scholarly journals How to synchronize an out of sync system?

2021 ◽  
Author(s):  
Kahina Louadj ◽  
Philippe Marthon
Keyword(s):  
Optimal Solution ◽  
Optimization Criterion ◽  
Tracking Algorithm ◽  
Initial State ◽  
Synchronization Problem ◽  
Robot Systems ◽  
Asymptotic Synchronization ◽  
Synchronization Problems ◽  
General Method ◽  
Do So

Synchronization with other machines is one of those tasks that an intelligent machine should be able to perform. To do so, a general method of synchronization must be defined and that is the ambition of this article. For this purpose, we recall what the main concepts of systemic modelling consist of. Then we define what a Synchronization Problem is and distinguish three types of synchronization problems : predetermined (PSP), stochastic (SSP) and asymptotic (ASP). So, to find the best solution, we define three optimized synchronization problems : Optimized Predetermined Synchronization Problems , Optimized Stochastic Synchronization Problems (OSSP) and Optimized Asymptotic Synchronization Problems (OASP). A general method for solving an optimized synchronization problem and thus synchronize an out of sync system, is then given; it includes four steps : step 1, identify the synchronization functions; step 2, identify the synchronization case : predetermined, stochastic or asymptotic; step 3, select an optimization criterion and solve the optimized synchronization problem corresponding to the chosen synchronization case; step 4, find a control which permits to track the system trajectory, optimal solution of the selected optimized synchronization problem. In the next section, we present a heuristic algorithm that checks the constraints of an ASP for any initial state of the system to be synchronized. The principle of this algorithm is to pursue or track a perfectly synchronized solution. Finally, we present and solve two synchronization problems in the field of Mobile Robot Systems: a synchronized satelliteization problem and the Horse Carousel Problem. We apply to these two problems the general method given above by choosing the asymptotic synchronization case and our tracking algorithm. Simulation results show the efficiency of the method and the relevance of using a tracking algorithm.

scholarly journals How to synchronize an out of sync system?

2021 ◽  
Author(s):  
Kahina Louadj ◽  
Philippe Marthon
Keyword(s):  
Optimal Solution ◽  
Optimization Criterion ◽  
Tracking Algorithm ◽  
Initial State ◽  
Synchronization Problem ◽  
Robot Systems ◽  
Asymptotic Synchronization ◽  
Synchronization Problems ◽  
General Method ◽  
Do So

Synchronization with other machines is one of those tasks that an intelligent machine should be able to perform. To do so, a general method of synchronization must be defined and that is the ambition of this article. For this purpose, we recall what the main concepts of systemic modelling consist of. Then we define what a Synchronization Problem is and distinguish three types of synchronization problems : predetermined (PSP), stochastic (SSP) and asymptotic (ASP). So, to find the best solution, we define three optimized synchronization problems : Optimized Predetermined Synchronization Problems , Optimized Stochastic Synchronization Problems (OSSP) and Optimized Asymptotic Synchronization Problems (OASP). A general method for solving an optimized synchronization problem and thus synchronize an out of sync system, is then given; it includes four steps : step 1, identify the synchronization functions; step 2, identify the synchronization case : predetermined, stochastic or asymptotic; step 3, select an optimization criterion and solve the optimized synchronization problem corresponding to the chosen synchronization case; step 4, find a control which permits to track the system trajectory, optimal solution of the selected optimized synchronization problem. In the next section, we present a heuristic algorithm that checks the constraints of an ASP for any initial state of the system to be synchronized. The principle of this algorithm is to pursue or track a perfectly synchronized solution. Finally, we present and solve two synchronization problems in the field of Mobile Robot Systems: a synchronized satelliteization problem and the Horse Carousel Problem. We apply to these two problems the general method given above by choosing the asymptotic synchronization case and our tracking algorithm. Simulation results show the efficiency of the method and the relevance of using a tracking algorithm.

High speed long-term visual object tracking algorithm for real robot systems

2021 ◽  
Vol 434 ◽  
pp. 268-284
Author(s):  
Muxi Jiang ◽  
Rui Li ◽  
Qisheng Liu ◽  
Yingjing Shi ◽  
Esteban Tlelo-Cuautle
Keyword(s):  
Object Tracking ◽  
High Speed ◽  
Tracking Algorithm ◽  
Visual Object ◽  
Visual Object Tracking ◽  
Robot Systems ◽  
Real Robot

SISTEM PENDUKUNG KEPUTUSAN DALAM PENENTUAN MUTU BERAS MISKIN MENGGUNAKAN FUZZY MADM MODEL YAGER

JURNAL TIKA ◽  
2021 ◽  
Vol 6 (02) ◽  
Author(s):  
Rini Meiyanti
Keyword(s):  
Decision Making ◽  
Economically Disadvantaged ◽  
Optimal Solution ◽  
Rice Quality ◽  
Disadvantaged Group ◽  
Rice Distribution ◽  
Fuzzy Madm ◽  
Multi Attribute Decision Making ◽  
Operational Activities ◽  
Do So

