fields, from encapsulation of industrial polymers to membrane-free segregation of biomolecules such as nucleic acids and proteins. Condensation of long double-stranded DNA has been studied for several decades, but comparatively little attention has been paid to the polyelectrolyte behavior of oligonucleotides. We report here studies of DNA oligonucleotides (10 - 88 nt) complexed with polylysine (10 - 100 aa). Unexpectedly, we find that the phase of the resulting complexes is controlled by the hybridization state of the nucleic acid, with double-stranded DNA forming precipitates and single-stranded DNA forming coacervates. Stability increases with polyelectrolyte length and decreases with solution salt concentration, with complexes of the longer double-stranded polymers undergoing precipitate/coacervate/soluble transitions as ionic strength is increased. Mixing coacervates formed by complementary single-stranded oligonucleotides results in precipitate formation, raising the possibility of stimulus-responsive material design.

  6. Hybrid genetic algorithm approach for selective harmonic control

    Energy Technology Data Exchange (ETDEWEB)

    Dahidah, Mohamed S.A. [Faculty of Engineering, Multimedia University, 63100, Jalan Multimedia-Cyberjaya, Selangor (Malaysia); Agelidis, Vassilios G. [School of Electrical and Information Engineering, The University of Sydney, NSW (Australia); Rao, Machavaram V. [Faculty of Engineering and Technology, Multimedia University, 75450, Jalan Ayer Keroh Lama-Melaka (Malaysia)

    2008-02-15

    The paper presents an optimal solution for a selective harmonic elimination pulse width modulated (SHE-PWM) technique suitable for a high power inverter used in constant frequency utility applications. The main challenge of solving the associated non-linear equations, which are transcendental in nature and, therefore, have multiple solutions, is the convergence, and therefore, an initial point selected considerably close to the exact solution is required. The paper discusses an efficient hybrid real coded genetic algorithm (HRCGA) that reduces significantly the computational burden, resulting in fast convergence. An objective function describing a measure of the effectiveness of eliminating selected orders of harmonics while controlling the fundamental, namely a weighted total harmonic distortion (WTHD) is derived, and a comparison of different operating points is reported. It is observed that the method was able to find the optimal solution for a modulation index that is higher than unity. The theoretical considerations reported in this paper are verified through simulation and experimentally on a low power laboratory prototype. (author)

  7. A study on the control of a hybrid MTDC system supplying a passive network

    DEFF Research Database (Denmark)

    Kotb, Omar; Ghandhari, Mehrdad; Eriksson, Robert

    2014-01-01

    A hybrid Multi-Terminal DC (MTDC) system can combine the benefits of both Line Commutated Converter (LCC) and Voltage Source Converter (VSC) technologies in the form of reduced losses and flexibility to connect to weak and passive grids. In this paper, an analysis of control strategies used...... in a hybrid MTDC system is presented. A case study of a four terminal hybrid MTDC system supplying a passive AC network was considered for simulation study. A control scheme based on voltage margin was developed to cope with the condition of main DC voltage controlling station tripping. Two various control...... scenarios for controlling the VSCs connected to the passive network were presented and compared. The system performance was studied through EMTP-RV simulations under different disturbances. The results show the ability of selected converter control modes and proposed control schemes to operate the hybrid...

  8. The Evolution of Cooperative Behaviours in Physically Heterogeneous Multi-robot Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Yang

    2012-12-01

    Full Text Available Evolutionary Robotics (ER is a methodology that uses evolutionary computation to develop controllers for autonomous robots. The existing works focus on\tsingle robot systems or physically homogenous multi‐robot teams, although physical heterogeneousness is more prevalent in the real world. It is therefore instructive to examine whether cooperative behaviours can be synthesized using artificial evolution for\ta team of\tphysically heterogeneous robots. This paper makes an important contribution in answering the question of whether robots with distinct capabilities can synthesize their control strategies to accommodate their own capabilities without human intervention. We present an empirical analysis of the collaboration mechanisms and suggest guidelines about how to choose appropriate evolution methods. Simulated experiments with a team of e‐puck robots show that evolution can lead to effective controllers for robots with distinct capabilities.

  9. Fuzzy logic controller versus classical logic controller for residential hybrid solar-wind-storage energy system

    Energy Technology Data Exchange (ETDEWEB)

    Derrouazin, A., E-mail: derrsid@gmail.com [University Hassiba BenBouali of Chlef, LGEER,Chlef (Algeria); Université de Lorraine, LMOPS, EA 4423, 57070 Metz (France); CentraleSupélec, LMOPS, 57070 Metz (France); Aillerie, M., E-mail: aillerie@metz.supelec.fr; Charles, J. P. [Université de Lorraine, LMOPS, EA 4423, 57070 Metz (France); CentraleSupélec, LMOPS, 57070 Metz (France); Mekkakia-Maaza, N. [Université des sciences et de la Technologie d’Oran, Mohamed Boudiaf-USTO MB,LMSE, Oran Algérie (Algeria)

    2016-07-25

    Several researches for management of diverse hybrid energy systems and many techniques have been proposed for robustness, savings and environmental purpose. In this work we aim to make a comparative study between two supervision and control techniques: fuzzy and classic logics to manage the hybrid energy system applied for typical housing fed by solar and wind power, with rack of batteries for storage. The system is assisted by the electric grid during energy drop moments. A hydrogen production device is integrated into the system to retrieve surplus energy production from renewable sources for the household purposes, intending the maximum exploitation of these sources over years. The models have been achieved and generated signals for electronic switches command of proposed both techniques are presented and discussed in this paper.

  10. Fuzzy logic controller versus classical logic controller for residential hybrid solar-wind-storage energy system

    Science.gov (United States)

    Derrouazin, A.; Aillerie, M.; Mekkakia-Maaza, N.; Charles, J. P.

    2016-07-01

    Several researches for management of diverse hybrid energy systems and many techniques have been proposed for robustness, savings and environmental purpose. In this work we aim to make a comparative study between two supervision and control techniques: fuzzy and classic logics to manage the hybrid energy system applied for typical housing fed by solar and wind power, with rack of batteries for storage. The system is assisted by the electric grid during energy drop moments. A hydrogen production device is integrated into the system to retrieve surplus energy production from renewable sources for the household purposes, intending the maximum exploitation of these sources over years. The models have been achieved and generated signals for electronic switches command of proposed both techniques are presented and discussed in this paper.

  11. Hybrid architecture active wavefront sensing and control system, and method

    Science.gov (United States)

    Feinberg, Lee D. (Inventor); Dean, Bruce H. (Inventor); Hyde, Tristram T. (Inventor)

    2011-01-01

    According to various embodiments, provided herein is an optical system and method that can be configured to perform image analysis. The optical system can comprise a telescope assembly and one or more hybrid instruments. The one or more hybrid instruments can be configured to receive image data from the telescope assembly and perform a fine guidance operation and a wavefront sensing operation, simultaneously, on the image data received from the telescope assembly.

  12. Control and verification of industrial hybrid systems using models specified with the formalism $ chi $

    NARCIS (Netherlands)

    J.J.H. Fey

    1996-01-01

    textabstractControl and verification of hybrid systems is studied using two industrial examples. The hybrid models of a conveyor-belt and of a biochemical plant for the production of ethanol are specified in the formalism $chi .$ A verification of the closed-loop systems for those examples,

  13. Path planning algorithms for a multi-robot framework on an agricultural environment

    DEFF Research Database (Denmark)

    Hameed, Ibrahim

    2016-01-01

    the fertility of the soil. This is a significant threat to soil in Europe. Compacted soils require more than a decade of expensive treatment to recover its fertility. The problem can be solved by replacing heavy tractors with a number of smaller vehicles which can treat crop fields just as well and without...... Control Center and Intelligent Coverage Path Planning algorithms to enable team members to communicate and cooperate, and solve a range of agricultural tasks in a safe and efficient way....

  14. Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments

    Science.gov (United States)

    2006-12-15

    Science,Pittsburgh,PA,15213 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING/ MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR’S...181 B.2 The general architecture of the CMDragons offboard control software. . . . 182 B.3 View of the robot drive system, kicker , and dribbler...then monitor the environment and its execution of the plan to determine if it succeeds or fails. If the plan fails during execution, the agent can replan

  15. Hybrid Electric Vehicle Experimental Model with CAN Network Real Time Control

    Directory of Open Access Journals (Sweden)

    RATOI, M.

    2010-05-01

    Full Text Available In this paper an experimental model with a distributed control system of a hybrid electrical vehicle is presented. A communication CAN network of high speed (1 Mbps assures a distributed control of the all components. The modeling and the control of different operating regimes are realized on an experimental test-bench of a hybrid electrical vehicle. The experimental results concerning the variations of the mains variables (currents, torques, speeds are presented.

  16. Control of hybrid AC/DC microgrid under islanding operational conditions

    DEFF Research Database (Denmark)

    Ding, G.; Gao, F.; Zhang, S.

    2014-01-01

    This paper presents control methods for hybrid AC/DC microgrid under islanding operation condition. The control schemes for AC sub-microgrid and DC sub-microgrid are investigated according to the power sharing requirement and operational reliability. In addition, the key control schemes......, the whole hybrid AC/DC microgrid can manage the power flow transferred between sub-microgrids for improving on the operational quality and efficiency....

  17. CONSTANT WORK-POINT CONTROL FOR PARALLEL HYBRID SYSTEM WITH CAPACITOR ACCUMULATOR IN HYDRAULIC EXCAVATOR

    Institute of Scientific and Technical Information of China (English)

    ZHANG Yanting; WANG Qingfeng; XIAO Qing; FU Qiang

    2006-01-01

    Limitations of various accumulators in hybrid hydraulic excavator are analyzed. A program using capacitor as the accumulator based on constant work-point control is put forward. A simulating experimental system of hybrid construction machinery is established, and experimental study on constant work-point control for parallel hybrid system with capacitor accumulator is carried out using the pressure and flow rate derived from boom cylinder of hydraulic excavator in actual work as the simulating loads. A program of double work-point control is proposed and proved by further experiments.

  18. Remote toehold: a mechanism for flexible control of DNA hybridization kinetics.

    Science.gov (United States)

    Genot, Anthony J; Zhang, David Yu; Bath, Jonathan; Turberfield, Andrew J

    2011-02-23

    Hybridization of DNA strands can be used to build molecular devices, and control of the kinetics of DNA hybridization is a crucial element in the design and construction of functional and autonomous devices. Toehold-mediated strand displacement has proved to be a powerful mechanism that allows programmable control of DNA hybridization. So far, attempts to control hybridization kinetics have mainly focused on the length and binding strength of toehold sequences. Here we show that insertion of a spacer between the toehold and displacement domains provides additional control: modulation of the nature and length of the spacer can be used to control strand-displacement rates over at least 3 orders of magnitude. We apply this mechanism to operate displacement reactions in potentially useful kinetic regimes: the kinetic proofreading and concentration-robust regimes.

  19. Requirements for Control Room Computer-Based Procedures for use in Hybrid Control Rooms

    Energy Technology Data Exchange (ETDEWEB)

    Le Blanc, Katya Lee [Idaho National Lab. (INL), Idaho Falls, ID (United States); Oxstrand, Johanna Helene [Idaho National Lab. (INL), Idaho Falls, ID (United States); Joe, Jeffrey Clark [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-05-01

    Many plants in the U.S. are currently undergoing control room modernization. The main drivers for modernization are the aging and obsolescence of existing equipment, which typically results in a like-for-like replacement of analogue equipment with digital systems. However, the modernization efforts present an opportunity to employ advanced technology that would not only extend the life, but enhance the efficiency and cost competitiveness of nuclear power. Computer-based procedures (CBPs) are one example of near-term advanced technology that may provide enhanced efficiencies above and beyond like for like replacements of analog systems. Researchers in the LWRS program are investigating the benefits of advanced technologies such as CBPs, with the goal of assisting utilities in decision making during modernization projects. This report will describe the existing research on CBPs, discuss the unique issues related to using CBPs in hybrid control rooms (i.e., partially modernized analog control rooms), and define the requirements of CBPs for hybrid control rooms.

  20. 湍流环境中多弱感知机器人气味源搜索算法%Odor source search employing multi-robots with limited perception in turbulence environments

    Institute of Scientific and Technical Information of China (English)

    张思齐; 徐德民

    2015-01-01

    An odor source search algorithm employing multi-robots with limited space perception in a turbulence environment is presented. In this algorithm, an approximate expression of the inferred position of the odor source is established, and the moving directions of robots are given by minimization of a free energy separately. The robots are coordinated with sharing their path each other. An internal temperature allows active control on the exploration/exploitation balance during the search. Simulation results show the effectiveness of the proposed method.%针对湍流环境中机器人空间感知能力的不足,提出一种多弱感知机器人气味源搜索算法.该算法建立了气味源位置概率分布的近似表达式,机器人通过自由能最小化获得移动方向.各机器人之间通过共享位置信息实现协同,通过设定内部温度达到搜索过程中探索和利用的平衡.仿真结果验证了所提出算法的有效性.

  1. Active vibration and noise control by hybrid active acoustic panels

    Energy Technology Data Exchange (ETDEWEB)

    Stoebener, U.; Gaul, L. [Stuttgart Univ. (Germany). Inst. A fuer Mechanik

    2001-07-01

    In the present paper a hybrid passive and active treatment for vibration and noise reduction of plate type structures is proposed. The treatment is manufactured as sandwich structure and is called hybrid active acoustic panel. The passive component is used to reduce the vibration and sound radiation for high frequencies whereas the active part of the system is designed for the low frequency range. By selecting the thickness of the passive damping layer a certain frequency limit is defined, which divides the high and low frequency range. The actuator and sensor layout of the active component is evaluated by using the mode shapes of the low frequency range. According to the evaluated layout a hybrid active acoustic panel is manufactured and experimentally tested. The experimental results validate the proposed concept. (orig.)

  2. Hybrid Asymmetric Space Vector Modulation for inverter based direct torque control induction motor drive

    Directory of Open Access Journals (Sweden)

    Nandakumar Sundararaju

    2014-05-01

    Full Text Available This paper proposes novel hybrid asymmetric space vector modulation technique for inverter operated direct torque control induction motor drive. The hybridization process is performed by the combination of continuous asymmetric space vector modulation pulse width technique (ASVPWM and fuzzy operated discontinuous ASVPWM technique. Combination process is based on pulse mismatching technique. Pulse mismatching technique helps to reduce the active region of the switch. Finally, optimal pulses are applied to control the inverter. The optimal hybrid pulse condense switching losses of the inverter and also improves the operating performance of the direct torque control (DTC based drive system like smooth dynamic response in speed reversal, minimum torque error, settling time of speed. Simulation results of proposed hybrid asymmetric space vector pulse width modulation technique to direct torque control (HASVPWM-DTC approach has been carried out by using Matlab-Simulink environment.

  3. NEURAL NETWORKS CONTROL OF THE HYBRID POWER UNIT BASED ON THE METHOD OF ADAPTIVE CRITICS

    Directory of Open Access Journals (Sweden)

    S. Serikov

    2012-01-01

    Full Text Available The formal statement of the optimization problem of hybrid vehicle power unit control is given. Its solving by neural networks method application on the basis of adaptive critic is considered.

  4. Modeling, control, and simulation of grid connected intelligent hybrid battery/photovoltaic system using new hybrid fuzzy-neural method.

    Science.gov (United States)

    Rezvani, Alireza; Khalili, Abbas; Mazareie, Alireza; Gandomkar, Majid

    2016-07-01

    Nowadays, photovoltaic (PV) generation is growing increasingly fast as a renewable energy source. Nevertheless, the drawback of the PV system is its dependence on weather conditions. Therefore, battery energy storage (BES) can be considered to assist for a stable and reliable output from PV generation system for loads and improve the dynamic performance of the whole generation system in grid connected mode. In this paper, a novel topology of intelligent hybrid generation systems with PV and BES in a DC-coupled structure is presented. Each photovoltaic cell has a specific point named maximum power point on its operational curve (i.e. current-voltage or power-voltage curve) in which it can generate maximum power. Irradiance and temperature changes affect these operational curves. Therefore, the nonlinear characteristic of maximum power point to environment has caused to development of different maximum power point tracking techniques. In order to capture the maximum power point (MPP), a hybrid fuzzy-neural maximum power point tracking (MPPT) method is applied in the PV system. Obtained results represent the effectiveness and superiority of the proposed method, and the average tracking efficiency of the hybrid fuzzy-neural is incremented by approximately two percentage points in comparison to the conventional methods. It has the advantages of robustness, fast response and good performance. A detailed mathematical model and a control approach of a three-phase grid-connected intelligent hybrid system have been proposed using Matlab/Simulink.

  5. Hybrid Control of a Two-Wheeled Automatic-Balancing Robot with Backlash Feature

    DEFF Research Database (Denmark)

    Løhndorf, Petar Durdevic; Yang, Zhenyu

    2013-01-01

    This paper investigates the application of hybrid control for an automatic balancing robot system subject to backlash effect. The developed controller is a type of sliding mode controller, refereed to as a switching controller, with respect to different situations i.e., whether the backlash...

  6. Multi-agent system-based event-triggered hybrid control scheme for energy internet

    DEFF Research Database (Denmark)

    Dou, Chunxia; Yue, Dong; Han, Qing Long

    2017-01-01

    This paper is concerned with an event-triggered hybrid control for the energy Internet based on a multi-agent system approach with which renewable energy resources can be fully utilized to meet load demand with high security and well dynamical quality. In the design of control, a multi-agent system...... framework is first constructed. Then, to describe fully the hybrid behaviors of all distributed energy resources and logical relationships between them, a differential hybrid Petri-net model is established, which is an original work. The most important contributions based on this model propose four types...

  7. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

    2014-10-15

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  8. Control and fault diagnosis based sliding mode observer of a multicellular converter: Hybrid approach

    KAUST Repository

    Benzineb, Omar

    2013-01-01

    In this article, the diagnosis of a three cell converter is developed. The hybrid nature of the system represented by the presence of continuous and discrete dynamics is taken into account in the control design. The idea is based on using a hybrid control and an observer-type sliding mode to generate residuals from the observation errors of the system. The simulation results are presented at the end to illustrate the performance of the proposed approach. © 2013 FEI STU.

  9. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  10. Predictive control strategy for power management in parallel hybrid-electric vehicle

    DEFF Research Database (Denmark)

    Nodeh, Mohammad Taqi; Gholizade, Hossein; Hajizadeh, Amin

    2016-01-01

    In this paper, a hybrid model-based nonlinear optimal control method is used to compute the optimal power distribution and power management in parallel hybrid electric vehicles. In the power management strategy, for optimal power distribution between the internal combustion engine, electrical...... system and the other subsystems, nonlinear predictive control is applied. In order to achieve this goal, a hierarchical control structure is utilized. This type of control structure consists of three levels of monitoring, coordinating and local controllers. Nonlinear modeling and performance index...... in the proposed method should be formulated at the regulatory level of the controller. Discrete dynamic mode of operation (motor-generator) in hybrid electric vehicle requires to use a dual-mode switch model and to define an alternative expression of performance index for the optimal control problem...

  11. Predictive control strategies for energy saving of hybrid electric vehicles based on traffic light information

    Directory of Open Access Journals (Sweden)

    Kaijiang YU

    2015-10-01

    Full Text Available As the conventional control method for hybrid electric vehicle doesn’t consider the effect of known traffic light information on the vehicle energy management, this paper proposes a model predictive control intelligent optimization strategies based on traffic light information for hybrid electric vehicles. By building the simplified model of the hybrid electric vehicle and adopting the continuation/generalized minimum residual method, the model prediction problem is solved. The simulation is conducted by using MATLAB/Simulink platform. The simulation results show the effectiveness of the proposed model of the traffic light information, and that the proposed model predictive control method can improve fuel economy and the real-time control performance significantly. The research conclusions show that the proposed control strategy can achieve optimal control of the vehicle trajectory, significantly improving fuel economy of the vehicle, and meet the system requirements for the real-time optimal control.

  12. Hybrid PID and PSO-based control for electric power assist steering system for electric vehicle

    Science.gov (United States)

    Hanifah, R. A.; Toha, S. F.; Ahmad, S.

    2013-12-01

    Electric power assist steering (EPAS) system provides an important significance in enhancing the driving performance of a vehicle with its energy-conserving features. This paper presents a hybrid PID (Proportional-Integral-Derivative) and particle swarm optimization (PSO) based control scheme to minimize energy consumption for EPAS. This single objective optimization scheme is realized using the PSO technique in searching for best gain parameters of the PID controller. The fast tuning feature of this optimum PID controller produced high-quality solutions. Simulation results show the performance and effectiveness of the hybrid PSO-PID based controller as opposed to the conventional PID controller.

