| Evolutionary Tile Coding: An Automated State Abstraction Algorithm for Reinforcement Learning |
May 2012 |
7 pages |
| Authors:
Robert Wright; Stephen Lin; AIR FORCE RESEARCH LAB ROME NY INFORMATION DIRECTORATE
|
 | Reinforcement learning (RL) algorithms have the ability to learn optimal policies for control problems by exploring a domain's state space. Unfortunately, for most problems the size of the state space is too great for RL technologies to fully explore in order to find good policies. State abstraction is one way of reducing the size and complexity of a domain's state space in order to enable RL. In this paper we ... |
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| Application of Game Theory to Improve the Defense of the Smart Grid |
Mar 2012 |
146 pages |
| Authors:
Keith J Ross; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
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| This thesis presents the development and evaluation of a distributed agent based system using reputation based trust and game theoretic techniques to improve the defense of the future smart grid from cyber-attack and equipment malfunctions. Future smart grid capabilities promise to leverage network technologies to revolutionize the production, transmission, distribution and consumption of electrical power. However, the internet like communication also increase the power grid's vulnerability to cyber-attack. This thesis ... |
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| Modeling and Simulation Roadmap to Enhance Electrical Energy Security of U.S. Naval Bases |
Mar 2012 |
47 pages |
| Authors:
R Hebner; John D Herbst; A Gattozzi; TEXAS UNIV AT AUSTIN CENTER FOR ELECTROMECHANICS
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| The enhancement of the electrical energy security of Navy bases within the continental U.S. has been studied using an approach based on modeling and simulation, with the intent to achieve real time control and energy management. The commercially available software packages are reviewed and the most suitable ones are indicated. A notional base was developed and used for this study. Its format is general enough to be able to be ... |
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| Adaptive Speed Controller for the SeaFox Autonomous Surface Vessel |
Mar 2012 |
87 pages |
| Authors:
Michael A Hurban; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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| The thesis addressed the control system development for a high-speed surface vessel. In particular, the work utilized modern adaptive control techniques to design a speed following controller for the SeaFox ASV; the vehicle features three distinct speed, regimes including the displacement, rapid transition and planing regimes. The study started with the collection of experimental data required to characterize the operating modes and the inherent nonlinear phenomena of the high-speed ASV. ... |
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| ICPL: Intelligent Cooperative Planning and Learning for Multi-agent Systems |
29 Feb 2012 |
21 pages |
| Authors:
Jonathan P How; Emilio Frazzoli; Nicholas Roy; MASSACHUSETTS INST OF TECH BROOKLINE NEUROSCIENCES RESEARCH PROGRAM
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| The research objective was to develop a new planning approach for teams of multiple UAVs that tightly integrates learning and cooperative control algorithms at multiple levels of the planning architecture. The research results enabled a team of mobile agents to learn to adapt and react to uncertainty in situational awareness and unforeseen future events and thus successfully complete their missions in geographically extended and uncertain theaters of operation. Among application ... |
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| Optimal And Adaptive Control of Stochastic Systems |
11 Feb 2012 |
5 pages |
| Authors:
Tyrone E Duncan; Bozenna Pasik-Duncan; KANSAS UNIV LAWRENCE
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| A major focus of the research of this grant has been the control of stochastic systems with a large family of noise processes that are important for modeling and that have not previously been used or solved for control problems. Among these noise processes are the family of fractional Brownian motions. While Brownian motion is included in this family, all of the other members are neither semimartingales nor Markov processes. ... |
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| Control, Filtering and System Identification for High Energy Lasers and Laser Communications |
16 Jan 2012 |
9 pages |
| Authors:
Steve Gibson; Tsu-Chin Tsao; CALIFORNIA UNIV LOS ANGELES DEPT OF MECHANICAL AND AEROSPACE ENGINEERING
