1,721,143 research outputs found
Rational physical agent reasoning beyond logic
No full textThe paper addresses the problem of defining a theoretical physical agent framework that satisfies practical requirements of programmability by non-programmer engineers and at the same time permitting fast realtime operation of agents on digital computer networks. The objective of the new framework is to enable the satisfaction of performance requirements on autonomous vehicles and robots in space exploration, deep underwater exploration, defense reconnaissance, automated manufacturing and household automation
Convergent iterative model unfalsification for control
No full textIterative controller design by model unfalsification and robust controller design is reexamined and developed further from [7]. Two frequency dependent uncertainty functions are used to ease the process of modelling for control. One is the maximum allowed gain errors (AGE) of a nominal plant which depends on the controller, nominal model and the stability robustness requirement. The other functions used are frequency dependent unfalsified lower bounds of plant dynamical uncertainty around nominal models. The controller is called feasible if the allowed plant perturbation function bounds an estimated plant uncertainty for each frequency. If there is no feasible controller then more experiments are carried out with the same controller which excite the plant at the "offending frequencies". Otherwise the feasible controller with the largest stability margin and "most promising" performance is used in the next experiment with the testing input spectrum focusing on the frequencies where the stability margin is small and the performance is sensitive
A robust approximation scheme for the LQG control of an undamped flexible beam with a tip mass
No full textNatural language programming of agents and robotic devices
No full textThe book provides examples of how conceptual structures can be built up for the purpose of developing shared understanding between man and machine. The medium of this shared understanding is a version of English that is carefully defined and tailored for a particular application. The name of this type of English is called system English, sEnglish for short. It is supported by conceptual structures defined to suit the application developed. The book outlines the principles and its use with electronic personal assistants and intelligent software agents. The focus is on sEnglish and no commitment is made to any particular intelligent physical agent architecture that is used to control a machine. The book provides a series of examples to show the possibilities of sEnglish as a high level programming language
Frequency domain iterative feedforward/feedback tuning for MIMO ANVC
No full textA new gradient estimation method is proposed that relies on efficient computation of the negative gradient of the average linear quadratic cost function completely in the frequency domain. Based on the proposed theory, a new iterative tuning method is developed to solve linear multi-input multi-output Active Noise/Vibration Control problems. Compared with published iterative tuning methods, the new method has the added advantage that the number of experiments per iteration is reduced to one. Combined with the other advantage of relativelysimple controller structures, the method is suitable for real-time implementation as an adaptive controlle
A natural language programming solution for executable papers
No full textThe paper describes a system for executable papers for publishers enabling them to reuse content and to generate further advances of science and engineering. The executable algorithmic descriptions within a paper are presented in natural language sentences and basic code, thereby making long term compatibility absolute. Authors are required to use publicly numerical libraries on the Internet or references to publications with executable papers. As used by authors the system automatically creates a web of algorithmic knowledge on the Internet. Novelty of new algorithms in publications can be evaluated by automated tools available to authors, reviewers and readers of scientific papers published
MIMO frequency domain iterative tuning for tracking control
No full textA new ’model-free’ iterative controller tuning method is presented for multiple-inputmultiple output control systems based estimation algorithms in the frequency domain. The method relies on efficient computation of the negative gradient of the controller cost function in the frequency domain. Only one experiment is used per iteration and the method is therefore suitable for realtime implementation by periodic adjustments of the controller. Both feedback and/or feed-forward controllers
can be tuned. Primary target application areas can be self-tuning feedforward/feedback controllers in industry where the reference signals are periodic
Mission capable autonomous control systems in the oceans, in the air and in space
No full textThe problem of optimal degree of autonomy and minimal complexity is considered for mission capable systems in spacecrafts and unmanned aeronautical systems. Levels of autonomy and system requirements are discussed. Simple and goal oriented system architectures are summarized and the prospect of plug-andplay systems is outlined. The engineering compromise to be made between degree of autonomy and verifiability of multi-agent systems is pointed out. Three main challenges are highlighted to aid progress of future development of verifiable autonomous vehicle
Learning and adaptation of skills in autonomous physical agents
No full textA skills learning methodology is presented for autonomous physical agents. Adaptation of skills and learning is a fundamental part of the simple agent behaviours outlined. A general framework of skills learning is described that uses skill macros to define simple behaviours by agents that communicate, sense and act in the physical world. Programmed playfulness can be easily implemented in this framework that plays an important part in acquiring sophisticated skills. Reusability of results in learning algorithms is supported by ontology based classification of learning in skills. Ontologies provide references to object instances that enable modularization of software and easy interfacing of skills with learning algorithms
Application of discrete time sliding mode control to a spacecraft in 6DoF
No full textThis paper presents the application of two separate discrete time sliding mode controllers, developed in conjunction with a potential function guidance method, to provide control in both position and attitude for a rigid, holonomic spacecraft body. The system is demonstrated in MATLABTM simulations to illustrate effectivenessunder realistic actuator constraints
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