Real Time Optimal Task Allocation in Highly Dynamic Environments

2005 ◽  
Author(s):  
David R. Schneider ◽  
Mark Campbell
Keyword(s):  
Real Time ◽  
Task Allocation ◽  
Dynamic Test ◽  
Dynamic Environments ◽  
New Method ◽  
Mixed Integer ◽  
Combined Method ◽  
Test Environment ◽  
Time Optimal ◽  
Minimum Spanning Forest

Of the methods developed for Optimal Task Allocation, Mixed Integer Linear Programming (MILP) techniques are some of the most predominant. A new method, presented in this paper, is able to produce identical optimal solutions to the MILP techniques but in computation times orders of magnitude faster than MILP. This new method, referred to as G*TA, uses a minimum spanning forest algorithm to generate optimistic predictive costs in an A* framework, and a greedy approximation method to create upper bound estimates. A second new method which combines the G*TA and MILP methods, referred to as G*MILP, is also presented for its scaling potential. This combined method uses G*TA to solve a series of sub-problems and the final optimal task allocation is handled through MILP. All of these methods are compared and validated though a large series of real time tests using the Cornell RoboFlag testbed, a multi-robot, highly dynamic test environment.

Real-time Optimal Operation of Microgrid with Power-to-hydrogen

2020 ◽  
Author(s):  
Zhiyao Zhong ◽  
Danji Huang ◽  
Kewei Hu ◽  
Xiaomeng Ai ◽  
Jiakun Fang
Keyword(s):  
Real Time ◽  
Optimal Operation ◽  
Time Optimal

scholarly journals Ultrasound Doppler-guided real-time navigation of a magnetic microswarm for active endovascular delivery

2021 ◽  
Vol 7 (9) ◽  
pp. eabe5914 ◽  
Author(s):  
Qianqian Wang ◽  
Kai Fung Chan ◽  
Kathrin Schweizer ◽  
Xingzhou Du ◽  
Dongdong Jin ◽  
...  
Keyword(s):  
Blood Flow ◽  
Real Time ◽  
Targeted Delivery ◽  
Ex Vivo ◽  
Dynamic Environments ◽  
Doppler Imaging ◽  
Great Promise ◽  
Mean Velocity ◽  
Ultrasound Doppler ◽  
Flowing Blood

Swarming micro/nanorobots offer great promise in performing targeted delivery inside diverse hard-to-reach environments. However, swarm navigation in dynamic environments challenges delivery capability and real-time swarm localization. Here, we report a strategy to navigate a nanoparticle microswarm in real time under ultrasound Doppler imaging guidance for active endovascular delivery. A magnetic microswarm was formed and navigated near the boundary of vessels, where the reduced drag of blood flow and strong interactions between nanoparticles enable upstream and downstream navigation in flowing blood (mean velocity up to 40.8 mm/s). The microswarm-induced three-dimensional blood flow enables Doppler imaging from multiple viewing configurations and real-time tracking in different environments (i.e., stagnant, flowing blood, and pulsatile flow). We also demonstrate the ultrasound Doppler–guided swarm formation and navigation in the porcine coronary artery ex vivo. Our strategy presents a promising connection between swarm control and real-time imaging of microrobotic swarms for localized delivery in dynamic environments.

scholarly journals Dynamic Modelling and Simulation of a Multistage Flash Desalination System

Processes ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 522
Author(s):  
Qiu-Yun Huang ◽  
Ai-Peng Jiang ◽  
Han-Yu Zhang ◽  
Jian Wang ◽  
Yu-Dong Xia ◽  
...  
Keyword(s):  
Real Time ◽  
Mass Flow Rate ◽  
Mass Flow ◽  
Flow Rate ◽  
Dynamic Change ◽  
Seawater Temperature ◽  
Dynamic Modelling ◽  
Optimal Operation ◽  
Simultaneous Solution ◽  
Time Optimal

