Letteratura scientifica selezionata sul tema "Hybrid Control Architectures"
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Articoli di riviste sul tema "Hybrid Control Architectures"
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Korolija, Nenad, and Kent Milfeld. "Towards hybrid supercomputing architectures." Journal of Computer and Forensic Sciences 1, no. 1 (2022): 47–54. http://dx.doi.org/10.5937/1-42710.
Testo completoAbstract (sommario):
In light of recent work on combining control-flow and dataflow architectures on the same chip die, a new architecture based on an asymmetric multicore processor is proposed. The control-flow architectures are described as a most commonly used computer architecture today. Both multicore and manycore architectures are explained, as they are based on the same principles. A dataflow computing model assumes that data input flows through hardware as either a software or hardware dataflow implementation. In software dataflow, processors based on the control-flow paradigm process tasks based on their availability from the same queue (if there are any). In hardware dataflow architectures, the hardware is configured for a particular algorithm, and data input is streamed into the hardware, and the output is streamed back to the multicore processor for further processing. Hardware dataflow architectures are usually implemented with FPGAs. Hybrid architectures employ asymmetric multicore and manycore computer architectures that are based on the control-flow and hardware dataflow architecture, all combined on the same chip die. Advantages include faster processing time, lower power consumption (and heating), and less space needed for the hardware.
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Korolija, Nenad, and Svetlana Štrbac-Savić. "Merging control-flow and dataflow architectures on a single chip." Journal of Computer and Forensic Sciences, no. 00 (2024): 6. http://dx.doi.org/10.5937/jcfs3-49392.
Testo completoAbstract (sommario):
Computing power rises predominantly by increasing the number of cores in modern processors and the number of processors in cluster and cloud architectures. Along with increasing processing power, high-performance computing requirements also rise. The majority of the computing infrastructure includes control-flow processors that are based on the von Neumann paradigm. On the contrary, the principle of dataflow architectures is based on the data flowing through the already configured hardware. Recent research has proposed hybrid architectures, where both control-flow and dataflow hardware would exist on the same chip die. This article proposes a new hybrid control-flow and dataflow architecture where the control-flow hardware resembles modern graphical cards with thousands of cores and each GPU core has a reasonable amount of data-flow hardware. In this way, the advantages of dataflow architecture are exploited, including faster processing of high-performance computing algorithms and lower power consumption, while the conventional problem of communicating between control-flow and dataflow architectures is minimized. The proposed architecture is tested by analyzing the conjugate gradient method executed on both control-flow and dataflow hardware. The execution of the algorithm is divided onto GPU cores, and the execution of repeated instructions on each GPU core is delegated to the assigned dataflow hardware. The results indicate that it is possible to accelerate the execution of algorithms using the proposed architecture.
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Gan, Shiyu, Daniela Chrenko, Alan Kéromnès, and Luis Le Moyne. "Development of a Multi-Architecture and Multi-Application Hybrid Vehicle Design and Management Tool." Energies 11, no. 11 (2018): 3185. http://dx.doi.org/10.3390/en11113185.
Testo completoAbstract (sommario):
Hybrid electric vehicles (HEVs) are very promising sustainable mobility solutions. Series, parallel and series-parallel (SP) seem to be three most promising architectures among the multitude of hybrid architectures, and it is possible to find them in a multi-applications such as the motorcycles, family-cars, hybrid city busses and sport cars. It is import to have a well configured model in order to develop the different control strategies (CsTs) for each application. Therefore, a multi-architecture/multi-application (MAMA) approach capable of identifying the most energy efficient hybrid architecture considering both the dimensions of key components: electric motor (EM), battery, internal combustion engine (ICE) 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 CsT matters. The obtained results contribute to simplify and harmonize the design of hybrid solutions for multiple applications.
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Bensaci, Chaima, Youcef Zennir, Denis Pomorski, Fares Innal, and Yiliu Liu. "Distributed vs. Hybrid Control Architecture Using STPA and AHP - Application to an Autonomous Mobile Multi-robot System." International Journal of Safety and Security Engineering 11, no. 1 (2021): 1–12. http://dx.doi.org/10.18280/ijsse.110101.