  13. Hybrid Active and Passive Control of Vibratory Power Flow in Flexible Isolation System

    Directory of Open Access Journals (Sweden)

    Y.P. Xiong

    2000-01-01

    Full Text Available A hybrid active and passive vibration control strategy is developed to reduce the total power flows from machines, subject to multiple excitations, to supporting flexible structures. The dynamic interactions between machines, controllers, and receiving structures are studied. A force feedback control process governed by a proportional control law is adopted to produce active control forces to cancel the transmitted forces in the mounts. Computational simulations of a simple and a multiple dimensional hybrid vibration isolation system are performed to study the force transmissibility and the total power flows from vibration sources through active and passive isolators to the supporting structures. The investigation focuses on the effects of a hybrid control approach to the reduction of power flow transmissions and the influence of the dynamic characteristics of the control on power flow spectra. The hybrid control mechanism is synthesised from the power flow analysis. Conclusions and control strategies, well supported by numerical simulations, are deduced providing very useful guidelines for hybrid vibration isolation design.

  14. Frequency Stability of Hierarchically Controlled Hybrid Photovoltaic-Battery-Hydropower Microgrids

    DEFF Research Database (Denmark)

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

    2015-01-01

    Hybrid photovoltaic (PV) -battery-hydropower microgrids can be considered to enhance electricity accessibility and availability in remote areas. However, the coexistence of different renewable energy sources with different inertias and control strategies may affect system stability. In this paper......, a hierarchical controller for hybrid PV-battery-hydropower microgrid is proposed in order to achieve the parallel operation of hydropower and PV-battery system with different rates, and to guarantee power sharing performance among PV voltage controlled inverters, while the required power to hydropower...... is derived to analyze the system stability of the hybrid microgrid. The simulation results show system frequency and voltage stability for a hybrid microgrid demonstration which includes 2 MWp PV installations, a 15.2 MWh battery system, and a 12.8 MVA hydropower plant. Experimental results on a small...

  15. Control and design of volumetric composition in pultruded hybrid fibre composites

    DEFF Research Database (Denmark)

    Madsen, Bo; Hashemi, Fariborz; Tahir, Paridah

    2016-01-01

    Hybrid composites consist of two of more fibre phases in a common matrix phase. This is a challenge for the control and design of the volumetric composition and microstructural uniformity of such composites. In the present study, a model is presented for the prediction of the complete volumetric...... composition (i.e. volume fractions of fibres, matrix and porosity) in hybrid fibre composites. The model is based on a constant local fibre volume fraction criterion. Good agreement is found between model predictions and experimental data of pultruded hybrid kenaf/glass fibre composites with variable hybrid...... fibre weight mixing ratios. To demonstrate the suitability of the model, simulations are performed for four different cases of volumetric composition in hybrid kenaf/glass composites....

  16. Controlled isotropic or anisotropic nanoscale growth of coordination polymers: formation of hybrid coordination polymer particles.

    Science.gov (United States)

    Lee, Hee Jung; Cho, Yea Jin; Cho, Won; Oh, Moonhyun

    2013-01-22

    The ability to fabricate multicompositional hybrid materials in a precise and controlled manner is one of the primary goals of modern materials science research. In addition, an understanding of the phenomena associated with the systematic growth of one material on another can facilitate the evolution of multifunctional hybrid materials. Here, we demonstrate precise manipulation of the isotropic and/or anisotropic nanoscale growth of various coordination polymers (CPs) to obtain heterocompositional hybrid coordination polymer particles. Chemical composition analyses conducted at every growth step reveal the formation of accurately assembled hybrid nanoscale CPs, and microscopy images are used to examine the morphology of the particles and visualize the hybrid structures. The dissimilar growth behavior, that is, growth in an isotropic or anisotropic fashion, is found to be dependent on the size of the metal ions involved within the CPs.

  17. Performance and robustness of hybrid model predictive control for controllable dampers in building models

    Science.gov (United States)

    Johnson, Erik A.; Elhaddad, Wael M.; Wojtkiewicz, Steven F.

    2016-04-01

    A variety of strategies have been developed over the past few decades to determine controllable damping device forces to mitigate the response of structures and mechanical systems to natural hazards and other excitations. These "smart" damping devices produce forces through passive means but have properties that can be controlled in real time, based on sensor measurements of response across the structure, to dramatically reduce structural motion by exploiting more than the local "information" that is available to purely passive devices. A common strategy is to design optimal damping forces using active control approaches and then try to reproduce those forces with the smart damper. However, these design forces, for some structures and performance objectives, may achieve high performance by selectively adding energy, which cannot be replicated by a controllable damping device, causing the smart damper performance to fall far short of what an active system would provide. The authors have recently demonstrated that a model predictive control strategy using hybrid system models, which utilize both continuous and binary states (the latter to capture the switching behavior between dissipative and non-dissipative forces), can provide reductions in structural response on the order of 50% relative to the conventional clipped-optimal design strategy. This paper explores the robustness of this newly proposed control strategy through evaluating controllable damper performance when the structure model differs from the nominal one used to design the damping strategy. Results from the application to a two-degree-of-freedom structure model confirms the robustness of the proposed strategy.

  18. Controlling chemical dosing for sulfide mitigation in sewer networks using a hybrid automata control strategy.

    Science.gov (United States)

    Liu, Yiqi; Ganigué, Ramon; Sharma, Keshab; Yuan, Zhiguo

    2013-01-01

    Chemicals such as magnesium hydroxide (Mg(OH)2) and iron salts are widely used to control sulfide-induced corrosion in sewer networks composed of interconnected sewer pipe lines and pumping stations. Chemical dosing control is usually non-automatic and based on experience, thus often resulting in sewage reaching the discharge point receiving inadequate or even no chemical dosing. Moreover, intermittent operation of pumping stations makes traditional control theory inadequate. A hybrid automata-based (HA-based) control method is proposed in this paper to coordinate sewage pumping station operations by considering their states, thereby ensuring suitable chemical concentrations in the network discharge. The performance of the proposed control method was validated through a simulation study of a real sewer network using real sewage flow data. The physical, chemical and biological processes were simulated using the well-established SeweX model. The results suggested that the HA-based control strategy significantly improved chemical dosing control performance and sulfide mitigation in sewer networks, compared to the current common practice.

  19. Single axis controlled hybrid magnetic bearing for left ventricular assist device: hybrid core and closed magnetic circuit.

    Science.gov (United States)

    da Silva, Isaias; Horikawa, Oswaldo; Cardoso, Jose R; Camargo, Fernando A; Andrade, Aron J P; Bock, Eduardo G P

    2011-05-01

    In previous studies, we presented main strategies for suspending the rotor of a mixed-flow type (centrifugal and axial) ventricular assist device (VAD), originally presented by the Institute Dante Pazzanese of Cardiology (IDPC), Brazil. Magnetic suspension is achieved by the use of a magnetic bearing architecture in which the active control is executed in only one degree of freedom, in the axial direction of the rotor. Remaining degrees of freedom, excepting the rotation, are restricted only by the attraction force between pairs of permanent magnets. This study is part of a joint project in development by IDPC and Escola Politecnica of São Paulo University, Brazil. This article shows advances in that project, presenting two promising solutions for magnetic bearings. One solution uses hybrid cores as electromagnetic actuators, that is, cores that combine iron and permanent magnets. The other solution uses actuators, also of hybrid type, but with the magnetic circuit closed by an iron core. After preliminary analysis, a pump prototype has been developed for each solution and has been tested. For each prototype, a brushless DC motor has been developed as the rotor driver. Each solution was evaluated by in vitro experiments and guidelines are extracted for future improvements. Tests have shown good results and demonstrated that one solution is not isolated from the other. One complements the other for the development of a single-axis-controlled, hybrid-type magnetic bearing for a mixed-flow type VAD.

  20. Hybrid model predictive control applied to switching control of burner load for a compact marine boiler design

    DEFF Research Database (Denmark)

    Solberg, Brian; Andersen, Palle; Maciejowski, Jan

    2008-01-01

    This paper discusses the application of hybrid model predictive control to control switching between different burner modes in a novel compact marine boiler design. A further purpose of the present work is to point out problems with finite horizon model predictive control applied to systems for w...

  1. H∞ Controller Design for Asynchronous Hybrid Systems with Multiple Delays

    Directory of Open Access Journals (Sweden)

    Xiaoqiang Sun

    2016-01-01

    Full Text Available Solutions for the H∞ synthesis problems of asynchronous hybrid systems with input-output delays are proposed. The continuous-time lifting approach of sampled-data systems is extended to a hybrid system with multiple delays, and some feasible formulas to calculate the operators of the equivalent discrete-time (DT system are given. Different from the existing methods derived from symplectic pair theory or by state augmentation, a Lyapunov-Krasovskii functional to solve the synthesis problem is explicitly constructed. The delay-dependent stability conditions we obtained can be described in terms of nonstrict linear matrix inequalities (LMIs, which are much more convenient to be solved by LMI tools.

  2. Evolved finite state controller for hybrid system in reduced search space

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun

    2009-01-01

    This paper presents an evolutionary methodology to automatically generate finite state automata (FSA) controllers to control hybrid systems. The proposed approach reduces the search space using an invariant analysis of the system. FSA controllers for a case study of two-tank system have been...

  3. Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.

    Science.gov (United States)

    Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao

    2015-02-01

    This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.

  4. Comparing an evolved finite state controller for hybrid system to a lookahead design

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun

    2010-01-01

    This paper presents a comparison of an evolutionary methodology for evolving finite state controller to the lookahead controller for hybrid system. To illustrate the advantages and disadvantages of both controllers two case studies, namely a two-tanks system and a single-input double-output DC...

  5. Design, implementation, and experimental validation of optimal power split control for hybrid electric trucks

    NARCIS (Netherlands)

    Keulen, T. van; Mullem, D. van; Jager, B. van; Kessels, J.T.B.A.; Steinbuch, M.

    2012-01-01

    Hybrid electric vehicles require an algorithm that controls the power split between the internal combustion engine and electric machine(s), and the opening and closing of the clutch. Optimal control theory is applied to derive a methodology for a real-time optimal-control-based power split

  6. Dynamical control of quantum state transfer within hybrid open systems

    CERN Document Server

    Escher, B M; Clausen, J; Kurizki, G; Davidovich, L

    2010-01-01

    We analyze quantum state-transfer optimization within hybrid open systems, from a "noisy" (write-in) qubit to its "quiet" counterpart (storage qubit). Intriguing interplay is revealed between our ability to avoid bath-induced errors that profoundly depend on the bath-memory time and the limitations imposed by leakage out of the operational subspace. Counterintuitively, under no circumstances is the fastest transfer optimal (for a given transfer energy).

  7. Ciprofloxacin-nitroxide hybrids with potential for biofilm control.

    Science.gov (United States)

    Verderosa, Anthony D; de la Fuente-Núñez, César; Mansour, Sarah C; Cao, Jicong; Lu, Timothy K; Hancock, Robert E W; Fairfull-Smith, Kathryn E

    2017-09-29

    As bacterial biofilms display extreme tolerance to conventional antibiotic treatments, it has become imperative to develop new antibacterial strategies with alternative mechanisms of action. Herein, we report the synthesis of a series of ciprofloxacin-nitroxide conjugates and their corresponding methoxyamine derivatives in high yield. This was achieved by linking various nitroxides or methoxyamines to the secondary amine of the piperazine ring of ciprofloxacin using amide bond coupling. Biological evaluation of the prepared compounds on preformed P. aeruginosa biofilms in flow cells revealed substantial dispersal with ciprofloxacin-nitroxide hybrid 25, and virtually complete killing and removal (94%) of established biofilms in the presence of ciprofloxacin-nitroxide hybrid 27. Compounds 25-28 were shown to be non-toxic in both human embryonic kidney 293 (HEK 293) cells and human muscle rhabdomyosarcoma (RD) cells at concentrations up to 40 μM. Significantly, these hybrids demonstrate the potential of antimicrobial-nitroxide agents to overcome the resistance of biofilms to antimicrobials via stimulation of biofilm dispersal or through direct cell killing. Crown Copyright © 2017. Published by Elsevier Masson SAS. All rights reserved.

  8. Non-fragile hybrid guaranteed cost control for a class of uncertain switched linear systems

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    This paper focuses on the problem of non-fragile hybrid guaranteed cost control for a class of uncertain switched linear systems. The controller gain to be designed is assumed to have additive gain variations. Based on multiple-Lyapunov function technique, the design of non-fragile hybrid guaranteed cost controllers is derived to make the corresponding closed-loop system asymptotically stable for all admissible uncertainties. Furthermore, a convex optimization approach with LMIs constraints is introduced to select the optimal non-fragile guaranteed cost controllers. Finally, a simulation example illustrates the effectiveness of the proposed approach.

  9. Approximate dynamic programming recurrence relations for a hybrid optimal control problem

    Science.gov (United States)

    Lu, W.; Ferrari, S.; Fierro, R.; Wettergren, T. A.

    2012-06-01

    This paper presents a hybrid approximate dynamic programming (ADP) method for a hybrid dynamic system (HDS) optimal control problem, that occurs in many complex unmanned systems which are implemented via a hybrid architecture, regarding robot modes or the complex environment. The HDS considered in this paper is characterized by a well-known three-layer hybrid framework, which includes a discrete event controller layer, a discrete-continuous interface layer, and a continuous state layer. The hybrid optimal control problem (HOCP) is to nd the optimal discrete event decisions and the optimal continuous controls subject to a deterministic minimization of a scalar function regarding the system state and control over time. Due to the uncertainty of environment and complexity of the HOCP, the cost-to-go cannot be evaluated before the HDS explores the entire system state space; as a result, the optimal control, neither continuous nor discrete, is not available ahead of time. Therefore, ADP is adopted to learn the optimal control while the HDS is exploring the environment, because of the online advantage of ADP method. Furthermore, ADP can break the curses of dimensionality which other optimizing methods, such as dynamic programming (DP) and Markov decision process (MDP), are facing due to the high dimensions of HOCP.

  10. Vehicle height and posture control of the electronic air suspension system using the hybrid system approach

    Science.gov (United States)

    Sun, Xiaoqiang; Cai, Yingfeng; Chen, Long; Liu, Yanling; Wang, Shaohua

    2016-03-01

    The electronic air suspension (EAS) system can improve ride comfort, fuel economy and handling safety of vehicles by adjusting vehicle height. This paper describes the development of a novel controller using the hybrid system approach to adjust the vehicle height (height control) and to regulate the roll and pitch angles of the vehicle body during the height adjustment process (posture control). The vehicle height adjustment system of EAS poses challenging hybrid control problems, since it features different discrete modes of operation, where each mode has an associated linear continuous-time dynamic. In this paper, we propose a novel approach to the modelling and controller design problem for the vehicle height adjustment system of EAS. The system model is described firstly in the hybrid system description language (HYSDEL) to obtain a mixed logical dynamical (MLD) hybrid model. For the resulting model, a hybrid model predictive controller is tuned to improve the vehicle height and posture tracking accuracy and to achieve the on-off statuses direct control of solenoid valves. The effectiveness and performance of the proposed approach are demonstrated by simulations and actual vehicle tests.

  11. Autonomous Control of Interlinking Converter With Energy Storage in Hybrid AC–DC Microgrid

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang

    2013-01-01

    The coexistence of ac and dc subgrids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these subgrids is a power converter, whose topology should preferably be not too unconventional. This is to avoid unnecessary compromises to reliability......, simplicity, and industry relevance of the converter. The desired operating features of the hybrid microgrid can then be added through this interlinking converter. To demonstrate, an appropriate control scheme is now developed for controlling the interlinking converter. The objective is to keep the hybrid...... microgrid in autonomous operation with active power proportionally shared among its distributed sources. Power sharing here should depend only on the source ratings and not their placements within the hybrid microgrid. The proposed scheme can also be extended to include energy storage within...

  12. In vitro spine testing using a robot-based testing system: comparison of displacement control and "hybrid control".

    Science.gov (United States)

    Bell, Kevin M; Hartman, Robert A; Gilbertson, Lars G; Kang, James D

    2013-06-21

    The two leading control algorithms for in-vitro spine biomechanical testing-"load control" and "displacement control"-are limited in their lack of adaptation to changes in the load-displacement response of a spine specimen-pointing to the need for sufficiently sophisticated control algorithms that are able to govern the application of loads/motions to a spine specimen in a more realistic, adaptive manner. A robotics-based spine testing system was programmed with a novel hybrid control algorithm combining "load control" and "displacement control" into a single, robust algorithm. Prior to in-vitro cadaveric testing, preliminary testing of the new algorithm was performed using a rigid-body-spring model with known structural properties. The present study also offers a direct comparison between "hybrid control" and "displacement control". The hybrid control algorithm enabled the robotics-based spine testing system to apply pure moments to an FSU (in flexion/extension, lateral bending, or axial rotation) in an unconstrained manner through active control of secondary translational/rotational degrees-of-freedom-successfully minimizing coupled forces/moments. The characteristic nonlinear S-shaped curves of the primary moment-rotation responses were consistent with previous reports of the FSU having a region of low stiffness (neutral zone) bounded by regions of increasing stiffness (elastic zone). Direct comparison of "displacement control" and "hybrid control" showed that hybrid control was able to actively minimize off-axis forces and resulted in larger neutral zone and range of motion. Copyright © 2013 Elsevier Ltd. All rights reserved.

  13. The Effects of Level of Autonomy on Human-Agent Teaming for Multi-Robot Control and Local Security Maintenance

    Science.gov (United States)

    2013-11-01

    Zelinsky, G. J.; Sheinberg, D. L. Eye Movements During Parallel– Serial Visual Search. Journal of Experimental Psychology: Human Perception and Performance...usa savatal softo..,.’S!a pad:ag: s 7 . Ata you in your good! comfortab le stat: of health physically? Y’ES NO If NO, p lease briefly exp lain: S

  14. Sliding Mode Controller for Three-Phase Hybrid Active Power Filter with Photovoltaic Application

    OpenAIRE

    Blorfan, Ayman; Merckle, Jean; Flieller, Damien; Wira, Patrice; Sturtzer, Guy

    2012-01-01

    International audience; This paper presents a new three-phase hybrid active power filter configuration that interconnects a passive high-pass filter in parallel with an active power filter and a photovoltaic system. The proposed configuration can improves the filtering performance of the conventional active power filter, as well as simultaneously supply the power from the photovoltaic arrays to the load and utility. This paper will describe the proposed hybrid active power filter control usin...

  15. Periodically-Scheduled Controller Analysis using Hybrid Systems Reachability and Continuization

    Science.gov (United States)

    2015-12-01

    algorithm is run, and actuator outputs are set. The physical world , on the other hand, evolves continuously. Models of the physical world may be given...An extra clock variable, c, is added to the hybrid automaton that ticks at rate one (ċ = 1). When the clock reaches the period, a transition is...Preliminary Reachability Analysis Although hybrid automata can model real-time scheduled controllers and plants as shown above, an important factor is

  16. The Development of an Optimal Control Strategy for a Series Hydraulic Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Chih-Wei Hung

    2016-03-01

    Full Text Available In this work, a Truck Class II series hydraulic hybrid model is established. Dynamic Programming (DP methodology is applied to derive the optimal power-splitting factor for the hybrid system for preselected driving schedules. Implementable rules are derived by extracting the optimal trajectory features from a DP scheme. The system behaviors illustrate that the improved control strategy gives a highly effective operation region for the engine and high power density characteristics for the hydraulic components.

  17. Path Planning for Multi-robot Rescue System under Coal Mine%矿井中多机器人搜救系统路径规划

    Institute of Scientific and Technical Information of China (English)

    金纯; 王升刚; 尹远阳

    2014-01-01

    矿难发生后,井下通信设施可能已有一定的损害、无法正常使用,因而无法知道被困人员的确切位置并且井下环境复杂危险,可能对营救人员造成伤害发生二次事故。为了快速地搜索到被困人员,结合井下无线传播环境的特点,提出井下多机器人组网搜救系统,其中包括机器人自由空间环境模型的创建、机器人搜索的局部和全局路径的规划。利用MAKLINK图论理论对井下环境进行建模,并且采用Dijkstra算法规划出避障初始路径,最后依据距离改进蚁群算法节点选择得出优化的最终路径,完成搜索路径的规划。MATLAB仿真结果表明,优化的路径总长度明显优于初始路径并且改进的蚁群算法有着较好的收敛速度,可以满足多机器人搜救系统的要求。%Because communication facilities from underground are damaged and may not work normally after mine disaster,accu-rate position about trapped workers cannot be known.The dangerous environment may cause second accident and hurt rescue workers. To find out trapped workers quickly,the multi-robot rescue system was proposed combined with the characteristics of under coal mine wireless environment,including creation of a free space model for robot,global and local path plan for multi-robot rescue system.The MAKLINK graph theory was used to establish the free space model of the mobile robot,and then Dijkstra algorithm was utilized to find a sub-optimal collision-free path.Lastly,the improved algorithm based on distance to optimize the location of sub-optimal path was a-dopted to generate the optimal path of the mobile robot.The result of MATLAB simulation experiment shows that the proposed algorithm has a better performance in convergence speed and matches to the multi-robot rescue system.

