Control and simulation of robotic swarms in heterogeneous environments

Simulation provides a low cost method of initial testing of control for robotic swarms. The expansion of robotic swarms to heterogeneous environments drives the need to model cooperative operation in those environments. The Autonomous Control Engineering center at The University of Texas at San Antonio is investigating methods of simulation techniques and simulation environments. This paper presents results from adapting simulation tools for diverse environments.

Investigation of process dynamics and control of polystyrene batch reactor using hybrid model

The effects of operating conditions such as initiator and monomer concentration as well as reactor temperature of polymerization reactors are studied in this work. A recently developed hybrid model for polystyrene batch reactor is utilized in simulation study. The simulation results reveal the sensitivity of polymer properties and monomer conversion to variation of process operating conditions. In the second phase of this study, the optimization problem involving minimum time optimal temperature policy is considered for control study. An advanced neural network-based model predictive controller (NN-MPC) is designed and tested online. The experimental studies reveal that the developed controller is able to track the optimal setpoint with a minor oscillation and overshoot.

Effects of process control agent on the microstructure and mechanical properties of Ti-Sn-Nb alloy prepared by mechanical alloying

In the present study, the influence of process control agent (PCA) on the characteristics of powder and bulk sintered Ti-16Sn-4Nb (wt. %) alloy prepared by mechanical alloying has been investigated. The elemental Ti, Sn and Nb powders were mechanically alloyed in a planetary ball mill for a short period of time using two types of PCA, namely stearic acid (SA) and ethylene bis-stearamide (EBS). The powder morphology, microstructural evolution of the bulk sintered alloy, phase formation and hardness of the alloy have been studied as a function of PCA. Results indicated that the addition of PCA leads to a delay in aIloy formation and introduces contaminations (mainly carbon and oxygen) into the material. The microstructural observation of the bulk alloy revealed a homogeneous distribution of fine Nb-rich colonies (ß-phase) within the a-Ti matrix for small amount of PCA. The hardness values of samples exhibited a significant increase with increasing amount of PCA, reaching a value of ~ 600 BV.

Speed control and policing in a cellular mobile network: speedNet

In this paper, we describe SpeedNet, a GSM network variant which resembles an ad hoc wireless mobile network where base stations keep track of the velocities of mobile users (cars). SpeedNet is intended to track mobile users and their speed passively for both speed policing and control of traffic. The speed of the vehicle is controlled in a speed critical zone by means of an electro-mechanical control system, suitably referred to as VVLS (Vehicular Velocity Limiting System). VVLS is mounted on the vehicle and responds to the command signals generated by the base station. It also determines the next base station to handoff, in order to improve the connection reliability and bandwidth efficiency of the underlying network. Robust Extended Kalman Filter (REKF) is used as a passive velocity estimator of the mobile user with the widely used proportional and integral controller speed control. We demonstrate through simulation and analysis that our prediction algorithm can successfully estimate the mobile user’s velocity with low system complexity as it requires two closest mobile base station measurements and also it is robust against system uncertainties due to the inherent deterministic nature in the mobility model.

Speed control and policing in a cellular mobile network: SpeedNet

In this paper, we describe SpeedNet, a GSM network variant which resembles an ad hoc wireless mobile network where base stations (possibly other vehicles in the network) keep track of the velocities of mobile users (cars). SpeedNet is intended to track mobile users and their speed passively for both speed policing and control of traffic. The speed of the vehicle is controlled in a speed critical zone by means of an electro-mechanical control system, suitably referred to as VVLS (vehicular velocity limiting system). VVLS is mounted in the vehicle and responds to the command signals generated by the base station. It also determines the next basestation to handoff, in order to improve the connection reliability and bandwidth efficiency of the underlying network. Robust extended Kalman filter (REKF) is used as a passive velocity estimator of the mobile user with the widely used proportional and integral controller speed control. We demonstrate through simulation and analysis that our prediction algorithm can successfully estimate the mobile users velocity with low system complexity as it requires two closet mobile-base station measurement and also it is robust against system uncertainties due to the inherent deterministic nature in the mobility model.

Design and simulation of a low voltage wide band RF MEMS switch

This paper presents design of an electrostatic wide band shunt capacitive coupling RF MEMS switch with low actuation voltage. The key factors of the RF MEMS switch design are the proper scattering parameters, low actuation voltage, and the cost of the fabrication process. An overview of the recent low actuation voltage RFMEMS switches has been presented. These designs still suffer from the complexity of process, lack of reliability, limitation of frequency band, and process cost. RF characteristics of a shunt RF MEMS switches are specified mostly by coupling capacitor in upstate position of the membrane Cu. This capacitor is in trade-off with actuation voltage. In this work, the capacitor is eliminated by using two short high impedance transmission lines, at the input and output of the switch. The simulation results demonstrate an improvement in the RF characteristic of the switch.

An empirical examination of feedback : user control and performance in a hapto-audio-visual training environment

Utilising advanced technologies, such as virtual environments (VEs), is of importance to training and education. The need to develop and effectively apply interactive, immersive 3D VEs continues to grow. As with any emerging technology, user acceptance of new software and hardware devices is often difficult to measure and guidelines to introduce and ensure adequate and correct usage of such technologies are lacking. It is therefore imperative to obtain a solid understanding of the important elements that play a role in effective learning through VEs. In particular, 3D VEs may present unusual and varied interaction and adoption considerations. The major contribution of this study is to investigate a complex set of interrelated factors in the relatively new sphere of VEs for training and education. Although many of the factors appears to be important from past research, researcher have not explicitly studied a comprehensive set of inter-dependant, empirically validated factors in order to understand how VEs aid complex procedural knowledge and motor skill learning. By integrating theory from research on training, human computer interaction (HCI), ergonomics and cognitive psychology, this research proposes and validates a model that contributes to application-specific VE efficacy formation. The findings of this study show visual feedback has a significant effect on performance. For tactile/force feedback and auditory feedback, no significant effect were found. For satisfaction, user control is salient for performance. Other factors such as interactivity and system comfort, as well as level of task difficulty, also showed effects on performance.