Testo completoAbstract (sommario):
Systems composed of a fleet of autonomous mobile robots are among the most complex control systems. This control complexity is at a high level especially when those robots navigate in hazardous and dynamic environments such as chemical analysis laboratories. These systems include different dangerous and harmful products (toxic, flammable, explosive...) with different quantity. In order to perform its mission on a regular basis, this multi-robot system can be controlled according to multiple architectures. We propose, firstly, to apply the System Theoretic Process Analysis (STPA) on two selected control architectures, namely distributed and hybrid architectures in order to obtain a set of loss scenarios for each kind of architecture. For further assessment, the Analytic Hierarchy Process (AHP) is used to choose the best architecture. The proposed approach provides a risk analysis and a more practical comparison between the two control architectures of a mobile multi-robot system and facilitates decision-making, even in complex situations.
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Lanzarotto, D., M. Marchesoni, M. Passalacqua, A. Pini Prato, and M. Repetto. "Overview of different hybrid vehicle architectures." IFAC-PapersOnLine 51, no. 9 (2018): 218–22. http://dx.doi.org/10.1016/j.ifacol.2018.07.036.
Testo completo
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Overmars, Anthony H., and Dario J. Toncich. "Hybrid FMS control architectures based on holonic principles." International Journal of Flexible Manufacturing Systems 8, no. 3 (1996): 263–78. http://dx.doi.org/10.1007/bf00403128.
Testo completo
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Chao, Yan. "Hybrid architectures for intelligent systems." Engineering Applications of Artificial Intelligence 5, no. 6 (1992): 561–62. http://dx.doi.org/10.1016/0952-1976(92)90032-f.
Testo completo
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Zkik, Karim, Said EL Hajji, and Ghizlane Orhanou. "A centralized secure plan for detecting and mitigation incidents in hybrid SDN." MATEC Web of Conferences 189 (2018): 10015. http://dx.doi.org/10.1051/matecconf/201818910015.
Testo completoAbstract (sommario):
The information technology sector has experienced phenomenal growth during recent years. To follow this development many new technologies have emerged to satisfy the expectations of businesses and customers, such as Cloud Computing, mobility, virtualization, Internet of things and big data. Traditional network cannot longer support this growth and suffers more and more in terms of misconfiguration,management and configurations complexity. Software defined network (SDN) architectures can be considered as a big revolution in the field of computer networks, because they offer a centralized control on infrastructure, services and the applications deployed which facilitate configuration and management on the network. The implementation of this type of architecture is not obvious and requires great expertise and good handling and management of network equipment. To remedy this problem the SDN architectures have evolved towards distributed and hybrid architectures. Despites the advantages of using SDN, security issues remain a real obstacle in front of the deployment of this type of architecture. The centralized architecture of this type of networks makes it vulnerable to several types of attacks and intrusions, and the implementation of security equipment generally causes a decrease in performance and increase latency.
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Benevieri, Alessandro, Lorenzo Carbone, Simone Cosso, et al. "Series Architecture on Hybrid Electric Vehicles: A Review." Energies 14, no. 22 (2021): 7672. http://dx.doi.org/10.3390/en14227672.
Testo completoAbstract (sommario):
The use of series architecture nowadays is mainly on hybrid buses. In comparison with series-parallel and parallel architectures, which are usually exploited on medium-size cars, the series architecture allows achieving internal combustion engine higher efficiency. The downside of this architecture, due to a double energy conversion (i.e., mechanical energy converted in electrical energy and electrical energy converted again in mechanical energy), is that additional losses are introduced. For this reason, the parallel and the series/parallel architectures were considered more suitable for hybrid medium-size cars. Nevertheless, the use of new technologies can change this scenario. Regarding storage systems, supercapacitors achieved a significant energy density, and they guarantee much higher efficiency than battery storage. Moreover, the use of wide-bandgap components for power electronic converters, such as silicon carbide devices, assure lower losses. In this scenario, the series architecture can become competitive on medium-size cars. This paper shows a review of various studies performed on this topic.
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Dramé-Maigné, Sophie, Maryline Laurent, Laurent Castillo, and Hervé Ganem. "Centralized, Distributed, and Everything in between." ACM Computing Surveys 54, no. 7 (2022): 1–34. http://dx.doi.org/10.1145/3465170.