  18. Guaranteed Cost Control for Exponential Synchronization of Cellular Neural Networks with Mixed Time-Varying Delays via Hybrid Feedback Control

    Directory of Open Access Journals (Sweden)

    T. Botmart

    2013-01-01

    Full Text Available The problem of guaranteed cost control for exponential synchronization of cellular neural networks with interval nondifferentiable and distributed time-varying delays via hybrid feedback control is considered. The interval time-varying delay function is not necessary to be differentiable. Based on the construction of improved Lyapunov-Krasovskii functionals is combined with Leibniz-Newton's formula and the technique of dealing with some integral terms. New delay-dependent sufficient conditions for the exponential synchronization of the error systems with memoryless hybrid feedback control are first established in terms of LMIs without introducing any free-weighting matrices. The optimal guaranteed cost control with linear error hybrid feedback is turned into the solvable problem of a set of LMIs. A numerical example is also given to illustrate the effectiveness of the proposed method.

  19. Species origin of genomic factors in Nicotiana nudicaulis Watson controlling hybrid lethality in interspecific hybrids between N. nudicaulis Watson and N. tabacum L.

    Directory of Open Access Journals (Sweden)

    Hongshuo Liu

    Full Text Available Hybrid lethality is expressed at 28°C in the cross Nicotiana nudicaulis × N. tabacum. The S subgenome of N. tabacum has been identified as controlling this hybrid lethality. To clarify the responsible genomic factor(s of N. nudicaulis, we crossed N. trigonophylla (paternal progenitor of N. nudicaulis with N. tabacum, because hybrids between N. sylvestris (maternal progenitor of N. nudicaulis and N. tabacum are viable when grown in a greenhouse. In the cross N. trigonophylla×N. tabacum, approximately 50% of hybrids were vitrified, 20% were viable, and 20% were nonviable at 28°C. To reveal which subgenome of N. tabacum was responsible for these phenotypes, we crossed N. trigonophylla with two progenitors of N. tabacum, N. sylvestris (SS and N. tomentosiformis (TT. In the cross N. sylvestris × N. trigonophylla, we confirmed that over half of hybrids of N. sylvestris × N. trigonophylla were vitrified, and none of the hybrids of N. trigonophylla × N. tomentosiformis were. The results imply that the S subgenome, encoding a gene or genes inducing hybrid lethality in the cross between N. nudicaulis and N. tabacum, has one or more genomic factors that induce vitrification. Furthermore, in vitrified hybrids of N. trigonophylla × N. tabacum and N. sylvestris × N. trigonophylla, we found that nuclear fragmentation, which progresses during expression of hybrid lethality, was accompanied by vitrification. This observation suggests that vitrification has a relationship to hybrid lethality. Based on these results, we speculate that when N. nudicaulis was formed approximately 5 million years ago, several causative genomic factors determining phenotypes of hybrid seedlings were inherited from N. trigonophylla. Subsequently, genome downsizing and various recombination-based processes took place. Some of the causative genomic factors were lost and some became genomic factor(s controlling hybrid lethality in extant N. nudicaulis.

  20. Species origin of genomic factors in Nicotiana nudicaulis Watson controlling hybrid lethality in interspecific hybrids between N. nudicaulis Watson and N. tabacum L.

    Science.gov (United States)

    Liu, Hongshuo; Marubashi, Wataru

    2014-01-01

    Hybrid lethality is expressed at 28°C in the cross Nicotiana nudicaulis × N. tabacum. The S subgenome of N. tabacum has been identified as controlling this hybrid lethality. To clarify the responsible genomic factor(s) of N. nudicaulis, we crossed N. trigonophylla (paternal progenitor of N. nudicaulis) with N. tabacum, because hybrids between N. sylvestris (maternal progenitor of N. nudicaulis) and N. tabacum are viable when grown in a greenhouse. In the cross N. trigonophylla×N. tabacum, approximately 50% of hybrids were vitrified, 20% were viable, and 20% were nonviable at 28°C. To reveal which subgenome of N. tabacum was responsible for these phenotypes, we crossed N. trigonophylla with two progenitors of N. tabacum, N. sylvestris (SS) and N. tomentosiformis (TT). In the cross N. sylvestris × N. trigonophylla, we confirmed that over half of hybrids of N. sylvestris × N. trigonophylla were vitrified, and none of the hybrids of N. trigonophylla × N. tomentosiformis were. The results imply that the S subgenome, encoding a gene or genes inducing hybrid lethality in the cross between N. nudicaulis and N. tabacum, has one or more genomic factors that induce vitrification. Furthermore, in vitrified hybrids of N. trigonophylla × N. tabacum and N. sylvestris × N. trigonophylla, we found that nuclear fragmentation, which progresses during expression of hybrid lethality, was accompanied by vitrification. This observation suggests that vitrification has a relationship to hybrid lethality. Based on these results, we speculate that when N. nudicaulis was formed approximately 5 million years ago, several causative genomic factors determining phenotypes of hybrid seedlings were inherited from N. trigonophylla. Subsequently, genome downsizing and various recombination-based processes took place. Some of the causative genomic factors were lost and some became genomic factor(s) controlling hybrid lethality in extant N. nudicaulis.

  1. Automated Controller Synthesis for non-Deterministic Piecewise-Affine Hybrid Systems

    DEFF Research Database (Denmark)

    Grunnet, Jacob Deleuran

    a computational tree logic formula and refining the resulting solution to a catalogue of piecewise-affine controllers. The method has been implemented as aMatlab toolbox, PAHSCTRL , using linear matrix inequality feasibility computations for finding the discrete abstraction, UppAal Tiga for solving the discrete...... formations. This thesis uses a hybrid systems model of a satellite formation with possible actuator faults as a motivating example for developing an automated control synthesis method for non-deterministic piecewise-affine hybrid systems (PAHS). The method does not only open an avenue for further research...... in fault tolerant satellite formation control, but can be used to synthesise controllers for a wide range of systems where external events can alter the system dynamics. The synthesis method relies on abstracting the hybrid system into a discrete game, finding a winning strategy for the game meeting...

  2. Adaptive control using a hybrid-neural model: application to a polymerisation reactor

    Directory of Open Access Journals (Sweden)

    Cubillos F.

    2001-01-01

    Full Text Available This work presents the use of a hybrid-neural model for predictive control of a plug flow polymerisation reactor. The hybrid-neural model (HNM is based on fundamental conservation laws associated with a neural network (NN used to model the uncertain parameters. By simulations, the performance of this approach was studied for a peroxide-initiated styrene tubular reactor. The HNM was synthesised for a CSTR reactor with a radial basis function neural net (RBFN used to estimate the reaction rates recursively. The adaptive HNM was incorporated in two model predictive control strategies, a direct synthesis scheme and an optimum steady state scheme. Tests for servo and regulator control showed excellent behaviour following different setpoint variations, and rejecting perturbations. The good generalisation and training capacities of hybrid models, associated with the simplicity and robustness characteristics of the MPC formulations, make an attractive combination for the control of a polymerisation reactor.

  3. Optimal Control for a Parallel Hybrid Hydraulic Excavator Using Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Dong-yun Wang

    2013-01-01

    Full Text Available Optimal control using particle swarm optimization (PSO is put forward in a parallel hybrid hydraulic excavator (PHHE. A power-train mathematical model of PHHE is illustrated along with the analysis of components’ parameters. Then, the optimal control problem is addressed, and PSO algorithm is introduced to deal with this nonlinear optimal problem which contains lots of inequality/equality constraints. Then, the comparisons between the optimal control and rule-based one are made, and the results show that hybrids with the optimal control would increase fuel economy. Although PSO algorithm is off-line optimization, still it would bring performance benchmark for PHHE and also help have a deep insight into hybrid excavators.

  4. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

    Directory of Open Access Journals (Sweden)

    Zain Anwar Ali

    2016-05-01

    Full Text Available In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV. The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST controller with model reference adaptive control (MRAC, in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

  5. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

    Science.gov (United States)

    Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

    2016-05-09

    In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

  6. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

    Science.gov (United States)

    Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

    2016-01-01

    In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability. PMID:27171084

  7. Research on Hybrid Seismic Response Control System for Motion Control of Two Span Bridge

    Science.gov (United States)

    Heo, G.; Kim, C.; Jeon, S.; Seo, S.; Jeon, J.

    2016-09-01

    In this paper, a hybrid seismic response control (HSRC) system was developed to control bridge motion caused by seismic load. It was aimed at optimum vibration control, composed of a rubber bearing of passive type and a MR-damper of semi-active type. The bridge model was built for experiment, a two-span bridge of 8.3 meters in length with the HSRC system put up on it. Then, inflicting El-centro seismic load on it, shaking table tests were carried out to confirm the system's validity. The experiments were conducted under the basic structure state (without an MR-damper applied) first, and then under the state with an MR-damper applied. It was also done under the basic structure state with a reinforced rubber bearing applied, then the passive on/off state of the HSRC system, and finally the semi-active state where the control algorithm was applied to the system. From the experiments, it was observed that collision rather increased when the MR-damper alone was applied, and also that the application of the HSRC system effectively prevented it from occurring. As a result, the HSRC system was proven to be effective in mitigating responses of the two-span bridge under seismic load.

  8. Hybrid control and acquisition system for remote control systems for environmental monitoring

    Science.gov (United States)

    Garufi, Fabio; Acernese, Fausto; Boiano, Alfonso; De Rosa, Rosario; Romano, Rocco; Barone, Fabrizio

    2008-10-01

    In this paper we describe the architecture and the performances of a hybrid modular acquisition and control system prototype for environmental monitoring and geophysics. The system, an alternative to a VME-UDP/IP based system, is based on a dual-channel 18-bit low noise ADC and a 16-bit DAC module at 1 MHz. The module can be configured as stand-alone or mounted on a motherboard as mezzanine. Both the modules and the motherboard can send/receive the configuration and the acquired/correction data for control through a standard EPP parallel port to a standard PC for the real-time computation. The tests have demonstrated that a distributed control systems based on this architecture exhibits a delay time of less than 25 us on a single channel, i.e a sustained sampling frequency of more than 40 kHz (and up to 80 kHz). The system is now under extensive test in the remote controls of seismic sensors (to simulate a geophysics networks of sensors) of a large baseline suspended Michelson interferometer.

  9. Grid-connected Photovoltaic Micro-inverter with New Hybrid Control LLC Resonant Converter

    DEFF Research Database (Denmark)

    Xingkui, Mao; Qisheng, Huang; Qingbo, Ke;

    2016-01-01

    A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse...... power of 250W and output voltage of 220VAC/50Hz. The experiment shows that the peak efficiency of the PVMI is 95.5%, where efficiency of LLC converter is up to 97.7%, and the MPPT accuracy is more than 99%. Thus the validity of the proposed system structure, design and control method is verified....

  10. A New Method for Modeling and Control of Hybrid Stepper Motors

    Directory of Open Access Journals (Sweden)

    George Mihalache

    2014-09-01

    Full Text Available Over time the mathematical models of the hybrid stepper motors (HSM have been developed in various forms. In this paper we propose to use for HSM a model of a two-phase synchronous machine with permanent magnet in which the number of pole pairs is equal to the number of rotor teeth of the HSM. It analyzes the behavior of hybrid stepper motor controlled in open loop. Control signals are obtained by implementing the control sequences:one-phase-on, two-phases-on, half step.

  11. Fuel cell-gas turbine hybrid system design part II: Dynamics and control

    Science.gov (United States)

    McLarty, Dustin; Brouwer, Jack; Samuelsen, Scott

    2014-05-01

    Fuel cell gas turbine hybrid systems have achieved ultra-high efficiency and ultra-low emissions at small scales, but have yet to demonstrate effective dynamic responsiveness or base-load cost savings. Fuel cell systems and hybrid prototypes have not utilized controls to address thermal cycling during load following operation, and have thus been relegated to the less valuable base-load and peak shaving power market. Additionally, pressurized hybrid topping cycles have exhibited increased stall/surge characteristics particularly during off-design operation. This paper evaluates additional control actuators with simple control methods capable of mitigating spatial temperature variation and stall/surge risk during load following operation of hybrid fuel cell systems. The novel use of detailed, spatially resolved, physical fuel cell and turbine models in an integrated system simulation enables the development and evaluation of these additional control methods. It is shown that the hybrid system can achieve greater dynamic response over a larger operating envelope than either individual sub-system; the fuel cell or gas turbine. Results indicate that a combined feed-forward, P-I and cascade control strategy is capable of handling moderate perturbations and achieving a 2:1 (MCFC) or 4:1 (SOFC) turndown ratio while retaining >65% fuel-to-electricity efficiency, while maintaining an acceptable stack temperature profile and stall/surge margin.

  12. OPERATION & CONTROL OF SMART GRID CONNECTED PV- FC HYBRID POWER SYSTEMD.

    Directory of Open Access Journals (Sweden)

    Saritha(M tech

    2014-08-01

    Full Text Available This paper presents a method to operate and control a grid connected hybrid power system. The hybrid system composed of a Photovoltaic (PV array and a Proton exchange membrane fuel cell (PEMFC is considered. The PV array normally uses a maximum power point tracking (MPPT technique to continuously deliver the highest power to the load when variations in irradiation and temperature occur, which make it become an uncontrollable source. In coordination with PEMFC, the hybrid system output power becomes controllable. Two operation modes, the unit-power control (UPC mode and the feeder-flow control (FFC mode, can be applied to the hybrid system. The coordination of two control modes, the coordination of the PV array and the PEMFC in the hybrid system, and the determination of reference parameters are presented. The proposed operating strategy with a flexible operation mode change always operates the PV array at maximum output power and the PEMFC in its high efficiency performance band, thus improving the performance of system operation, enhancing system stability, and decreasing the number of operating mode changes

  13. Controlling the Morphology of Nano-Hybrid Materials

    Directory of Open Access Journals (Sweden)

    Abdullah I.A. Jaafari

    2010-01-01

    Full Text Available Problem statement: It is known that layer double hydroxide is one of the nano ordered layered compounds and possesses plate-like morphology if carefully crystallized. Approach: In this study, Co-Sn LDH consisting of divalent and tetravalent cations was prepared with new morphology. XRD patterns of the prepared Co-Sn LDH showed that the interlayer spacing of the LDH was 0.78 nm and SEM image showed nano-needles structure. Results: By intercalation reaction with monocarboxylic acids at room temperature, XRD patterns indicated that the interlayered spacing increased to 3-4.8 nm and formed organic-inorganic nano-hybrid materials. Also, SEM images showed that the nano-needles structure of Co-Sn LDH changes to plate like-structure. Conclusion: Thermal analyses (TG, DTG and DTA and Infrared spectrum confirmed the intercalation processes of n-capric acid and n-stearic acid inside Co-Sn LDH and the formation of nano-hybrid materials.

  14. Modeling and control of a hybrid-electric vehicle for drivability and fuel economy improvements

    Science.gov (United States)

    Koprubasi, Kerem

    The gradual decline of oil reserves and the increasing demand for energy over the past decades has resulted in automotive manufacturers seeking alternative solutions to reduce the dependency on fossil-based fuels for transportation. A viable technology that enables significant improvements in the overall tank-to-wheel vehicle energy conversion efficiencies is the hybridization of electrical and conventional drive systems. Sophisticated hybrid powertrain configurations require careful coordination of the actuators and the onboard energy sources for optimum use of the energy saving benefits. The term optimality is often associated with fuel economy, although other measures such as drivability and exhaust emissions are also equally important. This dissertation focuses on the design of hybrid-electric vehicle (HEV) control strategies that aim to minimize fuel consumption while maintaining good vehicle drivability. In order to facilitate the design of controllers based on mathematical models of the HEV system, a dynamic model that is capable of predicting longitudinal vehicle responses in the low-to-mid frequency region (up to 10 Hz) is developed for a parallel HEV configuration. The model is validated using experimental data from various driving modes including electric only, engine only and hybrid. The high fidelity of the model makes it possible to accurately identify critical drivability issues such as time lags, shunt, shuffle, torque holes and hesitation. Using the information derived from the vehicle model, an energy management strategy is developed and implemented on a test vehicle. The resulting control strategy has a hybrid structure in the sense that the main mode of operation (the hybrid mode) is occasionally interrupted by event-based rules to enable the use of the engine start-stop function. The changes in the driveline dynamics during this transition further contribute to the hybrid nature of the system. To address the unique characteristics of the HEV

  15. Robust Power Management Control for Stand-Alone Hybrid Power Generation System

    Science.gov (United States)

    Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa

    2017-01-01

    This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method.

  16. Observer-based hybrid control algorithm for semi-active suspension systems

    Institute of Scientific and Technical Information of China (English)

    任宏斌; 陈思忠; 赵玉壮; 刘刚; 杨林

    2016-01-01

    In order to improve ride comfort and handling performance of the vehicle, an adaptive hybrid control algorithm is proposed for semi-active suspension systems. The virtues of sky-hook is combined with ground-hook control strategies and a more suitable compromise for the suspension systems is chosen. The hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high speed conditions. Damping continuous adjustable absorber is used to continuously control the damping force so as to eliminate the damping force jerk instead of traditional on-off control policy. Based on suspension stroke measured by sensors, unscented Kalman filter is designed to estimate the suspension states in real-time for the realization of hybrid control, which improves the robustness of the control strategy and is adaptive to different types of road profiles. Finally, the proposed control algorithm is validated under the following two typical road profiles: half-sine speed bump road and the random road. The simulation results indicate that the hybrid control algorithm could offer a good coordination between ride comfort and handling of the vehicle.

  17. Direct switching control of DC-DC power electronic converters using hybrid system theory

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, J.; Lin, F. [Wayne State Univ., Detroit, MI (United States). Dept. of Electrical and Computer Engineering; Wang, C. [Wayne State Univ., Detroit, MI (United States). Dept. of Electrical and Computer Engineering; Wayne State Univ., Detroit, MI (United States). Div. of Engineering Technology

    2010-07-01

    A direct switching control (DSC) scheme for power electronics converters was described. The system was designed for use in both traditional and renewable energy applications as well as in electric drive vehicles. The proposed control scheme was based on a detailed hybrid system converter model that used model predictive control (MPC), piecewise affine (PWA) approximations and constrained optimal control methods. A DC-DC converter was modelled as a hybrid machine. Switching among different modes of the DC-DC converter were modelled as discrete events controlled by the hybrid controller. The modelling scheme was applied to a Buck converter. The DSC was used to control the switch of the power converter based on a hybrid machine model. Results of the study showed that the method can be used to regulate output voltage and inductor currents. The method also provides fast transient responses and effectively regulates both currents and voltage. The controller can be used to provide immediate responses to dynamic disturbances and output voltage fluctuations. 23 refs., 7 figs.

  18. Multiple Systems for Cognitive Control: Evidence from a Hybrid Prime-Simon Task

    Science.gov (United States)

    Schlaghecken, Friederike; Refaat, Malik; Maylor, Elizabeth A.

    2011-01-01

    Cognitive control resolves conflicts between appropriate and inappropriate response tendencies. Is this achieved by a unitary all-purpose conflict control system, or do independent subsystems deal with different aspects of conflicting information? In a fully factorial hybrid prime-Simon task, participants responded to the identity of targets…

  19. A Hybrid Optimization Method for Reactive Power and Voltage Control Considering Power Loss Minimization

    DEFF Research Database (Denmark)

    Liu, Chengxi; Qin, Nan; Bak, Claus Leth;

    2015-01-01

    This paper proposes a hybrid optimization method to optimally control the voltage and reactive power with minimum power loss in transmission grid. This approach is used for the Danish automatic voltage control (AVC) system which is typically a non-linear non-convex problem mixed with both continu...

  20. Six-Phase Vehicular Drive with Renewable DC Sources and Hybrid PWM Control of Four Inverters

    DEFF Research Database (Denmark)

    Oleschuk, Valentin; Ermuratskii, Vladimir; Blaabjerg, Frede

    2015-01-01

    The paper presents results of research of quad-inverter-based automotive system with combined scheme of PWM control of inverters, supplied by two renewable dc sources (by fuel cells and by battery). It has been shown, that hybrid switching techniques can be used successfully for control of vehicle...

  1. 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...