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| This research developed new methods for high-performance control of laser beams in high energy laser weapons and laser communications. These methods achieve optical wavefront correction, laser beam pointing and target tracking with precision levels significantly beyond those achievable by existing methods for beam control, thereby increasing the bandwidths and target distances for which beam control systems perform successfully, and expanding the classes of feasible applications. The research provided the basic ... |
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| Complexity, Robustness, and Network Thermodynamics in Large-Scale and Multiagent Systems: A Hybrid Control Approach |
11 Jan 2012 |
36 pages |
| Authors:
Wassim M Haddad; GEORGIA INST OF TECH ATLANTA SCHOOL OF AEROSPACE ENGINEERING
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| Controls research under this program concentrated on the development of a network thermodynamic stabilization framework for hybrid control design of large-scale and multiagent aerospace systems. In particular, we concentrate on hybrid control, hierarchical control, impulsive dynamical systems, nonnegative dynamical systems, compartmental systems, large-scale systems, nonlinear switching control, cooperative control, and adaptive control. Application areas include large flexible interconnected space structures, spacecraft stabilization, cooperative control of unmanned air vehicles, network systems, ... |
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| Optimal Dynamic Detection of Explosives (ODD-EX) |
29 Dec 2011 |
4 pages |
| Authors:
Herschel Rabitz; PRINCETON UNIV NJ OFFICE OF RESEARCH AND PROJECT ADMINISTRATION
|
| The completed research aimed to introduce the Optimal Dynamic Detection of Explosives (ODD-Ex) as a means to harness the best capabilities of advanced laser technology to significantly enhance the standoff detection of explosives. The core of the ODD-Ex technique rests on employing optimally shaped laser pulses to simultaneously enhance sensitivity to explosive signatures while reducing the influence of noise and signals from background interference in the field. These goals were ... |
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| Self-Stabilizing and Efficient Robust Uncertainty Management |
Oct 2011 |
50 pages |
| Authors:
Michael B Segal; Ohad Ben-Shahar; Shlomi Dolev; BEN-GURION UNIV OF THE NEGEV BEERSHEBA (ISRAEL)
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| This report results from a contract tasking Ben Gurion University as follows: During the course of this research project we have examined various models of communication and UAVs coordination including simulating birds flocking behavior. We considered the situation when the members of the swarm may discover each other by exchanging messages; periodically collecting information concerning the position, speed and direction of other members. Next, we considered the situation where the ... |
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| Sensing and Autonomy for Riverine Vessels |
30 Sep 2011 |
10 pages |
| Authors:
Daniel J Stilwell; Craig A Woolsey; VIRGINIA POLYTECHNIC INST AND STATE UNIV BLACKSBURG COLL OF ENGINEERING
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| The principal goal of this project is to develop the technology and algorithms that will enable an unmanned surface vehicle (USV) to operate fast and autonomously in unknown riverine environments, including tropical rivers. Robust autonomy requires that the USV senses the surface and subsurface environments, discriminates waterways that are navigable from those that are not, indentifies stationary and moving obstacles, including other vessels, and then optimally plans and re-plan a ... |
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| Adaptive Control and Parameter Identification of a Doubly-Fed Induction Generator for Wind Power |
Sep 2011 |
103 pages |
| Authors:
Stamatios Orfanos-Pepainas; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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| The use of Doubly-Fed Induction Generators (DFIG) for wind energy conversion is addressed in this thesis. It is well known that when the stator is connected to the electric grid, the rotor voltage can control both mechanical torque and reactive electric power. To guarantee efficient wind energy conversion, it is important to research and design more advanced control schemes. In this thesis, we first review the basic theory behind DFIGs ... |
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| Adaptive Cruise Control: Hybrid, Distributed, and Now Formally Verified |
Jun 2011 |
30 pages |
| Authors:
Sarah M Loos; Andre Platzer; Ligia Nistor; CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
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| Car safety measures can be most effective when the cars on a street coordinate their control actions using distributed cooperative control. While each car optimizes its navigation planning locally to ensure the driver reaches his destination, all cars coordinate their actions in a distributed way in order to minimize the risk of safety hazards and collisions. These systems control the physical aspects of car movement using cyber technologies like local ... |
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| Robust Adaptive Control of Multivariable Nonlinear Systems |
28 Mar 2011 |
9 pages |
| Authors:
Naira Hovakimyan; ILLINOIS UNIV AT URBANA-CHAMPAIGN DEPT OF MECHANICAL SCIENCE AND ENGINEERING
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| Our research is focused on defining robust adaptive control architectures that can be completely characterized with their performance bounds and robustness/stability margins. Research in this direction over the past several years has led to a powerful set of tools, known as L1 adaptive control theory. This new paradigm for design of adaptive control systems embeds the robustness specification explicitly into the control problem formulation (control objective) and allows for decoupling ... |
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| Models and Algorithms Involving Very Large Scale Stochastic Mixed-Integer Programs |
28 FEB 2011 |
19 pages |
| Authors:
Suvrajeet Sen; OHIO STATE UNIV COLUMBUS INDUSTRIAL AND SYSTEMS ENGINEERING
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| Stochastic Mixed Integer Programs (SMIP) are recognized as one of the most formidable classes of mathematical programming problems. Not only are there significant challenges due to potentially large number of scenarios, but, SMIP with integers in the second stage give rise to a non-convex and discontinuous recourse function that may be difficult to optimize. As a result of this project, there have been significant advances in the design of algorithms ... |
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| Adaptive Ping Control for Track-Holding in Multistatic Active Sonar Networks |
Jul 2010 |
9 pages |
| Authors:
Cherry Y Wakayama; Doug J Grimmett; SPACE AND NAVAL WARFARE SYSTEMS CENTER PACIFIC SAN DIEGO CA
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| Distributed multistatic active sonar networks provide an Anti-Submarine Warfare capability against small, quiet, threat submarines in the harsh clutter-saturated littoral and deeper ocean environments. Adaptive ping control techniques provide the potential to significantly increase the multistatic network's performance, by pinging (in an optimum sense) the right source, at the right time, with the right waveform. This paper describes an automatic, adaptive ping control algorithm. It specifically addresses the track- hold ... |
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| Distributed Mission Control for Unmanned Air Vehicles in Stochastic Environments |
10 Jan 2010 |
14 pages |
| Authors:
David A Castanon; Christos G Cassandras; BOSTON UNIV MA
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| This research focused on developing of theoretical and algorithmic foundations for an applicable theory of cooperative mission control for teams of heterogeneous UAVs, motivated by the problem of coordination of activities in adaptive response to unknown events. The main results of the work include: (1) new techniques for the solution of adaptive search and sensor management, solving large scale combinatorial stochastic, dynamic optimization problems, based on integration of stochastic control ... |
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| Complementary Waveforms for Sidelobe Suppression and Radar Polarimetry |
Jan 2010 |
19 pages |
| Authors:
Yuejie Chi; Ali Pezeshki; A R Calderbank; COLORADO STATE UNIV FORT COLLINS DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
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| Advances in active sensing are enabled by the ability to control new degrees of freedom and each new generation of radar platforms requires fundamental advances in radar signal processing [1],[2]. The advent of phased array radars and space-time adaptive processing have given radar designers the ability to make radars adaptable on receive [2]. Modern radars are increasingly being equipped with arbitrary waveform generators which enable transmission of different waveforms across ... |
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| Distributed Control of Turbofan Engines |
Aug-2009 |
57 pages |
| Authors:
