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Powers, Matthew D. "Applying inter-layer conflict resolution to hybrid robot control architectures." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33979.
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In this document, we propose and examine the novel use of a learning mechanism between the reactive and deliberative layers of a hybrid robot control architecture. Balancing the need to achieve complex goals and meet real-time constraints, many modern mobile robot navigation control systems make use of a hybrid deliberative-reactive architecture. In this paradigm, a high-level deliberative layer plans routes or actions toward a known goal, based on accumulated world knowledge. A low-level reactive layer selects motor commands based on current sensor data and the deliberative layer's plan. The desired system-level effect of this architecture is that the robot is able to combine complex reasoning toward global objectives with quick reaction to local constraints.
Implicit in this type of architecture, is the assumption that both layers are using the same model of the robot's capabilities and constraints. It may happen, for example, due to differences in representation of the robot's kinematic constraints, that the deliberative layer creates a plan that the reactive layer cannot follow. This sort of conflict may cause a degradation in system-level performance, if not complete navigational deadlock. Traditionally, it has been the task of the robot designer to ensure that the layers operate in a compatible manner. However, this is a complex, empirical task.
Working to improve system-level performance and navigational robustness, we propose introducing a learning mechanism between the reactive layer and the deliberative layer, allowing the deliberative layer to learn a model of the reactive layer's execution of its plans. First, we focus on detecting this inter-layer conflict, and acting based on a corrected model. This is demonstrated on a physical robotic platform in an unstructured outdoor environment. Next, we focus on learning a model to predict instances of inter-layer conflict, and planning to act with respect to this model. This is demonstrated using supervised learning in a physics-based simulation environment. Results and algorithms are presented.
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Mohamed, Ahmed A. "Hybrid Power System Intelligent Operation and Protection Involving Distributed Architectures and Pulsed Loads." FIU Digital Commons, 2013. http://digitalcommons.fiu.edu/etd/866.
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Efficient and reliable techniques for power delivery and utilization are needed to account for the increased penetration of renewable energy sources in electric power systems. Such methods are also required for current and future demands of plug-in electric vehicles and high-power electronic loads. Distributed control and optimal power network architectures will lead to viable solutions to the energy management issue with high level of reliability and security. This dissertation is aimed at developing and verifying new techniques for distributed control by deploying DC microgrids, involving distributed renewable generation and energy storage, through the operating AC power system.
To achieve the findings of this dissertation, an energy system architecture was developed involving AC and DC networks, both with distributed generations and demands. The various components of the DC microgrid were designed and built including DC-DC converters, voltage source inverters (VSI) and AC-DC rectifiers featuring novel designs developed by the candidate. New control techniques were developed and implemented to maximize the operating range of the power conditioning units used for integrating renewable energy into the DC bus. The control and operation of the DC microgrids in the hybrid AC/DC system involve intelligent energy management. Real-time energy management algorithms were developed and experimentally verified. These algorithms are based on intelligent decision-making elements along with an optimization process. This was aimed at enhancing the overall performance of the power system and mitigating the effect of heavy non-linear loads with variable intensity and duration. The developed algorithms were also used for managing the charging/discharging process of plug-in electric vehicle emulators.
The protection of the proposed hybrid AC/DC power system was studied. Fault analysis and protection scheme and coordination, in addition to ideas on how to retrofit currently available protection concepts and devices for AC systems in a DC network, were presented. A study was also conducted on the effect of changing the distribution architecture and distributing the storage assets on the various zones of the network on the system’s dynamic security and stability. A practical shipboard power system was studied as an example of a hybrid AC/DC power system involving pulsed loads. Generally, the proposed hybrid AC/DC power system, besides most of the ideas, controls and algorithms presented in this dissertation, were experimentally verified at the Smart Grid Testbed, Energy Systems Research Laboratory. All the developments in this dissertation were experimentally verified at the Smart Grid Testbed.
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Ravey, Alexandre. "Conception et gestion de l'énergie des architectures pour véhicules hybrides électriques." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2012. http://tel.archives-ouvertes.fr/tel-00863541.
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Depuis une dizaine d'années, les constructeurs et les grands groupesdu secteur de l'automobile se sont mobilisés autour de la recherche et dudéveloppement de nouveaux prototypes de véhicules économes (moins consommateursd'énergie) et propres (moins de rejets de polluants) tels queles véhicules hybrides et tout électriques. C'est une nouvelle mutation. Ellefait profondément évoluer l'automobile, d'une architecture de propulsionthermique, devenue maîtrisée mais fortement polluante, vers une tractionélectrique ou hybride plus complexe et peu, voire pas du tout, maîtrisée ;le nombre de composants (sources d'énergie, actionneurs, contrôleurs, calculateurs,...) devient important, de nature multidisciplinaire et possédantbeaucoup de non linéarités. De plus, faute de maturité dans ce domaine, àce jour l'industrie de l'automobile ne possède pas encore les connaissancessuffisantes nécessaires à la modélisation, à la simulation et à la conceptionde ces nouveaux véhicules et plus particulièrement les dispositifs relatifs auxsources d'énergie et aux différents actionneurs de propulsion.Les travaux de cette thèse visent à donner des méthodes de conceptiond'une chaine de traction hybride et d'en gérer la gestion de l'énergie. Lathèse s'appuie sur l'exemple de la conception et la gestion de l'énergie d'unvéhicule hybride basé sur une pile à combustible et des batteries.Dans un premier temps, un méthode de dimensionnement des composantsde la chaine de traction est présentée : Elle consiste en l'étude statistique decycle de conduite générés pseudo aléatoirement représentatif de la conduiteen condition réelle de véhicule. Un générateur de cycle de conduite à été créeet est présenté, et la méthode de dimensionnement de la source primaire, iciune pile a combustible, ainsi que le source secondaire de puissance, ici desbatteries, est détaillée. Un exemple est pris pour illustrer cette méthode avecla conception d'un véhicule de type camion poubelle décrivant des cycles deconduites urbains à arrêts fréquents.Dans un second temps, la gestion de l'énergie de la chaine de traction hybridesérie est étudiée : une gestion de l'énergie "offline" est présentée, basé surl'optimisation par programmation dynamique. Cette optimisation permetd'avoir le découpage de la puissance par les deux sources de la chaine detraction de manière optimal pour un cycle précis. De part l'aspect déterministede la programmation dynamique, les résultats servent de référence quant aufuturs développements de gestion temps réel.Un contrôleur temps réel basé sur la logique floue est ainsi exposé et lesrésultats sont comparés par rapport à la gestion "offline". Le contrôleurest ensuite optimisé et rendu adaptatif par un algorithme génétique et unalgorithme de reconnaissance de type de profil routier.Enfin, une introduction à la gestion de l'énergie dans les véhicules hybrides de type : "plug in" est présentée : Elle repose sur le principe de la déterminationde la distance restante à parcourir par la reconnaissance de la destination àl'aide d'une matrice de probabilité de Markov.
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Vilca, Ventura José Miguel. "Safe and flexible hybrid control architecture for the navigation in formation of a group of vehicles." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22607/document.
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Plusieurs laboratoires de robotique à travers le monde travaillent sur le développement de stratégies innovantes pour la navigation autonome de véhicules élémentaires ou en convoi. Dans ce contexte, nos travaux de thèse s’inscrivent principalement dans le cadre de la navigation en formation d’un groupe de véhicules dans des environnements structurés. La complexité de ces systèmes multi-robots ne permet pas l’utilisation directe de techniques classiques de perception et/ou de contrôle/commande. Nos travaux ont consisté à décomposer le contrôle global, dédié à la réalisation de la tâche complexe, en un ensemble de comportements/contrôleurs élémentaires précis et fiables (e.g., évitement d’obstacles, suivi de trajectoire, attraction vers une cible, navigation en formation, etc.). Ces comportements lient les différentes informations fournies par les capteurs aux actions des véhicules. Pour garantir les critères de performances imposés à notre architecture de contrôle/commande (e.g., stabilité, robustesse et/ou borner les erreurs maximales), les potentialités des systèmes hybrides ont été considérées. Cette architecture de contrôle a été validée, dans un premier temps, sur des véhicules pris individuellement, en utilisant notamment une stratégie de navigation sûre et flexible utilisant des points de passage. Cette navigation permet au véhicule d’effectuer différentes manœuvres entre ces points de passage (pour éviter par exemple des obstacles dans l’environnement) et ce sans avoir à planifier/re-planifier des trajectoires globales dans l’environnement. Une loi de commande spécifique, permettant une attraction stable (au sens de Lyapunov) et précise vers des cibles statiques ou dynamiques a été par ailleurs développée. Cette loi de commande garantit la convergence du véhicule vers chaque point de passage tout en garantissant des trajectoires sûres. Par ailleurs, un algorithme nommé OMWS (pour Optimal Multi-criteria Waypoint Selection) a été proposé pour sélectionner les configurations optimales des points de passage dans l’environnement. Cet algorithme permet de garantir des mouvements sûrs et fiables du véhicules en tenant compte des contraintes et incertitudes liées à la navigation du véhicule. Par la suite, l’architecture de contrôle/commande proposée a été étendue aux systèmes multi-robots en utilisant la combinaison d’une approche leader-suiveur et comportementale. Un important aspect de la navigation multi-robots est la reconfiguration dynamique de la formation en fonction du contexte de la navigation (e.g., passer d’une configuration triangle vers ligne si la largeur de la voie de navigation ne suffisait pas). Ainsi, des stratégies de reconfiguration dynamique ont été proposées, permettant de garantir la sureté de la formation même au moment des transitions entre configurations. Il est à noter par ailleurs que des métriques spécifiques ont été proposées pour quantifier la fiabilité et la robustesse des stratégies multi-robots proposées. Plusieurs simulations et expérimentations avec des véhicules urbains (VIPALABs) nous ont permis de confirmer la viabilité et efficacité des architectures de contrôle/commande proposées pour la navigation en formation d’un groupe de VIPALABs<br>Beyond the interest of robotics laboratories for the development of dedicated strategies for single vehicle navigation, several laboratories around the world are more and more involved in the general challenging field of cooperative multi-robot navigation. In this context, this work deals with the navigation in formation of a group of Unmanned Ground Vehicles (UGVs) dedicated to structured environments. The complexity of this Multi-Robot System (MRS) does not permit the direct use of neither classical perception nor control techniques. To overcome this problem, this work proposes to break up the overall control dedicated to the achievement of the complex task into a group of accurate and reliable elementary behaviors/controllers (e.g., obstacles avoidance, trajectory tracking, target reaching, navigation in formation, formation reconfiguration, etc.). These behaviors are linked to different information given by the sensors to the actions of vehicles. To guarantee the performances criteria (e.g., stability, convergence, state errors) aimed by the control architecture, the potentialities of hybrid controllers (which controlling continuous systems in the presence of discrete events) are considered. This control architecture is validated for a single vehicle to perform safe and flexible autonomous navigation using an appropriate strategy of navigation through suitable set of waypoints. This flexible navigation allows different vehicle maneuvers between waypoints (e.g., target reaching or obstacle avoidance) without using any trajectory planning nor replanning. The designed control law based on Lyapunov synthesis guarantees the convergence to assigned waypoint while performing safe trajectories. Furthermore, an algorithm to select suitable waypoints’ positions, named Optimal Multi-criteria Waypoint Selection (OMWS), in structured environments while taking into account the safe and reliable vehicle movements, and vehicle constraints and uncertainties is proposed. Subsequently, the control architecture is extended to Multi-Robot Formation (MRF) using a combination of Leader-Follower and behavior-based approaches. An important cooperative MRS issues in this thesis is the dynamic reconfiguration of the formation according to the context of navigation (e.g., to pass from a triangle configuration towards a line if the width of the navigation way is not sufficient). The proposed Strategy for Formation Reconfiguration (SFR) guarantees the stability and the safety of the MRS at the time of the transitions between configuration (e.g., line towards square, triangle towards line, etc.). Therefore, a safe, reactive and dynamic MRF is obtained. Moreover, the degrees of multi-robot safety, stability and reliability of the system are quantified via suitable metrics. Simulations and experiments using urban vehicles (VIPALABs) of the Institut Pascal laboratory allow to perform exhaustive experiments of the proposed control architecture for the navigation in formation of a group of UGVs
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Valette, Etienne. "Vers une approche anthropocentrée des architectures de contrôle pour les systèmes intelligents de production." Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0140.