  2. X chromosome control of meiotic chromosome synapsis in mouse inter-subspecific hybrids.

    Directory of Open Access Journals (Sweden)

    Tanmoy Bhattacharyya

    2014-02-01

    Full Text Available Hybrid sterility (HS belongs to reproductive isolation barriers that safeguard the integrity of species in statu nascendi. Although hybrid sterility occurs almost universally among animal and plant species, most of our current knowledge comes from the classical genetic studies on Drosophila interspecific crosses or introgressions. With the house mouse subspecies Mus m. musculus and Mus m. domesticus as a model, new research tools have become available for studies of the molecular mechanisms and genetic networks underlying HS. Here we used QTL analysis and intersubspecific chromosome substitution strains to identify a 4.7 Mb critical region on Chromosome X (Chr X harboring the Hstx2 HS locus, which causes asymmetrical spermatogenic arrest in reciprocal intersubspecific F1 hybrids. Subsequently, we mapped autosomal loci on Chrs 3, 9 and 13 that can abolish this asymmetry. Combination of immunofluorescent visualization of the proteins of synaptonemal complexes with whole-chromosome DNA FISH on pachytene spreads revealed that heterosubspecific, unlike consubspecific, homologous chromosomes are predisposed to asynapsis in F1 hybrid male and female meiosis. The asynapsis is under the trans- control of Hstx2 and Hst1/Prdm9 hybrid sterility genes in pachynemas of male but not female hybrids. The finding concurred with the fertility of intersubpecific F1 hybrid females homozygous for the Hstx2(Mmm allele and resolved the apparent conflict with the dominance theory of Haldane's rule. We propose that meiotic asynapsis in intersubspecific hybrids is a consequence of cis-acting mismatch between homologous chromosomes modulated by the trans-acting Hstx2 and Prdm9 hybrid male sterility genes.

  3. Control of a hybrid HVDC link to increase inter-regional power transfer

    DEFF Research Database (Denmark)

    Kotb, Omar; Ghandhari, Mehrdad; Eriksson, Robert

    2016-01-01

    This paper examines the application of a hybrid HVDC link in a two area power system with the purpose of increasing the inter-regional power transfer. A hybrid HVDC system combines both LCCs and VSCs, and hence it is capable of combining the benefits of both converter technologies, such as reduced...... cost and power losses due to the LCCs, and ability to connect to weak AC grids due to the VSCs. The mathematical model of the power system including the HVDC link is presented. The increase in inter-area power transfer is demonstrated and compared to the case when the hybrid HVDC link is not used....... Furthermore, the transient stability of the AC/DC power system was enhanced using auxiliary controllers for Power Oscillation Damping (POD). The results show the ability of the hybrid HVDC link to increase the unidirectional inter-area power transfer, while enhancing the transient stability of the power...

  4. 4D Trajectory Estimation for Air Traffic Control Automation System Based on Hybrid System Theory

    Directory of Open Access Journals (Sweden)

    Xin-Min Tang

    2012-03-01

    Full Text Available To resolve the problem of future airspace management under great traffic flow and high density condition, 4D trajectory estimation has become one of the core technologies of the next new generation air traffic control automation system. According to the flight profile and the dynamics models of different aircraft types under different flight conditions, a hybrid system model that switches the aircraft from one flight stage to another with aircraft state changing continuously in one state is constructed. Additionally, air temperature and wind speed are used to modify aircraft true airspeed as well as ground speed, and the hybrid system evolution simulation is used to estimate aircraft 4D trajectory. The case study proves that 4D trajectory estimated through hybrid system model can image the flight dynamic states of aircraft and satisfy the needs of the planned flight altitude profile.KEY WORDSair traffic management, 4D trajectory estimation, hybrid system model, aircraft dynamic model

  5. Hybrid optical-thermal antennas for enhanced light focusing and local temperature control

    CERN Document Server

    Boriskina, Svetlana V; Tong, Jonathan K; Hsu, Wei-Chun; Chen, Gang

    2016-01-01

    Metal nanoantennas supporting localized surface plasmon resonances have become an indispensable tool in bio(chemical) sensing and nanoscale imaging applications. The high plasmon-enhanced electric field intensity in the visible or near-IR range that enables the above applications may also cause local heating of nanoantennas. We present a design of hybrid optical-thermal antennas that simultaneously enable intensity enhancement at the operating wavelength in the visible and nanoscale local temperature control. We demonstrate a possibility to reduce the hybrid antenna operating temperature via enhanced infrared thermal emission. We predict via rigorous numerical modeling that hybrid optical-thermal antennas that support high-quality-factor photonic-plasmonic modes enable up to two orders of magnitude enhancement of localized electric fields and of the optical power absorbed in the nanoscale metal volume. At the same time, the hybrid antenna temperature can be lowered by several hundred degrees with respect to i...

  6. Robust model predictive control of hybrid transmissions; Robuste Modellpraediktive Regelung fuer Hybridgetriebe

    Energy Technology Data Exchange (ETDEWEB)

    Beck, R. [RWTH Aachen (Germany). Inst. fuer Regelungstechnik; Saenger Zetina, S.; Neiss, K. [DaimlerChrysler Corp., Troy, MI (United States); Bollig, A. [Siemens AG, Muenchen (Germany)

    2007-07-15

    Hybrid electric vehicles increasingly gain importance mainly due to the potential fuel saving but also because of the additional agility achieved by the increased peak torques during boosting. An important aspect of a hybrid architecture is the transition between pure electric and hybrid operation, which is exemplarily investigated in a flexible hybrid transmission under a parallel engagement configuration. A clutch which separates the transmission input side (engine side) from the rest of the drivetrain is engaged in order to achieve the transition. A noticeable jerk during the engagement process or an interruption of the drive torque cannot be tolerated since the driving comfort must not be reduced. Special attention was given to the robustness of the controller, since the transition has to be carried out reliably and comfortably under varying vehicle properties and drive conditions. (orig.)

  7. A Hybrid Nonlinear Control Scheme for Active Magnetic Bearings

    Science.gov (United States)

    Xia, F.; Albritton, N. G.; Hung, J. Y.; Nelms, R. M.

    1996-01-01

    A nonlinear control scheme for active magnetic bearings is presented in this work. Magnet winding currents are chosen as control inputs for the electromechanical dynamics, which are linearized using feedback linearization. Then, the desired magnet currents are enforced by sliding mode control design of the electromagnetic dynamics. The overall control scheme is described by a multiple loop block diagram; the approach also falls in the class of nonlinear controls that are collectively known as the 'integrator backstepping' method. Control system hardware and new switching power electronics for implementing the controller are described. Various experiments and simulation results are presented to demonstrate the concepts' potentials.

  8. ADRC and Feedforward Hybrid Control System of PMSM

    Directory of Open Access Journals (Sweden)

    Song Wang

    2013-01-01

    Full Text Available The permanent-magnet synchronous motor (PMSM is a complex controlled object that is difficult to drive and control. In this study, the vector control strategy is adopted to drive the PMSM. The active disturbance rejection controller is used to achieve the closed-loop control of PMSM, which simplifies the computational complexity. A load torque observer and feedforward compensation component are designed to overcome the PMSM speed fluctuation of the load disturbance. An experimental system based on the DSP board is designed to test the controller performance. The results validate the control algorithm.

  9. Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory

    OpenAIRE

    Colorado Montaño, Julián; Barrientos Cruz, Antonio; Martínez Álvarez, Alexander; Lafaverges, B.; Pereira Valente, Joao Ricardo

    2010-01-01

    This paper is about modeling and control of miniature quadrotors, with a special emphasis on attitude control. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircraft: the DraganFlyer quadrotor, which has been hardware-modified in order to perform experimental autonomous flying. Hybrid Backstepping control and the Frenet-Serret theory is used for attitude stabilization, introducing a desired attitude angle acceleration...

  10. A Hybrid Estimator for Active/Reactive Power Control of Single-Phase Distributed Generation Systems with Energy Storage

    OpenAIRE

    Pahlevani, Majid; Eren, Suzan; Guerrero, Josep M.; Jain, Praveen

    2016-01-01

    This paper presents a new active/reactive power closed-loop control system for a hybrid renewable energy generation system used for single-phase residential/commercial applications.The proposed active/reactive control method includes a hybrid estimator, which is able to quickly and accurately estimate the active/reactive power values. The proposed control system enables the hybrid renewable energy generation system to be able to perform real-time grid interconnection services such as active v...

  11. Hybrid LSA-ANN Based Home Energy Management Scheduling Controller for Residential Demand Response Strategy

    Directory of Open Access Journals (Sweden)

    Maytham S. Ahmed

    2016-09-01

    Full Text Available Demand response (DR program can shift peak time load to off-peak time, thereby reducing greenhouse gas emissions and allowing energy conservation. In this study, the home energy management scheduling controller of the residential DR strategy is proposed using the hybrid lightning search algorithm (LSA-based artificial neural network (ANN to predict the optimal ON/OFF status for home appliances. Consequently, the scheduled operation of several appliances is improved in terms of cost savings. In the proposed approach, a set of the most common residential appliances are modeled, and their activation is controlled by the hybrid LSA-ANN based home energy management scheduling controller. Four appliances, namely, air conditioner, water heater, refrigerator, and washing machine (WM, are developed by Matlab/Simulink according to customer preferences and priority of appliances. The ANN controller has to be tuned properly using suitable learning rate value and number of nodes in the hidden layers to schedule the appliances optimally. Given that finding proper ANN tuning parameters is difficult, the LSA optimization is hybridized with ANN to improve the ANN performances by selecting the optimum values of neurons in each hidden layer and learning rate. Therefore, the ON/OFF estimation accuracy by ANN can be improved. Results of the hybrid LSA-ANN are compared with those of hybrid particle swarm optimization (PSO based ANN to validate the developed algorithm. Results show that the hybrid LSA-ANN outperforms the hybrid PSO based ANN. The proposed scheduling algorithm can significantly reduce the peak-hour energy consumption during the DR event by up to 9.7138% considering four appliances per 7-h period.

  12. Optimal Control through Biologically-Inspired Pursuit

    Science.gov (United States)

    2004-01-01

    Transactions on Automatic Control 48, 988– 1001. Roumeliotis, S.I. and G.A. Bekey (2002). Distributed multi-robot localization. IEEE Transactions on Robotics and...1999). Distributed covering by ant- robots using evaporating traces. IEEE Transactions on Robotics and Automation 15(5), 918–933.

  13. Control Strategy Based on Wavelet Transform and Neural Network for Hybrid Power System

    Directory of Open Access Journals (Sweden)

    Y. D. Song

    2013-01-01

    Full Text Available This paper deals with an energy management of a hybrid power generation system. The proposed control strategy for the energy management is based on the combination of wavelet transform and neural network arithmetic. The hybrid system in this paper consists of an emulated wind turbine generator, PV panels, DC and AC loads, lithium ion battery, and super capacitor, which are all connected on a DC bus with unified DC voltage. The control strategy is responsible for compensating the difference between the generated power from the wind and solar generators and the demanded power by the loads. Wavelet transform decomposes the power difference into smoothed component and fast fluctuated component. In consideration of battery protection, the neural network is introduced to calculate the reference power of battery. Super capacitor (SC is controlled to regulate the DC bus voltage. The model of the hybrid system is developed in detail under Matlab/Simulink software environment.

  14. Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

    Indian Academy of Sciences (India)

    Ashish Singla; Ashish Tewari; Bhaskar Dasgupta

    2015-09-01

    The aim of this paper is to investigate the performance of the hybrid controller for end-point vibration suppression of a flexible manipulator, while it is tracking a desired input profile. Due to large structural vibrations, precise control of flexible manipulators is a challenging task. A hybrid controller is used to track large movements of flexible robotic manipulators, which is a combination of inverse dynamics feedforward control, command shaping and linear state feedback control. The case study of a single-link flexible manipulator is considered, where the manipulator is controlled under open-loop as well as closed-loop control scheme. In the open-loop control scheme, the aim is to test the effectiveness of the command shaper in reducing the vibration levels. Moreover, the effect of payload variations on the performance of command shapers and the importance of more robust shapers is demonstrated in this work. Under the closed-loop control scheme, the control objective is to track the large-hub angle trajectory, while maintaining low vibration levels. In comparison to collocated PD control, being reported in the literature, large reductions in tip acceleration levels as well as input torque magnitudes are observed with the proposed hybrid controller.

  15. MODELLING AND TORQUE TRACKING CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR FOR HYBRID ELECTRIC VEHICLES

    Directory of Open Access Journals (Sweden)

    Mohd Sabirin Rahmat

    2013-06-01

    Full Text Available This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be used as the electric power train for the simulation of a hybrid electric vehicle. A torque tracking control of the permanent magnet synchronous motor is developed by using an adaptive proportional-integral-derivative controller. Several tests such as step function, saw tooth function, sine wave function and square wave function were used in order to examine the performance of the proposed control structure. The effectiveness of the proposed controller was verified and compared with the same system under a PID controller and the desired control. The result of the observations shows that the proposed control structure proves to be effective in tracking the desired torque with a good response. The findings of this study will be considered in the design, optimisation and experimentation of series hybrid electric vehicle.

  16. Hybrid Control and Verification of a Pulsed Welding Process

    DEFF Research Database (Denmark)

    Wisniewski, Rafal; Larsen, Jesper Abildgaard; Izadi-Zamanabadi, Roozbeh

    Currently systems, which are desired to control, are becoming more and more complex and classical control theory objectives, such as stability or sensitivity, are often not sufficient to cover the control objectives of the systems. In this paper it is shown how the dynamics of a pulsed welding...

  17. A Robust Stability and Control Theory for Hybrid Dynamical Systems

    Science.gov (United States)

    2006-09-30

    IEEE Transactions on Automatic Control , to...Dual Linear Differential Inclusions", IEEE Transactions on Automatic Control , Vol. 51, Issue 4, April 2006, pp. 661-666. D. Liberzon and J. Hespanha...34Stabilization of nonlinear systems with limited information feedback", IEEE Transactions on Automatic Control , vol. 50, no. 6, pp. 910-915,

  18. Online assessment of human-robot interaction for hybrid control of walking.

    Science.gov (United States)

    del-Ama, Antonio J; Moreno, Juan C; Gil-Agudo, Angel; de-los-Reyes, Ana; Pons, José L

    2012-01-01

    Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user's muscles. The combined (hybrid) approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.

  19. Optimized Treatment of Fibromyalgia Using System Identification and Hybrid Model Predictive Control.

    Science.gov (United States)

    Deshpande, Sunil; Nandola, Naresh N; Rivera, Daniel E; Younger, Jarred W

    2014-12-01

    The term adaptive intervention is used in behavioral health to describe individually-tailored strategies for preventing and treating chronic, relapsing disorders. This paper describes a system identification approach for developing dynamical models from clinical data, and subsequently, a hybrid model predictive control scheme for assigning dosages of naltrexone as treatment for fibromyalgia, a chronic pain condition. A simulation study that includes conditions of significant plant-model mismatch demonstrates the benefits of hybrid predictive control as a decision framework for optimized adaptive interventions. This work provides insights on the design of novel personalized interventions for chronic pain and related conditions in behavioral health.

  20. Online Assessment of Human-Robot Interaction for Hybrid Control of Walking

    Directory of Open Access Journals (Sweden)

    Ana de-los-Reyes

    2011-12-01

    Full Text Available Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.

  1. Decentralized PD Control for Non-uniform Motion of a Hamiltonian Hybrid System

    Institute of Scientific and Technical Information of China (English)

    Mingcong Deng; Hongnian Yu; Akira Inoue

    2008-01-01

    In this paper, a decentralized proportional-derivative (PD) controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.

  2. LQR-Based Power Train Control Method Design for Fuel Cell Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Yun Haitao

    2013-01-01

    Full Text Available Based on the mathematical model of fuel cell hybrid vehicle (FCHV proposed in our previous study, a multistate feedback control strategy of the hybrid power train is designed based on the linear quadratic regulator (LQR algorithm. A Kalman Filter (KF observer is introduced to estimate state of charge (SOC of the battery firstly, and then a linear quadratic regulator is constructed to compute the state feedback gain matrix of the closed-loop control system. At last, simulation and actual test are utilized to demonstrate this new approach.

  3. 混合粒子群优化算法和案例推理方法的多机器人学习%Multi-Robot Learning Using PSO Combined with CBR Algorithm

    Institute of Scientific and Technical Information of China (English)

    刘强; 马家辰; 谢玮; 马立勇

    2014-01-01

    Case-based reasoning (CBR) which stores old problems and solution information as cases can solve new problems of the particle swarm optimization (PSO) with its long-term memory during the learning phase for multiple robots in an unknown environment. The PSO components which offer trainings to the robot in specially-designed simulation environments to deliver basic behaviors enhance their robustness and adaptivity. The CBR components which selects solution from the case base evolved for basic behaviors rank them according to their performance in the new complex enviroment and introduce them to a PSO algorithm’s initial population, hence speeding up the learning process. Behavior-based multi-robot formation control task is employed as a platform to assess the effectiveness of this approach with robot simulation software MissionLab. Simulation and experimental results show that the CBR-injected PSO algorithm can quickly obtain optimal control parameters and multi-robot formation performs better in unknown environment.%以未知环境下多机器人学习为研究平台,因案例推理方法可存储以前的问题和解信息,用该方法的长期记忆特性可帮助粒子群优化算法更好地解决新的问题。在特定的仿真环境里,粒子群优化算法可训练机器人的几个基本行为,经过学习使机器人具有更好的鲁棒性和自适应学习能力。根据机器人不同行为在复杂环境下的性能指标,CBR可从案例库中选择特定的行为,并将其参数传送到粒子群优化算法的初始解库,从而加速整体的学习过程。利用机器人仿真软件MissionLab,采用基于行为的多机器人编队任务,用来测试该算法的有效性。仿真和实验结果表明,案例推理方法和粒子群优化算法相结合,使机器人获得更优的控制参数,同时在未知环境下的多机器人编队具有更好的性能。

  4. Powertrain Controls Optimization for HD Hybrid Line Haul Trucks - FY2014 Annual Report

    Energy Technology Data Exchange (ETDEWEB)

    Smith, David E. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2014-12-01

    This is a vehicle system level project, encompassing analytical modeling and supervisory controls development as well as experimental verification/validation testing at the component, powertrain, and full vehicle system level. This project supports the goal of petroleum consumption reduction for medium and heavy trucks through the development of advanced hybrid technologies and control systems. VSST has invested previously in R&D to support hybrid energy storage systems (Li-ion plus ultra-caps) for light duty, passenger car applications. This research will be extended to the MD and HD sector where current battery technology is not mature enough to handle the substantial regenerative braking power levels these trucks are capable of producing. With this hybrid energy storage system, substantial gains in overall vehicle efficiency are possible. In addition, advanced combustion technologies, such as RCCI, will be implemented into an advanced hybrid powertrain for a Class 8 line haul application. This powertrain, leveraged from other VSST work (Meritor, a current ORNL/VSST partner), is ideal for taking advantage of the benefits of RCCI operation due to its series hybrid mode of operation. Emissions control is also a focus of this project, especially due to the fact that RCCI creates a low temperature exhaust stream that must addressed.

  5. Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton.

    Science.gov (United States)

    del-Ama, Antonio J; Gil-Agudo, Angel; Pons, José L; Moreno, Juan C

    2014-03-04

    Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals. Although devices are commercially available, there are still issues that remain to be solved. Control of hybrid exoskeletons aims at blending robotic exoskeletons and electrical stimulation to overcome the drawbacks of each approach while preserving their advantages. Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and robotic controllers. Combination of FES and robotic control is a challenging issue, due to the non-linear behavior of muscle under stimulation and the lack of developments in the field of hybrid control. In this article, a cooperative control strategy of a hybrid exoskeleton is presented. This strategy is designed to overcome the main disadvantages of muscular stimulation: electromechanical delay and change in muscle performance over time, and to balance muscular and robotic actuation during walking.Experimental results in healthy subjects show the ability of the hybrid FES-robot cooperative control to balance power contribution between exoskeleton and muscle stimulation. The robotic exoskeleton decreases assistance while adequate knee kinematics are guaranteed. A new technique to monitor muscle performance is employed, which allows to estimate muscle fatigue and implement muscle fatigue management strategies. Kinesis is therefore the first ambulatory hybrid exoskeleton that can effectively balance robotic and FES actuation during walking. This represents a new opportunity to implement new rehabilitation interventions to induce locomotor activity in patients with paraplegia.Acronym list: 10 mWT: ten meters walking test; 6 MWT: six minutes walking test; FSM: finite-state machine; t-FSM: time-domain FSM; c-FSM: cycle-domain FSM; FES: functional electrical

  6. Automated Controller Synthesis for non-Deterministic Piecewise-Affine Hybrid Systems

    DEFF Research Database (Denmark)

    Grunnet, Jacob Deleuran

    formations. This thesis uses a hybrid systems model of a satellite formation with possible actuator faults as a motivating example for developing an automated control synthesis method for non-deterministic piecewise-affine hybrid systems (PAHS). The method does not only open an avenue for further research......To further advance space based science the need for ever more precise measurement techniques increases. One of the most promising new ideas are satellite formations where accurate spatial control of multiple spacecraft can be used to create very large virtual apertures or very sensitive...... interferometric measurements. Control of satellite formations presents a whole new set of challenges for spacecraft control systems requiring advances in actuation, sensing, communication, and control algorithms. Specifically having the control system duplicated onto multiple satellites increases the possibility...

