122 resultados para Interactive communication
Resumo:
This paper is concerned with the modelling of strategic interactions between the human driver and the vehicle active front steering (AFS) controller in a path-following task where the two controllers hold different target paths. The work is aimed at extending the use of mathematical models in representing driver steering behaviour in complicated driving situations. Two game theoretic approaches, namely linear quadratic game and non-cooperative model predictive control (non-cooperative MPC), are used for developing the driver-AFS interactive steering control model. For each approach, the open-loop Nash steering control solution is derived; the influences of the path-following weights, preview and control horizons, driver time delay and arm neuromuscular system (NMS) dynamics are investigated, and the CPU time consumed is recorded. It is found that the two approaches give identical time histories as well as control gains, while the non-cooperative MPC method uses much less CPU time. Specifically, it is observed that the introduction of weight on the integral of vehicle lateral displacement error helps to eliminate the steady-state path-following error; the increase in preview horizon and NMS natural frequency and the decline in time delay and NMS damping ratio improve the path-following accuracy. © 2013 Copyright Taylor and Francis Group, LLC.
Resumo:
We consider remote state estimation and investigate the tradeoff between the sensor-to-estimator communication rate and the remote estimation quality. It is well known that if the communication rate is one, e.g., the sensor communicates with the remote estimator at each time, then the remote estimation quality is the best. It degrades when the communication rate drops. We present one optimal offline schedule and two online schedules and show that the two online schedules provide better tradeoff between the communication rate and the estimation quality than the optimal offline schedule. Simulation examples demonstrate that significant communication savings can be achieved under the two online schedules which only introduce small increment of the estimation errors. © 1991-2012 IEEE.
Resumo:
This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework. © 2008 IEEE.
Resumo:
This paper proposes a design methodology to stabilize isolated relative equilibria in a model of all-to-all coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles with fixed relative phases. The stabilizing feedbacks derive from Lyapunov functions that prove exponential stability and suggest almost global convergence properties. The results of the paper provide a low-order parametric family of stabilizable collectives that offer a set of primitives for the design of higher-level tasks at the group level. © 2007 IEEE.
Resumo:
We show the feasibility of using quantum Monte Carlo (QMC) to compute benchmark energies for configuration samples of thermal-equilibrium water clusters and the bulk liquid containing up to 64 molecules. Evidence that the accuracy of these benchmarks approaches that of basis-set converged coupled-cluster calculations is noted. We illustrate the usefulness of the benchmarks by using them to analyze the errors of the popular BLYP approximation of density functional theory (DFT). The results indicate the possibility of using QMC as a routine tool for analyzing DFT errors for non-covalent bonding in many types of condensed-phase molecular system.
Resumo:
We consider finite-horizon LQR control with limited controller-system communication. Within a time-horizon T , the controller can only communicate with the system d
Resumo:
The adoption of inclusive design approach into design practice is compatible to the needs of an ageing society. However, tools and methods that promote inclusivity during new product development are scarcely used in industry. This paper is part of a research project that investigates ways to accommodate inclusive design into the design process in industrial context. The present paper is based on the finds from the observations and interviews with industrial designers and interviews with stakeholders. The outcomes from the study supported a better understanding of the client-designer dynamic as well as the stages in the design process where information related to inclusive design could be introduced. The findings were essential to inspire the development of an inclusive design interactive technique to be used by clients and designers. © 2013 Springer-Verlag Berlin Heidelberg.
Resumo:
Narrowband Power-line Communication (NPLC) technology uses a narrow bandwidth to transmit information. Its major applications include control, smart home systems and security. This paper proposes a power optimised NPLC system to minimise its systemic power consumption without compromising its communication ability. By using the proposed Smart Energy Conservation Layer which reads the signal strength from the PLC channel, a power optimised system is achieved to provide the essential transmitting power to secure the communications. Compared to commercial systems, the potential power saving could be up to 99% in a household environment, as demonstrated by the experimental results. © 2013 IEEE.
Resumo:
The most common approach to decision making in multi-objective optimisation with metaheuristics is a posteriori preference articulation. Increased model complexity and a gradual increase of optimisation problems with three or more objectives have revived an interest in progressively interactive decision making, where a human decision maker interacts with the algorithm at regular intervals. This paper presents an interactive approach to multi-objective particle swarm optimisation (MOPSO) using a novel technique to preference articulation based on decision space interaction and visual preference articulation. The approach is tested on a 2D aerofoil design case study and comparisons are drawn to non-interactive MOPSO. © 2013 IEEE.