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Les dernières décennies ont vu croître en taille et en complexité les systèmes industriels ainsi que leurs flux (matériels et informationnels). L’hyper compétitivité des marchés, l’atomisation de la demande et l’augmentation des niveaux d’exigences clients ont fait émerger le besoin de coupler la robustesse et la performances des systèmes centralisés à la réactivité des systèmes décentralisés. Au cours des 20 dernières années, la pertinence de ces Architectures de Contrôle Hybrides (HCA) a pu être démontrée à travers de nombreux travaux. Toutefois, leurs déploiement reste aujourd’hui limité. Cette situation semble pouvoir être rapporté à un manque de généricité ou d’acceptabilité Humain/Système. La piste explorée dans ce travail de recherche consiste à proposer un cadre formel de référence pour la conception, modélisation, simulation, visualisation et évaluation des composants et des interactions/relations constitutifs des systèmes complexes. L’objectif de ce cadre est d’apporter la généricité manquant aujourd’hui pour le design des architectures de contrôle holoniques et hybrides pour les systèmes multi-agents complexes, mais également de favoriser l’inclusion de l’humain dans ces derniers. Pour ce faire, la nature des relations proposées s’appuie sur celles observables au sein des sociétés humaines, afin de favoriser la représentation des systèmes comme socio-techniques<br>Last decades have seen the growth in size and complexity of industrial systems and flows (both physical and informational). Hyper competitive markets, demand atomization and customer requirements level increase have brought about the need to combine the robustness and performance of centralized systems with the responsiveness of decentralized systems. For the 20 last years, the relevance of these Hybrid Control Architectures (HCA) has been demonstrated through numerous works. However, they are today hardly present in the industrial landscape. This situation could find some of its roots in a certain lack of genericity and/or Human-System acceptability. In this research work, the explored path consists in proposing a reference formal framework for the design, modelling, simulation, visualization and evaluation of complex systems' constitutive components and interactions/relations. The purpose of this framework is to bridge the genericity gap identified for Holonic and Hybrid Control Architectures Design regarding complex Multi-Agent Systems (MAS), but also to promote human inclusion into these. To this end and to promote the socio-technical representation of systems, the proposed relationships model is grounded on the nature of human societies' ones
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Rizzo, Audrey. "L'approche CRONE dans le domaine des architectures complexes des suspensions de véhicules automobiles : la suspension CRONE Hydractive." Thesis, Bordeaux 1, 2012. http://www.theses.fr/2012BOR14564/document.
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Cette thèse s'inscrit dans la continuité des travaux de l'équipe CRONE appliqués à la suspension. Cette thèse permet de proposer une suspension CRONE qui non seulement gère le compromis Isolation vibratoire/ tenue de caisse mais également isolation vibratoire/ tenue de roue. Pour cela un critère est développé sur la tenue de roue, applicable à tous types de suspensions permettant l’analyse et le dimensionnement de la suspension pour le contrôle de roue. De plus afin de lever le dilemme entre sollicitations route et sollicitation conducteur, une stratégie pour les suspensions bi -états est proposée et appliquée sur suspension hydractive. Enfin , un travail de formalisme de l’ influence la suspension sur la dynamique véhicule fut réalisé permettant d ’enrichir la stratégie de commutation déjà développée pour agir en virage et en freinage et ainsi optimiser l’utilisation de la suspension<br>This thesis follows some previous work of the CRONE team applied to carsuspensions. It allows to purpose one car suspension, called CRONE car suspension, whichimproves the compromise between low frequency road filtering and car holding and thecompromise between hight frequency road filtering and wheel holding. To hold the wheel acriterium on the wheel holding is developed. This criterium can be used to analyse and tunedall kind of car suspension around the wheel pulsation. Moreover, to fight against thecompromise between the driver input and the raod input, a control laws is developed andapplied to a bi-state car suspension called hydractive car suspension. Finally, the influence ofthe car suspension tuning on the vehicle dynamic and more precisely on the ESP, ABSsystems is studied and illustrated with some first experiments
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Becci, Graciela Monica. "Automation and control architecture for hybrid pipeline robots." Thesis, Durham University, 2010. http://etheses.dur.ac.uk/598/.
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The aim of this research project, towards the automation of the Hybrid Pipeline Robot (HPR), is the development of a control architecture and strategy, based on reconfiguration of the control strategy for speed-controlled pipeline operations and self-recovering action, while performing energy and time management. The HPR is a turbine powered pipeline device where the flow energy is converted to mechanical energy for traction of the crawler vehicle. Thus, the device is flow dependent, compromising the autonomy, and the range of tasks it can perform. The control strategy proposes pipeline operations supervised by a speed control, while optimizing the energy, solved as a multi-objective optimization problem. The states of robot cruising and self recovering, are controlled by solving a neuro-dynamic programming algorithm for energy and time optimization, The robust operation of the robot includes a self-recovering state either after completion of the mission, or as a result of failures leading to the loss of the robot inside the pipeline, and to guaranteeing the HPR autonomy and operations even under adverse pipeline conditions Two of the proposed models, system identification and tracking system, based on Artificial Neural Networks, have been simulated with trial data. Despite the satisfactory results, it is necessary to measure a full set of robot’s parameters for simulating the complete control strategy. To solve the problem, an instrumentation system, consisting on a set of probes and a signal conditioning board, was designed and developed, customized for the HPR’s mechanical and environmental constraints. As a result, the contribution of this research project to the Hybrid Pipeline Robot is to add the capabilities of energy management, for improving the vehicle autonomy, increasing the distances the device can travel inside the pipelines; the speed control for broadening the range of operations; and the self-recovery capability for improving the reliability of the device in pipeline operations, lowering the risk of potential loss of the robot inside the pipeline, causing the degradation of pipeline performance. All that means the pipeline robot can target new market sectors that before were prohibitive.
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Mouzakitis, Alexandros. "Hybrid control architecture for navigation of autonomous mobile robots." Thesis, University of South Wales, 2002. https://pure.southwales.ac.uk/en/studentthesis/hybrid-control-architecture-for-navigation-of-autonomous-mobile-robots(3b3f0e2d-42f9-4bdc-b55e-b5c4cbed937f).html.
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This thesis is concerned with the development, design and implementation of a novel hybrid multi-agent orientated control architecture for navigation of multiple autonomous mobile robots operating in an unknown and unstructured environment populated by static and/or dynamic obstacles. The proposed hybrid control architecture is modular and draws its design from competitive tasks architecture, production rules architecture, connectionist architecture, dynamic system architecture, multi-agent architecture and subsumption architecture. The reasoning of the control architecture is both deliberative and reactive. The proposed reactive behaviours are modelled using fuzzy logic, neural networks and hybrid behavioural encoding incorporating stateflow-fuzzy logic and stateflow-neural networks. The deliberative system is comprised of finite state machines. The processing is achieved in a centralised and/or decentralised manner using the proposed controller-agent concept from the field of multi-agent systems. The framework of the control architecture is suitable for adaptation in single and multiple robot navigation. The control architecture has been implemented in MATLAB/Simulink using the full non-linear model of the MIABOT V2 mobile robots. It is evaluated incrementally in order to verify its overall control performance and the performance of each subsystem. Results show that the control architecture's modularity, distribution, reactivity and behaviourbased structure provided the overall control system with robustness in all cases of navigation tasks utilising either single or multiple mobile robots. Furthermore the results obtained show the effectiveness of the control architecture in navigation tasks involving up to five mobile robots operating in unknown static and dynamic environments. The results demonstrate that the control strategy chosen for navigation of multiple mobile robots is efficient and also established the robustness of the control system architecture against the desired requirements, such as supervision, decision-making and co-ordination of internal control structures (subsystems). The autonomous mobile robots were exposed to a complex and highly dynamic environment and successfully achieved every control objective. Their trajectories were smooth despite the interaction between several behaviours and the presence of unexpected static and dynamic obstacles. The main contributions of this thesis are: development of a novel hybrid multi-agent based control architecture called CARDS; novel approach for identification of direction of moving obstacles (other robots) using finite state machines; novel approach for behavioural encoding using hybrid solutions such as stateflow-fuzzy and stateflow-neural for autonomous robot navigation; proposed a design methodology for developing integrated solutions for autonomous mobile robotic systems and classification of the main design methodology (properties) of control systems architectures for autonomous mobile robots. Less significance contributions are: literature survey on approaches/methods related to the development of intelligent control architectures for navigation of multiple autonomous mobile robots; modelling of MIABOT V2 mobile robots; comparison between PI, fuzzy and neural controllers and algorithmic methodology for discovery of fuzzy/neural local models from observation data; identification of the relationship of the most important requirements/properties of control architecture versus the main control architecture specifications using the Quality Function Deployment tool; modular approach for modelling and evaluation of three types of sensor and sensor sensitivity.
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Tang, Hon-ping. "A hybrid multi-agent system architecture for manufacturing cell control." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/HKUTO/record/B38628727.
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Tang, Hon-ping, and 鄧漢平. "A hybrid multi-agent system architecture for manufacturing cell control." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2005. http://hub.hku.hk/bib/B38628727.
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Reyngoud, Benjamin Peter. "Hybrid materials design to control creep in pipes." Thesis, University of Canterbury. Mechanical Engineering, 2015. http://hdl.handle.net/10092/10857.
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A hybrid material design has been developed to improve creep performance in pressurized metallic pipes subjected to high temperatures. Metallic pipes were reinforced with various arrangements of external wires which have substantially greater creep resistance than the pipe material. This research was conducted to explore the field of reinforcement of piping for creep reduction, exploit the creep strength of refractory metals, and investigate structure-property relationships in architectured materials. Two basic wire reinforcement architectures were tested, simple helical windings and braided sleeves. By adjusting the architecture of the reinforcement, apparent tangential (hoop) and longitudinal stresses on the pipe are altered, thereby allowing multiaxial creep strains to be controlled. The utilization of a reinforcement layer in a hybrid layup, where it is not bonded or embedded in a matrix is a relatively unexplored field. Hybridization allows the most desirable properties to be extracted from each component and have them work together in parallel. The use of braided refractory reinforcement is also a particularly novel concept, with refractory materials for reinforcement purposes traditionally being utilized in particle, whisker and discontinuous fibre form. Rather than testing in a uniaxial stress state, the present approach to creep testing pressurized pipes at high temperature remains largely underutilized, and is especially relevant to industry applications where creep takes place in the complex, multiaxial stress state of a pressurized pipe. In a low-temperature reinforcement architecture optimization study of a brass-stainless steel system, designed for ease of fabrication and to negate oxidation issues, pipes were pressurized and creep rupture tested at 400°C. Even in an unoptimized state, braided reinforcement was observed to out-perform a simple iv helical wrap by at least 22%, giving a 10-times life extension without rupture, and a reduction in creep rate in excess of 45-times for reinforcement oriented at a 50°. A simple analytical model from reinforced pressure vessel theory predicts a neutral angle (θN) of 54.7°, at which point the reinforcement is oriented to act proportionally to the applied pressure stresses. An empirical model of effective creep rate with varying reinforcement angle was derived in the present study, and used to find that a braid angle of approximately 54.7±1.5° is optimal to minimize the effective multiaxial creep rate of a hybrid pipe under internal pressure, reducing it to the point of being negligible. The braided reinforcement was observed to be constantly shifting towards the equilibrium point of θN, but only for initial angles below θN. This concept of braid reorientation is generally associated with rapid elastic deformation or static reinforcement of systems at room temperature, and the gradual shift towards θN facilitated by creep deformation has not been reported previously. A relationship for -θ (i.e. creep rate for a given reinforcement angle) was derived, including the reduction in as θ tends to θN. Findings of this optimization study were applied to a high temperature system which served as an acceleration of reformer furnace operating conditions: 253MA pipes were reinforced with tungsten wire and creep rupture tested at 1030-1040°C. Using braided reinforcement oriented at 52.6±1.4° a life extension in excess of 700x was observed, with no signs of bulk deformation after a 309x life extension. These high temperature results were considered in light of the intended industry application, with a balance of life extension, weight reduction and increased operating temperature preferred over outright life extension for the reformer furnace application.