  7. Controlling Torque Distribution for Parallel Hybrid Vehicle Based on Hierarchical Structure Fuzzy Logic

    Institute of Scientific and Technical Information of China (English)

    HuangMiao-hua; JinGuo-dong

    2003-01-01

    The Hierarchical Structure Fuzzy Logic Control(HSFLC) strategies of torque distribute for Parallel Hybrid Electric Vehicle (PHEV) in the mocle of operation of the vehicle i. e. , acceleration, cruise, deceleration etc. have been studied. Using secondly developed the hybrid vehicle simulation tool ADVISOR, the dynamic model of PHEV has been set up by MATLAB/SIMULINK. The engine, motor as well as the battery characteristics have been studied. Simulation results show that the proposed hierarchical structured fuzzy logic control strategy is effective over the entire operating range of the vehicle in terms of fuel economy. Based on the analyses of the simulation results and driver's experiences, a fuzzy controller is designed and developed to control the torque distribution. The controller is evaluated via hardware-in-the-loop simulator (HILS). The results show that controller verify its value.

  8. Stochastic Optimal Control of Parallel Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Feiyan Qin

    2017-02-01

    Full Text Available Energy management strategies (EMSs in hybrid electric vehicles (HEVs are highly related to the fuel economy and emission performances. However, EMS constitutes a challenging problem due to the complex structure of a HEV and the unknown or partially known driving cycles. To meet this problem, this paper adopts a stochastic dynamic programming (SDP method for the EMS of a specially designed vehicle, a pre-transmission single-shaft torque-coupling parallel HEV. In this parallel HEV, the auto clutch output is connected to the transmission input through an electric motor, which benefits an efficient motor assist operation. In this EMS, demanded torque of driver is modeled as a one-state Markov process to represent the uncertainty of future driving situations. The obtained EMS has been evaluated with ADVISOR2002 over two standard government drive cycles and a self-defined one, and compared with a dynamic programming (DP one and a rule-based one. Simulation results have shown the real-time performance of the proposed approach, and potential vehicle performance improvement relative to the rule-based one.

  9. A DNA origami nanorobot controlled by nucleic acid hybridization

    KAUST Repository

    Torelli, Emanuela

    2014-03-20

    A prototype for a DNA origami nanorobot is designed, produced, and tested. The cylindrical nanorobot (diameter of 14 nm and length of 48 nm) with a switchable flap, is able to respond to an external stimulus and reacts by a physical switch from a disarmed to an armed configuration able to deliver a cellular compatible message. In the tested design the robot weapon is a nucleic acid fully contained in the inner of the tube and linked to a single point of the internal face of the flap. Upon actuation the nanorobot moves the flap extracting the nucleic acid that assembles into a hemin/G-quadruplex horseradish peroxidase mimicking DNAzyme catalyzing a colorimetric reaction or chemiluminescence generation. The actuation switch is triggered by an external nucleic acid (target) that interacts with a complementary nucleic acid that is beard externally by the nanorobot (probe). Hybridization of probe and target produces a localized structural change that results in flap opening. The flap movement is studied on a two-dimensional prototype origami using Förster resonance energy transfer and is shown to be triggered by a variety of targets, including natural RNAs. The nanorobot has potential for in vivo biosensing and intelligent delivery of biological activators. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  10. A DNA origami nanorobot controlled by nucleic acid hybridization.

    Science.gov (United States)

    Torelli, Emanuela; Marini, Monica; Palmano, Sabrina; Piantanida, Luca; Polano, Cesare; Scarpellini, Alice; Lazzarino, Marco; Firrao, Giuseppe

    2014-07-23

    A prototype for a DNA origami nanorobot is designed, produced, and tested. The cylindrical nanorobot (diameter of 14 nm and length of 48 nm) with a switchable flap, is able to respond to an external stimulus and reacts by a physical switch from a disarmed to an armed configuration able to deliver a cellular compatible message. In the tested design the robot weapon is a nucleic acid fully contained in the inner of the tube and linked to a single point of the internal face of the flap. Upon actuation the nanorobot moves the flap extracting the nucleic acid that assembles into a hemin/G-quadruplex horseradish peroxidase mimicking DNAzyme catalyzing a colorimetric reaction or chemiluminescence generation. The actuation switch is triggered by an external nucleic acid (target) that interacts with a complementary nucleic acid that is beard externally by the nanorobot (probe). Hybridization of probe and target produces a localized structural change that results in flap opening. The flap movement is studied on a two-dimensional prototype origami using Förster resonance energy transfer and is shown to be triggered by a variety of targets, including natural RNAs. The nanorobot has potential for in vivo biosensing and intelligent delivery of biological activators.

  11. Hybrid Fuzzy Sliding Mode Controller for Timedelay System

    OpenAIRE

    Yadav, N K; R. K. Singh,

    2013-01-01

    This paper is concerned with the problems of stability analysis and stabilization control design for a class of discrete-time T-S fuzzy systems with state-delay for multi-input and multi-output. The nonlinear fuzzy controller helps to overcome the problems of the ill - defined model of the systems, which are creating the undesirable performance. . Here sliding surface is being designed for error function of nonlinear system and sliding mode control is being designed here. The swit...

  12. Robust Hybrid Control for Ballistic Missile Longitudinal Autopilot

    Institute of Scientific and Technical Information of China (English)

    WAEL Mohsen Ahmed; QUAN Quana

    2011-01-01

    This paper investigates the boost phase's longitudinal autopilot of a ballistic missile equipped with thrust vector control.The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capacitor (RLC) network compensator as a control strategy,which does not take into account the time-varying missile dynamics.This may cause the closed-loop system instability in the presence of large disturbance and dynamics uncertainty.Therefore,the existing controller should be redesigned to achieve more stable vehicle response.In this paper,based on gain-scheduling adaptive control strategy,two different types of optimal controllers are proposed.The first controller is gain-scheduled optimal tuning-proportional-integral-derivative (PID) with actuator constraints,which supplies better response but requires a priori knowledge of the system dynamics.Moreover,the controller has oscillatory response in the presence of dynamic uncertainty.Taking this into account,gain-scheduled optimal linear quadratic (LQ) in conjunction with optimal tuning-compensator offers the greatest scope for controller improvement in the presence of dynamic uncertainty and large disturbance.The latter controller is tested through various scenarios for the validated nonlinear dynamic flight model of the real ballistic missile system with autopilot exposed to external disturbances.

  13. Verification hybrid control of a wheeled mobile robot and manipulator

    Science.gov (United States)

    Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

    2016-04-01

    In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

  14. GA and Lyapunov theory-based hybrid adaptive fuzzy controller for non-linear systems

    Science.gov (United States)

    Roy, Ananya; Das Sharma, Kaushik

    2015-02-01

    In this present article, a new hybrid methodology for designing stable adaptive fuzzy logic controllers (AFLCs) for a class of non-linear system is proposed. The proposed design strategy exploits the features of genetic algorithm (GA)-based stochastic evolutionary global search technique and Lyapunov theory-based local adaptation scheme. The objective is to develop a methodology for designing AFLCs with optimised free parameters and guaranteed closed-loop stability. Simultaneously, the proposed method introduces automation in the design process. The stand-alone Lyapunov theory-based design, GA-based design and proposed hybrid GA-Lyapunov design methodologies are implemented for two benchmark non-linear plants in simulation case studies with different reference signals and one experimental case study. The results demonstrate that the hybrid design methodology outperforms the other control strategies on the whole.

  15. Model predictive control for power fluctuation supression in hybrid wind/PV/battery systems

    DEFF Research Database (Denmark)

    You, Shi; Liu, Zongyu; Zong, Yi

    2015-01-01

    predictive control (MPC)-based algorithm for battery management in a hybrid wind/PV/battery system to suppress the short-term power fluctuation on the ‘minute’ scale. A case study with data collected from a practical hybrid system setup is used to demonstrate the effectiveness of the proposed algorithm......A hybrid energy system, the combination of wind turbines, PV panels and battery storage with effective control mechanism, represents a promising solution to the power fluctuation problem when integrating renewable energy resources (RES) into conventional power systems. This paper proposes a model...... together with a Monte Carlo simulation-based sensitivity analysis. In addition to illustrating the complementarity between the fluctuations of wind power and PV power, the results prove the proposed MPC algorithm is effective in fluctuation suppression but sensitive to factors such as forecast accuracy...

  16. A Frequency Control Approach for Hybrid Power System Using Multi-Objective Optimization

    Directory of Open Access Journals (Sweden)

    Mohammed Elsayed Lotfy

    2017-01-01

    Full Text Available A hybrid power system uses many wind turbine generators (WTG and solar photovoltaics (PV in isolated small areas. However, the output power of these renewable sources is not constant and can diverge quickly, which has a serious effect on system frequency and the continuity of demand supply. In order to solve this problem, this paper presents a new frequency control scheme for a hybrid power system to ensure supplying a high-quality power in isolated areas. The proposed power system consists of a WTG, PV, aqua-electrolyzer (AE, fuel cell (FC, battery energy storage system (BESS, flywheel (FW and diesel engine generator (DEG. Furthermore, plug-in hybrid electric vehicles (EVs are implemented at the customer side. A full-order observer is utilized to estimate the supply error. Then, the estimated supply error is considered in a frequency domain. The high-frequency component is reduced by BESS and FW; while the low-frequency component of supply error is mitigated using FC, EV and DEG. Two PI controllers are implemented in the proposed system to control the system frequency and reduce the supply error. The epsilon multi-objective genetic algorithm ( ε -MOGA is applied to optimize the controllers’ parameters. The performance of the proposed control scheme is compared with that of recent well-established techniques, such as a PID controller tuned by the quasi-oppositional harmony search algorithm (QOHSA. The effectiveness and robustness of the hybrid power system are investigated under various operating conditions.

  17. Modelling and control of hybrid renewable energy system connected to AC grid

    Directory of Open Access Journals (Sweden)

    Sami Younsi

    2011-12-01

    Full Text Available This paper discusses the development of new control and supervision method for the optimum operation of hybrid renewable energy system (HRES connected to AC grid. The hybrid system consists of wind generator (WG, diesel generator (DG, and flywheel energy storage system (FESS. These subsystems are based on permanent magnet synchronous machines (PMSM which are controlled by sliding mode control. A supervisor control is designed to determine the energy transfer type of flywheel energy storage system (charging / discharging / no transfer energy, to take decision on diesel generators ON/OFF status, and to determine the reference powers for these two subsystems. The supervisor inputs are the power requested by AC grid, the power generated by wind generator, and the energy stored in flywheel. The objectives of the control and supervision for hybrid renewable energy system are to satisfy the power requested by AC grid, to manage the energy transfer between hybrid system and AC grid, to optimize the use of wind energy, and to reduce fuel of diesel generator. The system is simulated with Matlab – Simulink software and it gave good results.

  18. A Study on Control Strategy of Regenerative Braking in the Hydraulic Hybrid Vehicle Based on ECE Regulations

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2013-01-01

    Full Text Available This paper establishes a mathematic model of composite braking in the hydraulic hybrid vehicle and analyzes the constraint condition of parallel regenerative braking control algorithm. Based on regenerative braking system character and ECE (Economic Commission of Europe regulations, it introduces the control strategy of regenerative braking in parallel hydraulic hybrid vehicle (PHHV. Finally, the paper establishes the backward simulation model of the hydraulic hybrid vehicle in Matlab/simulink and makes a simulation analysis of the control strategy of regenerative braking. The results show that this strategy can equip the hydraulic hybrid vehicle with strong brake energy recovery power in typical urban drive state.

  19. MAS Based Event-Triggered Hybrid Control for Smart Microgrids

    DEFF Research Database (Denmark)

    Dou, Chunxia; Liu, Bin; Guerrero, Josep M.

    2013-01-01

    This paper is focused on an advanced control for autonomous microgrids. In order to improve the performance regarding security and stability, a hierarchical decentralized coordinated control scheme is proposed based on multi-agents structure. Moreover, corresponding to the multi-mode and the hybr...

  20. Biodegradable hydrophobic-hydrophilic hybrid hydrogels: swelling behavior and controlled drug release.

    Science.gov (United States)

    Wu, Da-Qing; Chu, Chih-Chang

    2008-01-01

    The objective of this work was to investigate a new family of hydrophobic-hydrophilic biodegradable hybrid hydrogels as drug carriers. A series of hydrophobic-hydrophilic biodegradable hybrid hydrogels was formulated via photo means from hydrophobic three-arm poly (epsilon-caprolactone) maleic acid (PGCL-Ma) and hydrophilic dextran maleic acid (Dex-Ma) precursors over a wide range of the two precursors' feed ratio (PGCL-Ma/Dex-Ma at 100:0, 70:30, 50:50, 30:70 and 0:100). A low-molecular-weight and hydrophilic drug, the alpha-7 agonist cocaine methiodide, was used as the model drug for the release study from the hybrid hydrogels in pH 7.4 phosphate buffer solution at 37 degrees C. The swelling data of these hybrid hydrogels depended on the hydrophobic to hydrophilic precursors' feed ratio, and there were several-fold differences in swelling ratios between a pure hydrophilic Dex-Ma and a pure hydrophobic PGCL-Ma hydrogels. The presence of the hydrophobic PGCL-Ma component significantly reduced the initial burst swelling of the hybrid hydrogels. Depending on the two precursors' feed ratios, the swelling data during the early period obeyed either Fickian diffusion (for 50:50 PGCL-Ma/Dex-Ma hydrogel), non-Fickian or anomalous transport (for 70:30 and 100:0 PGCL-Ma/Dex-Ma), or relaxation-controlled (for 30:70 and 0:100 PGCL-Ma/Dex-Ma). A wide range of cocaine methiodide release profiles was achieved by controlling hydrophobic to hydrophilic precursors' feed ratios. Initial drug burst release was significantly reduced as the concentration of the hydrophobic PGCL-Ma component increased in the hybrid hydrogels. The bulk of cocaine methiodide released during the 160-h period was via diffusion-controlled mechanism, while degradation-controlled mechanism dominated thereafter.

  1. Hybrid zero-voltage switching (ZVS) control for power inverters

    Science.gov (United States)

    Amirahmadi, Ahmadreza; Hu, Haibing; Batarseh, Issa

    2016-11-01

    A power inverter combination includes a half-bridge power inverter including first and second semiconductor power switches receiving input power having an intermediate node therebetween providing an inductor current through an inductor. A controller includes input comparison circuitry receiving the inductor current having outputs coupled to first inputs of pulse width modulation (PWM) generation circuitry, and a predictive control block having an output coupled to second inputs of the PWM generation circuitry. The predictive control block is coupled to receive a measure of Vin and an output voltage at a grid connection point. A memory stores a current control algorithm configured for resetting a PWM period for a switching signal applied to control nodes of the first and second power switch whenever the inductor current reaches a predetermined upper limit or a predetermined lower limit.

  2. Free chattering hybrid sliding mode control for a class of non-linear systems

    DEFF Research Database (Denmark)

    Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede

    2016-01-01

    In current study, in order to find the control of general uncertain nonlinear systems, a new optimal hybrid control approach called Optimal General Type II Fuzzy Sliding Mode (OGT2FSM) is presented. In order to estimate unknown nonlinear activities in monitoring dynamic uncertainties, the benefits...... on the same topic, which are an Adaptive Interval Type-2 Fuzzy Logic Controller (AGT2FLC) and Conventional Sliding Mode Controller (CSMC), to assess the efficiency of the suggested controller. The suggested control scheme is finally used to the Electric Vehicles type as a case study. Results of simulation...

  3. Hybrid force-velocity sliding mode control of a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G; Minor, Mark A

    2008-05-01

    Four different methods of hand prosthesis control are developed and examined experimentally. Open-loop control is shown to offer the least sensitivity when manipulating objects. Force feedback substantially improves upon open-loop control. However, it is shown that the inclusion of velocity and/or position feedback in a hybrid force-velocity control scheme can further improve the functionality of hand prostheses. Experimental results indicate that the sliding mode controller with force, position, and velocity feedback is less prone to unwanted force overshoot when initially grasping objects than the other controllers.

  4. Controlling promoter strength and regulation in Saccharomyces cerevisiae using synthetic hybrid promoters.

    Science.gov (United States)

    Blazeck, John; Garg, Rishi; Reed, Ben; Alper, Hal S

    2012-11-01

    A dynamic range of well-controlled constitutive and tunable promoters are essential for metabolic engineering and synthetic biology applications in all host organisms. Here, we apply a synthetic hybrid promoter approach for the creation of strong promoter libraries in the model yeast, Saccharomyces cerevisiae. Synthetic hybrid promoters are composed of two modular components-the enhancer element, consisting of tandem repeats or combinations of upstream activation sequences (UAS), and the core promoter element. We demonstrate the utility of this approach with three main case studies. First, we establish a dynamic range of constitutive promoters and in doing so expand transcriptional capacity of the strongest constitutive yeast promoter, P(GPD) , by 2.5-fold in terms of mRNA levels. Second, we demonstrate the capacity to impart synthetic regulation through a hybrid promoter approach by adding galactose activation and removing glucose repression. Third, we establish a collection of galactose-inducible hybrid promoters that span a nearly 50-fold dynamic range of galactose-induced expression levels and increase the transcriptional capacity of the Gal1 promoter by 15%. These results demonstrate that promoters in S. cerevisiae, and potentially all yeast, are enhancer limited and a synthetic hybrid promoter approach can expand, enhance, and control promoter activity.

  5. Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

    Directory of Open Access Journals (Sweden)

    Lianpeng Zhang

    2016-08-01

    Full Text Available This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC, which can adaptively tune the parameters of sliding mode control (SMC, is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes.

  6. Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

    Directory of Open Access Journals (Sweden)

    Tomera Mirosław

    2017-03-01

    Full Text Available The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller.

  7. Adaptive Swarm Formation Control for Hybrid Ground and Aerial Assets

    OpenAIRE

    Barnes, Laura; Garcia, Richard; Fields, Mary Anne; Valavanis, Kimon

    2010-01-01

    In this work, a methodology for control and coordination of UAVs and UGVs has been presented. UAVs and UGVs were integrated into a single team and were able to adapt their formation accordingly. Potential field functions together with limiting functions can be successfully utilized to control UGV and UAV swarm formation, obstacle avoidance and the overall swarm movement. A single UAV was also successfully used to pull the UGV swarm into formation. These formations can move as a un...

  8. ε-MAXIMUM PRINCIPLE IN LINEAR PROBLEM OF HYBRID SYSTEM OPTIMUM CONTROL

    Directory of Open Access Journals (Sweden)

    O. R. Gabasova

    2009-01-01

    Full Text Available The paper reveals necessary and sufficient conditions of optimality and sub-optimality of the programs for a hybrid system in the class of discrete control actions. The conditions are formulated in the support terms of  the initial problem. 

  9. Hybrid Multi-Layer Network Control for Emerging Cyber-Infrastructures

    Energy Technology Data Exchange (ETDEWEB)

    Summerhill, Richard

    2009-08-14

    There were four basic task areas identified for the Hybrid-MLN project. They are: o Multi-Layer, Multi-Domain, Control Plane Architecture and Implementation, o Heterogeneous DataPlane Testing, o Simulation, o Project Publications, Reports, and Presentations.

  10. Field Evaluation of the Asian Corn Borer Control in Hybrid of Transgenic Maize Event MON 810

    Institute of Scientific and Technical Information of China (English)

    HE Kang-lai; WANG Zhen-ying; WEN Li-ping; BAI Shu-xiong; ZHOU Da-rong; ZHU Qing-hua

    2003-01-01

    In this study,a transgenic Bt maize hybrid(event MON 810 from Monsanto Company)expressing Cry1Ab protein derived from Bacillus thuringiensis(Bt)and its negative isoline hybrid were evaluatrial. Maize plants were artificially infested with neonate larvae of Asian corn borer at the mid-whorl(firstgeneration),pre-tassel(first-and/or second-generation),and silk(second-generation)growth stages.The transgenic Bt maize hybrid sustained significantly less leaf feeding damage(rating 1.0±0.0)than its negative isoline control(rating 7.3±0.1).With the Bt maize,1.3-6.8%of plants were damaged by corn borer tunneling with<0.5 cm tunneling per stalk under different levels of infestation,compared with 100%of plants damaged with 9.3-25.0 cm tunneling per stalk for the negative isoline control. On average,transgenic Bt maize hybrids had only 0.01-0.05 tunnels per stalk and no stems were broken.In contrast,the negative isoline control had 3.11-8.36 tunnels per stalk and 31.2-73.9% of stems broken.Yields were significantly higher in trahsgenic Bt maize than in the control. These results demonstrate that transgenic Bt maize can significantly minimize yield losses caused by the Asian corn borer through resistance to the first-and second-generation larvae.