Alireza Behbahani; Mehrdad Pakmehr; Eric Feron; Marion Mounier; Nathan Fitzgerald; George Kiwada; James D Paduano; GEORGIA INST OF TECH ATLANTA
|
| The purpose of this paper is to develop control theoretic concepts for distributed control of gas turbine engines, and develop a dynamic engine model incorporating distributed components in compressor dynamics, engine cycles, and engine control. The latest results in distributed control combined with adaptive control theory are extended for turbofan engine distributed control. Concepts and architectures for distributed control are developed that create tangible benefits from the distribution of closed-loop ... |
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| Individual Differences in Cerebral Cortical Activity During Stress: Understanding and Intervention to Enhance Shooting Performance |
30-Apr-2009 |
29 pages |
| Authors:
Bradley D Hatfield; Amy J Haufler; MARYLAND UNIV COLLEGE PARK OFFICE OF RESEARCH ADMINISTRATION AND ADVANCEMENT
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| The purpose of this project was to examine the efficacy of neurofeedback training to promote emotion regulation during cognitive-motor performance under conditions of mental stress. The model is predicated on the notion that relative left frontal activation is indicative of an adaptive mood state reflective of task engagement. In Phase 1, participants (ROTC candidates) were exposed to competitive mental stress to determine the manner in which brain (i.e., cerebral cortical) ... |
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| An Energy-Based Thermodynamic Stabilization Framework for Hybrid Control Design of Large-Scale Aerospace Systems |
27-Feb-2009 |
42 pages |
| Authors:
Wassim M Haddad; GEORGIA INST OF TECH ATLANTA SCHOOL OF AEROSPACE ENGINEERING
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| Controls research under this program has concentrated on the development of hybrid control, energy- and entropy based control, decentralized control, distributed control, cooperative control, and adaptive control. Specifically, a novel energy-based thermodynamic stabilization framework for hybrid control design of large-scale aerospace systems is developed. This framework provides a rigorous alternative to designing gain scheduled controllers for general nonlinear large-scale dynamical systems by constructing distributed and decentralized logic-based nonlinear controllers. |
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| High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches |
Dec-2008 |
75 pages |
| Authors:
Khim Y Kam; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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| In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area intelligence, surveillance and reconnaissance (ISR) missions in a tactical environment. The operational range of these survey vehicles is usually limited by the line-of-sight (LOS) and/or bandwidth constraints of the communication system. To increase the operational range and to allow real-time transmission of data back to the command station, autonomous vehicles configured ... |
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| Closed-Loop Adaptive Optics Control in Strong Atmospheric Turbulence |
01-Sep-2008 |
151 pages |
| Authors:
Todd M Venema; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
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| A self-referencing interferometer based closed-loop adaptive optics controller is developed which is designed to operate effectively under strong turbulence conditions. The aberrated optical field is modeled stochastically and then estimates of the state of the system are developed using a steady-state, fixed-gain Kalman filter. The phase of the optical field is considered the state of the system which is wrapped in a limited range of (-pi;pi]. This phase is unwrapped ... |
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| Preparing to Predict: The Second Autonomous Ocean Sampling Network (AOSN-II) Experiment in the Monterey Bay |
06-Jun-2008 |
|
| Authors:
S R Ramp; W Leslie; S Liang; F L Bahr; F Chavez; J D Paduan; D Fratantoni; P Lermusiaux; J Marsden; A R Robinson; Y Chao; I Shulman; N E Leonard; R E Davis; Z Li; MASSACHUSETTS INST OF TECH CAMBRIDGE
|
 | The Autonomous Ocean Sampling Network Phase Two (AOSN-II) experiment was conducted in and offshore from the Monterey Bay on the central California coast during July 23 - September 6, 2003. The objective of the experiment was to learn how to apply new tools, technologies, and analysis techniques to adaptively sample the coastal ocean in a manner demonstrably superior to traditional methodologies, and to use the information gathered to improve predictive ... |
