On the backstepping design procedure for multiple input nonlinear systems

In a recent paper, we developed a structural decomposition for multiple input multiple output nonlinear systems that are affine in control but otherwise general. In this paper, we exploit the structural properties of such a decomposition in the application of the backstepping design technique on multiple input nonlinear systems. In particular, this decomposition simplifies the conventional backstepping design and motivates new backstepping design procedures that are able to stabilize systems on which the conventional backstepping procedure is not applicable. Copyright © 2011 John Wiley & Sons, Ltd.     

Robust ℋ︁∞ PID control for multivariable networked control systems with disturbance/noise attenuation

In this paper, we study the design problem of PID controllers for networked control systems (NCSs) with polyhedral uncertainties. The load disturbance and measurement noise are both taken into account in the modeling to better reflect the practical scenario. By using a novel technique, the design problem of PID controllers is converted into a design problem of output feedback controllers. Our goal of this paper is two‐fold: (1) To design the robust PID tracking controllers for practical models; (2) To develop the robust ??_∞ PID control such that load and reference disturbances can be attenuated with a prescribed level. Sufficient conditions are derived by employing advanced techniques for achieving delay dependence. The proposed controller can be readily designed based on iterative suboptimal algorithms. Finally, four examples are presented to show the effectiveness of the proposed methods. Copyright © 2011 John Wiley & Sons, Ltd.     

A survey on coverage and connectivity issues in wireless sensor networks

A wireless sensor network (WSN) is composed of a group of small power-constrained nodes with functions of sensing and communication, which can be scattered over a vast region for the purpose of detecting or monitoring some special events. The first challenge encountered in WSNs is how to cover a monitoring region perfectly. Coverage and connectivity are two of the most fundamental issues in WSNs, which have a great impact on the performance of WSNs. Optimized deployment strategy, sleep scheduling mechanism, and coverage radius cannot only reduce cost, but also extend the network lifetime. In this paper, we classify the coverage problem from different angles, describe the evaluation metrics of coverage control algorithms, analyze the relationship between coverage and connectivity, compare typical simulation tools, and discuss research challenges and existing problems in this area.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Hybrid particle swarm optimization and differential evolution for optimal design of water distribution systems

Water distribution system design belongs to a class of large combinatorial non-linear optimization problems, involving complex implicit constraints, such as conservation of mass and energy equations, which are commonly satisfied through the use of hydraulic simulation solvers. Recently, many researchers have shifted the focus from traditional optimization methods to the use of meta-heuristic approaches for handling this complexity. This paper proposes a hybrid particle swarm optimization (PSO) and differential evolution (DE) method, linked to the hydraulic simulator, EPANET, for minimizing the cost design of water distribution systems. The performance of the proposed PSO-DE algorithm is demonstrated using three well-known benchmark water distribution system problems, the two-loop network, the Hanoi network and the New York Tunnels network. The results are compared to that of standard PSO and previously applied optimization methods. It is found that PSO-DE is a promising method for solving water distribution system design problems as it outperforms standard PSO and other algorithms previously presented in the literature for the three case studies considered.     

Optimal configuration of Energy-Efficient Ethernet

The IEEE 802.3az standard provides a new low power mode that Ethernet network interfaces can use to save energy when there is no traffic to transmit. Simultaneously with the final standard approval, several algorithms were proposed to govern the physical interface state transition between the normal active mode and the new low power mode. In fact, the standard leaves this sleeping algorithm unspecified to spur competition among different vendors and achieve the greatest energy savings. In this paper, we try to bring some light to the most well known sleeping algorithms, providing mathematical models for the expected energy savings and the average packet delay inflicted on outgoing traffic. We will then use the models to derive optimum configuration parameters for them under given efficiency constraints.     

On the sizing of a solar thermal electricity plant for multiple objectives using evolutionary optimization

Design, implementation and operation of solar thermal electricity plants are no more an academic task, rather they have become a necessity. In this paper, we work with power industries to formulate a multi-objective optimization model and attempt to solve the resulting problem using classical as well as evolutionary optimization techniques. On a set of four objectives having complex trade-offs, our proposed procedure first finds a set of trade-off solutions showing the entire range of optimal solutions. Thereafter, the evolutionary optimization procedure is combined with a multiple criterion decision making (MCDM) approach to focus on preferred regions of the trade-off frontier. Obtained solutions are compared with a classical generating method. Eventually, a decision-maker is involved in the process and a single preferred solution is obtained in a systematic manner. Starting with generating a wide spectrum of trade-off solutions to have a global understanding of feasible solutions, then concentrating on specific preferred regions for having a more detailed understanding of preferred solutions, and then zeroing on a single preferred solution with the help of a decision-maker demonstrates the use of multi-objective optimization and decision making methodologies in practice. As a by-product, useful properties among decision variables that are common to the obtained solutions are gathered as vital knowledge for the problem. The procedures used in this paper are ready to be used to other similar real-world problem solving tasks.     

Analytical solution of mixed electromagnetic/pressure driven gaseous flows in microchannels

The influences of wall-slip/jump conditions on the fluid flow and heat transfer for hydrodynamically and thermally fully developed electrically conducting gaseous flow subject to an electromagnetic field inside a parallel plate microchannel with constant heat flux at walls are studied under the assumptions of a low-magnetic Reynolds number. The governing equations are non-dimensionalized and then analytical solutions are derived for the friction and the heat transfer coefficients. The fluid flow and the heat transfer characteristics obtained in the analytical solutions are discussed in detail for different parameters such as the Knudsen, Hartmann, and Brinkman numbers. The velocity profiles verify that even with a constant Knudsen number, applying a stronger electromagnetic field gives rise to an increase in the slip velocity. The results also reveal that on increasing the Hartmann number, the heat transfer rate as well as the friction factor is enhanced, whereas it tends to suppress the movement of the fluid. Further, it is found that the Nusselt and the Poiseuille numbers are less sensitive to the electromagnetic field effects with increase in rarefaction.     

Improved stability conditions for systems with interval time-varying delay

The paper is concerned with the stability of linear systems with interval time-varying delay. Through constructing a new augmented Lyapunov-Krasovskii functional (LKF) which contains some quadruple-integral terms and estimating the time derivative of the LKF less conservatively, new stability criteria are derived without introducing any free matrices. Moreover, by proving the positive definiteness of the LKF with some integral inequalities, the constraints on some functional parameters are relaxed and the conservatism of the obtained results are further reduced. Numerical examples are also given to demonstrate the effectiveness and reduced conservatism of the obtained results.     

基于组播通信的交通通信网络研究

研究交通通信网络,提高网络的吞吐量和数据传输效率。针对传统的单播组网中通信发送者需要多次复制相同的数据包以满足多个接受者同时提出的数据请求,随着数据请求的增多使得发送者的通信负担加重,造成网络拥塞、吞吐量不高的问题。为了解决上述难题,提出基于组播通信的交通通信网络的组网方法。采用Mesh结构构建交通通信网络的组播模型,使得网络节点之间建立有线或无线的连接,然后利用网络编码算法实现网络间的通信,使得源点只需发送一次就可向多个终点成功传输相同的数据。实验表明,组网方法能够有效解决数据请求过多时网络吞吐量不高的问题,同时提高了数据传输的效率,取得了满意的结果。