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Rojas, Castro Dalia Marcela. "The RHIZOME architecture : a hybrid neurobehavioral control architecture for autonomous vision-based indoor robot navigation." Thesis, La Rochelle, 2017. http://www.theses.fr/2017LAROS001/document.
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Les travaux décrits dans cette thèse apportent une contribution au problème de la navigation autonome de robots mobiles dans un contexte de vision indoor. Il s’agit de chercher à concilier les avantages des différents paradigmes d’architecture de contrôle et des stratégies de navigation. Ainsi, nous proposons l’architecture RHIZOME (Robotic Hybrid Indoor-Zone Operational ModulE) : une architecture unique de contrôle robotique mettant en synergie ces différentes approches en s’appuyant sur un système neuronal. Les interactions du robot avec son environnement ainsi que les multiples connexions neuronales permettent à l’ensemble du système de s’adapter aux conditions de navigation. L’architecture RHIZOME proposée combine les avantages des approches comportementales (e.g. rapidité de réaction face à des problèmes imprévus dans un contexte d’environnement dynamique), et ceux des approches délibératives qui tirent profit d’une connaissance a priori de l’environnement. Cependant, cette connaissance est uniquement exploitée pour corroborer les informations perçues visuellement avec celles embarquées. Elle est représentée par une séquence de symboles artificiels de navigation guidant le robot vers sa destination finale. Cette séquence est présentée au robot soit sous la forme d’une liste de paramètres, soit sous la forme d’un plan. Dans ce dernier cas, le robot doit extraire lui-même la séquence de symboles à suivre grâce à une chaine de traitements d’images. Ainsi, afin de prendre la bonne décision lors de sa navigation, le robot traite l’ensemble de l’information perçue, la compare en temps réel avec l’information a priori apportée ou extraite, et réagit en conséquence. Lorsque certains symboles de navigation ne sont plus présents dans l’environnement de navigation, l’architecture RHIZOME construit de nouveaux lieux de référence à partir des panoramas extraits de ces lieux. Ainsi, le robot, lors de phases exploratoires, peut s’appuyer sur ces nouvelles informations pour atteindre sa destination finale, et surmonter des situations imprévues. Nous avons mis en place notre architecture sur le robot humanoïde NAO. Les résultats expérimentaux obtenus lors d’une navigation indoor, dans des scenarios à la fois déterministes et stochastiques, montrent la faisabilité et la robustesse de cette approche unifiée<br>The work described in this dissertation is a contribution to the problem of autonomous indoor vision-based mobile robot navigation, which is still a vast ongoing research topic. It addresses it by trying to conciliate all differences found among the state-of-the-art control architecture paradigms and navigation strategies. Hence, the author proposes the RHIZOME architecture (Robotic Hybrid Indoor-Zone Operational ModulE) : a unique robotic control architecture capable of creating a synergy of different approaches by merging them into a neural system. The interactions of the robot with its environment and the multiple neural connections allow the whole system to adapt to navigation conditions. The RHIZOME architecture preserves all the advantages of behavior-based architectures such as rapid responses to unforeseen problems in dynamic environments while combining it with the a priori knowledge of the world used indeliberative architectures. However, this knowledge is used to only corroborate the dynamic visual perception information and embedded knowledge, instead of directly controlling the actions of the robot as most hybrid architectures do. The information is represented by a sequence of artificial navigation signs leading to the final destination that are expected to be found in the navigation path. Such sequence is provided to the robot either by means of a program command or by enabling it to extract itself the sequence from a floor plan. This latter implies the execution of a floor plan analysis process. Consequently, in order to take the right decision during navigation, the robot processes both set of information, compares them in real time and reacts accordingly. When navigation signs are not present in the navigation environment as expected, the RHIZOME architecture builds new reference places from landmark constellations, which are extracted from these places and learns them. Thus, during navigation, the robot can use this new information to achieve its final destination by overcoming unforeseen situations.The overall architecture has been implemented on the NAO humanoid robot. Real-time experimental results during indoor navigation under both, deterministic and stochastic scenarios show the feasibility and robustness of the proposed unified approach
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Gan, Shiyu. "Development of a vehicle management tool for multi-architecture and multi-application." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCK043.
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Le travail présenté traite la question quelle architecture hybride est la plus adapté pour quel type de véhicule. Une approche multi-architecture/multi-application capable d’identifier l’architecture hybride plus efficace en énergie qui considère à la fois les components clés (batterie, moteur électrique, moteur à combustion interne) et la commande optimale, est présenté. La base de cette modélisation est la représentation énergétique macroscopique (REM), qui est combiné avec la programmation orienté objet (POO) afin d’améliorer la modularité et la réutilisation. Les résultats obtenus montrent que des architectures hybrides différents sont le plus adaptés pour différentes applications. De plus, la robustesse des résultats en utilisant des approches de contrôle en temps réel sont étudiés, montrant l’importance de la stratégie de commande. Les résultats obtenus contribuent à la simplification et l’harmonisation de la conception des solutions hybrides pour des applications multiples<br>The presented work deals with the question which hybrid architecture is most adapted for which type of vehicle. Therefore, a multi-architecture/multi-application approach capable to identify the most energy efficient hybrid architecture considering both the dimensions of key components (battery, electric motor, internal combustion engine) and the optimal control is presented. Basis of the model is the energetic macroscopic representation (EMR), which has been combined with object oriented programming (OOP) in order to enhance its modularity and reuse capabilities. The obtained results show, that different hybrid architectures are most adapted for different applications. Moreover, the robustness of the results using real time control algorithms are studied, showing that control strategy matters. The obtained results contribute to simplify and harmonize the design of hybrid solutions for multiple applications
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Hennig, Matthias, and Klaus Janschek. "Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und Fertigungstechnik." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-83673.
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Der vorliegende Beitrag stellt einen Entwurf für eine flexible und robuste Steuerungsarchitektur für Roboter- und Fertigungssysteme vor. Dabei wurde versucht ein offenes Konzept zu realisieren, welches einen vereinfachten Engineeringprozess ermöglicht. Hierzu wird innerhalb der Steuerung eine Trennung zwischen einem funktionellen verhaltensbasierten und einem ablauforientierten Modell vorgeschlagen. Dieser Ansatz wird durch die Verwendung von Aktionsprimitiven innerhalb einer hybriden Robotersteuerung ermöglicht. Diese garantieren durch ihre ausgeprägte Modularität eine hohe Flexibilität und Erweiterbarkeit des entstandenen Systems. Im Beitrag wird sowohl der entstandene Entwurf diskutiert als auch eine prototypische objektorientierte Implementierung vorgestellt sowie erste Ergebnisse präsentiert<br>This paper presents a framework for a flexible and robust control architecture for robotic systems. The design incorporates an application independent system concept which allows a simplified engineering process. For this purpose a distinction between a functional behavioural and a sequential control system model is proposed. This approach is based on the utilisation of action primitives within a hybrid control architecture. The use of these primitives affords a high level of modularity through increasing flexibility and expandability of the resulting system. In this paper the proposed framework will be discussed as well as a prototypical object-oriented implementation and first results
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Jardine, Jared L. "The Hybrid Game Architecture: Distributing Bandwidth for MMOGs While Maintaining Central Control." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2654.pdf.
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Begna, Sultan Hussein. "Agronomic and physiological aspects of competition for light between corn hybrids differing in canopy architecture and weeds." Thesis, McGill University, 1999. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=35572.
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The problems associated with short growing seasons has led to the development of leafy-reduced stature (LRS) corn hybrids. These hybrids have more leaf area above the ear, more rapid leaf area development, shorter stature, earlier maturity, and better responses to high plant populations and narrow spacings than conventional hybrids. Plants grown in a reduced light environment are limited in carbon assimilation and this, in turn, results in reductions in growth and development. A way to supplement the availability of photosynthate is injection of sucrose into plant stems. The objective of this thesis was to determine the ability of LRS corn plants to compete with weeds, and the reactions of weed species to the shade, including the relationships between weed growth (increase in biomass) and development (shape) under shaded conditions. Three years of field experiments (LRS and more conventional corn hybrids with both transplanted and naturally growing weeds) and two years of greenhouse work [weeds alone, C3 (lamb's quarters and velvetleaf) and C4 (redroot pigweed) in full sun or deep (75%) shade injected with 15% sucrose or not] were conducted. Yield reductions due to weed pressure were lower for LRS than other hybrids. Biomass production by both transplanted and naturally occurring weeds was up to 85% less under corn canopies than when grown without competition from corn. The biomass of C4 weeds was more reduced by competition with corn plants than that of C3 weeds. In spite of quick and early leaf development, leaves and other plant parts of LRS were not damaged excessively by mechanical (rotary hoeing) weed control. Both C3 and C4 weed plants produced more dry matter when injected with sucrose. Dry weights of sucrose injected shaded plants were not different from full sun uninjected plants. However, sucrose injection did not alter shading effects on development (distribution of biomass). Dry matter production and photosynthetic rates of C4 weeds were more reduced
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Boyd, Steven J. "Hybrid Electric Vehicle Control Strategy Based on Power Loss Calculations." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/34970.
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Defining an operation strategy for a Split Parallel Architecture (SPA) Hybrid Electric Vehicle (HEV) is accomplished through calculating powertrain component losses. The results of these calculations define how the vehicle can decrease fuel consumption while maintaining low vehicle emissions. For a HEV, simply operating the vehicle's engine in its regions of high efficiency does not guarantee the most efficient vehicle operation. The results presented are meant only to define a literal strategy; that is, an understanding as to why the vehicle should operate in a certain way under the given conditions. The literature review gives a background of hybrid vehicle control publications, and without the SPA HEV addressed or a hybrid analysis based on loss calculations between engine only and hybrid modes, there is a need for this paper. Once the REVLSE architecture and components are understood, the hybrid modes are explained. Then the losses for each hybrid mode are calculated, and both the conversion and assist efficiencies are detailed. The conversion efficiency represents the amount of additional fuel required to store a certain amount of energy in the battery, and this marginal efficiency can be higher than peak engine efficiency itself. This allows electric only propulsion to be evaluated against the engine only mode, and at low torques the electric motor is more efficient despite the roundtrip losses of the hybrid system.<br>Master of Science
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Bao, Ran. "The architecture of pneumatic regenerative systems for the diesel engine." Thesis, Loughborough University, 2015. https://dspace.lboro.ac.uk/2134/21267.
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For vehicles whose duty cycle is dominated by start-stop operation, fuel consumption may be significantly improved by better management of the start-stop process. Pneumatic hybrid technology represents one technology pathway to realise this goal. Vehicle kinetic energy is converted to pneumatic energy by compressing air into air tank(s) during the braking. The recovered air is reused to supply an air starter, or supply energy to the air path in order to reduce turbo-lag. This research aims to explore the concept and control of a novel pneumatic hybrid powertrain for a city bus application to identify the potential for improvements in fuel economy and drivability. In order to support the investigation of energy management, system architecture and control methodologies, two kinds of simulation models are created. Backward-facing simulation models have been built using Simulink. Forward-facing models have been developed in the GT-POWER and Simulink co-simulation. After comparison, the fully controllable hybrid braking system is chosen to realize the regenerative braking function. A number of architectures for managing a rapid energy transfer into the powertrain to reduce turbo-lag have been investigated. A city bus energy control strategy has been proposed to realize the Stop-Start Function, Boost Function, and Regenerative Braking Function as well as the normal operations. An optimisation study is conducted to identify the relationships between operating parameters and respectively fuel consumption, performance and energy usage. In conclusion, pneumatic hybrid technology can improve the city bus fuel economy by at least 6% in a typical bus driving cycle, and reduce the engine brake torque response and vehicle acceleration. Based on the findings, it can be learned that the pneumatic hybrid technology offers a clear and low-cost alternative to the electric hybrid technology in improving fuel economy and vehicle drivability.
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Benzerrouk, Ahmed. "Architecture de contrôle hybride pour systèmes multi-robots mobiles." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00669559.