Testo completoAbstract (sommario):
The Internet of Things is taking hold in our everyday life. Regrettably, the security of IoT devices is often being overlooked. Among the vast array of security issues plaguing the emerging IoT, we decide to focus on access control, as privacy, trust, and other security properties cannot be achieved without controlled access. This article classifies IoT access control solutions from the literature according to their architecture (e.g., centralized, hierarchical, federated, distributed) and examines the suitability of each one for access control purposes. Our analysis concludes that important properties such as auditability and revocation are missing from many proposals while hierarchical and federated architectures are neglected by the community. Finally, we provide an architecture-based taxonomy and future research directions: a focus on hybrid architectures, usability, flexibility, privacy, and revocation schemes in serverless authorization.
Tesi sul tema "Hybrid Control Architectures"
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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.
Testo completoAbstract (sommario):
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.
Testo completoAbstract (sommario):
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.
Testo completoAbstract (sommario):
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.
Testo completoAbstract (sommario):
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.
Testo completoAbstract (sommario):
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.
Testo completoAbstract (sommario):
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/.
Testo completoAbstract (sommario):
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.
Testo completoAbstract (sommario):
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.
Testo completoLibri sul tema "Hybrid Control Architectures"
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Datta, Debasish. Optical Networks. Oxford University Press, 2021. http://dx.doi.org/10.1093/oso/9780198834229.001.0001.
Testo completoAbstract (sommario):
This book presents an in-depth deliberation on optical networks in four parts, capturing the past, present, and ensuing developments in the field. Part I has two chapters presenting an overview of optical networks and the enabling technologies. Part II has three chapters dealing with the single-wavelength optical networks: optical LANs/MANs, optical access networks using passive optical network architecture, SONET/SDH, optical transport network and resilient packet ring. Part III consists of four chapters on WDM-based optical networks, including WDM-based local/metropolitan networks (LANs/MANs) using single and multihop architectures over passive-star couplers, WDM/TWDM access networks as an extension of PONs with WDM transmission, WDM metro ring networks covering circuit-switched (using point-to-point WDM and wavelength-routed transmission) plus packet-switched architectures and WDM long-haul backbone networks presenting the offline and online design methodologies using wavelength-routed transmission. Part IV deals with some selected topics in six chapters. The first deals with transmission impairments and power-consumption issues in optical networks, while the next three chapters deal with the survivable optical networks, network control and management techniques, including GMPLS, ASON, and SDN/SDON, and datacenter networks using electrical, optical, and hybrid switching techniques. The final two chapters present elastic optical networks using flexible grid for better utilization of the optical-fiber spectrum and optical packet and burst-switched networks. The three appendices present the basics of the linear programming techniques, noise processes encountered in the optical communication systems, and the fundamentals of queuing theory and its applications in telecommunication networks. (238 words)
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Wang, Daqing. Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators. 2006.
Cerca il testo completoCapitoli di libri sul tema "Hybrid Control Architectures"
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Manikonda, Vikram, P. S. Krishnaprasad, and James Hendler. "Languages, Behaviors, Hybrid Architectures, and Motion Control." In Mathematical Control Theory. Springer New York, 1999. http://dx.doi.org/10.1007/978-1-4612-1416-8_6.
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Hoppe, Augusto W., Fernanda Lima Kastensmidt, and Jürgen Becker. "Control Flow Analysis for Embedded Multi-core Hybrid Systems." In Applied Reconfigurable Computing. Architectures, Tools, and Applications. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78890-6_39.
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Jimenez, Jose-Fernando, Abdelghani Bekrar, Damien Trentesaux, and Paulo Leitão. "A Nervousness Regulator Framework for Dynamic Hybrid Control Architectures." In Service Orientation in Holonic and Multi-Agent Manufacturing. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30337-6_19.
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Jimenez, Jose Fernando, Abdelghani Bekrar, Damien Trentesaux, and Paulo Leitão. "An Approach for Characterizing the Operating Modes in Dynamic Hybrid Control Architectures." In Lecture Notes in Computer Science. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-22867-9_10.
