scholarly journals Novel Implementation of Multiple Automated Ground Vehicles Traffic Real Time Control Algorithm for Warehouse Operations: Djikstra Approach

2020 ◽  
pp. 396-405
Author(s):  
Pasan Dharmasiri ◽  
Ilya Kavalchuk ◽  
Mohammadreza Akbari
Keyword(s):  
Real Time ◽  
Control Algorithm ◽  
Ground Vehicles ◽  
Real Time Control ◽  
Time Control ◽  
Warehouse Operations

An application of real-time control systems to robotics

Robotica ◽  
2001 ◽  
Vol 19 (3) ◽  
pp. 323-329 ◽  
Author(s):  
Carmen Monroy ◽  
Ricardo Campa ◽  
Rafael Kelly
Keyword(s):  
Control Systems ◽  
Real Time ◽  
Control Algorithm ◽  
Computing Environment ◽  
Real Time Control ◽  
Time Control ◽  
On Line ◽  
Robot Performance ◽  
Single Processor ◽  
Selection Of

This paper illustrates basic concepts of real-time control systems through the application of a real-time single-processor computing environment for the control of a robotic arm. The paper describes elements for the selection of the real-time architecture, the control algorithm and the graphical user interface. The system provides an opportunity for users to verify the robot performance by changing on-line the controller parameters and the shape of the desired motion.

scholarly journals Optimisation of a fuzzy logic-based local real-time control system for mitigation of sewer flooding using genetic algorithms

2019 ◽  
Vol 22 (2) ◽  
pp. 281-295 ◽  
Author(s):  
S. R. Mounce ◽  
W. Shepherd ◽  
S. Ostojin ◽  
M. Abdel-Aal ◽  
A. N. A. Schellart ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Real Time ◽  
Control Algorithm ◽  
Expert Knowledge ◽  
Economic Losses ◽  
Rainfall Time Series ◽  
Real Time Control ◽  
Spare Capacity ◽  
Time Control ◽  
Drainage Networks

Abstract Urban flooding damages properties, causes economic losses and can seriously threaten public health. An innovative, fuzzy logic (FL)-based, local autonomous real-time control (RTC) approach for mitigating this hazard utilising the existing spare capacity in urban drainage networks has been developed. The default parameters for the control algorithm, which uses water level-based data, were derived based on domain expert knowledge and optimised by linking the control algorithm programmatically to a hydrodynamic sewer network model. This paper describes a novel genetic algorithm (GA) optimisation of the FL membership functions (MFs) for the developed control algorithm. In order to provide the GA with strong training and test scenarios, the compiled rainfall time series based on recorded rainfall and incorporating multiple events were used in the optimisation. Both decimal and integer GA optimisations were carried out. The integer optimisation was shown to perform better on unseen events than the decimal version with considerably reduced computational run time. The optimised FL MFs result in an average 25% decrease in the flood volume compared to those selected by experts for unseen rainfall events. This distributed, autonomous control using GA optimisation offers significant benefits over traditional RTC approaches for flood risk management.

Control Design for Automated Vehicle Emergency Safe Stop System Based on Differential Dynamic Programming

2020 ◽  
Author(s):  
Lisheng Yang ◽  
Tomonari Furukawa ◽  
Lei Zuo ◽  
Zachary Doerzaph
Keyword(s):  
Dynamic Programming ◽  
Real Time ◽  
Control Algorithm ◽  
Computation Time ◽  
Grid Cell ◽  
System Control ◽  
Real Time Control ◽  
Differential Dynamic Programming ◽  
Time Control ◽  
Emergency Stop

Abstract This paper presents the control algorithm and system design for a newly proposed automated emergency stop system, which aims to navigate the vehicle out of its travel lane to a safe road-side location when an emergency (e.g. driver fails to take control during fallback of the Dynamic Driving Task) occurs. To address the unique requirements of such a system, control techniques based on differential dynamic programming are developed. Optimal control sequence computation is broken down into step-by-step quadratic optimization and solved iteratively. Control constraints are addressed efficiently by a tailored Projected-Newton algorithm. The iterative control algorithm is then integrated into a real-time control system which considers both computation delay and modeling errors. The system employs a novel grid-based storage structure for recording all acceptable control commands computed within the iteration and uses a high frequency estimator for self-localization. During operation, the real-time control thread will extract commands from the grid cell corresponding to current states. Simulation results show strong potential of the proposed system for addressing the engineering challenges of the automated emergency stop function. The robustness of the system in presence of computation time delay and modelling errors is also demonstrated.

Dimensioning battery energy storage systems for peak shaving based on a real-time control algorithm

2020 ◽  
Vol 280 ◽  
pp. 115993
Author(s):  
Christopher Lange ◽  
Alexandra Rueß ◽  
Andreas Nuß ◽  
Richard Öchsner ◽  
Martin März
Keyword(s):  
Energy Storage ◽  
Real Time ◽  
Control Algorithm ◽  
Storage Systems ◽  
Real Time Control ◽  
Peak Shaving ◽  
Battery Energy Storage ◽  
Time Control ◽  
Battery Energy Storage Systems ◽  
Battery Energy

Real-time FEM Control System for Connected Piezoelectric Actuators

2000 ◽  
Vol 12 (2) ◽  
pp. 172-179
Author(s):  
Daigoro Isobe ◽  
◽  
Hiroshi Nakamura ◽  
Ryuta Shimizu ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Finite Elements ◽  
Real Time ◽  
Control Algorithm ◽  
Piezoelectric Actuators ◽  
Real Time Control ◽  
Time Control ◽  
Control Schemes ◽  
In Series ◽  
Realtime Control

In this paper, the Finite Element Method (FEM) and the previously proposed inverse theory for bimorph piezoelectric actuators are applied into a real time control algorithm of connected piezoelectric actuators. Most control schemes handle an entire system in series, which becomes a drawback when some elements lose their function in a higher redundant system. On the other hand, the FEM can handle the system in parallel by subdividing it into discrete finite elements, and can cope with flexibility in the change of form and material properties. Noncompatible finite elements are used to express the actuators in the control algorithm, and empirical formulae considering time-dependent characteristics such as creep and residual strain, are also implemented. A real-time FEM control system, which consists of a PC, a bipolar DC unit and a signal-distributing controller, is developed. The system is verified by experiments on quasi-static displacement control of connected piezoelectric actuators. The results show the possibility of highly accurate, realtime control of the actuators using the FEM.

Design of Position Control for Linear Switched Reluctance Motor

2012 ◽  
Vol 546-547 ◽  
pp. 230-235
Author(s):  
Song Yang ◽  
Hang Ma ◽  
Jun You Yang ◽  
Huai Yang Shen ◽  
Sheng Quan Chang
Keyword(s):  
Real Time ◽  
Control Algorithm ◽  
Position Control ◽  
Design Method ◽  
Switched Reluctance Motor ◽  
Real Time Control ◽  
Switched Reluctance ◽  
Time Control ◽  
Reluctance Motor ◽  
Linear Switched Reluctance Motor

This paper presents a high-precision position control system for a linear switched reluctance motor (LSRM) based on dSPACE real-time control platform. The LSRM has a very simple structure and it can be manufactured easily, and there is no need for magnets. The system utilizes dSPACE platform as the controller and generates the real-time code for the control algorithm, tuning the control parameters on line and PD algorithm is implemented. The results show that control algorithm can substantially reduce position error. The DSP-based position control scheme is implemented and experimental results prove the effectiveness of control design method.

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