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State-Partition-Based Control of Discrete Event Systems for Enforcement of Regular Language Specifications 基于状态划分的离散事件系统控制,用于规范语言规范的实施
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00646
Antoine Butez, S. Lafortune, Yin Wang
Abstract We consider the solution of supervisory control problems for discrete event systems modeled by automata or bounded Petri nets where the specification is expressed as a regular sublanguage of the system language and where the supervisor is restricted to be state-partition-based with respect to original system state space, i.e., the state space of the automaton or the set of reachable markings of the Petri net. State-partition-based supervisors are completely characterized by a partition of the original system state space into legal and illegal states: transitions between legal states are always enabled while transitions from legal to illegal states are always disabled. We present a general algorithm that calculates all state-partition-based supervisors that result in safe and non-blocking controlled languages. The algorithm uses a vertex-cover-type algorithm on the representation of the supremal controllable sublanguage in order to obtain the desired partitions. This work is motivated by the application of discrete event control techniques to the avoidance of classes of concurrency bugs in multithreaded programs. State-partition-based supervisors are especially advantageous in that application as they allow more concurrency at run-time. More generally, this class of supervisors is required when the representation of the supervisor must be based on the system's original state space; this occurs for memoryless supervisors in automaton-based control or in supervision based on place invariants in Petri-net-based control, for instance.
摘要:我们考虑由自动机或有界Petri网建模的离散事件系统的监督控制问题的解,其中规范被表示为系统语言的正则子语言,并且监督被限制为基于原始系统状态空间的状态划分,即自动机的状态空间或Petri网的可达标记集。基于状态分区的监督器的完全特征是将原始系统状态空间划分为合法状态和非法状态:合法状态之间的转换总是允许的,而从合法状态到非法状态的转换总是被禁止的。我们提出了一种通用算法来计算所有基于状态分区的监督器,从而产生安全和非阻塞的受控语言。该算法对最高可控子语言的表示采用顶点覆盖型算法,以获得期望的分区。这项工作的动机是应用离散事件控制技术来避免多线程程序中的并发性错误。基于状态分区的监视程序在该应用程序中特别有利,因为它们在运行时允许更多的并发性。更一般地说,当监督者的表示必须基于系统的原始状态空间时,这类监督者是必需的;例如,在基于自动机的控制或基于petri网的控制中基于位置不变量的监督中,这种情况发生在无记忆的监督中。
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引用次数: 0
A Nonlinear Input Shaping Technique for Motion Control of a Sensing Antenna 传感天线运动控制的非线性输入整形技术
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00567
D. Feliu-Talegón, V. Feliu-Batlle, C. Castillo-Berrio
Abstract Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well as for surface and object recognition. These devices, called sensing antennae, perform an active sensing strategy in which a servomotor system moves the link back and forth until it hits and object. At this instant, information of the motor angles combined with force and torque measurements allow calculating the positions of the hitting points, which are valuable information about the object surface. In order to move the antenna fast and accurately, this article proposes a new open loop control for driving this flexible link based sensor. The control strategy is based on an ( IS ) Input Shaping technique, in order to reduce link vibrations. The antenna performs free azimuthal and vertical movements. However, the vertical movement is clearly non-linear due to the gravity effect, which prevents the use of standard linear IS techniques. Then a new nonlinear IS has been developed in this article which includes a linearization term of the gravity. Experiments have shown the improvements attained with this technique in the accurate and vibration free motion of our antenna.
结合力和扭矩传感器的柔性连杆可用于移动机器人的障碍物检测,以及表面和物体识别。这些被称为感应天线的设备执行一种主动感应策略,在这种策略中,伺服马达系统来回移动链接,直到它击中目标。在这个瞬间,马达角度的信息结合力和扭矩的测量可以计算出击中点的位置,这是关于物体表面的有价值的信息。为了快速准确地移动天线,本文提出了一种新的开环控制方法来驱动这种基于柔性链路的传感器。控制策略是基于输入整形技术,以减少链路振动。天线进行自由的方位和垂直运动。然而,由于重力效应,垂直运动显然是非线性的,这阻碍了标准线性is技术的使用。在此基础上,本文提出了一种新的包含重力线性化项的非线性IS。实验表明,该技术在天线的精确和无振动运动方面取得了很大的进步。
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引用次数: 1
Finite-Time Control of a Quadrotor System 四旋翼系统的有限时间控制
Pub Date : 2014-01-01 DOI: 10.3182/20140313-3-IN-3024.00008
Vijay Muralidharan , Anup K. Ekbote , Arun D. Mahindrakar

This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers.