  11. Grid-connected Photovoltaic Micro-inverter with New Hybrid Control LLC Resonant Converter

    DEFF Research Database (Denmark)

    Xingkui, Mao; Qisheng, Huang; Qingbo, Ke;

    2016-01-01

    A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse-frequency modulat......A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse......-frequency modulation (PFM) and phase-shift pulse-width modulation (PS-PWM) is employed on a full-bridge LLC dc-dc converter, in order to achieve high efficiency when PV output voltage varies in a wide range. Moreover, a maximum power point tracking (MPPT) method based on power perturbation is implemented in the dc......-ac inverter. Therefore, the complexity of regulating LLC converter can be reduced effectively, and efficiency optimal design can be carried out through the proposed designing procedure for the resonant tank of LLC converter. Finally, a prototype of the proposed PV micro-inverter (PVMI) is developed with rated...

  12. Grid-Connected Pv-Fc Hybrid System Power Control Using Mppt And Boost Converter

    Directory of Open Access Journals (Sweden)

    P.HARIKA

    2014-09-01

    Full Text Available This paper proposes a method for operating a grid connected hybrid system. This system composed of a Photovoltaic (PV array and a Proton exchange membrane fuel cell (PEMFC is considered. As the variations occur in temperature and irradiation during power delivery to load, Photo voltaic (PV system becomes uncontrollable. In coordination with PEMFC, the hybrid system output power becomes controllable. Two operation modes are the unit-power control (UPC mode and the feeder-flow control (FFC mode, can be applied to the hybrid system. All MPPT methods follow the same goal that is maximizing the PV system output power by tracking the maximum power on every operating condition. Maximum power point tracking technique (Incremental conductance for photovoltaic systems was introduced to maximize the produced energy. The coordination of two control modes, coordination of the PV array and the PEMFC in the hybrid system, and determination of reference parameters are presented. The proposed operating strategy systems with a flexible operation mode change always operate the PV array at maximum output power and the PEMFC in its high efficiency performance band. Also thus improving the performance of system operation, enhancing system stability, and reducing the number of operating mode changes.

  13. CURRENT VECTOR CONTROL OF PERMANENT-MAGNET SYNCHRONOUS MOTOR OF HYBRID VEHICLE ENGINE

    Directory of Open Access Journals (Sweden)

    S. Serikov

    2009-01-01

    Full Text Available Characteristics of traction permanent-magnet synchronous motor under current vector optimum control in the possible traction-speed mode area which are relevant for hybrid vehicle engine have been investigated. As a criterion of optimality a maximum of electromagnetic moment per unit of current have been taken.

  14. Flexible Microgrid Power Quality Enhancement Using Adaptive Hybrid Voltage and Current Controller

    DEFF Research Database (Denmark)

    He, Jinwei; Li, Yun Wei; Blaabjerg, Frede

    2014-01-01

    To accomplish superior harmonic compensation performance using distributed generation (DG) unit power electronics interfaces, an adaptive hybrid voltage and current controlled method (HCM) is proposed in this paper. It shows that the proposed adaptive HCM can reduce the numbers of low-pass/bandpa...

  15. A Wireless Power Sharing Control Strategy for Hybrid Energy Storage Systems in DC Microgrids

    DEFF Research Database (Denmark)

    Yang, Jie; Jin, Xinmin; Wu, Xuezhi

    2017-01-01

    In order to compensate multiple time scales power fluctuation resulted from distributed energy resources and loads, hybrid energy storage systems are employed as the buffer unit in DC microgrid. In this paper, a wireless hierarchical control strategy is proposed to realize power sharing between...

  16. Hybrid Control Method for a Single Phase PFC using a Low Cost Microcontroller

    DEFF Research Database (Denmark)

    Jakobsen, Lars Tønnes; Nielsen, Nils; Wolf, Christian

    2005-01-01

    This paper presents a hybrid control method for single phase boost PFCs. The high bandwidth current loop is analog while the voltage loop is implemented in an 8-bit microcontroller. The design focuses on minimizing the number of calculations done in the microcontroller. A 1kW prototype has been...

  17. Lyapunov based control of hybrid energy storage system in electric vehicles

    DEFF Research Database (Denmark)

    El Fadil, H.; Giri, F.; Guerrero, Josep M.

    2012-01-01

    This paper deals with a Lyapunov based control principle in a hybrid energy storage system for electric vehicle. The storage system consists on fuel cell (FC) as a main power source and a supercapacitor (SC) as an auxiliary power source. The power stage of energy conversion consists on a boost...

  18. Modeling and Nonlinear Control of Fuel Cell / Supercapacitor Hybrid Energy Storage System for Electric Vehicles

    DEFF Research Database (Denmark)

    El Fadil, Hassan; Giri, Fouad; Guerrero, Josep M.

    2014-01-01

    This paper deals with the problem of controlling hybrid energy storage system (HESS) for electric vehicle. The storage system consists of a fuel cell (FC), serving as the main power source, and a supercapacitor (SC), serving as an auxiliary power source. It also contains a power block for energy...

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

    DEFF Research Database (Denmark)

    Wang, Peng; Jin, Chi; Zhu, Dexuan

    2015-01-01

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

  20. A Muscle Synergy-inspired Adaptive Control Scheme for a Hybrid Walking Neuroprosthesis

    Directory of Open Access Journals (Sweden)

    Naji A Alibeji

    2015-12-01

    Full Text Available Abstract--- Abstract--- A hybrid neuroprosthesis that uses an electric motor-based wearable exoskeleton and functional electrical stimulation (FES has a promising potential to restore walking in persons with paraplegia. A hybrid actuation structure introduces effector redundancy, making its automatic control a challenging task because multiple muscles and additional electric motor need to be coordinated. Inspired by the muscle synergy principle, we designed a low dimensional controller to control multiple effectors: FES of multiple muscles and electric motors. The resulting control system may be less complex and easier to control. To obtain the muscle synergy-inspired low dimensional control, a subject-specific gait model was optimized to compute optimal control signals for the multiple effectors. The optimal control signals were then dimensionally reduced by using principal component analysis to extract synergies. Then, an adaptive feedforward controller with an update law for the synergy activation was designed. In addition, feedback control was used to provide stability and robustness to the control design. The adaptive-feedforward and feedback control structure makes the low dimensional controller more robust to disturbances and variations in the model parameters and may help to compensate for other time-varying phenomena (e.g., muscle fatigue. This is proven by using a Lyapunov stability analysis, which yielded semi-global uniformly ultimately bounded tracking. Computer simulations were performed to test the new controller on a 4 degree of freedom gait model.

  1. Design Intelligent Model-free Hybrid Guidance Controller for Three Dimension Motor

    Directory of Open Access Journals (Sweden)

    Abdol Majid Mirshekaran

    2014-10-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy hybrid guidance Controller for three dimensions spherical motor is presented in this research. A three dimensions spherical motor is well equipped with conventional control techniques and, in particular, various PID controllers which demonstrate a good performance and successfully solve different guidance problems. Guidance control in a three dimensions spherical motor is performed by the PID controllers producing the control signals which are applied to systems torque. The necessary reference inputs for a PID controller are usually supplied by the system's sensors based on different data. The popularity of PID Fuzzy hybrid guidance Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base. Linear type PID controller is used to modify PID fuzzy logic theory to design hybrid guidance methodology. This research is used to reduce or eliminate the fuzzy and conventional PID controller problem based on minimum rule base fuzzy logic theory and modified it by PID method to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  2. Modeling and control of a small solar fuel cell hybrid energy system

    Institute of Scientific and Technical Information of China (English)

    LI Wei; ZHU Xin-jian; CAO Guang-yi

    2007-01-01

    This paper describes a solar photovoltaic fuel cell (PVEC) hybrid generation system consisting of a photovoltaic (PV) generator, a proton exchange membrane fuel cell (PEMFC), an electrolyser, a supercapacitor, a storage gas tank and power conditioning unit (PCU). The load is supplied from the PV generator with a fuel cell working in parallel. Excess PV energy when available is converted to hydrogen using an electrolyser for later use in the fuel cell. The individual mathematical model for each component is presented. Control strategy for the system is described. MATLAB/Simulink is used for the simulation of this highly nonlinear hybrid energy system. The simulation results are shown in the paper.

  3. Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool

    Institute of Scientific and Technical Information of China (English)

    JIA Dongyong; ZHANG Jianmin; NIU Zhigang; SUN Hongchang

    2007-01-01

    This paper analyzed the inverse kinematics for the new Parallel rotate slider-X Y axes(PRS-XY)style hybrid machining tool and educed the five axes linkage inverse kinematics transform formula on the basis of the coordinates of the X,Y,Z,A and B virtual axes.The program for the PRS-XY style hybrid machining tool in accordance with the program manner for the common numerical control(NC)machine tool was made.The results of the experiments prove that the inverse kinematics transform formula is correct.

  4. Magnetic-field-mediated coupling and control in hybrid atomic-nanomechanical systems

    CERN Document Server

    Tretiakov, A

    2016-01-01

    Magnetically coupled hybrid quantum systems enable robust quantum state control through Landau-Zener transitions. Here, we show that an ultracold atomic sample coupled to a nanomechanical resonator via oscillating magnetic fields can be used to cool the resonator's mechanical motion, to measure the mechanical temperature, and to enable entanglement of these mesoscopic objects. We calculate the expected coupling for both permanent-magnet and current-conducting nanostring resonators and describe how this hybridization is attainable using recently developed fabrication techniques, including SiN nanostrings and atom chips.

  5. Power flow analysis for droop controlled LV hybrid AC-DC microgrids with virtual impedance

    DEFF Research Database (Denmark)

    Li, Chendan; Chaudhary, Sanjay; Vasquez, Juan Carlos

    2014-01-01

    The AC-DC hybrid microgrid is an effective form of utilizing different energy resources and the analysis of this system requires a proper power flow algorithm. This paper proposes a suitable power flow algorithm for LV hybrid AC-DC microgrid based on droop control and virtual impedance. Droop...... and virtual impedance concepts for AC network, DC network and interlinking converter are reviewed so as to model it in the power flow analysis. The validation of the algorithm is verified by comparing it with steady state results from detailed time domain simulation. The effectiveness of the proposed...

  6. Digital controller for hybrid filter in HVDC based on approximate inverse system

    Institute of Scientific and Technical Information of China (English)

    SU Ling; ZHAO Dong-yuan; CHEN Jian-ye; WANG Zan-ji

    2006-01-01

    In order to eliminate the characteristic harmonics in high voltage direct current (HVDC) transmission systems and to simplify the analog controller structure,this paper proposes a new digital controller by adopting an approximate inverse system control strategy according to the frequency response characteristic of the hybrid power filter.The proposed digital controller is implemented with a TMS320C32 DSP,including a series of parallel digital band-pass filters,phase shifters and amplifiers.The results of both simulations based on PSCAD and experiments on a 30 kVA HVDC system prove that the proposed digital control system is stable and efficient for eliminating the harmonics.

  7. Development of Control Structure for Hybrid Wind Generators with Active Power Capability

    Directory of Open Access Journals (Sweden)

    Mehdi Niroomand

    2014-01-01

    Full Text Available A hierarchical control structure is proposed for hybrid energy systems (HES which consist of wind energy system (WES and energy storage system (ESS. The proposed multilevel control structure consists of four blocks: reference generation and mode select, power balancing, control algorithms, and switching control blocks. A high performance power management strategy is used for the system. Also, the proposed system is analyzed as an active power filter (APF with ability to control the voltage, to compensate the harmonics, and to deliver active power. The HES is designed with parallel DC coupled structure. Simulation results are shown for verification of the theoretical analysis.

  8. Modeling and Nonlinear Control of Electric Power Stage in Hybrid Electric Vehicle

    DEFF Research Database (Denmark)

    Tahri, A.; El Fadil, H.; Guerrero, Josep M.;

    2014-01-01

    This paper deals with the problem of modeling and controlling the electric power stage of hybrid electric vehicle. The controlled system consists of a fuel cell (FC) as a main source, a supercapacitor as an auxiliary source, two DC-DC power converters, an inverter and a traction induction motor...... based approach is used to control the DC/DC power converters associated with the DC sources, the backstepping technique combined with the field oriented control strategy are invoked in order to control the induction motor. It is formally shown, using a theoretical analysis and simulation results...

  9. Hybrid Dynamic Modeling and Control of Molten Carbonate Fuel Cell Stack Shutdown

    Institute of Scientific and Technical Information of China (English)

    LI Yong; CAO Guang-yi; ZHU Xin-jian

    2007-01-01

    A hybrid automaton modeling approach that incorporates state space partitioning, phase dynamic modeling and control law synthesis by control strategy is utilized to develop a hybrid automaton model of molten carbonate fuel cell (MCFC) stack shutdown. The shutdown operation is divided into several phases and their boundaries are decided according to a control strategy, which is a set of specifications about the dynamics of MCFC stack during shutdown. According to the control strategy, the specification of increasing stack temperature is satisfied in a phase that can be modeled accurately. The model for phase that has complex dynamic is approximated. The duration of this kind of phase is decreased to minimize the error caused by model approximation.

  10. Toward hybrid force/position control for the Cerberus epicardial robot.

    Science.gov (United States)

    Breault, Macauley S; Costanza, Adam D; Wood, Nathan A; Passineau, Michael J; Riviere, Cameron N

    2015-01-01

    Gene therapies have emerged as a promising treatment for congestive heart failure, yet they lack a method for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Prior work on Cerberus was limited to controlling the device using only position feedback. In order to ensure safety for both the patient and the device, as well as to improve the performance of the device, this paper presents work on enhancing the existing system with force feedback capabilities. By modeling the statics of the system and developing a tension distribution optimization technique, existing position control schemes were modified to a hybrid force/position controller. Experimental results show that using a hybrid force-position control scheme as opposed to position decreases positioning error by 38%.

  11. Cooperative Energy Management of Hybrid DC Renewable Grid Using Decentralized Control Strategies

    Directory of Open Access Journals (Sweden)

    Mehrdad Beykverdi

    2016-10-01

    Full Text Available This paper attempted to control a hybrid DC microgrid in islanded operation mode using decentralized power management strategies. Proposed adaptive I/V characteristic for hybrid photovoltaic (PV and battery energy storage system (BESS and wind turbine generator (WTG adapts the distributed energy resources (DER behavior independently in accordance with the load demand. Hence, the PV module can spend its maximum power on load demand and spend the extra power for charging the BESS, which will regulate DC bus voltage and maintain the power balance within the microgrid. When load demand is beyond the maximum generation power of PV unit, WTG will supply the energy shortage. The proposed control system was applied on the DC microgrid in order to achieve control objectives through a decentralized procedure, without telecommunication links. In order to validate the proposed strategies, the control system was implemented on a DC microgrid within MATLAB/SIMULINK, where the simulation results were analyzed and validated.

  12. Adaptive Hybrid Control of Vehicle Semiactive Suspension Based on Road Profile Estimation

    Directory of Open Access Journals (Sweden)

    Yechen Qin

    2015-01-01

    Full Text Available A new road estimation based suspension hybrid control strategy is proposed. Its aim is to adaptively change control gains to improve both ride comfort and road handling with the constraint of rattle space. To achieve this, analytical expressions for ride comfort, road handling, and rattle space with respect to road input are derived based on the hybrid control, and the problem is transformed into a MOOP (Multiobjective Optimization Problem and has been solved by NSGA-II (Nondominated Sorting Genetic Algorithm-II. A new road estimation and classification method, which is based on ANFIS (Adaptive Neurofuzzy Inference System and wavelet transforms, is then presented as a means of detecting the road profile level, and a Kalman filter is designed for observing unknown states. The results of simulations conducted with random road excitation show that the efficiency of the proposed control strategy compares favourably to that of a passive system.

  13. Control of hybrid AC/DC microgrid under islanding operational conditions

    DEFF Research Database (Denmark)

    Ding, G.; Gao, F.; Zhang, S.

    2014-01-01

    This paper presents control methods for hybrid AC/DC microgrid under islanding operation condition. The control schemes for AC sub-microgrid and DC sub-microgrid are investigated according to the power sharing requirement and operational reliability. In addition, the key control schemes...... of interlinking converter with DC-link capacitor or energy storage, which will devote to the proper power sharing between AC and DC sub-microgrids to maintain AC and DC side voltage stable, is reviewed. Combining the specific control methods developed for AC and DC sub-microgrids with interlinking converter......, the whole hybrid AC/DC microgrid can manage the power flow transferred between sub-microgrids for improving on the operational quality and efficiency....

  14. Hybrid Control Systems: Design and Analysis for Aerospace Applications

    Science.gov (United States)

    2009-02-28

    and Optimization, v 44, n 3, 2006, p 777-800. 26. "Extremum seeking methods for optimization of variable cam timing engine operation" Popovic, D...Lifetime honors/awards IEEE Fellow, 2002 AACC Donald P. Eckman Award, 1999 SI AM Control and Systems Theory Prize, 1998 16

  15. Light- and Solvent-Controlled Self-Assembly Behavior of Spiropyran-Polyoxometalate-Alkyl Hybrid Molecules.

    Science.gov (United States)

    Chu, Yang; Saad, Ali; Yin, Panchao; Wu, Jiayingzi; Oms, Olivier; Dolbecq, Anne; Mialane, Pierre; Liu, Tianbo

    2016-08-08

    A molecular photochromic spiropyran-polyoxometalate-alkyl organic-inorganic hybrid has been synthesized and fully characterized. The reversible switching of the hydrophobic spiropyran fragment to the hydrophilic merocyanine one can be easily achieved under light irradiation at different wavelengths. This switch changes the amphiphilic feature of the hybrid, leading to a light-controlled self-assembly behavior in solution. It has been shown that the hybrid can reversibly self-assemble into vesicles in polar solvents and irreversibly into reverse vesicles in non-polar solvents. The sizes of the vesicles and the reverse vesicles are both tunable by the polarity of the solvent, with the hydrophobic interactions being the main driving force.

  16. Multiphysics of bio-hybrid systems: shape control and electro-induced motion

    Science.gov (United States)

    Lucantonio, Alessandro; Nardinocchi, Paola; Pezzulla, Matteo; Teresi, Luciano

    2014-04-01

    We discuss the control of the bending pattern of a bio-hybrid system made using the muscular thin film technique. We study the medusoid presented in Nawroth et al (2012 Nature Biotechnol. 30 792-7) as a prototypical bio-hybrid system. Specifically, we evaluate the contraction field within the biological layer that is necessary to produce a target curvature of the system, and determine an admissible range of the design parameters that correspond to the same bending solution. We also propose an electromechanical model of the bio-hybrid system and study the propagation of the action potential. Our results compare well with the experimental data reported in Nawroth et al (2012 Nature Biotechnol. 30 792-7).

  17. High-performance controllable ambipolar infrared phototransistors based on graphene-quantum dot hybrid

    CERN Document Server

    Wang, Ran; Wang, Haiyang; Song, Xiaoxian; Jin, Lufan; Dai, Haitao; Wu, Sen; Yao, Jianquan

    2014-01-01

    The field effect transistors (FETs) exhibited ultrahigh responsivity (107 A/W) to infrared light with great improvement of mobility in graphene / PbS quantum dot (QD) hybrid. These reported transistors are either unipolar or depletion mode devices. In this paper, we presented and fabricated conveniently-controlled grapheme / PbS QD hybrid FETs. Through the investigation on electric and optoelectronic properties, the ambipolar FETs (normally OFF) can be switched ON by raising gate voltage (VG) up to 3.7 V and -0.8 V in the first and third quadrants. Near these thresholds (VT) each carrier species shows comparable mobility (~ 300 cm2V-1s-1). Photo-responsivity reach ~ 107 A/W near each threshold and it will linearly increases with (VG-VT). These hybrid FETs become strongly competitive candidates for devices in flexible integrated circuits with low cost, large area, low-energy consumption and high performances.