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| Image Reconstruction, Wave Front Sensing, and Adaptive Optics in Extreme Atmospheric Seeing Conditions |
02-Jun-2008 |
13 pages |
| Authors:
Michael C Roggemann; Timothy J Schulz; MICHIGAN TECHNOLOGICAL UNIV HOUGHTON
|
| On June 1, 2005 AFOSR awarded a grant to Michigan Technological University to investigate image reconstruction, wave front sensing, and adaptive optics in extreme imaging conditions. This is the final report for this program. The overall goal was to understand imaging under conditions where seeing is exceedingly poor, such as for space surveillance of objects at very low elevation angles, and during daytime hours. In these situations, scintillation and small ... |
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| Cooperative Manipulation on the Water Using a Swarm of Autonomous Tugboats |
MAY 2008 |
7 pages |
| Authors:
Joel Esposito; Matthew Feemster; Erik Smith; NAVAL ACADEMY ANNAPOLIS MD DEPT OF WEAPONS AND SYSTEMS ENGINEERING
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| In this paper we present a strategy that allows a swarm of autonomous tugboats to cooperatively move a large object on the water. The two main challenges are: (1) the actuators are unidirectional and experience saturation; (2) the hydrodynamics of the system are difficult to characterize. The primary theoretical contribution of the paper addresses the first challenge. We present a tracking controller and force allocation strategy that, despite actuator limitations, ... |
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| Estimation of Time Dependent Properties from Surface Pressure in Open Cavities |
Feb-2008 |
90 pages |
| Authors:
Louis Cattafesta; Lawrence Ukeiley; Terry Song; George Shumway; FLORIDA UNIV GAINESVILLE
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| The intense fluctuating pressures observed in open cavities are extremely detrimental hence the ability to control the flow to minimize them is an important challenge. Many open loop methodologies have proven effective at this for single operating conditions, however they often are detrimental at off design conditions. Closed loop flow control is applicable over a range of flow conditions and is the thrust of many current and past studies. However ... |
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| Advanced and Adaptable Military Propulsion |
22 JAN 2008 |
31 pages |
| Authors:
Alan H. Epstein; Choon S. Tan; MASSACHUSETTS INST OF TECH CAMBRIDGE GAS TURBINE LAB
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| Analyses and calculations were carried out to quantify the gain in performance (as measured in terms of thrust specific fuel consumption and range productivity) in aircraft turbine engines incorporating adaptability/variability. A 5-10% variability in (turbine and propelling) nozzle areas would allow the compression system to have an operating point for subsonic loiter identical to that for supersonic flight to destination, resulting in a 20% improvement in thrust specific fuel consumption. ... |
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| Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles |
01 NOV 2007 |
17 pages |
| Authors:
Alessandro Casavola; Emanuele Garone; UNIVERSITA DELLA CALABRIA RENDE (ITALY)
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| This paper presents an adaptive actuators allocation scheme that is fault-tolerant with respect to actuator faults or loss of effectiveness. The main idea here is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration. Two simple algorithms are proposed for nonlinear discrete-time systems. The main properties of the algorithms are summarized in the disturbance-free case and their effectiveness shown by means of ... |
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| Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV) |
Oct-2007 |
9 pages |
| Authors:
Paul Miller; Vladimir Djapic; J A Farrell; Rich Arrieta; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED MARITIME VEHICLE LAB
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| UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a ... |
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| On-Line Trajectory Optimization for Autonomous Air Vehicles |
31-Jul-2007 |
91 pages |
| Authors:
J E Corban; Shannon Twigg; Tobias Ries; Bong-Jun Yang; Eric Johnson; Anthony Calise; GUIDED SYSTEMS TECHNOLOGIES MCDONOUGH GA
|
| Successful operation of next-generation unmanned air vehicles will demand a high level of autonomy. Autonomous low-level operation in a complex environment dictates a need for onboard, robust, reliable and efficient trajectory optimization. In this report, we develop and demonstrate an innovative combination of traditional analytical and numerical solution procedures to produce efficient, robust and reliable means for nonlinear flight path optimization in the presence of time-varying obstacles and threats. The ... |
