Distributed collision-free traffic management via vertex cover for multi-vehicle systems

In this thesis, we state the collision avoidance problem as a vertex covering problem, then we consider a distributed framework in which a team of cooperating Unmanned Vehicles (UVs) aim to solve this optimization problem cooperatively to guarantee collision avoidance between group members. For this purpose, we implement a distributed control scheme based on a robust Set-Theoretic Model Predictive Control ( ST-MPC) strategy, where the problem involves vehicles with independent dynamics but with coupled constraints, to capture required cooperative behavior.

Thermodynamic information system for diagnosis and prognosis of power plant operation condition

A thermodynamic information system for diagnosis and prognosis of an existing power plant was developed. The system is based on an analytic approach that informs the current thermodynamic condition of all cycle components, as well as the improvement that can be obtained in the cycle performance by the elimination of the discovered anomalies. The effects induced by components anomalies and repairs in other components efficiency, which have proven to be one of the main drawbacks in the diagnosis and prognosis analyses, are taken into consideration owing to the use of performance curves and corrected performance curves together with the thermodynamic data collected from the distributed control system. The approach used to develop the system is explained, the system implementation in a real gas turbine cogeneration combined cycle is described and the results are discussed. (C) 2011 Elsevier Ltd. All rights reserved.

Controlo preditivo distribuído em edifícios para conforto térmico e alocação de cargas

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Electrónica Industrial

Controlo preditivo distribuído para conforto térmico em edifícios

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Electrónica Industrial

Coordinated transportation of a large object by a team of three robots

Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.

Coordinated transportation of a large object by a team of two robots

In this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Steuerung von sechsbeinigen Laufrobotern unter dem Aspekt technischer Anwendungen

Walking robot, legged robot, walking machine, walking vehicle, control system, force control, technical application, kinematics distributed control, embedded system

Optimointijärjestelmän kehittäminen sähköä ja lämpöä tuottavaan voimalaitokseen

Työn tavoitteena oli kehittää automaattinen optimointijärjestelmä energiayhtiön omistamaan pieneen sähkön- ja lämmöntuotantolaitokseen (CHP-laitos). Optimointitarve perustuu energiayhtiön sähkön hankintaan sähköpörssistä, kaasun hankintahintaan, kohteen paikallisiin sähkö- ja lämpökuormituksiin ja muihin laitoksen talouteen vaikuttaviin tekijöihin. Kehitettävällä optimointijärjestelmällä ontarkoitus tulevaisuudessa hallita useita hajautetun energiantuotannon yksiköitäkeskitetysti. Työssä kehitettiin algoritmi, joka optimoi voimalaitoksen taloutta sähkötehoa säätävillä ajomalleilla ja suoralla sähköteho-ohjeella. Työssä kehitetyn algoritmin tuottamia hyötyjä selvitettiin Harjun oppimiskeskuksen CHP-laitoksen mittaushistoriatiedoilla. CHP-laitosten käytön optimointiin luotiin keskitettyyn laskentaan ja hajautettuun ohjaukseen perustuva järjestelmä. Se ohjaa CHP-laitoksia reaaliaikaisesti ja ennustaa historiatietoihin perustuvalla aikasarjamallilla laitoksen tulevaa käyttöä. Optimointijärjestelmän toimivuus ja saatu hyöty selvitettiin Harjun oppimiskeskuksen CHP-laitoksella vertaamalla mittauksista laskettua toteutunutta hyötyä optimointijärjestelmän laskemaan ennustettuun hyötyyn.

Agent-augmented process automation system in a panel board factory

Kiristyvä kansainvälinen kilpailu pakottaa automaatiojärjestelmien valmistajat ottamaan käyttöön uusia menetelmiä, joiden avulla järjestelmien suorituskykyä ja joustavuutta saadaan parannettua. Agenttiteknologiaa on esitetty käytettäväksi olemassa olevien automaatiojärjestelmien kanssa vastaamaan automaatiolle asetettaviin uusiin haasteisiin. Agentit ovat itsenäisiä yhteisöllisiä toimijoita, jotka suorittavat niille ennalta määrättyjä tehtäviä. Ne tarjoavat yhtenäisen kehyksen kehittyneiden toimintojen toteutukselle. Agenttiteknologian avulla automaatiojärjestelmä saadaan toimimaan joustavasti ja vikasietoisesti. Tässä työssä selostetaan agenttiteknologian ajatuksia ja käsitteitä. Lisäksi selvitetään sen soveltuvuutta monimutkaisten ohjausjärjestelmien kehittämiseen ja etsitään käyttökohteita sen soveltamiselle levytehtaassa. Työssä käsitellään myös aatteita, jotka ovat johtaneet agenttiteknologian käyttöön automaatiojärjestelmissä, sekä selostetaan agenttiavusteisen esimerkkisovelluksen rakenne ja testitulokset. Tutkimuksen tuloksena löydettiin useita kohteita agenttiteknologian käytölle levytehtaassa. Esimerkkisovellus osoittaa sen sopivan hyvin kehittyneiden toimintojen toteutukseen automaatiojärjestelmissä.