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La complexité inhérente à la coordination des mouvements d'un groupe de robots mobiles est traitée en investiguant plus avant les potentialités des architectures de contrôle comportementales dont le but est de briser la complexité des tâches à exécuter. En effet, les robots mobiles peuvent évoluer dans des environnements très complexes et nécessite de surcroît une coopération précise et sécurisée des véhicules pouvant rapidement devenir inextricable. Ainsi, pour maîtriser cette complexité, le contrôleur dédié à la réalisation de la tâche est décomposé en un ensemble de comportements/contrôleurs élémentaires (évitement d'obstacles et de collision entre les robots, attraction vers une cible, etc.) qui lient les informations capteurs (provenant de caméras, des capteurs locaux du robot, etc.) aux actionneurs des différentes entités robotiques. La tâche considérée est la navigation en formation en présence d'obstacles (statiques et dynamiques). La spécificité de l'approche théorique consiste à allier les avantages des architectures de contrôle comportementales à la méthode de la structure virtuelle où le groupe de robots mobiles suit un corps virtuel avec une dynamique (vitesse, direction) donnée. Ainsi, l'activation d'un comportement élémentaire en faveur d'un autre se fait en respectant les contraintes structurelles des robots (e.g. vitesses et accélérations maximales, etc.) en vue d'assurer le maximum de précision et de sécurité des mouvements coordonnés entre les différentes entités mobiles. La coopération consiste à se partager les places dans la structure virtuelle de manière distribuée et de façon à atteindre plus rapidement la formation désirée. Pour garantir les critères de performances visés par l'architecture de contrôle, les systèmes hybrides qui permettent de commander des systèmes continus en présence d'évènements discrets sont exploités. En effet, ces contrôleurs (partie discrète) permettent de coordonner l'activité des différents comportements (partie continue) disponibles au niveau de l'architecture, tout en offrant une analyse automaticienne rigoureuse de la stabilité de celle-ci au sens de Lyapunov. Chaque contribution est illustrée par des résultats de simulation. Le dernier chapitre est dédié à l'implémentation de l'architecture de contrôle proposée sur un groupe de robots mobiles Khepera III.
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Chapuis, Cédric. "Architecture et contrôle du patinage d'un véhicule mono et multi-source de puissance." Thesis, Lyon, INSA, 2012. http://www.theses.fr/2012ISAL0104/document.
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Les progrès techniques faits ces dernières années dans le domaine des batteries ainsi que le durcissement des normes écologiques entraînent un regain d'intérêt pour les véhicules hybrides et électriques. La possibilité d'utiliser plusieurs sources de puissance à l'intérieur d'un même véhicule conduit à remettre en question les architectures traditionnelles des véhicules et à étudier des architectures multi-sources. Après un état de l'art des architectures et des systèmes de transmission de couple, le véhicule prototype du projet VELROUE, utilisé par la suite comme moyen d'essai, est présenté. Puis, le contrôle du patinage des roues arrière du véhicule VELROUE équipé d'un moteur thermique sur le train avant et de deux moteurs électriques reliés aux roues arrière est étudié. Ensuite, différents modèles véhicules sont détaillés en vue d'analyser les transferts d'énergie au sein du système à l'aide de l'outil Bond Graph, de synthétiser des lois de commande de contrôle du patinage et de simuler le comportement du véhicule pour valider les fonctions d'anti-patinage (ASR). Une première commande de type PID qui servira de référence est dans un premier temps introduite. La contribution principale de ce travail de thèse concerne la synthèse et la mise en oeuvre de commandes non linéaires soit par retour linéarisant, soit basée sur la théorie de la platitude. Les modèles de synthèses de commande sont issus d'hypothèses classiques retenues lors des situations de vie considérées : dynamique longitudinale, pompage et tangage sur un double modèle bicyclette. Une stratégie de commande est également développée afin d'assurer la sécurité du conducteur, de réduire les besoins matériels et d'améliorer l'agrément conducteur. Enfin, les commandes non linéaires développées sont testées en simulation puis validées expérimentalement sur le véhicule VELROUE. Une comparaison de ces commandes est effectuée selon des critères énergétiques, de performances, de complexité et de coût. Ces techniques développées pour l'ASR sont étendues pour des phases de freinage récupératif (MSR), qui constitue également une originalité de ces travaux<br>The technical progress made during last years in the battery field and the environmental standards hardening lead to an increased interest in hybrid and electric vehicles. The possibility to use several power sources inside a vehicle leads to question the traditional vehicle architectures and to study multi-power sources architectures. After a state of the art on architectures and torque transmission systems, the VELROUE project's prototype is presented. This prototype is later used as a validation platform. Then, the rear wheels slipping control of the VELROUE vehicle which is equipped with an internal combustion engine on the front axle and with two electric motors connected to the rear wheels is studied. Next, different vehicle models are described to analyze energy transfers inside the system using Bond Graph, to synthesize anti-slipping control laws and to simulate the vehicle behavior in order to validate the anti-slipping functions (ASR). A first PID-like controller is initially introduced to serve as reference. The main contribution of this thesis deals with the synthesis and implementation of nonlinear controls either using linearizing feedback, or based on the flatness theory. The synthesis controls models come from classical hypothesis: longitudinal and vertical dynamics and pitch on a double bicycle model. A control strategy is also developed to assure driver's security, to reduce material needs and to enhance the driver approval. Finally, the nonlinear controls developed here are simulated and then experimentally validated on the VELROUE vehicle. A comparison of these commands is performed according to energy, performance, complexity and cost criteria. These control laws developed for ASR are extended to regenerative braking phases (MSR), which is also an originality of this work
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Ben, Saad Seifallah. "Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0052/document.
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Cette thèse présente l’étude d’une stratégie de coordination hybride d’un groupe de robots sous-marins pour la recherche d’objets de petites dimensions ou de singularités sur les fonds marins. Chaque robot est équipé d’un module de perception utilisant la librairie de traitement d’image OpenCV qui lui permet d’apercevoir les autres éléments de la meute ainsi que l’environnement d’évolution de la mission.Cette stratégie hybride est constituée de deux phases : une phase de mise en formation géométrique et une phase d’acquisition des données vidéo. La première phase s’appuie sur des algorithmes de type "essaims" alors que la seconde se fonde sur une méthode hiérarchique de coordination. En cas de perte de la formation, le groupe de robots quitte le mode hiérarchique et reprend le mode essaim pour se reformer. Ces changements de modes sont contrôlés par une machine à états finis. Avant d’entamer une expérimentation en grandeur nature, la méthodologie et les algorithmes de coordination doivent être testés et validés par simulation.Dans ce contexte, un simulateur basé sur le logiciel Blender a été conçu de façon à ce qu’il tienne compte des différentes contraintes liées à l’évolution des robots dans l’environnement sous-marin. Les résultats de simulation d’une meute de 3 AUVs montrent la capacité de notre stratégie à optimiser l’exécution d’une mission d’acquisition vidéo par un groupe de robots autonomes contrôlés par la vision et coordonnés par une stratégie hybride<br>In the underwater environment, the needs of data acquisition have significantly increased over the last decades. As electromagnetic waves show poor propagation in sea water, acoustical sensing is generally preferred. However, the emergence of small and low cost autonomous underwater vehicles (AUV) allow for rethinking the underwater use of optical sensors as their small coverage can be significantly improved by using a fleet of coordinated underwater robots.This paper presents a strategy to coordinate the group of robots in order to systematically survey the seabed to detect small objects or singularities. The proposed hybrid coordination strategy is defined by two main modes. The first mode relies on a swarm algorithm to organize the team in geometrical formation. In the second mode, the robot formation is maintained using a hierarchical coordination. A finite state machine controls the high level hybrid strategy by defining the appropriate coordination mode according to the evolution of the mission. Before sea validation, the behavior and the performance of the hybrid coordination strategy are first assessed in simulation. The control of individual robots relies on visual servoing, implemented with the OpenCV library, and the simulation tool is based on Blender software.The dynamics of the robots has been implemented in a realistic way in Blender by using the Bullet solver and the hydrodynamic coeficcients estimated on the actual robot. First results of the hybrid coordination strategy applied on a fleet of 3 AUV’s, show execution of a video acquisition task by a group of autonomous robots controlled by vision and coordinated by a hybrid strategy
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Bovee, Katherine Marie. "Design of the Architecture and Supervisory Control Strategy for a Parallel-Series Plug-in Hybrid Electric Vehicle." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1343416437.
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Schaep, Thomas. "Conception et commande optimale d’une architecture hybride hydraulique de reach stacker." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI121/document.
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L'accroissement permanent du commerce intercontinental et la mondialisation s'accompagnent d'une augmentation de la productivité des ports et des terminaux à conteneurs. Le besoin de compétitivité des exploitants auquel s'additionnent les législations environnementales, poussent les fabricants d'engins de manutention de conteneurs à développer de nouvelles solutions afin de produire des machines plus respectueuses de l'environnement à un coût de possession acceptable. Pour ce faire, l'hybridation des sources d'énergie et l'utilisation de chaînes d'actionnement plus efficaces d'un point de vue énergétique sont les solutions envisagées. En conséquence, les cahiers des charges sont de plus en plus complexes, et les spécifications qu'ils stipulent sont de nature hétérogène. Ce travail de thèse s'intéresse à deux aspects majeurs en lien avec ces problématiques. Il s'articule donc d'une part autour d'un développement méthodologique concernant le dimensionnement de systèmes suractionnés par couplage de problèmes d'inversion et d'optimisation, et d'autre part, autour d'un développement applicatif visant la conception, la commande et la validation expérimentale d'une chaîne d'actionnement hybride d'un engin portuaire. Premièrement, nous proposons une procédure de construction d'un modèle s'appuyant sur le langage bond graph permettant de prendre en compte des spécifications exprimées en termes de critère à minimiser et de fonctions du temps désirées en sortie du système. Ce problème prend alors la forme d'un problème couplé d'inversion-optimisation. Du modèle bond graph obtenu, il est possible de déterminer directement les conditions nécessaires d'optimalité, et donc le système d'équations algébrodifférentielles associé. Nous nous intéressons ensuite à l'extension de la procédure de représentation d'un problème d'optimisation seul, dans le cas où des non linéarités apparaissent au niveau des phénomènes de dissipation d'énergie. Dans un second temps, nous proposons une nouvelle architecture pour un engin de manutention de conteneurs afin d'améliorer son efficacité énergétique. Cette solution de récupération d'énergie à la descente du conteneur est basée sur un transformateur hydraulique. L'énergie est stockée dans un accumulateur hydropneumatique, puis, elle est restituée grâce à un moteur hydraulique complémentaire couplé au moteur diesel. Un redimensionnement de la chaîne d'actionnement hydraulique ainsi qu'une stratégie de commande plus adaptée sont également proposées. Ces modifications offrent la possibilité de réaliser une récupération d'énergie à la décélération du véhicule sans ajout de composant majeur. L'architecture globale obtenue associée à une stratégie de commande adéquate génèrent une réduction de la consommation de carburant de 16% à 18%. Finalement, une validation expérimentale du système de récupération d'énergie potentielle est effectuée et les performances dynamiques et énergétiques sont analysées avec la commande proposée<br>The continuously increasing of the intercontinental trade as well as the globalization lead to the need of higher productivity for ports and container terminals. In order to fulfill the need of competitiveness of terminal operators and in the same time respect the environmental legislation, container handling machine manufacturers are developping new solutions. Hybridization of energy sources is an interesting way but using more energy efficient actuation lines is also suitable. As a consequence, specifications are more and more complex, and can in particular have heterogeneous natures. In this thesis, the focus is made on two main topics linked to those problematics. On the one hand, a methodology concerning the sizing of over-actuated systems thanks to a coupling between inverse problems and dynamic optimization is exposed. On the other hand, the design, control strategies and an experimental validation of an hybrid actuation line applied to an container handling machine is presented. First of all, we propose a new procedure based on the bond graph language allowing the designer to take into account simultaneously two types of specifications, namely a cost function to minimize and functions of time specifying desired outputs of the system. This results in a coupled problem of state-space inversion and optimization. The procedure lead to a bond graph from which it is possible to directly derive the analytical system of the problem. The fundamental theory for proving the effectiveness of this procedure is carried out using the port hamiltonian systems. The bond graph representation of an optimal control problem is then extended to systems involving non linearities on dissipative R elements. In a second part, a new actuation architecture is proposed for a container handling machine, in order to improve the fuel efficiency. On the one hand, a transformer based system to recover the potential energy released during container lowering is exposed. This energy is stored into a hydropneumatic accumulator. Then, it is returned thanks to an extra hydraulic motor coupled to the engine shaft. On the other hand, a resizing of the main hydraulic pumps as well as a more suitable control law is proposed in order to make the engine work at better efficiency points. All those evolutions previously mentionned give now the possibility to perform kinetic energy recuperation during vehicle deceleration without adding any major component. The new architecture combined with more effetive control laws lead to a fuel consumption reduction of 16% up to 18%. Finally, the potential energy recovery system is validated on a test rig. The control laws are implemented and the dynamic and energetic performances are then analysed
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LAURENZI, ARTURO. "Motion Control of the Hybrid Wheeled-Legged Quadruped Robot Centauro." Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/996233.