摘要通过将线性化模型转化为Brunovský规范形式,研究了四旋翼无人机悬停位置的有限时间控制问题。结果表明,所有滑动面的相对度均为5或3。采用高阶连续有限时间控制器进行了仿真。
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引用次数: 2
Multilevel Reconfiguration Strategy for the System of Systems Engineering: Application to Platoon of Vehicles 系统工程系统的多级重构策略:在车辆排中的应用
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02465
Pushpendra Kumar, R. Merzouki, B. Conrard, B. Ould-Bouamama
In the present work, a generic method for multilevel modeling and reconfiguration of the System of Systems Engineering (SoSE) is proposed based on the bond graph modeling approach. The proposed formulation is applied to the road traffic dynamic for a platoon of Intelligent Autonomous Vehicles (IAVs). A bond graph model-based reconfiguration strategy is proposed for the multilevel model of the road traffic dynamic combining three levels namely submicroscopic, microscopic and macroscopic. This multilevel model is simulated for two scenarios of normal and faulty situations in a platoon of four IAVs.
本文提出了一种基于键合图建模方法的系统工程系统多级建模与重构的通用方法。将所提出的公式应用于智能自动驾驶车辆排的道路交通动态。针对结合亚微观、微观和宏观三个层次的多层次道路交通动态模型,提出了一种基于键合图模型的重构策略。该多层模型对四架无人机的正常和故障两种情况进行了仿真。
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引用次数: 8
Flight Test Results for Circular Path Following by Model Predictive Control 模型预测控制环径跟踪飞行试验结果
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01859
Y. Hamada, Taro Tsukamoto, Shinji Ishimoto
Abstract This paper describes a novel lateral guidance law of an unmanned aerial vehicle using model predictive control and shows its flight test results. The guidance law is accompanied with an extended Kalman filter which estimates steady wind velocities in order to follow a pre-specified reference path defined in the ground-fixed coordinate system. A small scale research vehicle, developed by Japan Aerospace Exploration Agency, is used for flight tests and the results show the proposed system's high guidance performance.
摘要本文提出了一种基于模型预测控制的新型无人机横向制导律,并给出了其飞行试验结果。该制导律带有一个扩展的卡尔曼滤波器,该滤波器估计稳定风速,以便遵循在地面固定坐标系中定义的预先指定的参考路径。由日本宇宙航空研究开发机构开发的小型研究飞行器用于飞行试验,结果表明该系统具有良好的制导性能。
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引用次数: 2
A filtered Smith predictor based subspace predictive controller 基于滤波Smith预测器的子空间预测控制器
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01339
Paulo R. C. Mendes, J. Normey-Rico, V. Joao, Daniel Miranda Cruz
Abstract This paper presents a SPC based in the filtered Smith predictor structure in order to improve the performance of SPC when applied to a stable or integrative dead-time processes. This technique combines the robustness of subspace identification algorithms, the ability of predictive controllers to deal with multi variable processes and operational constraints and robustness of filtered Smith predictor in presence of model uncertainties. The proposed controller is applied in two simulation cases. The first is a boiler temperature control and the second is the control of effluent concentration and temperature in a stirred tank reactor. The obtained results show that the proposed strategy gives good performance when controlling dead-time processes considering estimation errors in dynamics and dead time.
摘要本文提出了一种基于滤波Smith预测器结构的SPC,以提高SPC在稳定或集成死时过程中的性能。该技术结合了子空间识别算法的鲁棒性、预测控制器处理多变量过程和操作约束的能力以及存在模型不确定性时滤波Smith预测器的鲁棒性。该控制器在两个仿真案例中得到了应用。第一种是锅炉温度控制,第二种是搅拌釜式反应器出水浓度和温度的控制。结果表明,考虑到动态估计误差和死区时间误差,该策略在控制死区过程方面具有良好的性能。
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引用次数: 0
Application of Newton's Method with Analytical Computation of Jacobian Matrix to Solve Multi-linear Pole Assignment Equations 应用牛顿法解析计算雅可比矩阵求解多线性极点分配方程
Pub Date : 2014-01-01 DOI: 10.3182/20140313-3-IN-3024.00099
Gopal Jee
Abstract Output feedback pole placement problem is not solvable analytically for the plants having either number of inputs or number of outputs, more than two. There is even lack of a good numerical method which solves any general pole assignment problem. Due to the multi-linear nature of the pole placement problem there is a possibility to utilize multi-linear structure and arrive at a better numerical solution. This paper shows that it is possible to compute analytically the Jacobian and Hessian matrix in an easy manner and utilize them in an iterative numerical method to solve the pole-placement problem. Newton-Raphson method is used with analytical solution of Jacobian matrix to give an iterative solution of pole placement equations with better percentage success rate than the other methods quoted in literature.
