Human management of a hierarchical control system for multiple mobile agents

Author(s):  
J.A. Adams ◽  
R. Paul
Author(s):  
Manish Kumar ◽  
Devendra P. Garg ◽  
Randy Zachery

This paper investigates the effectiveness of designed random behavior in cooperative formation control of multiple mobile agents. A method based on artificial potential functions provides a framework for decentralized control of their formation. However, it implies heavy communication costs. The communication requirement can be replaced by onboard sensors. The onboard sensors have limited range and provide only local information, and may result in the formation of isolated clusters. This paper proposes to introduce a component representing random motion in the artificial potential function formulation of the formation control problem. The introduction of the random behavior component results in a better chance of global cluster formation. The paper uses an agent model that includes both position and orientation, and formulates the dynamic equations to incorporate that model in artificial potential function approach. The effectiveness of the proposed method is verified via extensive simulations performed on a group of mobile agents and leaders.


Author(s):  
A.M. POLIAKOV ◽  
P.K. SOPIN ◽  
V.B. LAZAREV ◽  
A.I. RYZHKOV ◽  
M.A. KOLESOVA ◽  
...  

This article presents a transfemoral prosthesis prototype with active control of an artificial knee joint. One of the main criteria used in the design of the prosthesis was to achieve the maximum biological similarity of this device in order to provide optimal conditions conducive to user natural walking. The artificial knee joint, designed on the basis of a polycentric higed mechanism with intersecting links, provides such conditions at the design level, and a three-level hierarchical control system, built on the basis of an intelligent-synergetic concept, at the control level. To recognize user's intentions, the intelligent subsystem uses algorithms for comparing graphic images of user's walking phases by the method of estimating the invariant moments of Hu. After that, prosthesis elements movements are planned in the synergistic subsystem in accordance with the synergistic quality criteria. The algorithms used in the control system are adjusted depending on what type of artificial foot is used in the prosthesis: active, semi-active or passive (purely mechanical). Mathematical modeling of the prosthesis operation shows that the nature of its functioning corresponds to the quality criteria adopted in the design.


2021 ◽  
Vol 92 ◽  
pp. 79-93
Author(s):  
N. G. Topolsky ◽  
◽  
S. Y. Butuzov ◽  
V. Y. Vilisov ◽  
V. L. Semikov ◽  
...  

Introduction. It is important to have models that adequately describe the relationship between the integral indicators of the functioning of the system with the particular indicators of the lower levels of management in complex control systems, in particular in RSChS. Traditional approaches based on normative models often turn out to be untenable due to the impossibility of covering all aspects of the functioning of such systems, as well as due to the high variability of the environment and the values of the set of target indicators. Recently, adaptive machine-learning models have proven to be productive, allowing build stable and adequate models, one of the variants of which is artificial neural networks (ANN), based on the solution of inverse problems using expert estimates. The relevance of the study lies in the development of compact models that allow assessing the effectiveness of the functioning of complex multi-level control systems (RSChS) in emergency situations, developing according to complex scenarios, in which emergencies of various types can occur simultaneously. Goals and objectives. The purpose of the article is to build and test the technology for creating compact models that are adequate to the system of indicators of the functioning of hierarchically organized control systems. This goal gives rise to the task of choosing tools for constructing the necessary models and sources of initial data. Methods. The research tools include methods for analyzing hierarchical systems, mathematical statistics, machine learning methods of ANN, simulation modeling, expert assessment methods, software systems for processing statistical data. The research is based on materials from domestic and foreign publications. Results and discussion. The proposed technology for constructing a neural network model of the effectiveness of the functioning of complex hierarchical systems provides a basis for constructing dynamic models of this type, which make it possible to distribute limited financial and other resources during the operation of the system according to a complex scenario of emergency response. Conclusion. The paper presents the results of solving the problem of constructing an ANN and its corresponding nonlinear function, reflecting the relationship between the performance indicators of the lower levels of the hierarchical control system (RSChS) with the upper level. The neural network model constructed in this way can be used in the decision support system for resource management in the context of complex scenarios for the development of emergency situations. The use of expert assessments as an information basis makes it possible to take into account numerous target indicators, which are extremely difficult to take into account in other ways. Keywords: emergency situations, hierarchical control system, efficiency, artificial neural network, expert assessments


Author(s):  
Takeru KANNO ◽  
Taishi MIKAMI ◽  
Yasufumi YAMADA ◽  
Mayuko IWAMOTO ◽  
Daishin UEYAMA ◽  
...  

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