  18. A Hybrid Estimator for Active/Reactive Power Control of Single-Phase Distributed Generation Systems with Energy Storage

    DEFF Research Database (Denmark)

    Pahlevani, Majid; Eren, Suzan; Guerrero, Josep M.;

    2016-01-01

    This paper presents a new active/reactive power closed-loop control system for a hybrid renewable energy generation system used for single-phase residential/commercial applications. The proposed active/reactive control method includes a hybrid estimator, which is able to quickly and accurately...... estimate the active/reactive power values. The proposed control system enables the hybrid renewable energy generation system to be able to perform real-time grid interconnection services such as active voltage regulation, active power control, and fault ride-through.Simulation and experimental results...... demonstrate the superior performance of the proposed closed-loop control system....

  19. Shape-controlled fabrication of magnetite silver hybrid nanoparticles with high performance magnetic hyperthermia.

    Science.gov (United States)

    Ding, Qi; Liu, Dongfang; Guo, Dawei; Yang, Fang; Pang, Xingyun; Che, Renchao; Zhou, Naizhen; Xie, Jun; Sun, Jianfei; Huang, Zhihai; Gu, Ning

    2017-04-01

    Superparamagnetic Fe3O4 nanoparticles (NPs)-based hyperthermia is a promising non-invasive approach for cancer therapy. However, the heat transfer efficiency of Fe3O4 NPs is relative low, which hinders their practical clinical applications. Therefore, it is promising to improve the magnetic hyperthermia efficiency by exploring the higher performance magnetic NPs-based hybrid nanostructures. In the current study, it presents a straightforward in situ reduction method for the shape-controlled preparation of magnetite (Fe3O4) silver (Ag) hybrid NPs designed as magnetic hyperthermia heat mediators. The magnetite silver hybrid NPs with core-shell (Fe3O4@Ag) or heteromer (Fe3O4-Ag) structures exhibited a higher biocompatibility with SMMC-7721 cells and L02 cells than the individual Ag NPs. Importantly, in the magnetic hyperthermia, with the exposure to alternating current magnetic field, the Fe3O4@Ag and Fe3O4-Ag hybrid NPs indicated much better tumor suppression effect against SMMC-7721 cells than the individual Fe3O4 NPs in vitro and in vivo. These results demonstrate that the hybridisation of Fe3O4 and Ag NPs could greatly enhance the magnetic hyperthermia efficiency of Fe3O4 NPs. Therefore, the Fe3O4@Ag and Fe3O4-Ag hybrid NPs can be used to be as high performance magnetic hyperthermia mediators based on a simple and effective preparation approach.

  20. A hybrid Force Position Control for a Upper Limb Rehabilitation Robot of Series Mechanism

    OpenAIRE

    Liu Yali; Ji Linhong

    2016-01-01

    Interactive rehabilitation robot which has better interaction is one main method to improve the patients’ motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients’ state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UEC...

  1. Reactive power control of wind-diesel-micro-hydro hybrid power systems using matlab/simulink

    Energy Technology Data Exchange (ETDEWEB)

    Bansal, R.C.; Bhatti, T.S.; Kothari, D.P.; Bhat, S. [Birla Inst. of Technology and Science, Pilani (India); Indian Inst. of Technology, New Delhi (India). Centre for Energy Studies; Visvesvaraya National Inst. of Technology, Nagpur (IN). Dept. of Electrical Engineering)

    2005-07-01

    This paper presents reactive power control of isolated wind-diesel-micro-hydro hybrid power system for realistic load disturbance using matlab/simulink. The mathematical model of the system based on matlab/simulink is developed. Reactive power control performance is compared using three different types of Static VAR Compensators (SVC). Transient responses for step plus normally distributed or band limited white noise random change in load have also been presented in this paper. (Author)

  2. Appendage modal coordinate truncation criteria in hybrid coordinate dynamic analysis. [for spacecraft attitude control

    Science.gov (United States)

    Likins, P.; Ohkami, Y.; Wong, C.

    1976-01-01

    The paper examines the validity of the assumption that certain appendage-distributed (modal) coordinates can be truncated from a system model without unacceptable degradation of fidelity in hybrid coordinate dynamic analysis for attitude control of spacecraft with flexible appendages. Alternative truncation criteria are proposed and their interrelationships defined. Particular attention is given to truncation criteria based on eigenvalues, eigenvectors, and controllability and observability. No definitive resolution of the problem is advanced, and exhaustive study is required to obtain ultimate truncation criteria.

  3. Adaptive kanban control mechanism for a single-stage hybrid system

    Science.gov (United States)

    Korugan, Aybek; Gupta, Surendra M.

    2002-02-01

    In this paper, we consider a hybrid manufacturing system with two discrete production lines. Here the output of either production line can satisfy the demand for the same type of product without any penalties. The interarrival times for demand occurrences and service completions are exponentially distributed i.i.d. variables. In order to control this type of manufacturing system we suggest a single stage pull type control mechanism with adaptive kanbans and state independent routing of the production information.

  4. Importance of permanent improvement of production and control of basic seed of ZP maize hybrids

    Directory of Open Access Journals (Sweden)

    Sečanski Mile

    2015-01-01

    Full Text Available High-quality seed is one of the key factors in the commercial maize grain production. In addition, hybrid seed production is conditioned by the production of basic seed of parental inbreds. According to the Law on Seed, 2005, the category of basic seed is defined as: original of self-pollinated plant species, hybrid components and potato elite, produced under control of the Ministry competent for agribusiness and is used for the production of certified seed of the first generation. This paper presents a chronological overview of the overall activity since1945. that led to the modern production of maize seed in our country. The activities have been based on scientific, technical and technological achievements within many fields, ranging from genetics and breeding, through growing practices, processing, quality control and legal regulations concerning all of this. Transition from maize breeding and production to hybrids has provided an amazing development of maize breeding and seed production and also included significant profit. Therefore, maize seed production has become high-technology industry. The scientific and professional work in improving the production of basic seed of ZP maize hybrids has been carried out in stages, and generally followed achievements in maize breeding and genetics, as well as developments in the growing practices and processing. In order to maintain a high quality of maize hybrid seed, as the end product, permanent efforts have to be invested into maize production improvement, drying, processing, storing, genetic purity of basic seed of parental inbreds of ZP maize hybrids, which are grown on the significant percentage of maize production areas not only in Serbia and countries in the region.

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

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

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

  6. Methods for Reachability-based Hybrid Controller Design

    Science.gov (United States)

    2012-05-10

    Markov Decision Processes (see for example Russell and Norvig , 2002; Thrun et al., 2005). Given a finite state space, the state transition kernel ν can be...distribution p0 and the information vector ik. The update equations for pk|k can be found in for example Chapter 17 of Russell and Norvig (2002) or...for POMDP problems to find the optimal control policy (Russell and Norvig , 2002, Chapter 17; Thrun et al., 2005, Chapter 15). However, as shown by

  7. Fractional order fuzzy control of hybrid power system with renewable generation using chaotic PSO.

    Science.gov (United States)

    Pan, Indranil; Das, Saptarshi

    2016-05-01

    This paper investigates the operation of a hybrid power system through a novel fuzzy control scheme. The hybrid power system employs various autonomous generation systems like wind turbine, solar photovoltaic, diesel engine, fuel-cell, aqua electrolyzer etc. Other energy storage devices like the battery, flywheel and ultra-capacitor are also present in the network. A novel fractional order (FO) fuzzy control scheme is employed and its parameters are tuned with a particle swarm optimization (PSO) algorithm augmented with two chaotic maps for achieving an improved performance. This FO fuzzy controller shows better performance over the classical PID, and the integer order fuzzy PID controller in both linear and nonlinear operating regimes. The FO fuzzy controller also shows stronger robustness properties against system parameter variation and rate constraint nonlinearity, than that with the other controller structures. The robustness is a highly desirable property in such a scenario since many components of the hybrid power system may be switched on/off or may run at lower/higher power output, at different time instants.

  8. Hybridization of an invasive shrub affects tolerance and resistance to defoliation by a biological control agent

    Science.gov (United States)

    Williams, Wyatt I.; Friedman, Jonathan M.; Gaskin, John F.; Norton, Andrew P.

    2014-01-01

    Evolution has contributed to the successful invasion of exotic plant species in their introduced ranges, but how evolution affects particular control strategies is still under evaluation. For instance, classical biological control, a common strategy involving the utilization of highly specific natural enemies to control exotic pests, may be negatively affected by host hybridization because of shifts in plant traits, such as root allocation or chemical constituents. We investigated introgression between two parent species of the invasive shrub tamarisk (Tamarix spp.) in the western United States, and how differences in plant traits affect interactions with a biological control agent. Introgression varied strongly with latitude of origin and was highly correlated with plant performance. Increased levels of T. ramosissima introgression resulted in both higher investment in roots and tolerance to defoliation and less resistance to insect attack. Because tamarisk hybridization occurs predictably on the western U.S. landscape, managers may be able to exploit this information to maximize control efforts. Genetic differentiation in plant traits in this system underpins the importance of plant hybridization and may explain why some biological control releases are more successful than others.

  9. Active vibration control of hybrid smart structures featuring piezoelectric films and electrorheological fluids

    Science.gov (United States)

    Choi, Seung-Bok; Park, Yong-Kun; Cheong, ChaeCheon

    1996-05-01

    This paper presents a proof-of-concept investigation on an active vibration control of a hybrid smart structure (HSS) consisting of a piezoelectric film actuator (PFA) and an electro- rheological fluid actuator (ERFA). Firstly, an HSS beam is constructed by inserting a starch- based electro-rheological fluid into a hollow composite beam and perfectly bonding two piezoelectric films on the upper and lower surfaces of the structure as an actuator and as a sensor, respectively. As for the PFA, a neuro-sliding mode controller (NSC) incorporating neural networks with the concept of sliding mode control is formulated. On the other hand, the control scheme for the ERFA is developed as a function of excitation frequencies on the basis of field-dependent frequency responses. An experimental implementation for the PFA and ERFA is then established to perform an active vibration control of the HSS in the transient and forced vibrations. Both the increment of damping ratios and the suppression of tip deflections are evaluated in order to demonstrate control effectiveness of the PFA, the ERFA, and the hybrid actuation. The experimental results exhibit a superior ability of the hybrid actuation system to tailor elastodynamic responses of the HSS rather than a single class of actuation system alone.

  10. Graduate Automotive Technology Education (GATE) Center for Hybrid Electric Drivetrains and Control Strategies

    Energy Technology Data Exchange (ETDEWEB)

    David Holloway

    2005-09-30

    Beginning the fall semester of 1999, The University of Maryland, Departments of Mechanical and Electrical Engineering and the Institute for Systems Research served as a U.S. Department of Energy (USDOE) Graduate Automotive Technology Education (GATE) Center for Hybrid Electric Drivetrains and Control Strategies. A key goal was to produce a graduate level education program that educated and prepared students to address the technical challenges of designing and developing hybrid electric vehicles, as they progressed into the workforce. A second goal was to produce research that fostered the advancement of hybrid electric vehicles, their controls, and other related automotive technologies. Participation ended at the University of Maryland after the 2004 fall semester. Four graduate courses were developed and taught during the course of this time, two of which evolved into annually-taught undergraduate courses, namely Vehicle Dynamics and Control Systems Laboratory. Five faculty members from Mechanical Engineering, Electrical Engineering, and the Institute for Systems Research participated. Four Ph.D. degrees (two directly supported and two indirectly supported) and seven Master's degrees in Mechanical Engineering resulted from the research conducted. Research topics included thermoelectric waste heat recovery, fuel cell modeling, pre- and post-transmission hybrid powertrain control and integration, hybrid transmission design, H{sub 2}-doped combustion, and vehicle dynamics. Many of the participating students accepted positions in the automotive industry or government laboratories involved in automotive technology work after graduation. This report discusses the participating faculty, the courses developed and taught, research conducted, the students directly and indirectly supported, and the publication list. Based on this collection of information, the University of Maryland firmly believes that the key goal of the program was met and that the majority of the

  11. Rough set-based hybrid fuzzy-neural controller design for industrial wastewater treatment.

    Science.gov (United States)

    Chen, W C; Chang, Ni-Bin; Chen, Jeng-Chung

    2003-01-01

    Recent advances in control engineering suggest that hybrid control strategies, integrating some ideas and paradigms existing in different soft computing techniques, such as fuzzy logic, genetic algorithms, rough set theory, and neural networks, may provide improved control performance in wastewater treatment processes. This paper presents an innovative hybrid control algorithm leading to integrate the distinct aspects of indiscernibility capability of rough set theory and search capability of genetic algorithms with conventional neural-fuzzy controller design. The methodology proposed in this study employs a three-stage analysis that is designed in series for generating a representative state function, searching for a set of multi-objective control strategies, and performing a rough set-based autotuning for the neural-fuzzy logic controller to make it applicable for controlling an industrial wastewater treatment process. Research findings in the case study clearly indicate that the use of rough set theory to aid in the neural-fuzzy logic controller design can produce relatively better plant performance in terms of operating cost, control stability, and response time simultaneously, which is effective at least in the selected industrial wastewater treatment plant. Such a methodology is anticipated to be capable of dealing with many other types of process control problems in waste treatment processes by making only minor modifications.

  12. Hierarchical Control of Parallel AC-DC Converter Interfaces for Hybrid Microgrids

    DEFF Research Database (Denmark)

    Lu, Xiaonan; Guerrero, Josep M.; Sun, Kai;

    2014-01-01

    In this paper, a hierarchical control system for parallel power electronics interfaces between ac bus and dc bus in a hybrid microgrid is presented. Both standalone and grid-connected operation modes in the dc side of the microgrid are analyzed. Concretely, a three-level hierarchical control syst...... the three control levels is developed in order to adjust the main control parameters and study the system stability. Experimental results of a 2×2.2 kW parallel ac-dc converter system have shown satisfactory realization of the designed system.......In this paper, a hierarchical control system for parallel power electronics interfaces between ac bus and dc bus in a hybrid microgrid is presented. Both standalone and grid-connected operation modes in the dc side of the microgrid are analyzed. Concretely, a three-level hierarchical control system...... is implemented. In the primary control level, the decentralized control is realized by using the droop method. Local ac current proportional-resonant controller and dc voltage proportional-integral controller are employed. When the local load is connected to the dc bus, dc droop control is applied to obtain...

  13. 多机器人动态避碰及抬箱编队仿真研究%Simulation research on multi-robot dynamic collision avoidance and carrying-box formation

    Institute of Scientific and Technical Information of China (English)

    李佩林; 李志春

    2011-01-01

    Foraging,pushing box and formation are several classic forms of tasks in multi robot system. It proposed a new task form for the multi-robot,I.e.carrying box task,which is expanded from foraging, pushing and formation tasks and application fie Id is very broad.Various reactive behaviors of multi-robot were designed and multi-robot dynamic collision avoidance was realized;Meanwhile an algorithm for carrying box formation around edge of fixed object was represented,which is designed with scalabilityAfier observing and studying in detail collision situation between robots,dynamic collision avoidance among robots is realized according to general strategy of human collision.Simulation results verified that the algorithm is feasible.%觅食、推箱以及编队是多机器人系统研究中的经典任务形式,提出的新的多机器人任务:抬箱任务是由觅食、推箱以及编队等任务拓展而来,适用领域非常广阔.设计了多机器人在动态环境中的各种反应行为,实现了多机器人之间的动态避碰;提出了围绕固定物体边缘形成抬箱队形的算法,该算法的设计具有可扩展性,详细考察了机器人之间发生碰撞的情形,并根据人类避碰的一般策略完全实现了机器人之间的动态避碰.仿真结果证实了算法的可行性.

  14. Task allocation of searching in multi-robot system using improved bundled auction%基于改进捆绑拍卖多机器人任务分配研究

    Institute of Scientific and Technical Information of China (English)

    姜来浩; 戴学丰; 蔡标; 陈泽涛

    2014-01-01

    In order to solve the problem of multi-robot in the search process of multi task allocation and multi-robot utilization, this paper presents a K-means clustering with instant auction algorithm based bundle auction.Firstly by using K-means clustering algorithm to solve the problem of multi tasks in multi robot binding ,then using bundled auction mechanism allocates the clusters to the corresponding robots. According to the completion of the tasks in each cluster ,the corresponding robot judge whether to make instant auction. Simulation results proves that this method of the multi-robot in the search process save resource and the robots use equilibrium.%为了解决多机器人在搜索过程中多任务分配和多机器人利用率问题,提出了一种带有即时拍卖的K-means聚类捆绑式拍卖算法。首先通过K-means聚类算法解决多机器人系统中的多任务捆绑问题,再运用捆绑式拍卖机制把聚类分配给相应的机器人。考虑各聚类内的任务完成情况和各机器人利用情况,相应机器人判断是否产生即时拍卖。仿真证明,该方法在多机器人搜索过程中节省资源且各机器人利用均衡。

  15. A Hybrid Model Predictive Control for Handling Infeasibility and Constraint Prioritization

    Institute of Scientific and Technical Information of China (English)

    王宇红; 黄德先; 金以慧

    2005-01-01

    A hybrid approach using MLD (mixed logical dynamical) framework to handle infeasibility and constraint prioritization issues in MPC (model predictive control) based on input-output model is introduced. By expressing constraint priorities as propositional logics and by transforming the propositional logics into inequalities,the infeasibility and constraint prioritization issues are solved in the MPC. Constraints with higher priorities are met first, and then these with lower priorities are satisfied as much as possible. This new approach is illustrated in the control of a heavy oil fractionator-Shell column. The overall control performance has been significantly improved through the infeasibility and control priorities handling.

  16. A hybrid disturbance rejection control solution for variable valve timing system of gasoline engines.

    Science.gov (United States)

    Xie, Hui; Song, Kang; He, Yu

    2014-07-01

    A novel solution for electro-hydraulic variable valve timing (VVT) system of gasoline engines is proposed, based on the concept of active disturbance rejection control (ADRC). Disturbances, such as oil pressure and engine speed variations, are all estimated and mitigated in real-time. A feed-forward controller was added to enhance the performance of the system based on a simple and static first principle model, forming a hybrid disturbance rejection control (HDRC) strategy. HDRC was validated by experimentation and compared with an existing manually tuned proportional-integral (PI) controller. The results show that HDRC provided a faster response and better tolerance of engine speed and oil pressure variations.

  17. Simulation and experimental results of hybrid electric machine with a novel flux control strategy

    Directory of Open Access Journals (Sweden)

    Paplicki Piotr

    2015-03-01

    Full Text Available The paper presents selected simulation and experimental results of a hybrid ECPMS-machine (Electric Controlled Permanent Magnet Synchronous Machine. This permanent magnets (PMs excited machine offers an extended magnetic field control capability which makes it suitable for battery electric vehicle (BEV drives. Rotor, stator and the additional direct current control coil of the machine are analyzed in detail. The control system and strategy, the diagram of power supply system and an equivalent circuit model of the ECPMS-machine are presented. Influence of the additional excitation on the performance parameters of the machine, such as: torque, efficiency, speed limits and back-EMF have also been discussed.

  18. Application of Sensor Fusion in Multi-robot Cooperative Localization%传感器融合在多机器人合作定位中的应用

    Institute of Scientific and Technical Information of China (English)

    刘显荣

    2011-01-01

    Robot localization is the premise of other robot research,such as environment explore and motion coordination.Inspired by information fusion ,a novel multi-robot cooperative localization technology is presented, which fuses the robot's multiple sensor data. First, the basic motion form of the two-wheel robot was modeled, and the relative observing formula was built aiming at the ultrasonic sensor. Then filtering and first-level fusion were applied to robots proprioceptive and exteroceptive sensors respectively,by which obtained the robot's proprioceptive location data and relative observing data.Finally, the robot's proprioceptive location data and observing data were fused by extension kalman filter (EKF),and the multi-robot cooperative localization was implemented. Experiment result demonstrates this cooperative localization technology can get the robots to form landmarks for each other,eliminate the accumulate error from encoder,and improve the robot localization accuracy efficiently.%机器人的定位技术是进行机器人环境探索、协调运动研究的前提,从信息融合的思想出发,提出了一种融合多传感器信息的合作定位技术.首先,对两轮机器人的基本运动形式进行建模,并针对超声波传感器建立了机器人之间的相对观测方程.然后,分别对机器人的内、外部传感器进行滤波和第一级融合,得到自身位姿和相对观测信息.最后,利用扩展卡尔曼滤波(EKF)融合机器人的自身位姿和观测信息,实现多机器人的合作定位.实验结果表明,本合作定位能够使机器人之间互为路标,消除码盘定位的累积误差,有效地提高机器人定位精度.