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Valette, Etienne, Hind Bril El-Haouzi, Guillaume Demesure, and Vincent Boucinha. "Toward an Anthropocentric Approach for Hybrid Control Architectures: Case of a Furniture Factory." In Service Orientation in Holonic and Multi-Agent Manufacturing. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-03003-2_11.
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Nerode, Anil, and Wolf Kohn. "Multiple agent hybrid control architecture." In Hybrid Systems. Springer Berlin Heidelberg, 1993. http://dx.doi.org/10.1007/3-540-57318-6_34.
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Koo, T. John, and Shankar Sastry. "Bisimulation Based Hierarchical System Architecture for Single-Agent Multi-modal Systems." In Hybrid Systems: Computation and Control. Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45873-5_23.
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Lin, Man. "Synthesis of Control Software in a Layered Architecture from Hybrid Automata." In Hybrid Systems: Computation and Control. Springer Berlin Heidelberg, 1999. http://dx.doi.org/10.1007/3-540-48983-5_16.
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Frazzoli, Emilio, Munther A. Dahleh, and Eric Feron. "A Maneuver-Based Hybrid Control Architecture for Autonomous Vehicle Motion Planning." In Software-Enabled Control. John Wiley & Sons, Inc., 2004. http://dx.doi.org/10.1002/047172288x.ch15.
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Goldman, Robert P., Daniel Bryce, Michael J. S. Pelican, David J. Musliner, and Kyungmin Bae. "A Hybrid Architecture for Correct-by-Construction Hybrid Planning and Control." In Lecture Notes in Computer Science. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-40648-0_29.
Testo completoAtti di convegni sul tema "Hybrid Control Architectures"
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Kwon, Hyukjoon, and Monika Ivantysynova. "System and Thermal Modeling for a Novel On-Road Hydraulic Hybrid Vehicle by Comparison With Measurements in the Vehicle." In ASME/BATH 2017 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/fpmc2017-4303.
Testo completoAbstract (sommario):
Hydraulic hybrid powertrains, which can be applied to many types of vehicles including cars, have several important advantages over electric hybrids, such as lower costs, higher power density, and more regenerative energy available from braking. There have been various investigations for hydraulic hybrid architectures and there always exists room for improvement in terms of performance and efficiency. In order to achieve improved performance and efficiency, a novel hydraulic hybrid transmission architecture has recently been suggested in Maha Fluid Power Research Center, which is implemented in the platform of 1999 Range Rover. Previous studies of the Maha hydraulic hybrid vehicle (HHV) mainly focused on the optimization of system components and controller. In order to further study and optimize hydraulic hybrid architectures, the thermal behavior has to be considered as well. A few existing thermal studies on other hydraulic systems have mostly focused on steady state characteristics due to the difficulty of simulating the unsteady state conditions. In this paper, a novel approach to thermal modeling of HHV for a novel HHV architecture is presented. The results have been validated with the measured data collected while driving the vehicle. The thermal model utilizes the flow rate and pressure obtained from the hydraulic system model and calculates the system temperature at different locations. In order to capture the rapid transition of the hydraulic system in HHV, a novel simulation scheme considering the flow direction for the control volume inputs is applied in the presented study. In addition, the presented model considers compressible flow in order to improve the accuracy of the model.
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Perez, Ivan, Enrique Vallejo, and Ramon Beivide. "Efficient Router Bypass via Hybrid Flow Control." In 2018 11th International Workshop on Network on Chip Architectures (NoCArc). IEEE, 2018. http://dx.doi.org/10.1109/nocarc.2018.8541147.
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Karam, Mokbel, Leandro Medina, and Meghali C. Chopra. "Hybrid metrology for 3D architectures using machine learning." In Metrology, Inspection, and Process Control XXXVIII, edited by Matthew J. Sendelbach and Nivea G. Schuch. SPIE, 2024. http://dx.doi.org/10.1117/12.3010186.
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Zhao, Qian, Ming Liu, Liling Zhang, et al. "NVH Features and Corresponding Control Strategies for Differing Architecture Hybrid Vehicle Facing Specific Driving Scenarios." In Noise and Vibration Conference & Exhibition. SAE International, 2023. http://dx.doi.org/10.4271/2023-01-1098.