Rice distribution for economically disadvantaged group of people is one of the main  operational activities of  Bulog Company to advance Indonesian society welfare. Decision making for rice quality for the addressee often became a complicated problem. Overcoming those problems  takes an effective step in order to take a decision. One way to do so is to perform the classification process and search for the best result using the existing data. The use of software can be an optimal solution of the problem by using the method of Fuzzy Multi Attribute Decision Making (FMADM) Yager. This application will ease Perum Bulog to determine the best rice quality to be distributed to the economically disadvantaged group of people. After fuzzification of data to work with FMADM Yager perform pairwise comparisons are based on the value of an attribute of interest, determined the value of the weight (W), reappointment, and ranking the final results. Based on the results, then the KP. Adi Rizka an optimal alternative to the value of 0.8131 which it included in the category of suitable is 0.8. The system is built using the PHP programming language and MySQL database.

scholarly journals Multitarget Tracking Algorithm Based on Adaptive Network Graph Segmentation in the Presence of Measurement Origin Uncertainty

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3791
Author(s):  
Tianli Ma ◽  
Song Gao ◽  
Chaobo Chen ◽  
Xiaoru Song
Keyword(s):  
Shortest Path ◽  
Clustering Algorithm ◽  
Search Algorithm ◽  
Optimal Solution ◽  
Tracking Algorithm ◽  
Multitarget Tracking ◽  
Integer Programming Problem ◽  
Tracking Accuracy ◽  
Network Graph ◽  
Adaptive Network

To deal with the problem of multitarget tracking with measurement origin uncertainty, the paper presents a multitarget tracking algorithm based on Adaptive Network Graph Segmentation (ANGS). The multitarget tracking is firstly formulated as an Integer Programming problem for finding the maximum a posterior probability in a cost flow network. Then, a network structure is partitioned using an Adaptive Spectral Clustering algorithm based on the Nyström Method. In order to obtain the global optimal solution, the parallel A* search algorithm is used to process each sub-network. Moreover, the trajectory set is extracted by the Track Mosaic technique and Rauch–Tung–Striebel (RTS) smoother. Finally, the simulation results achieved for different clutter intensity indicate that the proposed algorithm has better tracking accuracy and robustness compared with the A* search algorithm, the successive shortest-path (SSP) algorithm and the shortest path faster (SPFA) algorithm.

Optimal Trajectories of Open-Chain Robot Systems: A New Solution Procedure Without Lagrange Multipliers

1998 ◽  
Vol 120 (1) ◽  
pp. 134-136 ◽  
Author(s):  
Sunil K. Agrawal ◽  
Pana Claewplodtook ◽  
Brian C. Fabien
Keyword(s):  
Differential Equations ◽  
Lagrange Multipliers ◽  
Nonlinear Differential Equations ◽  
Boundary Value ◽  
Optimal Solution ◽  
Solution Procedure ◽  
Optimal Trajectories ◽  
Point Boundary ◽  
Open Chain ◽  
Robot Systems

For an n d.o.f. robot system, optimal trajectories using Lagrange multipliers are characterized by 4n first-order nonlinear differential equations with 4n boundary conditions at the two end time. Numerical solution of such two-point boundary value problems with shooting techniques is hard since Lagrange multipliers can not be guessed. In this paper, a new procedure is proposed where the dynamic equations are embedded into the cost functional. It is shown that the optimal solution satisfies n fourth-order differential equations. Due to absence of Lagrange multipliers, the two-point boundary-value problem can be solved efficiently and accurately using classical weighted residual methods.

scholarly journals Active vibration control of a flexible link robot with the use of piezoelectric actuators

2018 ◽  
Vol 148 ◽  
pp. 11005 ◽  
Author(s):  
Darren Williams ◽  
Hamed Haddad Khodoparast ◽  
Chenyuang Yang
Keyword(s):  
Vibration Control ◽  
Research Effort ◽  
Active Vibration Control ◽  
Beam Theory ◽  
Flexible Link ◽  
Flexible Links ◽  
Robot Systems ◽  
Active Vibration ◽  
Euler Bernoulli Beam ◽  
General Method

Within robot systems the use of flexible links could solve many issues raised by their rigid counterparts. However, when these flexible links are integrated within systems which include moving parts their main issue lies in the vibrations experienced along their length due to disturbances. Much research effort has been made to solve this issue, with particular attention being paid to the application of piezoelectric patches as actuators within active vibration control (AVC). The study will consist of accurate models of a flexible link and two surface bonded piezoelectric patches, where the link and the piezoelectric patches will be modelled through the use of Euler-Bernoulli beam theory (EBT). The link will be subject to an initial displacement at its free end, and the resulting displacement of this end of the beam is to be controlled using a classic proportional-differential (PD) controller. The voltages to be applied across each of the actuators is to be controlled in accordance with the displacement of the free end of the beam, the actuators will then induce a strain upon the link opposing the movement of the tip. This research outlines this general method, obtains the best location of the piezoelectric patches and the control gains to be used, and proves that the method can be used to attenuate the vibrations experienced by a flexible link.