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Emerging applications will demand robots to deal with a complex environment, which lacks the structure and predictability of the industrial workspace. Complex scenarios will require robot complexity to increase as well, as compared to classical topologies such as fixed-base manipulators, wheeled mobile platforms, tracked vehicles, and their combinations. Legged robots, such as humanoids and quadrupeds, promise to provide platforms which are flexible enough to handle real world scenarios; however, the improved flexibility comes at the cost of way higher control complexity. As a trade-off, hybrid wheeled-legged robots have been proposed, resulting in the mitigation of control complexity whenever the ground surface is suitable for driving. Following this idea, a new hybrid robot called Centauro has been developed inside the Humanoid and Human Centered Mechatronics lab at Istituto Italiano di Tecnologia (IIT). Centauro is a wheeled-legged quadruped with a humanoid bi-manual upper-body. Differently from other platform of similar concept, Centauro employs customized actuation units, which provide high torque outputs, moderately fast motions, and the possibility to control the exerted torque. Moreover, with more than forty motors moving its limbs, Centauro is a very redundant platform, with the potential to execute many different tasks at the same time. This thesis deals with the design and development of a software architecture, and a control system, tailored to such a robot; both wheeled and legged locomotion strategies have been studied, as well as prioritized, whole-body and interaction controllers exploiting the robot torque control capabilities, and capable to handle the system redundancy. A novel software architecture, made of (i) a real-time robotic middleware, and (ii) a framework for online, prioritized Cartesian controller, forms the basis of the entire work.
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Jiménez, Jose-Fernando. "Architecture dynamique et hybride pour la reconfiguration optimale des systèmes de contrôle : application au contrôle de fabrication." Thesis, Valenciennes, 2017. http://www.theses.fr/2017VALE0031/document.
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Les systèmes de contrôle des événements discrets ont la possibilité de résoudre les défis importants de la société moderne. En particulier, cela représente une solution fondamentale pour gérer et contrôler les nouvelles avancées technologiques en conformité avec la requis du développement durable. Le paramétrage, la configuration et la prise de décision de ces systèmes de contrôle sont des aspects critiques qui influent sur les performances et la productivité. Les approches d'architecture de contrôle dynamique, telles que les systèmes de contrôle reconfigurables, ont été proposées pour la modélisation de ces systèmes. Cependant, ils n'ont pas réussi à optimiser le processus de reconfiguration car celles-ci se concentrent sur la continuité de l'exécution plutôt que sur l'optimisation de la reconfiguration. Cette dissertation propose une architecture de référence pour un système de contrôle reconfigurable, nommé Pollux, conçu pour gérer et ajuster de manière optimale et en temps réel l'architecture d'un système de contrôle, soit pour guider l'exécution opérationnelle ou répondre à une perturbation du système. En considérant une proposition d'une configuration optimale des architectures de contrôle basées sur la gouvernance partagée, cette approche proposée un système de contrôle reconfigurable compose d’une entité décisionnelle flexible et personnalisable, d’une représentation qui caractérise la configuration unique et la solution de contrôle de l'architecture de contrôle et d’un mécanisme de reconfiguration à trois modules qui intègre les principes basés sur l'optimalité dans la reconfiguration. Notre approche est appliquée dans le domaine de la fabrication et est validée dans une simulation et une cellule réelle de fabrication située à l'Université de Valenciennes, en France. La validation effectuée dans trois scénarios expérimentaux a permis de vérifier les avantages de notre approche et de nous encourager à continuer la recherche<br>Discrete-event control systems have the opportunity to resolve significant challenges of modern society. In particular, these represent a fundamental solution to manage and control the new technological advances in compliance to the increased consciousness of sustainable development. The parameterization, configuration and decision-making of these control systems are critical aspects that impact the performance and productivity required. Dynamic control architecture approaches, such as reconfigurable control systems, have been proposed for modelling such systems. However, such approaches have failed to address the recovery of the reconfiguration process as these focus on the continuity of execution rather than on the optimisation of the reconfiguration. This dissertation proposes a reference architecture for a reconfigurable control system, named Pollux, designed to manage and adjust optimally and in real time the architecture of a control system, either to guide operational execution or to respond to a system perturbation. Considering a proposed framework of an optimal configuration of control architectures based on shared governance, this proposed approach aims to orchestrate a flexible and customizable decisional entity, a representation that characterize the unique configuration and control solution of the control architecture, and a three-module reconfiguration mechanism that integrates the optimality-based principles into the reconfiguration process, to ensure a recovery of global performance and/or minimise the degradation caused by perturbations. Our approach is applied in the manufacturing domain and is validated in a simulation and a real flexible manufacturing system cell located at the University of Valenciennes, France. The validation conducted in three experimental scenarios verified the benefits of our approach and encourage us to continue research in this direction
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Bhattacharyya, Siddhartha. "HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES." UKnowledge, 2005. http://uknowledge.uky.edu/gradschool_diss/344.
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The objective of modeling, verification, and synthesis of hierarchical hybrid mission control for underwater vehicle is to (i) propose a hierarchical architecture for mission control for an autonomous system, (ii) develop extended hybrid state machine models for the mission control, (iii) use these models to verify for logical correctness, (iv) check the feasibility of a simulation software to model the mission executed by an autonomous underwater vehicle (AUV) (v) perform synthesis of high-level mission coordinators for coordinating lower-level mission controllers in accordance with the given mission, and (vi) suggest further design changes for improvement. The dissertation describes a hierarchical architecture in which mission level controllers based on hybrid systems theory have been, and are being developed using a hybrid systems design tool that allows graphical design, iterative redesign, and code generation for rapid deployment onto the target platform. The goal is to support current and future autonomous underwater vehicle (AUV) programs to meet evolving requirements and capabilities. While the tool facilitates rapid redesign and deployment, it is crucial to include safety and performance verification into each step of the (re)design process. To this end, the modeling of the hierarchical hybrid mission controller is formalized to facilitate the use of available tools and newly developed methods for formal verification of safety and performance specifications. A hierarchical hybrid architecture for mission control of autonomous systems with application to AUVs is proposed and a theoretical framework for the models that make up the architecture is outlined. An underwater vehicle like any other autonomous system is a hybrid system, as the dynamics of the vehicle as well as its vehicle level control is continuous whereas the mission level control is discrete, making the overall system a hybrid system i.e., one possessing both continuous and discrete states. The hybrid state machine models of the mission controller modules is derived from their implementation done using TEJA, a software for representing hybrid systems with support for auto code generation. The verification of their logical correctness properties has been done using UPPAAL, a software tool for verification of timed automata a special kind of hybrid system. A Teja to Uppaal converter, called dem2xml, has been created at Applied Reserarch Lab that converts a hybrid (timed) autonomous system description in Teja to an Uppaal system description. Verification work involved developing abstract models for the lower level vehicle controllers with which the mission controller modules interact and follow a hierarchical approach: Assuming the correctness of level-zero or vehicle controllers, we establish the correctness of level-one mission controller modules, and then the correctness of level-two modules, etc. The goal of verification is to show that any valid meaning for a mission formalized in our research verifies the safe and correct execution of actions. Simulation of the sequence of actions executed for each of the operations give a better view of the combined working of the mission coordinators and the low level controllers. So we next looked into the feasibility of simulating the operations executed during a mission. A Perl program has been developed to convert the UPPAAL files in .xml format to OpenGL graphic files. The graphic files simulate the steps involved in the execution of a sequence of operations executed by an AUV. The highest level coordinators send mission orders to be executed by the lower level controllers. So a more generalized design of the highest level controllers would help to incorporate the execution of a variety of missions for a vast field of applications. Initially, we consider manually synthesized mission coordinator modules. Later we design automated synthesis of coordinators. This method synthesizes mission coordinators which coordinate the lower level controllers for the execution of the missions ordered and can be used for any autonomous system.
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King, Jonathan Charles. "Model-Based Design of a Plug-In Hybrid Electric Vehicle Control Strategy." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/34962.
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For years the trend in the automotive industry has been toward more complex electronic control systems. The number of electronic control units (ECUs) in vehicles is ever increasing as is the complexity of communication networks among the ECUs. Increasing fuel economy standards and the increasing cost of fuel is driving hybridization and electrification of the automobile. Achieving superior fuel economy with a hybrid powertrain requires an effective and optimized control system. On the other hand, mathematical modeling and simulation tools have become extremely advanced and have turned simulation into a powerful design tool. The combination of increasing control system complexity and simulation technology has led to an industry wide trend toward model based control design. Rather than using models to analyze and validate real world testing data, simulation is now the primary tool used in the design process long before real world testing is possible. Modeling is used in every step from architecture selection to control system validation before on-road testing begins.
The Hybrid Electric Vehicle Team (HEVT) of Virginia Tech is participating in the 2011-2014 EcoCAR 2 competition in which the team is tasked with re-engineering the powertrain of a GM donated vehicle. The primary goals of the competition are to reduce well to wheels (WTW) petroleum energy use (PEU) and reduce WTW greenhouse gas (GHG) and criteria emissions while maintaining performance, safety, and consumer acceptability. This paper will present systematic methodology for using model based design techniques for architecture selection, control system design, control strategy optimization, and controller validation to meet the goals of the competition. Simple energy management and efficiency analysis will form the primary basis of architecture selection. Using a novel method, a series-parallel powertrain architecture is selected. The control system architecture and requirements is defined using a systematic approach based around the interactions between control units. Vehicle communication networks are designed to facilitate efficient data flow. Software-in-the-loop (SIL) simulation with Mathworks Simulink is used to refine a control strategy to maximize fuel economy. Finally hardware-in-the-loop (HIL) testing on a dSPACE HIL simulator is demonstrated for performance improvements, as well as for safety critical controller validation. The end product of this design study is a control system that has reached a high level of parameter optimization and validation ready for on-road testing in a vehicle.<br>Master of Science
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Satra, Mahaveer Kantilal. "Hybrid Electric Vehicle Model Development and Design of Controls Testing Framework." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1595432296730485.
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Röben, Tobias [Verfasser], Eike [Akademischer Betreuer] Stumpf, and Dieter [Akademischer Betreuer] Moormann. "Hybrid actuation in primary flight control systems : a force-fight inhibiting system architecture / Tobias Röben ; Eike Stumpf, Dieter Moormann." Aachen : Universitätsbibliothek der RWTH Aachen, 2018. http://d-nb.info/1191188906/34.
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Said, Mohamed Mariama. "Architecture et étude d’un système électrique hybride destine à l’autonomie d’une zone rurale." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0044.