Testo completoAbstract (sommario):
<div class="section abstract"><div class="htmlview paragraph">Hybrid vehicle, equipped power source not only gas engine but also motor, power electronics and differing types of transmissions, manifests more complicated/specific/exceptional NVH behaviors than that of gas powered vehicle, like parking engine start/stop for charging, EV mode traction/recuperation, mode switch, etc. On top of that, differing hybrid architecture exists, depending on number and location of motor and type of transmission, hence NVH features and related control strategies are highly likely to be different even under identical driving scenarios, as such, the holistic and deep insight into the NVH features and related control strategies are very meaningful for hybrid vehicle NVH performance refinement, and will expedite the process of vehicle NVH development. Firstly in this paper, the differing hybrid architectures, e.g. single motor installed parallel hybrid and twin motor installed main stream hybrid architecture are delineated as well as the general NVH pros/cons as per common driving scenarios, then the specific driving scenarios assessing NVH performance differing to gas powered vehicle is described in terms of concerned engine/motor/transmission/vehicle parameters. Secondly the NVH features for differing hybrid architecture facing common driving scenarios are presented to illustrate distinguished NVH phenomenon are existed even facing common driving scenarios by differing hybrid architectures, as of different number/location of motor and of topology of transmission. Lastly, the NVH control strategy/measure guidelines for above-mentioned NVH issues under common driving scenarios pervasively for all mentioned hybrid architecture are elaborated, specifically centering on calibration aspects.</div></div>
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Pluzhnik, Evgeniy, Oleg Lukyanchikov, Evgeny Nikulchev, and Dmitry Biryukov. "Developing middleware for hybrid cloud computing architectures." In 2015 International Conference "Stability and Control Processes" in Memory of V.I. Zubov (SCP). IEEE, 2015. http://dx.doi.org/10.1109/scp.2015.7342212.
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Sherman, Alana, Murat Cenk Çavuşoğlu, and Frank Tendick. "Comparison of Teleoperator Control Architectures for Palpation Task." In ASME 2000 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/imece2000-2441.
Testo completoAbstract (sommario):
Abstract This work focuses on the design and testing of teleoperation controllers which are required to discriminate changes in compliance, addressing the question of which controller architecture performs the best in the high fidelity application of telesurgery. Three teleoperator controller architectures are compared for their ability to detect objects in compliant environments. These architectures are: position error based force feedback (PERR), kinesthetic force feedback (KFF), and position and force feedback (P+FF). The gains for each controller are chosen based on stability, tracking performance, and fidelity of the system. Stability is determined by a robust stability criterion. A sensitivity function is used to determine a tracking criterion. A new fidelity measure is introduced which looks at the sensitivity of the transmitted impedance to changes in the environmental compliance. Experiments are conducted to determine which control architecture allows the operator to most easily determine a change in compliance. This experimental task is designed to mimic palpation of soft tissue performed in medical procedures. The results suggest that the hybrid controller (P+FF) outperforms both PERR and KFF.
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Martelli, Massimo, Pietro Marani, and Silvia Gessi. "Series, Parallel, and Hybrid Series-Parallel Hydrostatic Transmission Architectures for Ground Locomotion." In ASME/BATH 2019 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/fpmc2019-1690.
Testo completoAbstract (sommario):
Abstract Ground locomotion of wheeled vehicles, in all-wheel drive configuration, is subject to unique, generally highly variable and not predictable, loading conditions on the driveline subsystem. Any sensible design must cope at least with the effects induced by slope changes, asymmetrical losses of adherence and cornering maneuvers. When severe constraints on the driveline layout make the implementation of standard mechanical transmissions unfeasible, a typical option is given by compound hydrostatic transmission architectures, with multiple dedicated motor-wheels. Requirements are then defined on two different levels: at vehicle level, traction functionality must never be lost; at hydraulic circuit level, all components must work within their nominal operating ranges and hydraulic stresses must be limited. Common standard topologies for motor connection, viz. series and parallel, come with different strengths and weaknesses, often requiring the implementation of auxiliary highly dissipative compensation components and/or complex electronic control, while a hybrid series-parallel concept, derived from a patented application, based on three-port motors allows the implementation of an effective, purely hydraulic system. In the present work, a general comparison of the above-mentioned architectures is provided, by means of numerical simulation, over a wide set of virtual experiments. Each architecture is analyzed: its specific features are described and the correlation between hydraulic performance/specifications and vehicle traction performance is pointed out.