As the leading thermal desalination method, multistage flash (MSF) desalination plays an important role in obtaining freshwater. Its dynamic modeling and dynamic performance prediction are quite important for the optimal control, real-time optimal operation, maintenance, and fault diagnosis of MSF plants. In this study, a detailed mathematical model of the MSF system, based on the first principle and its treatment strategy, was established to obtain transient performance change quickly. Firstly, the whole MSF system was divided into four parts, which are brine heat exchanger, flashing stage room, mixed and split modulate, and physical parameter modulate. Secondly, based on mass, energy, and momentum conservation laws, the dynamic correlation equations were formulated and then put together for a simultaneous solution. Next, with the established model, the performance of a brine-recirculation (BR)-MSF plant with 16-stage flash chambers was simulated and compared for validation. Finally, with the validated model and the simultaneous solution method, dynamic simulation and analysis were carried out to respond to the dynamic change of feed seawater temperature, feed seawater concentration, recycle stream mass flow rate, and steam temperature. The dynamic response curves of TBT (top brine temperature), BBT (bottom brine temperature), the temperature of flashing brine at previous stages, and distillate mass flow rate at previous stages were obtained, which specifically reflect the dynamic characteristics of the system. The presented dynamic model and its treatment can provide better analysis for the real-time optimal operation and control of the MSF system to achieve lower operational cost and more stable freshwater quality.

scholarly journals Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Electronics ◽  
2019 ◽  
Vol 8 (9) ◽  
pp. 943 ◽  
Author(s):  
Il Bae ◽  
Jaeyoung Moon ◽  
Jeongseok Seo
Keyword(s):  
Real Time ◽  
High Performance ◽  
Autonomous Driving ◽  
Planning Method ◽  
Dynamics Simulation ◽  
Driving Experience ◽  
Optimal Velocity ◽  
Planning Approach ◽  
Velocity Planning ◽  
Time Optimal

The convergence of mechanical, electrical, and advanced ICT technologies, driven by artificial intelligence and 5G vehicle-to-everything (5G-V2X) connectivity, will help to develop high-performance autonomous driving vehicles and services that are usable and convenient for self-driving passengers. Despite widespread research on self-driving, user acceptance remains an essential part of successful market penetration; this forms the motivation behind studies on human factors associated with autonomous shuttle services. We address this by providing a comfortable driving experience while not compromising safety. We focus on the accelerations and jerks of vehicles to reduce the risk of motion sickness and to improve the driving experience for passengers. Furthermore, this study proposes a time-optimal velocity planning method for guaranteeing comfort criteria when an explicit reference path is given. The overall controller and planning method were verified using real-time, software-in-the-loop (SIL) environments for a real-time vehicle dynamics simulation; the performance was then compared with a typical planning approach. The proposed optimized planning shows a relatively better performance and enables a comfortable passenger experience in a self-driving shuttle bus according to the recommended criteria.

scholarly journals Simple, cost-effective technique for portable digital eletrocorticography

2000 ◽  
Vol 58 (2B) ◽  
pp. 424-427 ◽  
Author(s):  
PAULO R. M. DE BITTENCOURT ◽  
MARCOS C. SANDMANN ◽  
MARLUS S. MORO ◽  
JOÃO C. DE ARAÚJO
Keyword(s):  
Real Time ◽  
Epilepsy Surgery ◽  
Vascular Malformations ◽  
Cost Effective ◽  
New Method ◽  
Cortical Lesions ◽  
Effective Technique ◽  
Seizure Disorders ◽  
Operational Costs ◽  
Cost Effective Technique

We revised 16 patients submitted to epilepsy surgery using a new method of digital, real-time, portable electrocorticography. Patients were operated upon over a period of 28 months. There were no complications. The exam was useful in 13 cases. The low installation and operational costs, the reliability and simplicity of the method, indicate it may be useful for defining the epileptogenic regions in a variety of circumnstances, including surgery for tumors, vascular malformations, and other cortical lesions associated with seizure disorders.

Processability predictions for mechanically recycled blends of linear polymers

2020 ◽  
Vol 40 (9) ◽  
pp. 771-781
Author(s):  
Janne van Gisbergen ◽  
Jaap den Doelder
Keyword(s):  
Molecular Weight ◽  
Circular Economy ◽  
Melt Flow Index ◽  
Building Blocks ◽  
Experimental Designs ◽  
New Method ◽  
Flow Index ◽  
Linear Polymers ◽  
Combined Method

AbstractRecycling of thermoplastic polymers is an important element of sustainable circular economy practices. The quality of mechanically recycled polymers is a concern. A method is presented to predict the structure and processability of recycled blends of polymers based on processability knowledge of their virgin precursor components. Blending rules at molecular weight distribution level are well established and form the foundation of the new method. Two essential fundamental building blocks are combined with this foundation. First, component and blend structure are related to viscosity via tube theories. Second, viscosity is related to melt flow index via a continuum mechanics approach. Emulator equations are built based on virtual experimental designs for fast forward and reverse calculations directly relating structure to viscosity and processability. The new combined method is compared with empirical blend rules, and shows important similarities and also clear quantitative differences. Finally, the new method is applied to practical recycling quality challenges.

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