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Le travail présenté est axé sur l’étude de l’architecture d’un système électrique hybride (SEH) constitué de différentes sources. Dans un premier temps, nous avons étudié une configuration constituée de sources, photovoltaïque, éolienne, pile à combustible de type PEM et de systèmes de stockage, batteries, électrolyseur et réservoir d’hydrogène. Puis dans un second temps, nous avons conservé de la configuration présentée uniquement le stockage par hydrogène afin d’assurer l’autonomie électrique d’une zone rurale aux Comores. Le couplage de ces différentes sources a pour but d’améliorer les performances, la disponibilité du réseau électrique résultant, la fourniture d’électricité sur des périodes beaucoup plus longues et surtout la satisfaction des besoins en utilisant chaque source de façon raisonnée. Nous avons d’abord effectué une étude détaillée des principaux composants de notre système. Ensuite, nous avons établi les modèles mathématiques qui décrivent le comportement des différentes parties de notre système d’énergie hybride, modèles utiles pour la modélisation de l’ensemble. Les systèmes PV et éolien sont contrôlés par l’application d’une commande MPPT pour maximiser la puissance délivrée. Dans la première configuration, le processus de charge/décharge de la batterie contribue à la stabilisation de la tension du bus continu. La pile à combustible est utilisée pour rendre le système plus durable. Elle contribue également à la stabilisation de la tension du bus continu, en cas de trop forte décharge des batteries. Nous montrons ensuite que l’utilisation d’un filtre d’harmonique constitue une technique efficace pour réduire le taux de distorsion harmonique. Ce qui montre que le système proposé est bien compensé aux niveaux des harmoniques et du réactif quel que soit le mode de fonctionnement, normal ou déséquilibré. Les résultats de simulation présentés ont illustré le fonctionnement des différents composants du SEH en régimes transitoires et permanents. La solution proposée, analysée avec le logiciel HOMER, permet d’envisager une solution aux problèmes d’alimentation d’une zone rurale située aux Comores ou dans des endroits soufrant de surcharge ou même d’affaiblissement de la tension en ayant uniquement recours au stockage de dihydrogène<br>The presented work focuses on the study of the architecture of a hybrid electric system (HES) made of different sources. First, we studied a configuration consisting of photovoltaic, wind, PEM fuel cell as sources and batteries, electrolyser and hydrogen tank as storage elements. Then in a second phase, only hydrogen storage is considered to ensure the electrical autonomy of a rural area in Comoros. The coupling of these different sources aims to improve the performance, the availability of the resulting electrical network, the supply of electricity over much longer periods and, above all, the satisfaction of the uses by operating each source in a reasoned way. First, we have analysed the main components of our system. Then, we established the mathematical models that describe the behaviour of the different parts of our hybrid energy system which is here the formalism used for the modelling. The modelling and simulation of the PV and wind systems use a MPPT control to maximize the delivered power. In the first configuration, the battery charge/discharge process is controlled to stabilize the DC bus voltage. The fuel cell makes the system more durable. It also helps to stabilize the DC bus voltage, in case of too much battery discharge. Thus, the use of a harmonic filter reduces the rate of harmonic distortion. Harmonics are compensated as well than the reactive current component in normal or unbalanced operating conditions. The presented simulation results have illustrated the behaviour of the different components of the HES in transient and steady states. Finally, the proposed system, analysed with the help of HOMER, would be able to provide a solution to the demand of a rural area in the Comoros or in any place suffering of a weak grid by using only hydrogen storage
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Tsalatsanis, Athanasios. "Control of autonomous robot teams in industrial applications." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002653.
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Zimmermann, Emmanuel. "Modèles d’optimisation et d’évaluation de système de pilotage intelligent en contexte de flux fortement perturbés par les reprises : application au cas de la société Acta-Mobilier." Thesis, Université de Lorraine, 2019. http://www.theses.fr/2019LORR0098/document.
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Cette thèse CIFRE issue d’une collaboration entre Acta-Mobilier, fabricant de façades laquées haut de gamme et le CRAN. Cette thèse, s’inscrivant dans la continuité de celle de Mélanie Noyel, a pour objectif la réalisation d’une architecture de pilotage hybride s’appuyant sur le contrôle par le produit. Nous avons choisi de nous inspirer d’un méta-modèle développé au sein de l’équipe du CRAN. Cette architecture repose sur un modèle VSM, ou chaque niveau est susceptible de prendre des décisions à son échelle. Le plus haut niveau supervise les décisions tactiques (par exemple, le plan directeur de production), le plus bas niveau d’intelligence est distribué entre les produits dotés de moyen de communication et d’analyse (leur intelligence est attribuée à la réactivité du système car se trouvant au plus proche du besoin). En niveaux intermédiaires, nous trouvons d’une part des optimisateurs centralisés pour superviser les sous-ateliers de la chaîne de production, de manière à atteindre les objectifs de consommation, de temps de réglages ou de productivité des sous-ateliers qu’ils supervisent. D’une autre part, des optimisateurs pour des postes de travail spécifique faisant intervenir directement les produits et les informations qu’ils possèdent dans la prise de décision. Un optimisateur de chacune des deux catégories en accord avec les besoins définis par l’étude du flux de production de l’entreprise ont été réalisés. Un optimisateur centralisé a été réalisé pour l’atelier usinage dans lequel les opérations relatives au débit et au façonnage des formes des produits sont effectuées. Il est construit pour réaliser des regroupements en lots de fabrication et à les ordonnancer pour obtenir un compromis entre minimisation des consommations matières, des temps de réglage des machines et la minimisation du WIP. Le séquencement doit garantir que les regroupements, lors de leur division permettent de reformer rapidement les commandes clients. Cette contrainte est nécessaire, avant passage à la phase d’application de la finition. Il met en œuvre un algorithme génétique solutionnant un problème d’ordonnancement multicritères. Pour valider notre choix d’une méta-heuristique comme méthode de résolution du problème, nous avons tenté de le résoudre par une méthode de mathématique analytique et les résultats obtenus ont confirmé que notre décision était raisonnable. Cette optimisation a été testée sur plateforme de test et a fourni des résultats encourageants. Une implémentation faite dans l’entreprise, est utilisé chaque semaine pour une planification spécifique. Un optimisateur de la seconde catégorie a été étudié pour gérer le cas du robot de laquage, celui-ci doit fournir deux postes clients ayant leurs propres familles de produits mais devant être expédiées aux mêmes dates. En outre, les points faibles de ce poste, à savoir la consommation importante de laque à chaque changement de couleur et la longue durée d’attente avant de pouvoir visualiser les produits et savoir si un défaut qualité est apparu, impliquant de devoir refaire un cycle complet de laquage. L’optimisateur utilise un modèle de prédiction de non qualité afin d’évaluer les risques relatifs au passage du prochain lot à produire et si celui-ci est jugé trop élevé, un processus est déclenché choisissant parmi les lots présents en file d’attente, le plus adapté en considérant plusieurs facteurs. Cet optimisateur de poste de travail recueille des informations de la machine, des produits et des files d’attentes des postes en aval afin d’empêcher l’apparition d’un problème. Il a été implémenté sur un modèle de simulation. La question de la synchronisation des différents optimisateurs a été amorcée. En effet, le plan de production généré par le système d’information donne une plage de passage acceptable pour les lots dans chaque atelier et les optimisateurs se doivent de la respecter. Ces travaux aideront l’entreprise à franchir sa transition vers l’ère de l’industrie 4.0<br>This CIFRE thesis comes from a collaboration between Acta-Mobilier, manufacturer of high-end lacquered facades and CRAN. This thesis, which is a continuation of that of Mélanie Noyel, aims to achieve a hybrid control architecture based on control by the product. We chose to take inspiration from a meta-model developed within the CRAN team. This architecture is based on a VSM model, where each level is likely to make decisions on its own scale. The highest level oversees tactical decisions (for example, the production master plan), the lowest level of intelligence is distributed between the products endowed with means of communication and analysis (their intelligence is attributed to the responsiveness of the system because being closer to the need). In intermediate levels, we find on the one hand centralized optimizers to supervise the sub-workshops of the production chain, in order to reach the objectives of consumption, time of adjustments or productivity of the sub-workshops that they supervise. On the other hand, optimizers for specific workstations directly involving the products and information they possess in decision-making. An optimizer of each of the two categories in accordance with the needs defined by the study of the workflow of the company have been realized. A centralized optimizer has been realized for the machining workshop in which the operations relating to the flow and shaping of the shapes of the products are carried out. It is built to make groupings in manufacturing batches and to schedule them to achieve a compromise between minimizing material consumption, machine setting times and minimizing WIP. Sequencing must ensure that clusters, when they are split, enable rapid customer order reform. This constraint is necessary before going to the application phase of the finish. It implements a genetic algorithm solving a multicriteria scheduling problem. To validate our choice of a meta-heuristic as a method of solving the problem, we tried to solve it by an analytical mathematical method and the results obtained confirmed that our decision was reasonable. This optimization was tested on a test platform and provided encouraging results. An implementation made in the company, is used every week for a specific planning. An optimizer of the second category has been studied to manage the case of the lacquer robot, it must provide two client stations having their own families of products but to be shipped on the same dates. In addition, the weak points of this post, namely the significant consumption of lacquer with each change of color and the long waiting time before being able to visualize the products and to know if a defect quality appeared, involving having to redo a cycle complete lacquering. The optimizer uses a non-quality prediction model to evaluate the risks associated with the passage of the next batch to be produced and if it is deemed too high, a process is triggered choosing among the lots present in the queue, the most suitable by considering several factors. This workstation optimizer gathers machine information, products, and queues from downstream workstations to prevent a problem from occurring. It has been implemented on a simulation model. The issue of synchronization of different optimizers has been initiated. Indeed, the production plan generated by the information system gives an acceptable range of passage for the batches in each workshop and the optimizers must respect it. This work will help the company make the transition to the Industry 4.0 era
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Pach, Cyrille. "ORCA : architecture hybride pour le contrôle de la myopie dans le cadre du pilotage des systèmes flexibles de production." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2013. http://tel.archives-ouvertes.fr/tel-00919382.
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Cette thèse contribue au contrôle de la myopie dans les systèmes flexibles de production (SFP). La myopie apparaît lorsque des entités décisionnelles prennent des décisions locales à partir d'une quantité d'information limitée. Cette prise de décision permet de réagir rapidement aux aléas mais induit une performance globale non optimale. Ainsi, ce phénomène doit être contrôlé afin d'obtenir des architectures de pilotage plus performantes. Après une étude du phénomène de myopie dans d'autres domaines, nous définissons la myopie dans les SFP. Un état de l'art sur les différents types d'architectures permet de retenir les architectures de pilotage hybride mixant hiérarchie et hétérarchie pour contrôler la myopie. Une typologie des architectures de pilotage hybride est ensuite réalisée avant qu'une nouvelle architecture ne soit proposée : ORCA. Après avoir été présentée, ORCA est déclinée au pilotage des SFP (ORCA-FMS). ORCA-FMS combine deux approches: un modèle linéaire (ILP) et une approche par champs de potentiel. ORCA-FMS est ensuite appliquée au cas d'étude de la cellule flexible de l'AIP PRIMECA de Valenciennes. Premièrement un modèle de simulation, le plus proche possible du cas d'étude réel est présenté. Il permet d'éprouver l'architecture dans l'environnement de simulation NetLogo. Deuxièmement, afin de valider la pertinence des comportements observés en simulation, l'architecture est mise en œuvre sur la cellule réelle à l'aide du concept de produit actif. Les équipements industriels utilisés pour cette mise en œuvre, le protocole expérimental, ainsi que les résultats obtenus sont détaillés et discutés.
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Britto, Ricardo de Sousa. "Uma arquitetura distribu?da de hardware e software para controle de um rob? m?vel aut?nomo." Universidade Federal do Rio Grande do Norte, 2008. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15188.
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Previous issue date: 2008-01-25<br>Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior<br>In this work, we present a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The hardware of the robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the
response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the
reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks<br>Neste trabalho ? apresentada uma arquitetura de hardware e software para controle do rob? m?vel aut?nomo Kapeck. O hardware do rob? Kapeck ? composto por um conjunto de sensores e atuadores organizados em um barramento de comunica??o CAN. Dois computadores embarcados e oito placas microcontroladas foram utilizadas no sistema. Um dos computadores foi utilizado para o sistema de vis?o, devido ? grande necessidade de processamento deste tipo de sistema. O outro computador foi utilizado para coordenar e acessar o barramento CAN e realizar as outras atividades do rob?. Placas
microcontroladas foram utilizadas nos sensores e atuadores. O rob? possui esta configura??o distribu?da para um bom desempenho em tempo-real, onde os tempos de resposta e
a previsibilidade temporal do sistema s?o importantes. Foi seguido o paradigma h?brido deliberativo-reativo para desenvolver a arquitetura proposta, devido ? necessidade de aliar o comportamento reativo da rede de sensores-atuadores com as atividades deliberativas necess?rias para realizar tarefas mais complexas
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Zimmermann, Emmanuel. "Modèles d’optimisation et d’évaluation de système de pilotage intelligent en contexte de flux fortement perturbés par les reprises : application au cas de la société Acta-Mobilier." Electronic Thesis or Diss., Université de Lorraine, 2019. http://www.theses.fr/2019LORR0098.
