Location based power control for energy critical sensors in a disconnected network

This paper provides a location based power control strategy for disconnected sensory nodes deployed for long term service. Power conservation is of importance particularly when sensors communicate with a mobile robot used for data collection. The proposed algorithm uses estimations from a Robust Extended Kalman Filter (REKF) with RSSI measurements, in implementing a sigmoid function based power control algorithm which essentially approaches a desired power emission trajectory based on carrier-to-interference ratios(CIR) to ensure interferenceless reception. The more realistic modelling we use incorporates physical dynamics between the mobile robot and the sensors together with the wireless propagation parameters between the transmitter and receiver to formulate a sophisticated and effective power control strategy for the exclusive usage of energy critical disconnected nodes in a sensory network increasing their life span.

Distributed power control in cellular mobile radio systems with time-varying link gains

A simple distributed power control algorithm for communication systems with mobile users and unknown time-varying link gains is proposed. We prove that the proposed algorithm is exponentially converging. Furthermore, we show that the algorithm significantly outperforms the well-known Foschini and Miljanic algorithm in the case of quickly moving mobile users.

Delay control and parallel admission algorithms for real-time anycast flow

An anycast flow is a flow that can be connected to any one of the members in a group of designated (replicated) servers (called anycast group). In this paper, we derive a set of formulas for calculating the end-to-end delay bound for the anycast flows and present novel admission control algorithms for anycast flows with real-time constraints. Given such an anycast group, our algorithms can effectively select the paths for anycast flows' admission and connection based on the least end-to-end delay bounds evaluated. We also present a parallel admission control algorithm that can effectively calculate the available paths with a short delay bound for different destinations in the anycast group so that a best path with the shortest delay bound can be chosen.

Distributed power control in cellular mobile radio systems with time-varying link gains

A simple distributed power control algorithm for communication systems with mobile users and unknown timevarying link gains is proposed. We prove that the proposed algorithm is exponentially converging. Furthermore, we show that the algorithm significantly outperforms the well-known
Foschini and Miljanic algorithm in the case of quickly moving mobile users.

A new distributed power control formula in CDMA mobile networks

The paper presents a new fully distributed uplink power control method for CDMA systems. The power control algorithm calculates explicitly and assigns directly the desired mobile transmit powers achieving both maximum Carrier-to-Interference Ratio at the base station and minimum mobile energy consumption. Compared with the commonly known iterative power control algorithms, the direct assignment method is easier to implement and more power efficient.

Consensus control for a system of underwater swarm robots

The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.

Underwater swarm robotics consensus control

The control of a swarm of underwater robots requires more than just a control algorithm, it requires a communications system. Underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to work on minimal and out of date information. The control system must also be able to control a large number of robots without a master control, a decentralized control approach. This paper describes one such control method.

A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment

This paper presents a robust hybrid force/position control scheme of two cooperative manipulators handling an unknown object interacting with an unknown environment. The uncertainty of the object is considered in the weight, length, and the position of centre of mass (COM). The environment is assumed to have an unknown but high stiffness. A hybrid force/position control algorithm is designed for the known system and environment case. The exponential convergence of the position and the interaction force with the environment is proved using the Lyapunov direct method. Similarly, in the unknown object and environment case, and in the presence of bounded disturbances on the robots and the object, an adaptive sliding mode hybrid force/position control scheme is designed. The asymptotic convergence of the object's position and the constraint force is guaranteed using the proposed control methodology. The internal forces and moments between the object and robots are controlled independently of the object's motion and environmental interaction forces. Simulation results confirm the performance and effectiveness of the suggested control methodologies.

Geometric formations in swarm aggregation: an artificial formation force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding inter-member collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc.

Formations of robotic swarm: an artificial force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding intermember collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc. Also the performance of the proposed distributed swarm control architecture was investigated in the presence of realistic implementation issues such as localization errors, communication range limitations, boundedness of forces etc.

Closed loop deep brain stimulation: an evolving technology

Deep brain stimulation is an effective and safe medical treatment for a variety of neurological and psychiatric disorders including Parkinson's disease, essential tremor, dystonia, and treatment resistant obsessive compulsive disorder. A closed loop deep brain stimulation (CLDBS) system automatically adjusts stimulation parameters by the brain response in real time. The CLDBS continues to evolve due to the advancement in the brain stimulation technologies. This paper provides a study on the existing systems developed for CLDBS. It highlights the issues associated with CLDBS systems including feedback signal recording and processing, stimulation parameters setting, control algorithm, wireless telemetry, size, and power consumption. The benefits and limitations of the existing CLDBS systems are also presented. Whilst robust clinical proof of the benefits of the technology remains to be achieved, it has the potential to offer several advantages over open loop DBS. The CLDBS can improve efficiency and efficacy of therapy, eliminate lengthy start-up period for programming and adjustment, provide a personalized treatment, and make parameters setting automatic and adaptive.

Teleoperation of ABB industrial robots

Purpose - The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed. Design/methodology/ approach - The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Findings - A communication rate of up to 250 Hz between the computer and the controller was established using C#.Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm. Research limitations/implications - The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications. Social implications - Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required. Originality/value - Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface. © Copyright - 2014 Emerald Group Publishing Limited. All rights reserved.

Improvements in teleoperation of industrial robots without low-level access

 This paper proposes a method to improve motion smoothness and decrease latency using existing ABB IRC5 robot controllers without access to any low level interface. The proposed control algorithm includes a high-level PID controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit (SDK). The multitasking feature of the IRC5 controller was used in order to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a predefined 3D trajectory were carried out and the benefits of the proposed algorithm was demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six degrees of freedom (DOF) force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Experimental results demonstrating the robot tool centre point (TCP), tracking errors, and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with less than 0.2 mm tracking errors.

Simulation-based baggage handling system merge analysis

This paper details the investigation into the design and control of merging bottlenecks of conveyor-based baggage handling systems, encompassing the merging control algorithm and the impact of the merge's physical layout. A methodology for the analysis of simulation model results is presented. Results show that the layout of the merge influences bag throughput and when the physical configuration is in a preferred position, input variance has no effect on bag throughput performance. These results have potential application to other material handling systems, such as those used in manufacturing and warehousing.

Optimal coordination of G2V and V2G to support power grids with high penetration of renewable energy

Electric vehicles (EVs) have recently gained much popularity as a green alternative to fossil-fuel cars and a feasible solution to reduce air pollution in big cities. The use of EVs can also be extended as a demand response tool to support high penetration of renewable energy (RE) sources in future smart grid. Based on the certainty equivalent adaptive control (CECA) principle and a customer participation program, this paper presents a novel control strategy using optimization technique to coordinate not only the charging but also the discharging of EV batteries to deal with the intermittency in RE production. In addition, customer charging requirements and schedules are incorporated into the optimization algorithm to ensure customer satisfaction, and further improve the control performance. The merits of this scheme are its simplicity, efficiency, robustness and readiness for practical applications. The effectiveness of the proposed control algorithm is demonstrated by computer simulations of a power system with high level of wind energy integration.