Abstract: In this paper, we present an adaptive controller for decentralized coordination problem of multiple non-holonomic agents. The performance of the presented Multi-Agent Bounded Gain Forgetting (BGF) Composite Adaptive controller is compared against the tracking error criterion with a Feedback Linearization controller. By using the method, the sensor nodes move and reconfigure themselves in a coordinated way in response to a sensed environment. The multi-agent coordination is achieved through Centroidal Voronoi Tessellations and Coverage Control. Also, a consensus protocol is used for synchronization of the parameter vectors. The two controllers are given with their Lyapunov stability analysis and their stability is verified with simulation results. The simulations are carried out in MATLAB and ROS environments. Better performance is obtained with BGF Adaptive Controller.
Abstract: Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.
Abstract: In this paper, we propose a solution to the motion
planning and control problem for a swarm of three-dimensional
boids. The swarm exhibit collective emergent behaviors within the
vicinity of the workspace. The capability of biological systems
to autonomously maneuver, track and pursue evasive targets in a
cluttered environment is vastly superior to any engineered system. It
is considered an emergent behavior arising from simple rules that are
followed by individuals and may not involve any central coordination.
A generalized, yet scalable algorithm for attraction to the centroid
and inter-individual swarm avoidance is proposed. We present a set
of new continuous time-invariant velocity control laws, formulated via
the Lyapunov-based control scheme for target attraction and collision
avoidance. The controllers provide a collision-free trajectory. The
control laws proposed in this paper also ensures practical stability
of the system. The effectiveness of the control laws is demonstrated
via computer simulations.
Abstract: It-s difficult for China-s current land transfer
institutions limited to county-wide to solve the contradiction between
urban-rural development and construction land shortage. On the basis of analyzing China-s construction land transfer system, and evaluation
toward Transfer of development rights (TDR) practices in Anhui and
Chongqing, the passage proposes: (1) we should establish a multi-level
land indicators trade market under the guidance of regional spatial
objectives, and allow land transfer paid across cities and counties
within a specific area following the regulation of both government and
market; (2) it would be better to combine organically the policy ntentions of land plan, regional plan, urban plan and economic plan, and link them with land indicators transfer to promote a wider range of
urban-rural balance and regional coordination.
Abstract: The two significant overvoltages in power system,
switching overvoltage and lightning overvoltage, are investigated in
this paper. Firstly, the effect of various power system parameters on
Line Energization overvoltages is evaluated by simulation in ATP.
The dominant parameters include line parameters; short-circuit
impedance and circuit breaker parameters. Solutions to reduce
switching overvoltages are reviewed and controlled closing using
switchsync controllers is proposed as proper method.
This paper also investigates lightning overvoltages in the
overhead-cable transition. Simulations are performed in
PSCAD/EMTDC. Surge arresters are applied in both ends of cable to
fulfill the insulation coordination. The maximum amplitude of
overvoltages inside the cable is surveyed which should be of great
concerns in insulation coordination studies.
Abstract: Coordinated supply chain represents major challenges
for the different actors involved in it, because each agent responds to
individual interests. The paper presents a framework with the
reviewed literature regarding the system's decision structure and
nature of demand. Later, it characterizes an agri food supply chain in
the Central Region of Colombia, it responds to a decentralized
distribution system and a stochastic demand. Finally, the paper
recommends coordinating the chain based on shared information, and
mechanisms for each agent, as VMI (vendor-managed inventory)
strategy for farmer-buyer relationship, information system for
farmers and contracts for transportation service providers.
Abstract: Static synchronous compensator (STATCOM) is a shunt connected voltage source converter (VSC), which can affect rapid control of reactive flow in the transmission line by controlling the generated a.c. voltage. The main aim of the paper is to design a power system installed with a Static synchronous compensator (STATCOM) and demonstrates the application of the linearised Phillips-heffron model in analyzing the damping effect of the STATCOM to improve power system oscillation stability. The proposed PI controller is designed to coordinate two control inputs: Voltage of the injection bus and capacitor voltage of the STATCOM, to improve the Dynamic stability of a SMIB system .The power oscillations damping (POD) control and power system stabilizer (PSS) and their coordinated action with proposed controllers are tested. The simulation result shows that the proposed damping controllers provide satisfactory performance in terms of improvements of dynamic stability of the system.