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Zhekang Du, Kai Loon Cheong, Perry Y. Li, and Thomas R. Chase. "Fuel economy comparisons of series, parallel and HMT hydraulic hybrid architectures." In 2013 American Control Conference (ACC). IEEE, 2013. http://dx.doi.org/10.1109/acc.2013.6580772.
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Ramdan, Muhammad I., and Kim A. Stelson. "Optimized Single-Stage Power-Split Hydraulic Hybrid City Bus." In ASME/BATH 2013 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/fpmc2013-4420.
Testo completoAbstract (sommario):
Power-split architecture is, in theory, an excellent drive train in city bus applications because it combines the advantages of series (control flexibility) and parallel (high-efficiency power transfer) architectures. However, the power split also increases the complexity of the drive train with more component choices and control degrees of freedom that, if not properly optimized, would result in significant power loss. The hydraulic hybrid drive train has the disadvantages of the low speed limit of the hydraulic pump/motor unit and the low energy density of the hydraulic accumulator. An extensive optimization study has been done to ensure the hydraulic hybrid city bus drive train runs at optimal conditions. This study analyzes all twelve basic power-split configurations before any component or control strategy optimization is done. One input coupled configuration is found suitable for use in a power-split hydraulic hybrid city bus.
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Milutinovic, Veljko, Nemanja Trifunovic, Nenad Korolija, Jovan Popovic, and Dragan Bojic. "Accelerating program execution using hybrid control flow and dataflow architectures." In 2017 25th Telecommunication Forum (TELFOR). IEEE, 2017. http://dx.doi.org/10.1109/telfor.2017.8249476.
Testo completoRapporti di organizzazioni sul tema "Hybrid Control Architectures"
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Chong, Ronald S. Inheriting Constraint in Hybrid Cognitive Architectures: Applying the EASE Architecture to Performance and Learning in a Simplified Air-Traffic Control Task. Defense Technical Information Center, 2004. http://dx.doi.org/10.21236/ada441164.
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Kumar, Ratnesh, and Lawrence E. Holloway. DEPSCOR: Research on ARL's Intelligent Control Architecture: Hierarchical Hybrid-Model Based Design, Verification, Simulation, and Synthesis of Mission Control for Autonomous Underwater Vehicles. Defense Technical Information Center, 2007. http://dx.doi.org/10.21236/ada464977.
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An Input Linearized Powertrain Model for the Optimal Control of Hybrid Electric Vehicles. SAE International, 2022. http://dx.doi.org/10.4271/2022-01-0741.
Testo completoAbstract (sommario):
Models of hybrid powertrains are used to establish the best combination of conventional engine power and electric motor power for the current driving situation. The model is characteristic for having two control inputs and one output constraint: the total torque should be equal to the torque requested by the driver. To eliminate the constraint, several alternative formulations are used, considering engine power or motor power or even the ratio between them as a single control input. From this input and the constraint, both power levels can be deduced. There are different popular choices for this one control input. This paper presents a novel model based on an input linearizing transformation. It is demonstrably superior to alternative model forms, in that the core dynamics of the model (battery state of energy) are linear, and the non-linearities of the model are pushed into the inputs and outputs in a Wiener/Hammerstein form. The output non-linearities can be approximated using a quadratic model, which creates a problem in the linear-quadratic framework. This facilitates the direct application of linear control approaches such as LQR control, predictive control, or Model Predictive Control (MPC). The paper demonstrates the approach using the ELectrified Vehicle library for sImulation and Optimization (ELVIO). It is an open-source MATLAB/Simulink library designed for the quick and easy simulation and optimization of different powertrain and drivetrain architectures. It follows a modelling methodology that combines backward-facing and forward-facing signal path, which means that no driver model is required. The results show that the approximated solution provides a performance that is very close to the solution of the original problem except for extreme parts of the operating range (in which case the solution tends to be driven by constraints anyway).