scholarly journals Sensitivity of functionals of variational data assimilation problems

2019 ◽  
Vol 486 (4) ◽  
pp. 421-425
Author(s):  
V. P. Shutyaev ◽  
F.-X. Le Dimet
Keyword(s):  
Data Assimilation ◽  
Observational Data ◽  
Response Function ◽  
Optimal Solution ◽  
Evolutionary Model ◽  
Variational Data Assimilation ◽  
Adjoint Equations ◽  
Unknown Parameters ◽  
Initial State ◽  
Nonstandard Problem

The problem of variational data assimilation for a nonlinear evolutionary model is formulated as an optimal control problem to find simultaneously unknown parameters and the initial state of the model. The response function is considered as a functional of the optimal solution found as a result of assimilation. The sensitivity of the functional to observational data is studied. The gradient of the functional with respect to observations is associated with the solution of a nonstandard problem involving a system of direct and adjoint equations. On the basis of the Hessian of the original cost function, the solvability of the nonstandard problem is studied. An algorithm for calculating the gradient of the response function with respect to observational data is formulated and justified.

scholarly journals Hybrid Synchronization Problem of a Class of Chaotic Systems by an Universal Control Method

Symmetry ◽  
2018 ◽  
Vol 10 (11) ◽  
pp. 552 ◽  
Author(s):  
Zuoxun Wang ◽  
Rongwei Guo
Keyword(s):  
Chaotic Systems ◽  
Control Method ◽  
Algebraic Equations ◽  
Synchronization Problem ◽  
Universal Control ◽  
All Solutions ◽  
Nonlinear Algebraic Equations ◽  
Hybrid Synchronization ◽  
Necessary And Sufficient ◽  
Synchronization Problems

The hybrid synchronization problem of a class of chaotic systems is investigated in this paper. Firstly, the existence of hybrid synchronization problems in such systems is proved theoretically by a proposed necessary and sufficient condition. That is, the hybrid synchronization problem is equivalent to solve a group of nonlinear algebraic equations about α . It is interesting that one value of α indicates one type of synchronization. Secondly, all solutions for the hybrid synchronization problem are obtained by finding solutions of all the above equations about α . Thirdly, an universal control method is proposed to realize such hybrid synchronization problems. Finally, illustrative examples are provided to verify the validity and effectiveness of the obtained results.

SYNCHRONIZATION OF TWO INTERACTING FINITE AUTOMATA

1995 ◽  
Vol 05 (03) ◽  
pp. 289-308 ◽  
Author(s):  
JACQUES MAZOYER
Keyword(s):  
State Transition ◽  
Finite Automata ◽  
Optimal Solution ◽  
Synchronization Problem ◽  
Firing Squad ◽  
Firing Squad Synchronization Problem ◽  
Firing Squad Synchronization

The Firing Squad Synchronization Problem with non uniform delays was recently solved by T. Jiang. In this paper, we study a very particular case: the synchronization of two finite automata. Two finite automata communicates, but the delay of communication is great in comparison with the duration of a state transition. We show that there exist solutions in time 2Δ(⌈ log m Δ⌉)+Δ (for any natural m). This implies that there does not exist an optimal solution (in the sense of K. Kobayashi) to the Firing Squad with non uniform delays. We show also that if the communication between the two automata are not symmetric the synchronization cannot be obtained.

SYMBOLIC REACHABILITY ANALYSIS FOR MULTIPLE-CLOCK SYSTEM DESIGN

2005 ◽  
Vol 14 (03) ◽  
pp. 533-551
Author(s):  
JU-HWAN YI ◽  
CHONG-MIN KYUNG
Keyword(s):  
System Design ◽  
Reachability Analysis ◽  
Base Line ◽  
Analysis Method ◽  
Clock Frequency ◽  
Clock System ◽  
Synchronization Problem ◽  
Improvement Factor ◽  
Frequency Mismatch ◽  
Synchronization Problems

This paper proposes a symbolic reachability analysis method for multiple-clock system design, which is the first approach to deal with both synchronization problems caused by metastability and rate mismatch problems caused by clock frequency mismatches in a single framework. Three methods are described to reproduce problems that occur with multiple-clock system design during reachability analysis: (1) alternate evaluation for a system with two clocks as the base-line model, (2) nondeterministic delayed evaluation to reproduce a synchronization problem, and (3) double evaluation to reproduce a clock frequency mismatch. Experimental results on ISCAS 89 benchmark show an improvement factor of average CPU time as compared to Clarke's method by 1.29, 55.41, 2.19 and 45.23 times when alternate evaluation, double evaluation, alternate evaluation with NDDE and double evaluation with NDDE is applied, respectively.

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