SIP-Based User-Oriented Seamless Handoff Architecture and Control Schemes

2006 ◽  
Author(s):  
Hsu-Yang Kung ◽  
Chi-Yu Hsu
Keyword(s):  
Seamless Handoff ◽  
Control Schemes ◽  
And Control

Biohybrid robots are synthetic biology systems

2018 ◽  
Author(s):  
Joseph Ayers
Keyword(s):  
Nervous System ◽  
Synthetic Biology ◽  
Behavioral Control ◽  
Eukaryotic Cells ◽  
Chemical Senses ◽  
Biomimetic Robots ◽  
Control Schemes ◽  
Induced Pluripotent ◽  
And Control ◽  
And Robotics

This chapter describes how synthetic biology and organic electronics can integrate neurobiology and robotics to form a basis for biohybrid robots and synthetic neuroethology. Biomimetic robots capture the performance advantages of animal models by mimicking the behavioral control schemes evolved in nature, based on modularized devices that capture the biomechanics and control principles of the nervous system. However, current robots are blind to chemical senses, difficult to miniaturize, and require chemical batteries. These obstacles can be overcome by integration of living engineered cells. Synthetic biology seeks to build devices and systems from fungible gene parts (gene systems coding different proteins) integrated into a chassis (induced pluripotent eukaryotic cells, yeast, or bacteria) to produce devices with properties not found in nature. Biohybrid robots are examples of such systems (interacting sets of devices). A nascent literature describes genes that can mediate organ levels of organization. Such capabilities, applied to biohybrid systems, portend truly biological robots guided, controlled, and actuated solely by life processes.

scholarly journals Vertical Jumping for Legged Robot Based on Quadratic Programming

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3679
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Xuanyang Shi ◽  
Yizhou Lu ◽  
Chuzhao Liu
Keyword(s):  
Quadratic Programming ◽  
Stance Phase ◽  
Center Of Mass ◽  
Maximum Error ◽  
Legged Robot ◽  
Flight Phase ◽  
Programming Framework ◽  
Vertical Jumping ◽  
Control Schemes ◽  
And Control

The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

scholarly journals On the generation of validated manufacturing process optimization and control schemes

Procedia CIRP ◽  
2021 ◽  
Vol 96 ◽  
pp. 57-62
Author(s):  
Alexios Papacharalampopoulos ◽  
Harry Bikas ◽  
Christos Michail ◽  
Panagiotis Stavropoulos
Keyword(s):  
Process Optimization ◽  
Manufacturing Process ◽  
Control Schemes ◽  
Optimization And Control ◽  
And Control

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

scholarly journals Control-Influenced Layout Optimization of Arrays of Wave Energy Converters

2014 ◽  
Author(s):  
Philip Balitsky ◽  
Giorgio Bacelli ◽  
John V. Ringwood
Keyword(s):  
Wave Climate ◽  
Radiative Properties ◽  
Optimal Layout ◽  
Wave Direction ◽  
Sea State ◽  
Wave Energy Converters ◽  
Control Schemes ◽  
And Control ◽  
Tuning Scheme ◽  
Optimal Configurations

In this paper we compare the optimal configurations for an array of WECs given two control schemes, a real-time global control and a passive sea-state based tuning scheme. In a particular wave climate and array orientation with its axis normal to the prevailing wave direction, closely-spaced symmetrical arrays of 2, 3, 4, 5, and 6 cylinders of different radiative properties are simulated for varying inter-device separation distances. For each device and control type, we focus on the factors that influence the optimal layout, including number of devices, separating distance and angular spreading. The average annual power output is calculated for each optimal configuration.

Modelling and control of greenhouse system using neural networks

2016 ◽  
Vol 40 (3) ◽  
pp. 918-929 ◽  
Author(s):  
A Manonmani ◽  
T Thyagarajan ◽  
M Elango ◽  
S Sutha
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Moving Average ◽  
Growth Conditions ◽  
Operating Conditions ◽  
Adverse Weather ◽  
Control Schemes ◽  
Non Linear ◽  
Auto Regressive ◽  
And Control

A greenhouse system (GHS) is a closed structure that facilitates modified growth conditions to crops and provides protection from pests, diseases and adverse weather. However, a GHS exhibits non-linearity due to the interaction between the biological subsystem and the physical subsystem. Non-linear systems are difficult to control, particularly when their characteristics change with time. These systems are best handled with methods of computation intelligence, such as artificial neural networks (ANNs) and fuzzy systems. In the present work, the approximation capability of a neural network is used to model and control sufficient growth conditions of a GHS. An optimal neural network-based non-linear auto regressive with exogenous input (NARX) time series model is developed for a GHS. Based on the NARX model, two intelligent control schemes, namely a neural predictive controller (NPC) and non-linear auto regressive moving average (NARMA-L2) controller are proposed to achieve the desired growth conditions such as humidity and temperature for a better yield. Finally, closed-loop performances of the above two control schemes for servo and regulatory operations are analysed for various operating conditions using performance indices.

Bio-Inspired Snake Robots

2018 ◽  
pp. 246-275 ◽  
Author(s):  
Mohammadali Javaheri Koopaee ◽  
Cid Gilani ◽  
Callum Scott ◽  
XiaoQi Chen
Keyword(s):  
Future Research ◽  
Snake Robot ◽  
Cluttered Environments ◽  
Flat Surfaces ◽  
Robot Locomotion ◽  
Control Schemes ◽  
Unstructured Environment ◽  
And Control ◽  
World Environment ◽  
Snake Robots

This chapter concerns modelling and control of snake robots. Specifically, the authors' main goal is introducing some of the fundamental design, modelling, and control approaches introduced for efficient snake robot locomotion in cluttered environments. This is a critical topic because, unlike locomotion in flat surfaces, where pre-specified gait equations can be employed, for locomotion in unstructured environment more sophisticated control approaches should be used to achieve intelligent and efficient mobility. To reach this goal, shape-based modelling approaches and a number of available control schemes for operation in unknown environments are presented, which hopefully motivates more scholars to start working on snake robots. Some ideas about future research plans are also proposed, which can be helpful for fabricating a snake robot equipped with the necessary features for operation in a real-world environment.

scholarly journals Synchronization Control in Reaction-Diffusion Systems: Application to Lengyel-Epstein System

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-8 ◽  
Author(s):  
Adel Ouannas ◽  
Mouna Abdelli ◽  
Zaid Odibat ◽  
Xiong Wang ◽  
Viet-Thanh Pham ◽  
...  
Keyword(s):  
Reaction Diffusion ◽  
High Dimensional ◽  
Synchronization Control ◽  
Complete Synchronization ◽  
Reaction Diffusion Systems ◽  
Control Techniques ◽  
Diffusion Systems ◽  
Control Schemes ◽  
And Control ◽  
Coupled Reaction

Synchronization and control in high dimensional spatial-temporal systems have received increasing interest in recent years. In this paper, the problem of complete synchronization for reaction-diffusion systems is investigated. Linear and nonlinear synchronization control schemes have been proposed to exhibit synchronization between coupled reaction-diffusion systems. Synchronization behaviors of coupled Lengyel-Epstein systems are obtained to demonstrate the effectiveness and feasibility of the proposed control techniques.

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