Haptics interface for modelling and simulation of flexible cables

Virtual reality systems are becoming a must for product and process design, training practices and ergonomic analysis in many manufacturing industries. The automotive sector is considered to be the leader in applying virtual reality (VR) solutions for real-world, non-trivial, problems. Although, a number of commercial 3D engineering tools for digital mockups exist, most of them lack intuitive direct manipulation of the digital mockups. The majority of these 3D engineering tools are constrained to the interaction mainly with rigid objects which is just half the story. To bridge this gap, we have developed a haptics interface for modelling and simulation of flexible objects. The graphical and haptic user interface developed allows the creation of multiple one dimensional (1D) flexible objects, such as hoses, cables and harnesses. The user is required to provide the mechanical properties of the material such as Young's modulus, Poisson's ratio, material density, damping factors, as well as dimensional properties such as length, and inner and outer diameters of the flexible object. Flexilution solver is employed to estimate and simulate the dynamic behaviour of flexible objects in response to external user interaction, whereas Nvidia's generic physics engine is used to simulate the behaviour of rigid objects. A generic communication interface is developed to accommodate a variety of devices without the reconfiguration of the simulation platform.

Navigating control and illusion: functional interactivity versus ‘faux-interactivity’ in transmedia dance performance

Interactivity – a networked loop in which a performer’s live data feeds a digital system – can bridge the divide between live performance and digital entities in transmedia dance performances. In the ‘entanglement scene’ of Australian Dance Theatre’s Multiverse (2014), choreographer Garry Stewart and the creative coders and animators at the Deakin Motion.Lab utilise ‘faux-interactivity’, or a perceived relationship between the dancers and digital entities that exists only from the perspective of the audience. The spectre of ‘faux-interactivity’ challenges the spontaneity in live, embodied performance art because it both integrates live performance with prerendered digital content and offers a potential structure for a shared, dispersed creative and choreographic process across numerous and shared artistic and technological platforms. This paper investigates the concept of ‘faux-interactivity’, suggesting that its use can be a catalyst for moving beyond the limitations and values of ‘real’, or functional interactive systems within a theatrical context, and positing that definitions of ‘interactivity’ might be further expanded to accommodate the shifting timelines inherent in the disparate creative processes of human performance and coding.

Control and charge management of a grid-connected photovoltaic system with plug-in hybrid vehicle as energy storage

This paper presents the control and charge management strategy of a photovoltaic system (PV) with plug-in hybrid electric vehicle (PHEV) as energy storage. The hybrid energy storage system (HESS) of PHEV consists of battery and supercapacitor. A simulation model for the PV system with PHEV energy storage has been developed using Matlab/SimpowerSystems. The system consists of PV arrays, SEPIC dc-dc converter with maximum power point tracking (MPPT), hybrid battery-supercapacitor energy storage with bidirectional dc-dc converter and inverter for grid connection. A charge management algorithm for the hybrid energy storage system is proposed to control the power flows among the PV system, energy storage and the grid. Results show that the proposed power management algorithm can control the power flows in an efficient manner.

Subjective quality of life, perceived control and dispositional optimism among older people

Objectives: To examine whether the subjective quality of life (QOL) of elderly people is held under homeostatic control, and to investigate the role of perceived control and dispositional optimism in the maintenance of subjective QOL.
Method: 100 older people (M=75.6 years) and a control group of 107 younger people (M=20.1 years) completed a self-report survey.
Results: Both groups had a level of subjective QOL within the normal range. The older group reported higher levels of secondary control and optimism, but similar levels of primary control, as the younger group. Primary control and optimism predicted subjective QOL for both groups. Secondary control was a significant predictor (or the younger group, however it was only marginally significant for the older group. Optimism accounted for the most subjective QOL variance for both groups.
Conclusions: The finding that the subjective QOL of the older group lay within the normative range supports the proposal that their subjective QOL is being successfully maintained under bomeostatic control. However, they appear to have an increased reliance on secondary control. The fact that dispositional optimism captures the predictive variance of perceived control, is an important finding adding to the understanding of subjective QOL maintenance.

Work context, personal control, and burnout amongst nurses

While situational factors such as high workloads have been found to be predictive of burnout, not all people in the same work context develop burnout. This suggests that individual factors are implicated in susceptibility to burnout. We investigated the relationships between care type (acute/chronic), neuroticism, control (primary/secondary), and symptoms of burnout (exhaustion, cynicism, and reduced professional efficacy) amongst 21 chronic care nurses and 83 acute care nurses working in a public hospital in regional Australia. Similar levels of burnout symptomatology and neuroticism were found in each group of nurses, and neuroticism was found to be associated with exhaustion, cynicism, and reduced professional efficacy in the total sample of nurses. Our prediction that primary control would protect against burnout symptoms in acute care nurses was supported only for professional efficacy, and the prediction that secondary control would protect against burnout in chronic care nurses was not supported.