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Articles 1 - 19 of 19
Full-Text Articles in Controls and Control Theory
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
Rahul Mangharam
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire …
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos Hadjicostis, Rahul Mangharam, George Pappas
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos Hadjicostis, Rahul Mangharam, George Pappas
Rahul Mangharam
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. In a companion paper, we developed a protocol where each node repeatedly transmits a linear combination of the values in its neighborhood. For certain topologies, we showed that these linear combinations can be designed so that the closed loop system is stable (i.e., the wireless network itself acts as a controller for the plant). In this paper, we design a Intrusion Detection System (IDS) for this control scheme, which observes the transmissions of certain nodes in the network and uses that information to (a) …
Embedded Virtual Machines For Robust Wireless Control And Actuation, Miroslav Pajic, Rahul Mangharam
Embedded Virtual Machines For Robust Wireless Control And Actuation, Miroslav Pajic, Rahul Mangharam
Rahul Mangharam
Embedded wireless networks have largely focused on open-loop sensing and monitoring. To address actuation in closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination and control. As the links, nodes and topology of wireless systems are inherently unreliable, such time-critical and safety-critical applications require programming abstractions and runtime systems where the tasks are assigned to the sensors, actuators and controllers as a single component rather than statically mapping a set of tasks to a specific physical node at design time. To this end, we introduce the Embedded Virtual Machine (EVM), …
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
Aaron M. Hoover
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic …
Switch Yard Operation In Thermal Power Plant(Katpp Jhalawar Rajasthan), Radhey Shyam Meena Er.
Switch Yard Operation In Thermal Power Plant(Katpp Jhalawar Rajasthan), Radhey Shyam Meena Er.
Radhey Shyam Meena
Switchyard Provides the facilities for switching ,protection & Control of electric power. To handle high Voltage power with proper Safety measures. To isolate the noises coming from the grid with true 50Hz power SWITCH YARD IS IMPORTANT PART IN THERMAL PLANT. IN KALISINDH THERMAL 400KV AND 220KV SWITCH YARD LOCATED.
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
George J. Pappas
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic …
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
George J. Pappas
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms, …
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos N. Hadjicostis, Rahul Mangharam, George J. Pappas
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos N. Hadjicostis, Rahul Mangharam, George J. Pappas
George J. Pappas
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. In a companion paper, we developed a protocol where each node repeatedly transmits a linear combination of the values in its neighborhood. For certain topologies, we showed that these linear combinations can be designed so that the closed loop system is stable (i.e., the wireless network itself acts as a controller for the plant). In this paper, we design a Intrusion Detection System (IDS) for this control scheme, which observes the transmissions of certain nodes in the network and uses that information to (a) …
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
George J. Pappas
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire …
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
George J. Pappas
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic …
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
George J. Pappas
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms, …
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos N. Hadjicostis, Rahul Mangharam, George J. Pappas
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos N. Hadjicostis, Rahul Mangharam, George J. Pappas
George J. Pappas
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. In a companion paper, we developed a protocol where each node repeatedly transmits a linear combination of the values in its neighborhood. For certain topologies, we showed that these linear combinations can be designed so that the closed loop system is stable (i.e., the wireless network itself acts as a controller for the plant). In this paper, we design a Intrusion Detection System (IDS) for this control scheme, which observes the transmissions of certain nodes in the network and uses that information to (a) …
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
George J. Pappas
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire …
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
George J. Pappas
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic …
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
George J. Pappas
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms, …
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos N. Hadjicostis, Rahul Mangharam, George J. Pappas
The Wireless Control Network: Monitoring For Malicious Behavior, Shreyas Sundaram, Miroslav Pajic, Christoforos N. Hadjicostis, Rahul Mangharam, George J. Pappas
George J. Pappas
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. In a companion paper, we developed a protocol where each node repeatedly transmits a linear combination of the values in its neighborhood. For certain topologies, we showed that these linear combinations can be designed so that the closed loop system is stable (i.e., the wireless network itself acts as a controller for the plant). In this paper, we design a Intrusion Detection System (IDS) for this control scheme, which observes the transmissions of certain nodes in the network and uses that information to (a) …
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam
George J. Pappas
We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire …
Adaptive Kriging Controller Design For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu
Adaptive Kriging Controller Design For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu
Bin Xu
No abstract provided.
Direct Neural Discrete Control Of Hypersonic Flight Vehicle, Bin Xu
Direct Neural Discrete Control Of Hypersonic Flight Vehicle, Bin Xu
Bin Xu
No abstract provided.