Production planning and optimization of a pulp mill: introduction of the optimisation based scheduling software for pulp industry

The objective of this project was to introduce a new software product to pulp industry, a new market for case company. An optimization based scheduling tool has been developed to allow pulp operations to better control their production processes and improve both production efficiency and stability. Both the work here and earlier research indicates that there is a potential for savings around 1-5%. All the supporting data is available today coming from distributed control systems, data historians and other existing sources. The pulp mill model together with the scheduler, allows what-if analyses of the impacts and timely feasibility of various external actions such as planned maintenance of any particular mill operation. The visibility gained from the model proves also to be a real benefit. The aim is to satisfy demand and gain extra profit, while achieving the required customer service level. Research effort has been put both in understanding the minimum features needed to satisfy the scheduling requirements in the industry and the overall existence of the market. A qualitative study was constructed to both identify competitive situation and the requirements vs. gaps on the market. It becomes clear that there is no such system on the marketplace today and also that there is room to improve target market overall process efficiency through such planning tool. This thesis also provides better overall understanding of the different processes in this particular industry for the case company.

Exposition au bruit dans une installation gazière

L'étude vise à évaluer l'exposition professionnelle au bruit des travailleurs d'une plateforme gazière en Algérie et à mettre en évidence des déterminants influençant cette exposition. Des groupes d'exposition homogène (GEH) ont été constitués sur la base de ressemblances quant à l'exposition au bruit, aux titres d'emploi et aux lieux de travail. Deux stratégies d'échantillonnage ont été suivies, la première selon la norme internationale ISO 9612 : 2009 et la seconde selon la stratégie aléatoire de l'AIHA. Pour les deux approches, les niveaux de bruit (Lex, 8h, niveaux d'exposition au bruit pondéré (A) ajustés à une journée de travail de 8 heures) des opérateurs et des superviseurs étaient généralement > 85 dB(A) alors que pour les techniciens-tableau, les niveaux de bruit (Lex, 8h) étaient en tout temps < 85 dB(A). Pour les trois GEH du titre d'emploi des maintenanciers, il y a eu régulièrement des dépassements de la valeur de référence. Plusieurs travailleurs oeuvrant sur les plateformes gazières sont exposés à des niveaux importants de bruit et sont à risque de développer des problèmes auditifs.

Fujaba Days 2011

Fujaba is an Open Source UML CASE tool project started at the software engineering group of Paderborn University in 1997. In 2002 Fujaba has been redesigned and became the Fujaba Tool Suite with a plug-in architecture allowing developers to add functionality easily while retaining full control over their contributions. Multiple Application Domains Fujaba followed the model-driven development philosophy right from its beginning in 1997. At the early days, Fujaba had a special focus on code generation from UML diagrams resulting in a visual programming language with a special emphasis on object structure manipulating rules. Today, at least six rather independent tool versions are under development in Paderborn, Kassel, and Darmstadt for supporting (1) reengineering, (2) embedded real-time systems, (3) education, (4) specification of distributed control systems, (5) integration with the ECLIPSE platform, and (6) MOF-based integration of system (re-) engineering tools. International Community According to our knowledge, quite a number of research groups have also chosen Fujaba as a platform for UML and MDA related research activities. In addition, quite a number of Fujaba users send requests for more functionality and extensions. Therefore, the 8th International Fujaba Days aimed at bringing together Fujaba develop- ers and Fujaba users from all over the world to present their ideas and projects and to discuss them with each other and with the Fujaba core development team.

Heterogeneous Multi-Robot Cooperation

This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control.

Rhythmic behavior of social insects from single to multibody

Revealing the evolution of well-organized social behavior requires understanding a mechanism by which collective behavior is produced. A well-organized group may be produced by two possible mechanisms, namely, a central control and a distributed control. In the second case, local interactions between interchangeable components function at the bottom of the collective behavior. We focused on a simple behavior of an individual ant and analyzed the interactions between a pair of ants. In an experimental set-up, we placed the workers in a hemisphere without a nest, food, and a queen, and recorded their trajectories. The temporal pattern of velocity of each ant was obtained. From this bottom-up approach, we found the characteristic behavior of a single worker and a pair of workers as follows: (1) Activity of each individual has a rhythmic component. (2) Interactions between a pair of individuals result in two types of coupling, namely the anti-phase and the in-phase coupling. The direct physical contacts between the pair of workers might cause a phase shift of the rhythmic components in individual ants. We also build up a simple model based on the coupled oscillators toward the understanding of the whole colony behavior.