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| Cooperation and Consensus Seeking for Teams of Unmanned Air Vehicles |
30 JUN 2007 |
69 pages |
| Authors:
Timothy W. McLain; Randal W. Beard; BRIGHAM YOUNG UNIV PROVO UT
|
| This report describes research in the area of cooperative control of unmanned air vehicles carried out at Brigham Young University with the support of AFOSR during the period from April 2004 to March 2007. Our research focused on cooperative control of unmanned air vehicles (UAVs). Under this AFOSR supported effort, we have sought to accomplish three primary objectives: 1) extend our current theoretical approach to encompass broader classes of cooperative ... |
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| Swarm Manipulation of Large Surface Vessels |
03 MAY 2007 |
140 pages |
| Authors:
Erik T. Smith; NAVAL ACADEMY ANNAPOLIS MD
|
| The goal of this Trident project was to develop an independent control scheme to allow a team of autonomous tugboats to move a large disabled vessel, such as a barge, to a desired position and orientation. Independence refers to the extent to which each tugboat's actions were free from knowledge of the locations and actions of other tugboats. Performance of the team was quantified by measuring the positional error and ... |
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| Advanced Polymer Composite Molding Through Intelligent Process Analysis and Control |
30 MAR 2007 |
74 pages |
| Authors:
Bob Minaie; WICHITA STATE UNIV KS DEPT OF MECHANICAL ENGINEERING
|
| To prevent dry spot formation in RTM, a control interface and four different adaptive control algorithms were developed and tested with numerical simulations. The interface is capable of controlling the flow pattern of resin as it fills a mold containing a preform. The mold is equipped with multiple inlet gates, a single vent and a spinal sensor system that continuously feeds the interface with the resin flow front location along ... |
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| Fine Pointing of Military Spacecraft |
MAR 2007 |
154 pages |
| Authors:
Timothy A. Sands; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| In 1923, Herman Oberth, considered by some to be the father of it all for space flight, wrote a book called Die Rakete zu den Planetraeumen (i.e., Dreams of Planets ) inspiring today's modern space flight. Amongst his suggestions was placing a telescope in space, so astronomical observations may be made without atmospheric distortion. Nearly a century later, the Hubble Space telescope is imaging distant stars with high accuracy. If ... |
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| Data-Driven Robust Control Design: Unfalsified Control |
01 DEC 2006 |
19 pages |
| Authors:
Michael G. Safonov; UNIVERSITY OF SOUTHERN CALIFORNIA LOS ANGELES DEPT OF ELECTRICAL ENGINEERING
|
| Aerospace applications require precise control despite uncertain operating conditions and unanticipated circumstances such as battle damage. These systems must be designed to perform robustly, despite uncertain design models and difficult to analyze nonlinear effects. They must be capable of learning and adapting when accumulating data indicates that previous models must be abandoned and that existing control strategies must be changed. Data-driven design methods, collectively known as un-falsified control theory, facilitate ... |
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| Active Control of Blade Tonals in Underwater Vehicles |
DEC 2006 |
21 pages |
| Authors:
Anuradha M. Annaswamy; MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF MECHANICAL ENGINEERING
|
| The goal of this proposal is to achieve stealth through the reduction or alteration of radiated noise that produce blade tonals in underwater vehicles. The use of active control that is judiciously integrated with passive control is proposed to realize which consists of intentional articulation of suitable surfaces or boundary conditions in the vehicle so as to modify the relevant noise characteristics. By modulating additional surfaces, biological organisms appear to ... |
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| Intelligent Adaptive Interfaces: Summary Report on Design, Development, and Evaluation of Intelligent Adaptive Interfaces for the Control of Multiple UAVs from an Airborne Platform |
DEC 2006 |
|
| Authors:
Ming Hou; Robert D. Kobierski; DEFENCE RESEARCH AND DEVELOPMENT TORONTO (CANADA)
|
