69 resultados para Intelligent control systems
Resumo:
This paper presents a complete control architecture that has been designed to fulfill predefined missions with an autonomous underwater vehicle (AUV). The control architecture has three levels of control: mission level, task level and vehicle level. The novelty of the work resides in the mission level, which is built with a Petri network that defines the sequence of tasks that are executed depending on the unpredictable situations that may occur. The task control system is composed of a set of active behaviours and a coordinator that selects the most appropriate vehicle action at each moment. The paper focuses on the design of the mission controller and its interaction with the task controller. Simulations, inspired on an industrial underwater inspection of a dam grate, show the effectiveness of the control architecture
Resumo:
This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment
Resumo:
Aquest projecte saplica sobre el robot PRIM (Plataforma Robotitzada dInformaci Multimdia), un robot autnom no humanoide creat el 2004 per Ateneu Informtic (AI) que permet realitzar trajectries 2D grcies a un sistema de tracci format per dues rodes motrius propulsades independentment. La plataforma PRIM s controlada a partir del control predictiu, aquest control es va implementar en un projecte anterior, creat per lAlexandre Blasco Gutierrez i titulat Implementaci de tcniques MPC (Model Predictiu Control) sobre la plataforma PRIM I. El que es pretn en aquest projecte s millorar els resultats obtinguts en el passat projecte reformulant la llei de control i analitzar les discrepncies obtingudes en les metodologies que sutilitzen per minimitzar la funci de costos a partir de simulacions de trajectries
Resumo:
The problem of stability analysis for a class of neutral systems with mixed time-varying neutral, discrete and distributed delays and nonlinear parameter perturbations is addressed. By introducing a novel Lyapunov-Krasovskii functional and combining the descriptor model transformation, the Leibniz-Newton formula, some free-weighting matrices, and a suitable change of variables, new sufficient conditions are established for the stability of the considered system, which are neutral-delay-dependent, discrete-delay-range dependent, and distributeddelay-dependent. The conditions are presented in terms of linear matrix inequalities (LMIs) and can be efficiently solved using convex programming techniques. Two numerical examples are given to illustrate the efficiency of the proposed method
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The H synchronization problem of the master and slave structure of a second-order neutral master-slave systems with time-varying delays is presented in this paper. Delay-dependent sufficient conditions for the design of a delayed output-feedback control are given by Lyapunov-Krasovskii method in terms of a linear matrix inequality (LMI). A controller, which guarantees H synchronization of the master and slave structure using some free weighting matrices, is then developed. A numerical example has been given to show the effectiveness of the method
Resumo:
The objective the present research is try to nd some control design strategies, which must be eective and closed to the real operation conditions. As a novel contribution to structural control strategies, the theories of Interval Modal Arithmetic, Backstepping Control and QFT (Qualitative Feedback Theory) will be studied. The steps to follow are to develop rst new controllers based on the above theories and then to implement the proposed control strategies to dierent kind of structures. The report is organized as follows. The Chapter 2 presents the state-of-the-art on structural control systems. The chapter 3 presents the most important open problems found in eld of structural control. The exploratory work made by the author, research proposal and working plan are given in the Chapter 4
Resumo:
Lobjectiu daquest treball s fer un estudi dels diferents tipus de sistemes de posicionament global que hi ha en el mercat, elegir un mdul receptor assequible per poder analitzar-lo i veure si disposa de les caracterstiques adequades per integrar-lo en un robot autnom dexploraci del projecte Sant Bernardo. Shauran de fer les anlisis de la precisi del mdul en les diferents direccions cardinals, es a dir Nord, Sud, Est, Oest i altura i veure la diferncia derror que hi ha en cada una, veure si la precisi varia molt en diferents situacions, com en cel obert, en sotabosc, costat i interior edificis. A ms a ms shaur de mirar la repetibilitat, la diferencia derror amb diferentnombre de satllits connectats i si disposa de suficient velocitat de processat per a podar corregir la posici del robot en moviment. Un cop analitzades les caracterstiques del mdul receptor elegit, es decidir si aquest sadequat per fer les correccions de posici del robot, o shaur dadquirir un mdul de caracterstiques superiors i per tant molt ms car per a dura a terme adequadament la correcci de la posici
Resumo:
The Mechatronics Research Centre (MRC) owns a small scale robot manipulator called aMini-Mover 5. This robot arm is a microprocessor-controlled, six-jointed mechanical armdesigned to provide an unusual combination of dexterity and low cost.The Mini-Mover-5 is operated by a number of stepper motors and is controlled by a PCparallel port via a discrete logic board. The manipulator also has an impoverished array ofsensors.This project requires that a new control board and suitable software be designed to allow themanipulator to be controlled from a PC. The control board will also provide a mechanism forthe values measured using some sensors to be returned to the PC.On this project I will consider: stepper motor control requirements, sensor technologies,power requirements, USB protocols, USB hardware and software development and controlrequirements (e.g. sample rates).In this report we will have a look at robots history and background, as well as we willconcentrate how stepper motors and parallel port work
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Aquest projecte pretn presentar de forma clara i detallada lestructura i el funcionament del robot aix com dels components que el conformen. Aquesta informaci s de vital importncia a lhora de desenvolupar aplicacions per al robot. Un cop descrites les caracterstiques del robot sanalitzaran les eines necessries i/o disponibles per poder desenvolupar programari per cada nivell de la forma ms senzilla i eficient possible. Posteriorment sanalitzaran els diferents nivells de programaci i sen contrastaran els avantatges i els inconvenients de cada un. Aquest anlisi es comenar fent pel nivell ms alt i anir baixant amb la intenci de no entrar en nivells ms baixos del necessari. Baixar un nivell en la programaci suposa haver de crear aplicacions sempre compatibles amb els nivells superiors de forma que com ms es baixa ms augmenta la complexitat. A partir daquest anlisi sha arribat a la conclusi que per tal daprofitar totes les prestacions del robot s precs arribar a programar en el nivell ms baix del robot. Finalment lobjectiu s obtenir una srie de programes per cada nivell que permetin controlar el robot i fer-lo seguir senzilles trajectries
Resumo:
This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields
Resumo:
This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platformused is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields
Resumo:
This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational, and research tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system. In this context the research developed includes the visual information as a meaningful source that allows detecting the obstacle position coordinates as well as planning the free obstacle trajectory that should be reached by the robot
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Remote control systems are a very useful element to control and monitor devices quickly and easily. This paper proposes a new architecture for remote control of Android mobile devices, analyzing the different alternatives and seeking the optimal solution in each case. Although the area of remote control, in case of mobile devices, has been little explored, it may provide important advantages for testing software and hardware developments in several real devices. It can also allow an efficient management of various devices of different types, perform forensic security tasks, etc ... The main idea behind the proposed architecture was the design of a system to be used as a platform which provides the services needed to perform remote control of mobile devices. As a result of this research, a proof of concept was implemented. An Android application running a group of server programs on the device, connected to the network or USB interface, depending on availability. This servers can be controlled through a small client written in Java and runnable both on desktop and web systems.
Resumo:
Peer reviewed
