Comparison of Centralized, Dispersed and Hybrid Multiagent Control Systems of Underwater Vehicles Team

2011 ◽  
Vol 180 ◽  
pp. 114-121 ◽  
Author(s):  
Piotr Szymak
Keyword(s):  
Control Systems ◽  
Multiagent Systems ◽  
Hybrid System ◽  
Underwater Vehicles ◽  
Underwater Robot ◽  
Decentralized Systems ◽  
Predator Prey ◽  
Multiagent Control

Multiagent systems controlling robots can have different structures, depending on a way of generating decision in these systems. Decisions can be work out in centralized, decentralized or even hybrid way (hybrid system is a connection of both centralized and decentralized systems). In the case of controlling a team of underwater vehicles, it is significant to examine different structures of multiagent systems for choosing the best one for defined underwater task. In the paper, results of operation of three different structures (centralized, dispersed - decentralized and hybrid) of multiagent control systems of underwater vehicles team were presented. The systems were tested in predator-prey problem. In this problem, a team of three underwater vehicles had to catch another underwater robot escaping with larger velocity.

scholarly journals Средства информационного обеспечения функционирования группы автономных необитаемых подводных аппаратов с мультиагентной системой управления

2020 ◽  
Author(s):  
V.G. Mikhlin ◽  
N.N. Semenov ◽  
E.B. Mikhlina
Keyword(s):  
Control System ◽  
Underwater Vehicles ◽  
Underwater Robot ◽  
Software Platform ◽  
Technical Problems ◽  
Priority Areas ◽  
Heterogeneous Devices ◽  
Multiagent Control ◽  
Multi Agent ◽  
The Creation

Область применения автономных необитаемых подводных аппаратов (АНПА) сегодня весьма обширна и постоянно увеличивается. Все чаще рассматриваются варианты группового применения аппаратов для повышения скорости и эффективности выполнения работ. Одно из приоритетных направлений управления группой аппаратов мультиагентная система управления, которая, несомненно, имеет значительные преимущества перед централизованной и сегодня представляет собой одно из наиболее перспективных направлений в области подводного роботостроения. Для создания таких систем требуется решение большого количества технических проблем, среди которых можно выделить две основные задачи: обеспечение эффективной координации аппаратов при их групповом применении и создание программной платформы, обеспечивающей взаимодействие большого количества разнородных устройств и программ. Вопросам создания технических средств обеспечения функционирования АНПА в мультиагентной среде посвящена настоящая статья.The field of application of Autonomous uninhabited underwater vehicles (AUV) is very extensive today and is constantly increasing. More and more often options of group application of devices are being considered for enhance of effectiveness and speed of mission completion. One of the priority areas for managing a group of devices is a multiagent control system (MAS), which undoubtedly has significant advantages over a centralized one and today represents one of the most promising areas in the field of underwater robot engineering. The creation of such systems requires the solution of many technical problems, among which there are two main tasks: ensuring the effective coordination of devices in their group application and creating a software platform that provides interaction of a large number of heterogeneous devices and programs. This article is devoted to the creation of technical means to ensure the functioning of AUV in a multi-agent environment.

scholarly journals Progress on Powertrain Verification Challenge with C2E2

10.29007/1kq2 ◽  
2018 ◽  
Author(s):  
Chuchu Fan ◽  
Parasara Sridhar Duggirala ◽  
Sayan Mitra ◽  
Mahesh Viswanathan
Keyword(s):  
Rate Of Convergence ◽  
Control Systems ◽  
Hybrid System ◽  
State Machines ◽  
Powertrain Control ◽  
Verification Tool ◽  
Discrepancy Rate ◽  
System Verification ◽  
Made In

In this paper, we present the progress we have made in verifying the benchmark powertrain control systems introduced in the last ARCH workshop. We implemented the algorithm for computing local discrepancy (rate of convergence or divergence of trajectories) reported in the hybrid system verification tool C2E2. We created Stateflow translations of the original models to aid the processing using C2E2 tool. We also had to encode the different driver behaviors in the form of state machines. With these customizations, we have been successful in verifying one of the easier (but still challenging) benchmarks from the powertrain suite. In this paper, we present some of the engineering challenges and describe the artifacts we created in the process.

Implementation of hybrid Kanban-CONWIP system: a case study

2017 ◽  
Vol 28 (6) ◽  
pp. 714-736 ◽  
Author(s):  
Dênis Gustavo Leonardo ◽  
Bruno Sereno ◽  
Daniel Sant Anna da Silva ◽  
Mauro Sampaio ◽  
Alexandre Augusto Massote ◽  
...  
Keyword(s):  
Control Systems ◽  
Hybrid System ◽  
Production Control ◽  
Job Shop ◽  
Lean Production ◽  
Shop Floor ◽  
Content Type ◽  
Floor Control ◽  
Low Volume

Purpose Shop floor control systems are generally major points of discussion in production planning and control literature. The purpose of this paper is to investigate how lean production control principles can be used in a make-to-order (MTO) job shop, where the volume is typically low and there is high variety. This paper examines the procedures involved in implementing a constant work-in-process (CONWIP)/Kanban hybrid system in the shop floor environment and also provides insights and guidelines on the implementation of a hybrid system in a high-variety/low-volume environment. Design/methodology/approach The authors review literature on Kanban, CONWIP, and CONWIP/Kanban hybrid systems to analyze how lean production control principles can be used in a MTO job shop. The second part focuses on the process of implementation. Using a case study of a manufacturer of electromechanical components for valve monitoring and controls, the paper describes how the operation is transformed by for more efficient shop floor control systems. Real experiments are used to compare pre- and post-improvement performance. Findings The study shows that the proposed hybrid Kanban-CONWIP system reduced the cycle time and achieved an increase of 38 percent in inventory turnover. The empirical results from this pilot study provide useful managerial insights for a benchmarking analysis of the actions to be taken into consideration by companies that have similar manufacturing systems. Research limitations/implications The statistic generalization of the results is impossible due to the use of a single case method of study. Originality/value This paper provides insights and guidelines on the implementation of a hybrid system in a high-variety/low-volume environment. The literature on real applications of hybrid CONWIP/Kanban by case study is limited.

PREDICTIVE TRACES IN HYBRID SYSTEMS

2005 ◽  
Vol 15 (02) ◽  
pp. 289-298
Author(s):  
MARTIN v. MOHRENSCHILDT
Keyword(s):  
Control Systems ◽  
Hybrid Systems ◽  
Hybrid System ◽  
Control Algorithm ◽  
Closed Loop ◽  
Continuous System ◽  
Control Action ◽  
Digitally Controlled ◽  
Predictive Controller ◽  
Discrete Controller

Hybrid systems are ideal models of real control systems where the discrete controller interacts with the continuous system on a closed loop via A/D converters and digitally controlled actuators. We extend the notion of a predictive controller to hybrid systems by introducing the notion of predictive traces, the set of all possible traces of a hybrid system starting in some state and mode into the future. A control algorithm is developed that explores this set of predictive traces to determine the next control action.

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