ZigBee based Dynamic Control Scheme for Multiple Legacy IR Controllable Digital Consumer Devices

2007 ◽  
Author(s):  
Wan-Ki Park ◽  
Intark Han ◽  
Kwang-Roh Park
Keyword(s):  
Dynamic Control ◽  
Control Scheme ◽  
Consumer Devices

Dynamic Control of Curve-Constrained Hyper-Redundant Manipulators

2004 ◽  
Vol 16 (1) ◽  
pp. 1-7 ◽  
Author(s):  
Shugen Ma ◽  
◽  
Mitsuru Watanabe ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Control ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Feed Forward ◽  
Manipulator Dynamics ◽  
Time Control ◽  
Control Scheme ◽  
Feed Forward Controller

Hyper-redundant manipulators have high number of kinematic degrees of freedom, and possess unconventional features such as the ability to enter narrow spaces while avoiding obstacles. To control these hyper-redundant manipulators accurately, manipulator dynamics should be considered. This is, however, time-comsuming and makes implementation of real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in defined posture space where three parameters were used to determine the manipulator posture. Manipulator dynamics are modeled on the parameterized form with the parameter of the posture space path. The posture space path-tracking feed-forward controller is then formulated on the basis of a parameterized dynamic equation. Computer simulation, in which a hyper-redundant manipulator traces the posture space path well by using the proposed feed-forward controller, proved that the hyper-redundant manipulator tracks the workspace path accurately.

scholarly journals Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Tian Jing ◽  
Weiping Wang ◽  
Tao Wang ◽  
Xiaobo Li ◽  
Xin Zhou
Keyword(s):  
Detection Efficiency ◽  
Dynamic Control ◽  
Equilibrium Degree ◽  
Dynamic Assignment ◽  
Collective Control ◽  
Control Scheme ◽  
Vehicle Systems ◽  
Dynamic Deployment ◽  
Np Hard Problem ◽  
Aerial Vehicle

The persistent surveillance problem has been proved to be an NP hard problem for multiple unmanned aerial vehicle systems (UAVs). However, most studies in multiple UAV control focus on control cooperative path planning in a single swarm, while dynamic deployment of a multiswarm system is neglected. This paper proposes a collective control scheme to drive a multiswarm UAVs system to spread out over a time-sensible environment to provide persistent adaptive sensor coverage in event-related surveillance scenarios. We design the digital turf model to approximate the mixture information of mission requirements and surveillance reward. Moreover, we design a data clustering-based algorithm for the dynamic assignment of UAV swarms, which can promote workload balance, while also allowing real-time response to emergencies. Finally, we evaluate the proposed architecture by means of simulation and find that our method is superior to the conventional control strategy in terms of detection efficiency and subswarm equilibrium degree.

scholarly journals Hovering control of submarine based on L1 adaptive theory via ballast tanks

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772419 ◽  
Author(s):  
Ying Chen ◽  
Guanxue Wang ◽  
Guohua Xu ◽  
Wei Zhang ◽  
Wenjin Wang
Keyword(s):  
Dynamic Control ◽  
Ballast Tank ◽  
Loop Control ◽  
Control Scheme ◽  
Novel Method ◽  
Ballast Tanks ◽  
Analysis Models ◽  
First Time ◽  
Hovering Control ◽  
Tank Water

This article proposed a novel method for submarine hovering control implement by ballast tanks based on L1 adaptive theory. The ballast tanks are able to provide submerge/emerge force by let in/out ballast tank water, and therefore adjust submarine position and altitude when low-speed maneuver largely limits rudder effect. After formulate and analysis models of ballast tanks as well as submarine dynamic, control scheme is determined as cascaded controller system. L1 adaptive theory is adopted for outer loop control, to deal with the nonlinearity and uncertainties of model, as well as environmental disturbance in hovering condition for the first time. Robustness of control system is tested through simulations based on Simscape. Large impact force is exerted on submarine to simulate missile launching and test restoring ability of ballast tanks control. Simulation results demonstrated that the submarine is able to maneuver and response precisely, despite of sudden impact.

Behavioural approach for a bipedal robot stepping motion gait

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 491-501 ◽  
Author(s):  
F. El Hafi ◽  
P. Gorce
Keyword(s):  
Dynamic Control ◽  
Biomechanical Model ◽  
Generation Process ◽  
Mechanism Analysis ◽  
Experimental Protocol ◽  
Bipedal Robot ◽  
Decision Mechanism ◽  
Domain Definition ◽  
Control Scheme ◽  
Security Notion

This paper deals with the decision mechanism analysis and the design of bipedal trajectories, for the stepping motion. For that we have used biomechanical model of the human body and dynamic control scheme previously developed by Gorce. We based our study on an experimental protocol, in order to determine behavioural laws for the task execution. We have developed a biped trajectory generation process, taking into account the biped height and the obstacle dimensions. Furthermore, we characterize the stepping motion feasibility by introducing a security notion, and we define an “Admissible control Domain”, which relies on the relative position of the biped to the obstacle and the obstacle dimensions. This domain definition has led us to define the biped behavioural strategies facing an obstacle: the biped executes the task at an accurate “chosen distance”, or stops or takes another way. Experimentations have allowed to validate simulations results.

Application of Optimal Preview Control to Power Plant Cooling Systems

1979 ◽  
Vol 101 (2) ◽  
pp. 162-171 ◽  
Author(s):  
D. R. Gunewardana ◽  
M. Tomizuka ◽  
D. M. Auslander
Keyword(s):  
Power Plants ◽  
Cooling Tower ◽  
Dynamic Control ◽  
Cooling Water ◽  
Control Policy ◽  
Substantial Improvement ◽  
Ambient Conditions ◽  
Preview Control ◽  
Cooling Systems ◽  
Control Scheme

This paper deals with the application of dynamic control to cooling systems of power plants. The operation of heat dispersal systems with control can result in a saving of power and cooling water. The performance of all cooling systems depends, mainly, upon the ambient conditions and the heat load to be dissipated. Hence, a control scheme that makes use of information obtained by previewing the weather and load conditions, i.e., preview control, is ideally suited for this problem. An iterative procedure is presented for determining the optimal preview control policy for a dynamical system whose dynamics vary depending upon the mode of operation that the controller selects. The algorithm is applied to two types of cooling systems: one consisting of a spray pond and a natural draft wet cooling tower, and the other consisting of a spray pond and a dry cooling tower. The preview control scheme is shown to be a substantial improvement over the uncontrolled case.

Dynamic control with adaptive identification for free-flying space robots in joint space

Robotica ◽  
1994 ◽  
Vol 12 (6) ◽  
pp. 541-551 ◽  
Author(s):  
Jin-Ho Shin ◽  
Ju-Jang Lee
Keyword(s):  
Measurement Problem ◽  
Dynamic Control ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Point Of View ◽  
Accurate Estimation ◽  
Space Robots ◽  
Unknown Parameters ◽  
Adaptive Identification ◽  
Control Scheme

SummaryIn this paper, a joint space dynamic control scheme with an adaptive identifier is proposed for free-flying space robots. The control in Cartesian space poses a measurement problem which is critical from a point of view of implementation. In order to overcome this problem, a joint space control is developed. An inverse kinematics algorithm is proposed so as to control free-flying space robots in joint space. Since the inverse kinematic solutions for space robots depend on the dynamic parameters as well as the kinematic.parameters, the accurate estimation of all the unknown parameters is essential to make joint space control possible. Therefore, an off-line adaptive parameter identification is performed for free-flying space robots. Simulation results are given to show the validity and the effectiveness of the presented adaptive identification and dynamic control scheme.

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