Earticle

This paper focuses on developing a control method for a single-master multi-slave (SMMS) system to cooperatively control a team of mobile agents for multi-robot multi-task multi- target (MRMTMT) pairing. Major components of the developed control method are (1) mod- ied potential eld based leader-follower formation, (2) adaptive master-slave impedances, (3) compensation for human induced errors and contact forces, and (4) robot-task-target pairings. Component (1)-(3) have been developed for formation reconguration, collision avoidance, and motion control for reliability and robustness. Component (4) is derived from proven auction algorithms for MRMTMT cases, which optimizes robot-task-target pairing based on heuristic data. The MRMTMT pairing method is developed using a weighted attack guidance table (WAGT), which includes benets of subteam-robot-task-target pairs. It converges rapidly - as is the case for auction algorithms with integer benets. Simulations illustrated ecacy of a SMMS system with proposed Component (1)-(4) of the control method for multi-target capturing and transporting.

Powered support systems are considered to be backbone of the longwall mining system. A significant development in underground longwall coal mining automation has been achieved with the successful implementation of fiber optics cable for leg pressure monitoring and performance analysis of shield supports. This paper illustrates the development of a continuous monitoring system of roof pressure and support closure with progressive face advance in longwall workings. A case study of a longwall working is illustrated to assess the effectiveness of the monitoring system in assessing the support performance for safer and smooth operation of roof supports in these workings under different geo-mining conditions.

Speed control of hydraulic actuator is mainly desirable in diverse hydraulic systems including those for agriculture and most of them are for manufacturing. In all these systems the main demand is to accurately control the speed of the hydraulic actuator under variable operating conditions including various set-points and disturbances. In this paper a generalized predictive control (GPC) which is well known is used based on least squares support vector machines (LS-SVM) as a model reference control. The main drawback of LS-SVM is that the sparseness of standard SVM is lost which means that some of the system parameters are equal to zero. In this contribution a new method for sparseness is introduced. The electro-hydraulic servo system is modeled recursively each sample based on LS-SVM using linear kernel function avoiding linearization when radial basis function (RBF) is employed. Based on the model obtained the control signal is calculated at each sample using GPC. The presented controller performance is compared to that of self-tuning PID controller based on recursive least squares (RLS) algorithm.

This paper deals with the stabilisation of continuous Takagi-Sugeno fuzzy models. Using non-quadratic Lyapunov function, new sufficient stabilization criteria are established in terms of Linear Matrix Inequality. Finally, numeric simulations are given to validate the developed approach.

Robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameters are uncertainty so design a high performance controller for these plants is very important. Today, strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance. One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages such as nonlinear dynamic uncertainties therefore to design model free sliding mode controller this research focuses on applied fuzzy logic controller in sliding mode controller. One of the most important challenging in pure sliding mode controller and sliding mode fuzzy controller is sliding surface slope coefficient therefore the second target in this research is design a supervisory controller to adjusting the sliding surface slope in sliding mode fuzzy controller.

The paper deals with the steps proposed for performance optimization of PC to device file transfer. From the Key Performance Index (KPI) testing its seen that PC to device file transfer takes more time than Device to PC whose performance is good at the MTP (Media Transfer Protocol) level. Hence necessary steps are taken to increase the performance of PC to Device transfer, for ex: for a file transfer sized 626 MB used to take 143.319 seconds and after necessary optimization the time taken for the same 626MB file transfer is 113 seconds i.e. the throughput of nearly 1.163 MB increase is achieved. Secondly Enhanced enumeration is supported where the parent and child handles are called only when required.

Embedded systems are complicated, and a large number of these systems are widely used today. In embedded systems, the types of processings to be executed are limited, and many processes are executed periodically. In such systems, we need to reduce the overhead of periodic execution control and the dispersion of the processing time. ART-Linux has been proposed as a conventional real-time operating system that can be used for this purpose in various devices such as robots. In this paper, we discuss the periodic execution control of ART-Linux and clarify several problems. Next, we propose a design for sophisticated periodic execution control in order to solve these problems. In addition, we discuss the realization of periodic execution control, and the effects of the proposed control. Finally, we show the results of our evaluation for the release and the wait to clarify the effects of the proposed control.

In this paper, we propose Continuous Proximate Time Optimal (CPTO) control system for a class of third-order systems having an integrator and two stable real roots. The proposed CPTO control system is hybrid and combines the functionality of two controllers, namely, a linear controller and a nonlinear time-optimal controller. The CPTO control system behaves almost like the ideal time-optimal control for large state errors, whereas, for states near the origin, the CPTO control system approximates the linear law. The performance of the control system is tested and the simulation results show near time-optimal response for large state errors, and smooth, stable response with near linear control for small state errors.

This article describes the principles and capabilities of the new intelligent electronic household control system called RF Control. The main part is focused on the RF Touch control unit, its functions and programming options for the connected devices.

A class of stabilizing proportional-integral-derivative (PID) controllers for a nonlinear system is designed using different techniques. The ranges of controller parameters are obtained by a search technique (1) checking the stability of the system by solving an interval Lyapunov equation, (2) checking the quadratic stability, (3) checking the stability of the system by solving Lyapunov equation, (4) solving stability boundary equations.. This characterization is useful for designing an optimal set of controller parameters. A simulation example of a single-link robot manipulator is considered to demonstrate the applicability of the proposed control schemes.