摘要对于输入数大于2或输出数大于2的对象,输出反馈极点配置问题是不可解析解的。甚至没有一种好的数值方法可以解决任何一般的极点分配问题。由于极位问题的多线性性质,有可能利用多线性结构得到更好的数值解。本文表明,可以简单地解析计算雅可比矩阵和黑森矩阵,并利用它们在迭代数值方法中求解极点布置问题。采用牛顿-拉夫森法,结合雅可比矩阵的解析解,给出了极位方程的迭代解,其成功率高于文献中引用的其他方法。
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引用次数: 2
Robustness Analysis of Genetic Circuits Constructed by Bottom-Up Strategy 自底向上策略构建遗传电路的鲁棒性分析
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00962
M. Inoue, Takayuki Arai, J. Imura, K. Kashima, K. Aihara
Abstract We analyze the robustness of a system-level genetic circuit which is constructed by a bottom-up strategy. The latest trend in synthetic biology is to create large-scale and complex genetic circuits realizing desired programmable functions. An approach for the creation is bottom-up construction, that is, well-characterized small-scale circuits are coupled into large-scale system-level circuits involving desired programmable functions that can be predicted from the modules. However, in general, an intrinsic property in a circuit may be broken by internally connecting external circuits. We analyze a successful circuit created by a bottom-up construction strategy to identify the reason behind a successful synthesis. Utilizing the robustness analysis method based on the structured singular value, we can guarantee the validity of the bottom-up construction.
摘要本文分析了由自下而上策略构建的系统级遗传电路的鲁棒性。合成生物学的最新趋势是创造大规模和复杂的遗传电路来实现所需的可编程功能。创建的一种方法是自下而上的构建,也就是说,将具有良好特征的小规模电路耦合到大型系统级电路中,其中包括可以从模块中预测的所需可编程功能。然而,一般来说,电路的固有特性可能会通过内部连接外部电路而被破坏。我们分析了一个由自下而上构建策略创建的成功电路,以确定成功合成背后的原因。利用基于结构奇异值的鲁棒性分析方法,可以保证自底向上构造的有效性。
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引用次数: 1
Crosstalk between stress-induced NF-κB, p53 and HSF1 signaling pathways – review. 应激诱导的NF-κ b、p53和HSF1信号通路的串扰研究综述
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01054
P. Widłak, Michalina Gramatyka, M. Kimmel
Abstract The signaling pathways depending on NF-κB, p53 and HSF1 transcription factors are components of the cellular response to stress. NF-κB transcription factor regulates genes responsible for inflammation, immune response and cell survival. p53 either activates cell cycle arrest and DNA repair or induces apoptosis in cells with DNA damage. HSF1 activates under stress conditions and induces the heat shock response. All there pathways are essential for cancer and other human diseases. Here we review biological data on these signal transduction pathways and introduce complex crosstalk between these regulatory circuits as an apparent challenge for mathematical modeling.
依赖于NF-κB、p53和HSF1转录因子的信号通路是细胞对应激反应的组成部分。NF-κB转录因子调控炎症、免疫反应和细胞存活的相关基因。p53激活细胞周期阻滞和DNA修复或诱导DNA损伤细胞凋亡。HSF1在应激条件下激活并诱导热休克反应。所有这些途径都对癌症和其他人类疾病至关重要。在这里,我们回顾了这些信号转导通路的生物学数据,并介绍了这些调节电路之间复杂的串扰,作为数学建模的明显挑战。
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引用次数: 5
Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach 两轮车辆横向动力学和道路曲率估计:一种HOSM观测器方法
Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02330
M. H. Dabladji, D. Ichalal, Hichem Arioui, S. Mammar, L. Fridman
Abstract In this work, two high order sliding mode observers under cascade form are proposed in order to estimate the important states and inputs affecting the lateral dynamics of two-wheeled vehicles. The first observer is based on a vision system and is used to estimate the lateral velocity of the vehicle. This velocity is considered as an additional measure for the second observer which is designed to estimate the tire forces, the roll angle and torque applied to the handle-bar. The main contribution of this work is the estimation of the tire forces even with the variation of the longitudinal velocity and without the prior knowledge of the pneumatic coefficients.
为了估计影响两轮车辆横向动力学的重要状态和输入,提出了级联形式下的两个高阶滑模观测器。第一个观测器基于视觉系统,用于估计车辆的横向速度。这个速度被认为是第二个观察者的附加测量,第二个观察者被设计用来估计轮胎力、滚转角和施加在车把杆上的扭矩。这项工作的主要贡献是轮胎力的估计,即使与纵向速度的变化和没有气动系数的先验知识。
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引用次数: 14
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