| An absence of guidance on designing complex, dynamic, and networked systems presents challenges to the design of such systems to maximize overall human-machine system performance. An Intelligent Adaptive Interface (IAI) concept and associated technologies have been developed to address this problem. A typical IAI is driven by software agents that can change the display and /or control characteristics to react to the changes of mission and operator states in real ... |
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| Motion Coordination with Noisy Measurement in Natural and Artificial Swarms |
NOV 2006 |
9 pages |
| Authors:
Prabir Barooah; Joao P. Hespanha; CALIFORNIA UNIV SANTA BARBARA CENTER FOR CONTROL, DYNAMICAL SYSTEMS AND COMPUTATION (CCDC)
|
| We consider the problem of controlling a group of mobile agents toward a formation defined by the desired relative positions between the agents. Each agent has available for control noisy measurements of its relative position with respect to a small set of neighbors. The motion of the group as a whole is due to a leader who moves independently of the other agents. We show that there are intrinsic limitations ... |
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| Combining Collision Avoidance and Operator Workload Reduction with Cooperative Task Assignment and Path Planning (Preprint) |
OCT 2006 |
9 pages |
| Authors:
Jeffery B. Saunders; Steven J. Rasmussen; Corey J. Schumacher; AIR FORCE RESEARCH LAB (AFRL/VACA) WRIGHT-PATTERSON AFB OH CONTROL SCIENCE
|
| This paper develops a method of assignment and path allocation that incorporates a priori collision avoidance and operator workload reduction in assigning multiple tasks to cooperative unmanned aerial vehicles (UAV). The problem is posed as a combinatorial optimization problem. A branch and bound tree search algorithm is implemented for a satisfying solution using a cost function that integrates distance traveled, proximity to other UAVs, and target visitation times. The results ... |
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| Cooperative Target Tracking in a Distributed Autonomous Sensor Network |
Sep-2006 |
7 pages |
| Authors:
Donald P Eickstedt; Michael R Benjamin; AEROSPACE INTEGRATION CORP FORT WALTON BEACH FL
|
| This paper describes an investigation into the control of multiple, cooperating autonomous sensor platforms operating in a marine sensor network. Distributed sensors allow us to view phenomena of interest from multiple, simultaneous vantage points, creating significant processing gain from the spatial diversity. The major objective of this paper is to describe a framework for adaptive and cooperative control of the autonomous sensor platforms in such a network. This framework has ... |
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| Need for Robust Sensors for Inherently Fail-Safe Gas Turbine Engine Controls, Monitoring, and Prognostics (Postprint) |
SEP 2006 |
37 pages |
| Authors:
Alireza R. Behbahani; AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH PROPULSION DIRECTORATE
|
| Sensor reliability is critical to turbine engine control. Today's aircraft engines demand more sophisticated sensors in the control systems, requiring advanced engine testing for component performance demonstration. Expertise in the gas turbine instrumentation community is located across the gas turbine industry itself, within several specialized university departments serving to supplement the more general research programs in gas turbine research. Sensor technology has advanced in many fields; however, implementation has been ... |
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| Decentralized Control and Decentralized Adaptive Control |
JUN 2006 |
31 pages |
| Authors:
Kumpati S. Narenda; YALE UNIV NEW HAVEN CT
|
| As systems become complex with many interconnected subsystems, decentralized control becomes essential. When certain parameters of the system are unknown, and/or when subsystems are not aware of the signals from other subsystems that affect their behavior, we need decentralized adaptive control. The report deals with questions that arise while analyzing the stability and performance of decentralized adaptive control systems. The project produced three specific results: 1. Interconnected dynamical systems can ... |
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| Lifetime Maximizing Adaptive Power Control in Wireless Sensor Networks |
2006 |
11 pages |
| Authors:
Fangting Sun; Mark Shayman; MARYLAND UNIV COLLEGE PARK DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
|
| Network lifetime is one of the most critical performance measures for wireless sensor networks. Various schemes have been proposed to maximize the network lifetime. In this paper, the authors consider the lifetime maximization problem via a new approach: adaptive power control. They focus on the sensor networks that consist of a sink and a set of homogeneous wireless sensor nodes, which are randomly deployed according to a uniform distribution. Each ... |