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Cette thèse CIFRE issue d’une collaboration entre Acta-Mobilier, fabricant de façades laquées haut de gamme et le CRAN. Cette thèse, s’inscrivant dans la continuité de celle de Mélanie Noyel, a pour objectif la réalisation d’une architecture de pilotage hybride s’appuyant sur le contrôle par le produit. Nous avons choisi de nous inspirer d’un méta-modèle développé au sein de l’équipe du CRAN. Cette architecture repose sur un modèle VSM, ou chaque niveau est susceptible de prendre des décisions à son échelle. Le plus haut niveau supervise les décisions tactiques (par exemple, le plan directeur de production), le plus bas niveau d’intelligence est distribué entre les produits dotés de moyen de communication et d’analyse (leur intelligence est attribuée à la réactivité du système car se trouvant au plus proche du besoin). En niveaux intermédiaires, nous trouvons d’une part des optimisateurs centralisés pour superviser les sous-ateliers de la chaîne de production, de manière à atteindre les objectifs de consommation, de temps de réglages ou de productivité des sous-ateliers qu’ils supervisent. D’une autre part, des optimisateurs pour des postes de travail spécifique faisant intervenir directement les produits et les informations qu’ils possèdent dans la prise de décision. Un optimisateur de chacune des deux catégories en accord avec les besoins définis par l’étude du flux de production de l’entreprise ont été réalisés. Un optimisateur centralisé a été réalisé pour l’atelier usinage dans lequel les opérations relatives au débit et au façonnage des formes des produits sont effectuées. Il est construit pour réaliser des regroupements en lots de fabrication et à les ordonnancer pour obtenir un compromis entre minimisation des consommations matières, des temps de réglage des machines et la minimisation du WIP. Le séquencement doit garantir que les regroupements, lors de leur division permettent de reformer rapidement les commandes clients. Cette contrainte est nécessaire, avant passage à la phase d’application de la finition. Il met en œuvre un algorithme génétique solutionnant un problème d’ordonnancement multicritères. Pour valider notre choix d’une méta-heuristique comme méthode de résolution du problème, nous avons tenté de le résoudre par une méthode de mathématique analytique et les résultats obtenus ont confirmé que notre décision était raisonnable. Cette optimisation a été testée sur plateforme de test et a fourni des résultats encourageants. Une implémentation faite dans l’entreprise, est utilisé chaque semaine pour une planification spécifique. Un optimisateur de la seconde catégorie a été étudié pour gérer le cas du robot de laquage, celui-ci doit fournir deux postes clients ayant leurs propres familles de produits mais devant être expédiées aux mêmes dates. En outre, les points faibles de ce poste, à savoir la consommation importante de laque à chaque changement de couleur et la longue durée d’attente avant de pouvoir visualiser les produits et savoir si un défaut qualité est apparu, impliquant de devoir refaire un cycle complet de laquage. L’optimisateur utilise un modèle de prédiction de non qualité afin d’évaluer les risques relatifs au passage du prochain lot à produire et si celui-ci est jugé trop élevé, un processus est déclenché choisissant parmi les lots présents en file d’attente, le plus adapté en considérant plusieurs facteurs. Cet optimisateur de poste de travail recueille des informations de la machine, des produits et des files d’attentes des postes en aval afin d’empêcher l’apparition d’un problème. Il a été implémenté sur un modèle de simulation. La question de la synchronisation des différents optimisateurs a été amorcée. En effet, le plan de production généré par le système d’information donne une plage de passage acceptable pour les lots dans chaque atelier et les optimisateurs se doivent de la respecter. Ces travaux aideront l’entreprise à franchir sa transition vers l’ère de l’industrie 4.0<br>This CIFRE thesis comes from a collaboration between Acta-Mobilier, manufacturer of high-end lacquered facades and CRAN. This thesis, which is a continuation of that of Mélanie Noyel, aims to achieve a hybrid control architecture based on control by the product. We chose to take inspiration from a meta-model developed within the CRAN team. This architecture is based on a VSM model, where each level is likely to make decisions on its own scale. The highest level oversees tactical decisions (for example, the production master plan), the lowest level of intelligence is distributed between the products endowed with means of communication and analysis (their intelligence is attributed to the responsiveness of the system because being closer to the need). In intermediate levels, we find on the one hand centralized optimizers to supervise the sub-workshops of the production chain, in order to reach the objectives of consumption, time of adjustments or productivity of the sub-workshops that they supervise. On the other hand, optimizers for specific workstations directly involving the products and information they possess in decision-making. An optimizer of each of the two categories in accordance with the needs defined by the study of the workflow of the company have been realized. A centralized optimizer has been realized for the machining workshop in which the operations relating to the flow and shaping of the shapes of the products are carried out. It is built to make groupings in manufacturing batches and to schedule them to achieve a compromise between minimizing material consumption, machine setting times and minimizing WIP. Sequencing must ensure that clusters, when they are split, enable rapid customer order reform. This constraint is necessary before going to the application phase of the finish. It implements a genetic algorithm solving a multicriteria scheduling problem. To validate our choice of a meta-heuristic as a method of solving the problem, we tried to solve it by an analytical mathematical method and the results obtained confirmed that our decision was reasonable. This optimization was tested on a test platform and provided encouraging results. An implementation made in the company, is used every week for a specific planning. An optimizer of the second category has been studied to manage the case of the lacquer robot, it must provide two client stations having their own families of products but to be shipped on the same dates. In addition, the weak points of this post, namely the significant consumption of lacquer with each change of color and the long waiting time before being able to visualize the products and to know if a defect quality appeared, involving having to redo a cycle complete lacquering. The optimizer uses a non-quality prediction model to evaluate the risks associated with the passage of the next batch to be produced and if it is deemed too high, a process is triggered choosing among the lots present in the queue, the most suitable by considering several factors. This workstation optimizer gathers machine information, products, and queues from downstream workstations to prevent a problem from occurring. It has been implemented on a simulation model. The issue of synchronization of different optimizers has been initiated. Indeed, the production plan generated by the information system gives an acceptable range of passage for the batches in each workshop and the optimizers must respect it. This work will help the company make the transition to the Industry 4.0 era
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Nou, Julien. "Gestion optimale de l'énergie thermique dans un procédé hybride : solaire/géothermie pour le chauffage de bâtiments." Phd thesis, Université de Perpignan, 2011. http://tel.archives-ouvertes.fr/tel-00756810.
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Les enjeux environnementaux, énergétiques et économiques actuels, nous amènent à proposer de nouvelles solutions de gestion énergétique afin d'éviter d'entrer dans une ère de récession énergétique brutale. À partir des constats établis par les institutions mondiales, telles que le GIEC, il est aujourd'hui admis par la communauté scientifique internationale, que la température moyenne de la Terre est en augmentation et que l'activité anthropique en est une des causes, sinon la plus importante. Les travaux réalisés et présentés dans ce manuscrit visent à répondre, en partie, à ces problématiques par la mise en place d'un système de contrôle supervisé permettant l'optimisation de la gestion énergétique d'un procédé hybride alliant l'énergie solaire à la géothermie, et destiné au chauffage dans le secteur du bâtiment. L'utilisation des méthodologies de l'intelligence artificielles telles que le neuroflou et la logique floue nous a permis de développer une plateforme de simulation d'un système énergétique hybride et d'en réaliser la gestion à l'aide de contrôleurs flous. Les résultats obtenus, par l'utilisation de ces contrôleurs, montrent qu'un choix judicieux des périodes et durées de marche du système d'extraction permet d'améliorer de façon significative le fonctionnement du procédé. La consommation électrique et le coût de fonctionnement de l'installation sont donc diminués, tout en respectant les contraintes techniques de fonctionnement et le confort thermique des habitants.
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Lalami, Mohamed Esseghir. "Contribution à la résolution de problèmes d'optimisation combinatoire : méthodes séquentielles et parallèles." Phd thesis, Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1916/.
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Les problèmes d'optimisation combinatoire sont souvent des problèmes très difficiles dont la résolution par des méthodes exactes peut s'avérer très longue ou peu réaliste. L'utilisation de méthodes heuristiques permet d'obtenir des solutions de bonne qualité en un temps de résolution raisonnable. Les heuristiques sont aussi très utiles pour le développement de méthodes exactes fondées sur des techniques d'évaluation et de séparation. Nous nous sommes intéressés dans un premier temps à proposer une méthode heuristique pour le problème du sac à dos multiple MKP. L'approche proposée est comparée à l'heuristique MTHM et au solveur CPLEX. Dans un deuxième temps nous présentons la mise en oeuvre parallèle d'une méthode exacte de résolution de problèmes d'optimisation combinatoire de type sac à dos sur architecture GPU. La mise en oeuvre CPU-GPU de la méthode de Branch and Bound pour la résolution de problèmes de sac à dos a montré une accélération de 51 sur une carte graphique Nvidia Tesla C2050. Nous présentons aussi une mise en oeuvre CPU-GPU de la méthode du Simplexe pour la résolution de problèmes de programmation linéaire. Cette dernière offre une accélération de 12. 7 sur une carte graphique Nvidia Tesla C2050. Enfin, nous proposons une mise en oeuvre multi-GPU de l'algorithme du Simplexe, mettant à contribution plusieurs cartes graphiques présentes dans une même machine (2 cartes Nvidia Tesla C2050 dans notre cas). Outre l'accélération obtenue par rapport à la mise en oeuvre séquentielle de la méthode du Simplexe, une efficacité de 96. 5 % est obtenue, en passant d'une carte à deux cartes graphiques<br>Combinatorial optimization problems are difficult problems whose solution by exact methods can be time consuming or not realistic. The use of heuristics permits one to obtain good quality solutions in a reasonable time. Heuristics are also very useful for the development of exact methods based on branch and bound techniques. The first part of this thesis concerns the Multiple Knapsack Problem (MKP). We propose here a heuristic called RCH which yields a good solution for the MKP problem. This approach is compared to the MTHM heuristic and CPLEX solver. The second part of this thesis concerns parallel implementation of an exact method for solving combinatorial optimization problems like knapsack problems on GPU architecture. The parallel implementation of the Branch and Bound method via CUDA for knapsack problems is proposed. Experimental results show a speedup of 51 for difficult problems using a Nvidia Tesla C2050 (448 cores). A CPU-GPU implementation of the simplex method for solving linear programming problems is also proposed. This implementation offers a speedup around 12. 7 on a Tesla C2050 board. Finally, we propose a multi-GPU implementation of the simplex algorithm via CUDA. An efficiency of 96. 5% is obtained when passing from one GPU to two GPUs
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Lalami, Mohamed Esseghir. "Contribution à la résolution de problèmes d'optimisation combinatoire : méthodes séquentielles et parallèles." Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00748546.
Full textAbstract:
Les problèmes d'optimisation combinatoire sont souvent des problèmes très difficiles dont la résolution par des méthodes exactes peut s'avérer très longue ou peu réaliste. L'utilisation de méthodes heuristiques permet d'obtenir des solutions de bonne qualité en un temps de résolution raisonnable. Les heuristiques sont aussi très utiles pour le développement de méthodes exactes fondées sur des techniques d'évaluation et de séparation. Nous nous sommes intéressés dans un premier temps à proposer une méthode heuristique pour le problème du sac à dos multiple MKP. L'approche proposée est comparée à l'heuristique MTHM et au solveur CPLEX. Dans un deuxième temps nous présentons la mise en œuvre parallèle d'une méthode exacte de résolution de problèmes d'optimisation combinatoire de type sac à dos sur architecture GPU. La mise en œuvre CPU-GPU de la méthode de Branch and Bound pour la résolution de problèmes de sac à dos a montré une accélération de 51 sur une carte graphique Nvidia Tesla C2050. Nous présentons aussi une mise en œuvre CPU-GPU de la méthode du Simplexe pour la résolution de problèmes de programmation linéaire. Cette dernière offre une accélération de 12.7 sur une carte graphique Nvidia Tesla C2050. Enfin, nous proposons une mise en œuvre multi-GPU de l'algorithme du Simplexe, mettant à contribution plusieurs cartes graphiques présentes dans une même machine (2 cartes Nvidia Tesla C2050 dans notre cas). Outre l'accélération obtenue par rapport à la mise en œuvre séquentielle de la méthode du Simplexe, une efficacité de 96.5 % est obtenue, en passant d'une carte à deux cartes graphiques.
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Watts, Jerrell R. "Dynamic load balancing and granularity control on heterogeneous and hybrid architectures." Thesis, 1998. https://thesis.library.caltech.edu/539/1/Watts_jr_1998.pdf.