  19. Zero Power Levitation Control of Hybrid Electro-Magnetic Levitation System by Load Observer

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Youn Hyun; Lee, Ju [Hanyang University, Seoul (Korea)

    2001-06-01

    This paper introduces the scheme that improve the control performance of electromagnetic levitation system with zero power controller. Magnetic levitation is used widely, but the electromagnetic force has nonlinear characteristics because it is proportioned to a square of the magnetic flux density and it is in inverse proportion to a square of the air gap. So, it is complicate and difficult to control the electromagnetic force. Besides, it is more difficult to control if the equivalent gap is unknown in case of zero power control. Therefore, this paper proposed the hybrid electro-magnetic levitation control method in which the variable load is estimated by using a load observer and its system is controlled at a new zero power equilibrium air gap position. Also it is confirmed that the proposed control method improve the control performance through simulation and experiment. (author). 10 refs., 17 figs., 1 tab.

  20. A Model Predictive Control Approach for Fuel Economy Improvement of a Series Hydraulic Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Tri-Vien Vu

    2014-10-01

    Full Text Available This study applied a model predictive control (MPC framework to solve the cruising control problem of a series hydraulic hybrid vehicle (SHHV. The controller not only regulates vehicle velocity, but also engine torque, engine speed, and accumulator pressure to their corresponding reference values. At each time step, a quadratic programming problem is solved within a predictive horizon to obtain the optimal control inputs. The objective is to minimize the output error. This approach ensures that the components operate at high efficiency thereby improving the total efficiency of the system. The proposed SHHV control system was evaluated under urban and highway driving conditions. By handling constraints and input-output interactions, the MPC-based control system ensures that the system operates safely and efficiently. The fuel economy of the proposed control scheme shows a noticeable improvement in comparison with the PID-based system, in which three Proportional-Integral-Derivative (PID controllers are used for cruising control.

  1. Angle hybrid control for a two-axis piezo-positioning system and its application

    Science.gov (United States)

    Zhu, Wei; Zhou, Qinbo; Rui, Xiaoting

    2016-09-01

    The hysteresis characteristics of piezoelectric actuators and the residual vibration in the rapid positioning process will greatly affect the positioning accuracy and speed of a piezo-driven positioning system (PPS). In order to improve the positioning accuracy and to restrain the residual vibration of a two-axis PPS, a hybrid controller is proposed and explored based on a comprehensive model by combining the proposed feedforward linearization, the zero vibration and derivative shaping, and the linear-quadratic Gaussian feedback control for the PPS. The experimental results show that the proposed hybrid control significantly improves the positioning accuracy and suppresses the residual vibration of the PPS. Its application shows that the PPS proposed herein can effectively enhance the astronomical telescope’s star tracking and pointing performance.

  2. Hybrid Control of Long-Endurance Aerial Robotic Vehicles for Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2011-06-01

    Full Text Available This paper presents an effective hybrid control approach for building stable wireless sensor networks between heterogeneous unmanned vehicles using long‐ endurance aerial robotic vehicles. For optimal deployment of the aerial vehicles in communication networks, a gradient climbing based self‐estimating control algorithm is utilized to locate the aerial platforms to maintain maximum communication throughputs between distributed multiple nodes. The autonomous aerial robots, which function as communication relay nodes, extract and harvest thermal energy from the atmospheric environment to improve their flight endurance within specified communication coverage areas. The rapidly‐deployable sensor networks with the high‐endurance aerial vehicles can be used for various application areas including environment monitoring, surveillance, tracking, and decision‐making support. Flight test and simulation studies are conducted to evaluate the effectiveness of the proposed hybrid control technique for robust communication networks.

  3. Finite Element Analysis of Adaptive-Stiffening and Shape-Control SMA Hybrid Composites

    Science.gov (United States)

    Gao, Xiujie; Burton, Deborah; Turner, Travis L.; Brinson, Catherine

    2005-01-01

    Shape memory alloy hybrid composites with adaptive-stiffening or morphing functions are simulated using finite element analysis. The composite structure is a laminated fiber-polymer composite beam with embedded SMA ribbons at various positions with respect to the neutral axis of the beam. Adaptive stiffening or morphing is activated via selective resistance heating of the SMA ribbons or uniform thermal loads on the beam. The thermomechanical behavior of these composites was simulated in ABAQUS using user-defined SMA elements. The examples demonstrate the usefulness of the methods for the design and simulation of SMA hybrid composites. Keywords: shape memory alloys, Nitinol, ABAQUS, finite element analysis, post-buckling control, shape control, deflection control, adaptive stiffening, morphing, constitutive modeling, user element

  4. An Investigation into Regenerative Braking Control Strategy for Hybrid Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    PENG Dong; YIN Cheng-liang; ZHANG Jian-wu

    2005-01-01

    Energy regeneration during braking is an important technique for hybrid electric vehicle (HEV) to improve their fuel economy and extend their driving range. Due to the effect of regenerative braking torque which is added by electric motor, the braking torque distribution between front and rear axles should be changed and the control logic of anti-lock braking system (ABS) ought to be adjusted according to the regenerative braking torque. This paper put forward a braking control strategy for hybrid electric vehicle; the control strategy is implemented with eight DOFs (Degree-of-Freedom) nonlinear vehicle forward simulation model which is built under the environment of Matlab/Simulink. Based on target wheel slip ratio, a fuzzy logic approach was applied to maintain the optimal target slip ratio so that best compromise between hydraulic torque and regenerative torque can be obtained for the vehicle.

  5. Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force‐position control based trajectory generation with the impact dynamics into consideration that compensates for the stability variations, thus helping the robot react stably in the face of environmental disturbances. As a consequence, the proposed impact‐based hybrid control helps the robot achieve better and stable motion planning than conventional position‐based control algorithms. Dynamic simulations and real world outdoor experiments performed on a six legged hexapod robot show a relevant improvement in the robot locomotion.

  6. THEORETICAL AND EXPERIMENTAL STUDY ON THE PRESSURE AND VACUUM CONTINUOUS CONTROL SYSTEM BASED ON HYBRID PUMP

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A novel pressure and vacuum continuous control system, which adopts a hybrid pump as pressure and vacuum source, is presented. The mathematical model of the system is developed. The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics, parameters and working points of the system. The experimental investigations on the system characteristics are presented with the adoption of a fuzzy-PID controller. The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance, strong robustness and satisfactory adaptability to various system parameters. According to the results, system can successfully gain high accuracy and fast response signal. Also, the mathematical model of system is also testified by the experimental results.

  7. Application of Theory of Hybrid Systems to Control the Switching of Buck Converter

    KAUST Repository

    Benmiloud, Mohammed

    2013-08-01

    The field of power electronics poses challenging control problems that can’t be treated in a complete manner using traditional modeling. In this paper, the buck converter operating in Continuous Conduction Mode (CCM) is represented analytically by hybrid automaton model and graphically representation is also given. The hybrid trajectory and the model behavior are presented. The control problem of buck switching converters is transformed to a guard selection problem. The guard selection calculation formulas of buck converter are derived from the basic circuit laws. The stability of the switching is established analytically by the use of multiple Lyapunov functions to ensure the convergence and Poincare map to assess the local stability of the limit cycle. Numerical results clearly bring out the advantages and effectiveness of the proposed control law under varying line voltage and load conditions. Simulation studies are carried out in Matlab/Simulink/Stateflow.

  8. Breaking and Fixing Origin-Based Access Control in Hybrid Web/Mobile Application Frameworks.

    Science.gov (United States)

    Georgiev, Martin; Jana, Suman; Shmatikov, Vitaly

    2014-02-01

    Hybrid mobile applications (apps) combine the features of Web applications and "native" mobile apps. Like Web applications, they are implemented in portable, platform-independent languages such as HTML and JavaScript. Like native apps, they have direct access to local device resources-file system, location, camera, contacts, etc. Hybrid apps are typically developed using hybrid application frameworks such as PhoneGap. The purpose of the framework is twofold. First, it provides an embedded Web browser (for example, WebView on Android) that executes the app's Web code. Second, it supplies "bridges" that allow Web code to escape the browser and access local resources on the device. We analyze the software stack created by hybrid frameworks and demonstrate that it does not properly compose the access-control policies governing Web code and local code, respectively. Web code is governed by the same origin policy, whereas local code is governed by the access-control policy of the operating system (for example, user-granted permissions in Android). The bridges added by the framework to the browser have the same local access rights as the entire application, but are not correctly protected by the same origin policy. This opens the door to fracking attacks, which allow foreign-origin Web content included into a hybrid app (e.g., ads confined in iframes) to drill through the layers and directly access device resources. Fracking vulnerabilities are generic: they affect all hybrid frameworks, all embedded Web browsers, all bridge mechanisms, and all platforms on which these frameworks are deployed. We study the prevalence of fracking vulnerabilities in free Android apps based on the PhoneGap framework. Each vulnerability exposes sensitive local resources-the ability to read and write contacts list, local files, etc.-to dozens of potentially malicious Web domains. We also analyze the defenses deployed by hybrid frameworks to prevent resource access by foreign-origin Web content

  9. Breaking and Fixing Origin-Based Access Control in Hybrid Web/Mobile Application Frameworks

    Science.gov (United States)

    Georgiev, Martin; Jana, Suman; Shmatikov, Vitaly

    2014-01-01

    Hybrid mobile applications (apps) combine the features of Web applications and “native” mobile apps. Like Web applications, they are implemented in portable, platform-independent languages such as HTML and JavaScript. Like native apps, they have direct access to local device resources—file system, location, camera, contacts, etc. Hybrid apps are typically developed using hybrid application frameworks such as PhoneGap. The purpose of the framework is twofold. First, it provides an embedded Web browser (for example, WebView on Android) that executes the app's Web code. Second, it supplies “bridges” that allow Web code to escape the browser and access local resources on the device. We analyze the software stack created by hybrid frameworks and demonstrate that it does not properly compose the access-control policies governing Web code and local code, respectively. Web code is governed by the same origin policy, whereas local code is governed by the access-control policy of the operating system (for example, user-granted permissions in Android). The bridges added by the framework to the browser have the same local access rights as the entire application, but are not correctly protected by the same origin policy. This opens the door to fracking attacks, which allow foreign-origin Web content included into a hybrid app (e.g., ads confined in iframes) to drill through the layers and directly access device resources. Fracking vulnerabilities are generic: they affect all hybrid frameworks, all embedded Web browsers, all bridge mechanisms, and all platforms on which these frameworks are deployed. We study the prevalence of fracking vulnerabilities in free Android apps based on the PhoneGap framework. Each vulnerability exposes sensitive local resources—the ability to read and write contacts list, local files, etc.—to dozens of potentially malicious Web domains. We also analyze the defenses deployed by hybrid frameworks to prevent resource access by foreign

  10. Hybrid Force Control Based on ICMAC for an Astronaut Rehabilitative Training Robot

    Directory of Open Access Journals (Sweden)

    Lixun Zhang

    2012-08-01

    Full Text Available A novel Astronaut Rehabilitative Training Robot (ART based on a cable‐driven mechanism is represented in this paper. ART, a typical passive force servo system, can help astronauts to bench press in a microgravity environment. The purpose of this paper is to design controllers to eliminate the surplus force caused by an astronaut’s active movements. Based on the dynamics modelling of the cable‐driven unit, a hybrid force controller based on improved credit assignment CMAC (ICMAC is presented. A planning method for the cable tension is proposed so that the dynamic load produced by the ART can realistically simulate the gravity and inertial force of the barbell in a gravity environment. Finally, MATLAB simulation results of the man‐machine cooperation system are provided in order to verify the effectiveness of the proposed control strategy. The simulation results show that the hybrid control method based on the structure invariance principle can inhibit the surplus force and that ICMAC can improve the dynamic performance of the passive force servo system. Furthermore, the hybrid force controller based on ICMAC can ensure the stability of the system.

  11. Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control

    Directory of Open Access Journals (Sweden)

    René Felix Reinhart

    2017-02-01

    Full Text Available Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant’s intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms.

  12. Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control †.

    Science.gov (United States)

    Reinhart, René Felix; Shareef, Zeeshan; Steil, Jochen Jakob

    2017-02-08

    Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant's intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms.

  13. Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control

    Science.gov (United States)

    Reinhart, René Felix; Shareef, Zeeshan; Steil, Jochen Jakob

    2017-01-01

    Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant’s intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms. PMID:28208697

  14. Low speed hybrid generalized predictive control of a gasoline-propelled car.

    Science.gov (United States)

    Romero, M; de Madrid, A P; Mañoso, C; Milanés, V

    2015-07-01

    Low-speed driving in traffic jams causes significant pollution and wasted time for commuters. Additionally, from the passengers׳ standpoint, this is an uncomfortable, stressful and tedious scene that is suitable to be automated. The highly nonlinear dynamics of car engines at low-speed turn its automation in a complex problem that still remains as unsolved. Considering the hybrid nature of the vehicle longitudinal control at low-speed, constantly switching between throttle and brake pedal actions, hybrid control is a good candidate to solve this problem. This work presents the analytical formulation of a hybrid predictive controller for automated low-speed driving. It takes advantage of valuable characteristics supplied by predictive control strategies both for compensating un-modeled dynamics and for keeping passengers security and comfort analytically by means of the treatment of constraints. The proposed controller was implemented in a gas-propelled vehicle to experimentally validate the adopted solution. To this end, different scenarios were analyzed varying road layouts and vehicle speeds within a private test track. The production vehicle is a commercial Citroën C3 Pluriel which has been modified to automatically act over its throttle and brake pedals.

  15. Study of Efficiency Control by Hybrid Jet Engine Parameters

    Directory of Open Access Journals (Sweden)

    S. F. Maksimov

    2015-01-01

    Full Text Available The paper analyzes main control aspects of thrust jet engines, which use fuel components in different states of aggregation (solid fuels - liquid oxidant, a solid oxidizer - liquid fuel. Following the analytical review of literature a conclusion has been drawn that it is technically and functionally complicated to provide a process of thrust control by changing the mass flow and the combustion rate of a solid fuel charge.The objective of this work is to give a theoretical prediction of how the thermal knife impacts on the local combustion rate.The paper presents a diagram of interaction between thermal knife and solid fuel. There are three modes, namely: pyrolysis, transition (from pyrolysis to cutting charge, and fuel cut. In the computational model generation it is assumed that the solid fuel combustion rate is not dependent on the combustion direction, and the temperature distribution along the length of the charge (in the direction perpendicular to the face obeys the Michelson dependence without considering a resistance of the heated layer at the surface of the combustion charge. The paper considers mechanical interaction of the thermal knife with the surface of charge. The Hertz formula describes the relationship between the pressing force, the penetration depth and the radius of thermal knife mark in the fuel.Numerical modeling methods and direct calculations allow us to obtain relationships to describe the changing local combustion rate under the action of the thermal knife on a solid fuel charge in its mechanical penetration, depending on the blade geometry, mechanical properties of charge and pressing force.

  16. Multivariable Robust Control of a Simulated Hybrid Solid Oxide Fuel Cell Gas Turbine Plant

    Energy Technology Data Exchange (ETDEWEB)

    Tsai A, Banta L, Tucker D

    2010-08-01

    This work presents a systematic approach to the multivariable robust control of a hybrid fuel cell gas turbine plant. The hybrid configuration under investigation built by the National Energy Technology Laboratory comprises a physical simulation of a 300kW fuel cell coupled to a 120kW auxiliary power unit single spool gas turbine. The public facility provides for the testing and simulation of different fuel cell models that in turn help identify the key difficulties encountered in the transient operation of such systems. An empirical model of the built facility comprising a simulated fuel cell cathode volume and balance of plant components is derived via frequency response data. Through the modulation of various airflow bypass valves within the hybrid configuration, Bode plots are used to derive key input/output interactions in transfer function format. A multivariate system is then built from individual transfer functions, creating a matrix that serves as the nominal plant in an H{sub {infinity}} robust control algorithm. The controller’s main objective is to track and maintain hybrid operational constraints in the fuel cell’s cathode airflow, and the turbo machinery states of temperature and speed, under transient disturbances. This algorithm is then tested on a Simulink/MatLab platform for various perturbations of load and fuel cell heat effluence. As a complementary tool to the aforementioned empirical plant, a nonlinear analytical model faithful to the existing process and instrumentation arrangement is evaluated and designed in the Simulink environment. This parallel task intends to serve as a building block to scalable hybrid configurations that might require a more detailed nonlinear representation for a wide variety of controller schemes and hardware implementations.

  17. Electron beam energy stabilization using a neural network hybrid controller at the Australian Synchrotron Linac.

    Energy Technology Data Exchange (ETDEWEB)

    Meier, E.; Morgan, M. J.; Biedron, S. G.; LeBlanc, G.; Wu, J. (OTD-ESE); (Monash Univ.); (Australian Synchrotron Project); (SLAC National Accelerator Lab.)

    2009-01-01

    This paper describes the implementation of a neural network hybrid controller for energy stabilization at the Australian Synchrotron Linac. The structure of the controller consists of a neural network (NNET) feed forward control, augmented by a conventional Proportional-Integral (PI) feedback controller to ensure stability of the system. The system is provided with past states of the machine in order to predict its future state, and therefore apply appropriate feed forward control. The NNET is able to cancel multiple frequency jitter in real-time. When it is not performing optimally due to jitter changes, the system can successfully be augmented by the PI controller to attenuate the remaining perturbations. With a view to control the energy and bunch length at the FERMI{at}Elettra Free Electron Laser (FEL), the present study considers a neural network hybrid feed forward-feedback type of control to rectify limitations related to feedback systems, such as poor response for high jitter frequencies or limited bandwidth, while ensuring robustness of control. The Australian Synchrotron Linac is equipped with a beam position monitor (BPM), that was provided by Sincrotrone Trieste from a former transport line thus allowing energy measurements and energy control experiments. The present study will consequently focus on correcting energy jitter induced by variations in klystron phase and voltage.

  18. Game theory based task allocation algorithm for multi-robot systems%基于博弈论的多机器人系统任务分配算法

    Institute of Scientific and Technical Information of China (English)

    黎萍; 杨宜民

    2013-01-01

    Considering to dependences between robots, this paper introduced main idea of game theory to depict multi-robot system task allocation which afforded a new mathematic description way for solving task allocation. To the relationships between strategies of robots, it analyzed multi-robot system task allocation based on game theory, and proposed a game theory based task allocation algorithm for multi-robot systems (GT-MRTA). Simulation experiment shows that GT-MRTA has low complexity, and needs less computation. It has good robustness for communication failure and can help to getting task allocation schemes with high quality.%对多机器人系统任务分配策略进行了形式化描述,为任务分配方案的求解提供了一种数学描述工具;针对多机器人系统中机器人决策之间的相互依存性,引入博弈论的思想分析了多机器人系统的任务分配问题,提出了一种基于博弈论的多机器人系统任务分配算法(GT-MRTA).实验结果表明,算法复杂度较低,计算量较小,鲁棒性较好,获得的任务分配方案质量较高.

  19. The Multi-Robot Task Allocation Study Based on Improved Ant Colony Algorithm%基于改进蚁群算法的多机器人任务分配

    Institute of Scientific and Technical Information of China (English)

    曹宗华; 吴斌; 黄玉清; 邓春艳

    2013-01-01

    This paper researches the multi-robot system' s task allocating process, which is a NP problem. In order to solve the best task allocating problem of the multi-robot system, an improved Ant Colony Algorithm is used in allusion to the multi-robot system autonomously task allocating problem in a dynamic environment, considered the task restricting and robot ability. The improved algorithm achieving overall situation approximation optimal task allocation is verified by simulation based on the basic Ant Colony Algorithm and the improved algorithm.%研究了多机器人系统的任务分配方法,多机器人多任务分配是一个NP问题.针对多机器人系统在动态环境下自主任务分配问题,综合考虑任务约束及机器人的执行任务能力,采用了一种改进的蚁群算法,解决多机器人系统全局最优任务分配问题.通过对基本蚁群算法和改进的算法的仿真,验证了改进的算法实现了全局近似最优的任务分配.

  20. A Multi-Modal Control Using a Hybrid Pole-Placement-Integral Resonant Controller (PPIR) with Experimental Investigations

    DEFF Research Database (Denmark)

    Nielsen, Søren R.K.; Basu, Biswajit

    2011-01-01

    Control of multi-modal structural vibrations has been an important and challenging problem in flexible structural systems. This paper proposes a new vibration control algorithm for multi-modal structural control. The proposed algorithm combines a pole-placement controller with an integral resonant...... controller. The pole-placement controller is used to achieve a target equivalent modal viscous damping in the system and helps in the suppression of higher modes, which contribute to the vibration response of flexible structures. The integral resonant controller successfully reduces the low frequency...... vibrations e.g. caused by broad-band turbulent wind excitations. Hence, the proposed hybrid controller can effectively suppress complex multi-modal vibrations in flexible systems. Both numerical and experimental studies have been carried out to demonstrate the effectiveness of the proposed algorithm using...