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Full-Text Articles in Physical Sciences and Mathematics
Multi-Objective Constraint Satisfaction For Mobile Robot Area Defense, Kenneth W. Mayo
Multi-Objective Constraint Satisfaction For Mobile Robot Area Defense, Kenneth W. Mayo
Theses and Dissertations
In developing multi-robot cooperative systems, there are often competing objectives that need to be met. For example in automating area defense systems, multiple robots must work together to explore the entire area, and maintain consistent communications to alert the other agents and ensure trust in the system. This research presents an algorithm that tasks robots to meet the two specific goals of exploration and communication maintenance in an uncoordinated environment reducing the need for a user to pre-balance the objectives. This multi-objective problem is defined as a constraint satisfaction problem solved using the Non-dominated Sorting Genetic Algorithm II (NSGA-II). Both …
Adaptive Control Of Woofer-Tweeter Adaptive Optics, Jimmie J. Perez
Adaptive Control Of Woofer-Tweeter Adaptive Optics, Jimmie J. Perez
Theses and Dissertations
Adaptive optics applies advanced sensing and control to improve the ability of optical systems to collect images through a turbulent atmosphere. The results of this research effort demonstrate that the combination of two recent approaches improves the performance of adaptive optics in directed energy and laser communication scenarios. The first approach is adaptive control, which offers improved performance over fixed-gain controllers in the presence of rapidly changing turbulence. The second approach incorporated into the study is a dual-mirror system. The two mirrors are a high-bandwidth, low-actuator-stroke (tweeter) mirror and a low-bandwidth, large actuator-stroke (woofer) mirror. The woofer-tweeter combination allows for …
Stochastic Estimation And Control Of Queues Within A Computer Network, Nathan C. Stuckey
Stochastic Estimation And Control Of Queues Within A Computer Network, Nathan C. Stuckey
Theses and Dissertations
An extended Kalman filter is used to estimate size and packet arrival rate of network queues. These estimates are used by a LQG steady state linear perturbation PI controller to regulate queue size within a computer network. This paper presents the derivation of the transient queue behavior for a system with Poisson traffic and exponential service times. This result is then validated for ideal traffic using a network simulated in OPNET. A more complex OPNET model is then used to test the adequacy of the transient queue size model when non-Poisson traffic is combined. The extended Kalman filter theory is …