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The past several years have seen concurrent applications grow increasingly complex, as the most advanced techniques from academia find their way into production parallel applications. Moreover, the platforms on which these concurrent computations now execute are frequently heterogeneous networks of workstations and shared-memory multiprocessors, because of their low cost relative to traditional large-scale multicomputers. The combination of sophisticated algorithms and more complex computing environments has made existing load balancing techniques obsolete. Current methods characterize the loads of tasks in very simple terms, often fail to account for the communication costs of an application, and typically consider computational resources to be homogeneous. The complexity of current applications coupled with the fact that they are running in heterogeneous environments has also made partitioning a problem for concurrent execution an ordeal. It is no longer adequate to simply divide the problem into some number of pieces per computer and hope for the best. In a complex application, the workloads of the pieces, which may be equal initially, may diverge over time. On a heterogeneous network, the varying capabilities of the computers will widen this disparity in resource usage even further. Thus, there is a need to dynamically manage the granularity of an application, repartitioning the problem at runtime to correct inadequacies in the original partitioning and to make more effective use of computational resources.
This thesis presents techniques for dynamic load balancing in complex irregular applications. Advances over previous work are three-fold: First, these techniques are applicable to networks comprised of heterogeneous machines, including both single- processor workstations and personal computers, and multiprocessor compute servers. Second, the use of load vectors more accurately characterizes the resource requirements of tasks, including the computational demands of different algorithmic phases as well as the needs for other resources, such as memory. Finally, runtime repartitioning adjusts the granularity of the problem so that the available resources are more fully utilized. Two other improvements over earlier techniques include improved algorithms for determining the ideal redistribution of work as well as advanced techniques for selecting which tasks to transfer to satisfy those ideals. The latter algorithms incorporate the notion of task migration costs, including the impact on an application's communications locality. The improvements listed above are demonstrated on both industrial applications and small parametric problems on networks of heterogeneous computers as well as traditional large-scale multicomputers.
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Huber, Manfred. "A hybrid architecture for adaptive robot control." 2000. https://scholarworks.umass.edu/dissertations/AAI9988799.
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Autonomous robot systems operating in an uncertain environment pose many challenges to their control architecture. Such systems must be reactive with respect to local disturbances and uncertainties and have to adapt to more persistent changes in environmental conditions and task requirements. In autonomous systems, this adaptation often has to occur without outside intervention and within a single trial while avoiding catastrophic failure. This dissertation develops a hybrid control architecture which combines methods from control theory, discrete event systems, and reinforcement learning to address these challenges and to permit the operation of complex robots at various levels of autonomy. Control is derived from a set of stable, continuous control elements which provide local reactivity and allow system behavior to be modeled as a Discrete Event Dynamic System (DEDS). Methods for automatic synthesis of a DEDS supervisor are applied to this model to impose safety constraints on the supervisory control structure which is interpreted as a Markov Decision Process (MDP). This structure directs an exploratory learning component and permits the introduction of prior control knowledge to a reinforcement learning algorithm. Actions in this framework are temporally extended, closed-loop controllers which suppress local, bounded disturbances without introducing additional control decisions. This leads to a novel, abstract state representation based on the convergence of actions and reduces the amount of robot operation required to autonomously acquire task-specific policies. Moreover, previously learned policies can be re-used as control actions to acquire hierarchical solutions for subsequent tasks. This enables the robot to address increasingly complex tasks over time and extends the scope of reinforcement learning techniques. Throughout this dissertation, the operation of the integrated control architecture is illustrated with a range of example tasks performed on a set of real and simulated robot platforms.
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Wen, Chih-Chao, and 文志超. "Architecture Design and Application for Hybrid Multicast QoS Control and Management." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/02902734272967412102.
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博士<br>國立中正大學<br>電機工程研究所<br>99<br>With fast development of group communications, the requests for multimedia multicast service and application are increasingly growth over current Internet. The key points for multicasting applications are quality of service (QoS) and quality of experience (QoE) supports which involve the multicast group dynamics of membership management, multicast network dynamics with P2MP routing and resource control, and dynamic multicast traffic control.
In this dissertation, the proposed multicast QoS supported network design is divided into three relevant phases of multicast session, such as static and mobile member joining in multicast group management phase, multicast QoS routing and resource reservation in multicast network control phase, and multicast traffic transmission in traffic control phase. The purpose of the centralized control and management (CCM) architecture is to setup network provisioning models and provide viable solutions for multicast QoS problems: scalability, efficiency and deployment, which is caused by dynamic behaviors in multicast session.
The multicast session is created by assigning the group address for static and dynamic member joining. In multicast group management phase, the RP shared tree of CCM can be applied for the member joining and network information collection. And, the multicast agent (MA) of overlay network can be used for mobile member joining via IGMP mechanism.
In multicast network control phase, the multicast session is setup by multicast tree construction, spanning all the sources and receivers. In multicast CCM architecture, we propose multicast resource broker (MRB) function with efficient resource provisioning which employs the CSPF multicast routing, and RSVP-TE resource reservation for multicast tree. Furthermore, for IPTV multicast application development, we propose HT-ERM approach for IPTV application which can improve the performance for multicast network delivery and channel control. For inter-domain multicast networking, we propose overlay tree construction algorithm to achieve all-IP multicasting.
In multicast traffic control phase, the proposed HT-ERM switchover control mechanism can provide fast switchover mechanism for channel change delay, and admission control for multicast IPTV QoS traffic distribution over hybrid-tree based multicast network. In additions, to achieve the seamless multicast transport connectivity, we propose context aware handoff mobility connection approach for mobile member access service.
Finally, our proposed models and algorithms can enhance the existing protocols and apply for practical framework implementation. The experimental results and performance evaluations for the reference architecture and application are validated to provide all-IP multicast transport service over Future Internet.
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Chanumolu, Raviteja. "A Novel Hybrid Vehicle Architecture : Modeling, Simulation and Experiments." Thesis, 2017. http://etd.iisc.ac.in/handle/2005/3585.
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Electric and hybrid vehicles are particularly suited for use in urban areas since city transportation is mainly characterized by relatively short driving distances, low continuous power requirements, long idling times and high availability of regenerative braking energy. These characteristics, when carefully incorporated into the design process, create valuable opportunities for developing clean, efficient and cost effective urban vehicle propulsion systems.
In the first part of the thesis, we present data collected in the city of Bangalore, India from a very commonly seen mode of transportation for hire in India and other emerging economies, namely a three-wheeled vehicle known as the “auto-rickshaw”. From a statistical analysis, it is shown that the typical range is 72.5 km with a mean speed of 12.5 km/h. More than 60% of the time the auto-rickshaw is stationary or has a speed of less than 5 km/h. From a model of the auto-rickshaw, it is shown from simulations that 4 kW DC motor and about 10 kWh of electrical energy is enough to meet 80% of typical requirement. Based on this finding, in this thesis, a novel parallel hybrid architecture is proposed where two 2 kW DC hub motors are directly mounted on the wheels and an internal combustion (IC) engine output is connected to the stator of the DC hub motors to provide additional power when required. To match load and speed, a continuously variable transmission (CVT) is placed in-between the IC engine and the DC hub motor. The proposed hybrid configuration adds speed to the wheel output unlike the normal power split configuration which adds torque.
One of the main objective of this work is to study and compare the performance of the above novel speed-addition and compare with the typical torque-addition configuration. A MATLAB/Simulink model for both the configurations, with DC hub motor and a small IC engine, has been created and the fuel consumption has been calculated. It is shown that the proposed speed-addition concept gives better fuel efficiency for the standard modified Indian Driving Cycle. The models have also been compared for actual driving data and an optimal control strategy has been developed using dynamic programming. It is again shown that the proposed speed-addition concept results in better fuel economy.
In the last part of the thesis, a low cost experimental test-bed consisting of an auto-rickshaw
IC engine, a CVT and a 2 kW DC hub motor has been developed to validate the speed-addition concept and compare with the torque-addition configuration. The torque-speed curves of the IC engine, the DC motor and both of them together, in the speed and torque-addition configuration, have been obtained. It is shown that the speed-addition concept does indeed work and the obtained results are significantly different from the torque-addition configuration.
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Chanumolu, Raviteja. "A Novel Hybrid Vehicle Architecture : Modeling, Simulation and Experiments." Thesis, 2017. http://etd.iisc.ernet.in/2005/3585.
Full textAbstract:
Electric and hybrid vehicles are particularly suited for use in urban areas since city transportation is mainly characterized by relatively short driving distances, low continuous power requirements, long idling times and high availability of regenerative braking energy. These characteristics, when carefully incorporated into the design process, create valuable opportunities for developing clean, efficient and cost effective urban vehicle propulsion systems.
In the first part of the thesis, we present data collected in the city of Bangalore, India from a very commonly seen mode of transportation for hire in India and other emerging economies, namely a three-wheeled vehicle known as the “auto-rickshaw”. From a statistical analysis, it is shown that the typical range is 72.5 km with a mean speed of 12.5 km/h. More than 60% of the time the auto-rickshaw is stationary or has a speed of less than 5 km/h. From a model of the auto-rickshaw, it is shown from simulations that 4 kW DC motor and about 10 kWh of electrical energy is enough to meet 80% of typical requirement. Based on this finding, in this thesis, a novel parallel hybrid architecture is proposed where two 2 kW DC hub motors are directly mounted on the wheels and an internal combustion (IC) engine output is connected to the stator of the DC hub motors to provide additional power when required. To match load and speed, a continuously variable transmission (CVT) is placed in-between the IC engine and the DC hub motor. The proposed hybrid configuration adds speed to the wheel output unlike the normal power split configuration which adds torque.
One of the main objective of this work is to study and compare the performance of the above novel speed-addition and compare with the typical torque-addition configuration. A MATLAB/Simulink model for both the configurations, with DC hub motor and a small IC engine, has been created and the fuel consumption has been calculated. It is shown that the proposed speed-addition concept gives better fuel efficiency for the standard modified Indian Driving Cycle. The models have also been compared for actual driving data and an optimal control strategy has been developed using dynamic programming. It is again shown that the proposed speed-addition concept results in better fuel economy.
In the last part of the thesis, a low cost experimental test-bed consisting of an auto-rickshaw
IC engine, a CVT and a 2 kW DC hub motor has been developed to validate the speed-addition concept and compare with the torque-addition configuration. The torque-speed curves of the IC engine, the DC motor and both of them together, in the speed and torque-addition configuration, have been obtained. It is shown that the speed-addition concept does indeed work and the obtained results are significantly different from the torque-addition configuration.
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Lin, Yi Sheng, and 林益生. "A Hybrid Architecture of A Robot System with Case-Based Reasoning and Fuzzy Behavioral Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/58176298640390203305.
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碩士<br>國立中正大學<br>電機工程研究所<br>90<br>For achieving many requirements of environments, the robots are built in many different forms. For controlling an autonomous robot, there are also several approaches to construct a robot. In recent research, the robot architectures can roughly be divided into three design philosophies: deliberative robot architectures, reactive robot architectures and hybrid robot architectures. In this thesis, we adopt the design philosophy of hybrid robot architectures. We try to combine deliberative part using case-based reasoning (CBR) and reactive part using fuzzy behavioral control. We survey several representative robot architectures and discover several challenges in recent robot architectures. We employ the advantages of CBR and fuzzy behavioral control to provide a better alternative for building a robot and apply the robot in robot soccer. The main advantages of our architecture are learning capability, easy construction of the strategy base, and quick reaction without too much planning. We use the learning capability, reasoning without complete world model knowledge, and solving problems through previous experiences of CBR as our high level planner to achieve those advantages which we have mentioned above. Besides, we use the features of fuzzy logic to provide well steering control and easy construction of strategies through fuzzy linguistic description. At last, we also build a robot with computer language to simulate and experiment on robot soccer simulator.
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Wang, Daqing. "Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators." 2006. http://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=450564&T=F.
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Wen-YiChen and 陳文益. "TRIN-PON : A Hybrid Tree/RINg EPON Architecture for Supporting Private Networking Capability with Fairness Control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/42808596013731862618.
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Chan, Yu-Chen, and 詹佑晨. "Architecture, Component and Process Control in Nanocomposite and Nanomultilayer for Mechanical Strengthening Coatings via Organic, Inorganic and Bio-inspired Hybrid Approach." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/06120514043732309852.
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