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| An Entity Maintenance and Connection Service for Sensor Networks |
2006 |
16 pages |
| Authors:
Brian Blum; Prashant Nagaraddi; Anthony Wood; Tarek Abdelzaher; Sang Son; Jack Stankovic; VIRGINIA UNIV CHARLOTTESVILLE DEPT OF COMPUTER SCIENCE
|
| In this paper, we present a middleware architecture for coordination services in sensor networks that facilitates interaction between groups of sensors which monitor different environmental events. It sits on top of the native routing infrastructure and exports the abstraction of mobile communication endpoints maintained at the locations of such events. A single logical destination is created and maintained for every environmental event of interest. Such destinations are uniquely labeled and ... |
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| Positioning of Large Surface Vessels using Multiple Tugboats |
2006 |
12 pages |
| Authors:
David Braganza; Matthew Feemster; Darren M. Dawson; CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
|
| In this paper, the positioning of large surface vessels using multiple, autonomous tugboats is investigated. Specifically, the paper investigates the development of two control strategies: (1) an adaptive position controller that compensates for select system parameters such as mass and drag coefficients and also for an unknown thrust configuration matrix that is the result of unknown tugboat locations and (2) a robust position control strategy that does not require transmission ... |
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| Biofluidic Intelligent Processors for Preparative Manipulations of Biological Warfare Agents at the Attomole Level |
NOV 2005 |
172 pages |
| Authors:
Paul W. Bohn; Johnathan V. Sweedler; Mark A. Shannon; ILLINOIS UNIV AT URBANA BECKMAN INST
|
| A new type of biofluidic transport system, the Biofluidic Intelligent Processor (BIP), was developed which specifically used biological compounds to adaptively control the transport of microfluids. The multicompartment, multimembrane BIP system was designed, fabricated and tested. The BIP had characteristic linear dimensions of nanometers and volumes as small as tens of attoliters, and was specifically designed to manipulate nano-amounts of species. Electrokinetic and other standard microfluidic flows were exploited to ... |
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| Skill Training Using Adaptive Technology: A Better Way to Hover |
SEP 2005 |
101 pages |
| Authors:
Thomas J. Sharkey; Anthony P. Ciavarelli; Charles N. Ashury; Alberto Y. Salinas; Robert T. Hannessy; MONTEREY TECHNOLOGIES INC MONTEREY CA
|
| The goal of this Phase 1 Small Business Innovation Research (SBIR) program was to determine the feasibility of developing and implementing an automated, adaptive hover training controller based on human performance models and novel feedback techniques for Student Pilots (SPs) in Initial Entry Rotary Wing (IERW) training. The target system for the controller is the Intelligent Flight Trainer (IFT), a hover training research device, operated by the U.S. Army Research ... |
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| Integrated Design and Analysis Tools for Software-Based Control Systems |
JUL 2005 |
57 pages |
| Authors:
Shankar Sastry; Thomas Henzinger; Edward Lee; CALIFORNIA UNIV BERKELEY DEPT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE
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| - Generalize recent results in "Reachability of objectives" in discrete probabilistic games to hybrid systems - Develop algorithms and tools for estimating safe/desired performance for multi-modal and multi-vehicle systems - Develop fault detection/handling tools and Markov-based decision process tools for incompletely observed modules. |
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| Adaptive Laser Beam Control Using Return Photon Statistics |
MAY 2005 |
4 pages |
| Authors:
Susan M. Chandler; NUKOVE SCIENTIFIC CONSULTING LLC RANCHOS DE TAOS NM
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| This Status Report, satisfying CLIN 000 1AB for the referenced contract, highlights the progress the Nukove Team has made during the second quarter of the Year One effort (1 March 2005-30 May 2005). Susan Chandler has had discussions with Mew Mexico State University, and Gordon Lukesh has talked extensively with NMSU statistician Deva Borah. Susan Chandler has had numerous discussions with Woof Consulting, solving the thorny issue of data sharing. ... |
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Reports by Keyword(s)
ADAPTIVE CONTROL SYSTEMS
