Modeling and robust discrete LQ repetitive control of electrically driven robots

Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness.     

A hybrid aggregation and compression technique for road network databases

Vector data and in particular road networks are being queried, hosted and processed in many application domains such as in mobile computing. Many client systems such as PDAs would prefer to receive the query results in unrasterized format without introducing an overhead on overall system performance and result size. While several general vector data compression schemes have been studied by different communities, we propose a novel approach in vector data compression which is easily integrated within a geospatial query processing system. It uses line aggregation to reduce the number of relevant tuples and Huffman compression to achieve a multi-resolution compressed representation of a road network database. Our experiments performed on an end-to-end prototype verify that our approach exhibits fast query processing on both client and server sides as well as high compression ratio.

High-order compact boundary value method for the solution of unsteady convection–diffusion problems

In this paper, we propose a new class of high-order accurate methods for solving the two-dimensional unsteady convection–diffusion equation. These techniques are based on the method of lines approach. We apply a compact finite difference approximation of fourth order for discretizing spatial derivatives and a boundary value method of fourth order for the time integration of the resulted linear system of ordinary differential equations. The proposed method has fourth-order accuracy in both space and time variables. Also this method is unconditionally stable due to the favorable stability property of boundary value methods. Numerical results obtained from solving several problems include problems encounter in many transport phenomena, problems with Gaussian pulse initial condition and problems with sharp discontinuity near the boundary, show that the compact finite difference approximation of fourth order and a boundary value method of fourth order give an efficient algorithm for solving such problems.     

The solution and duality of imprecise network problems

Duality properties have been investigated by many researchers in the recent literature. They are introduced in this paper for a fully fuzzified version of the minimal cost flow problem, which is a basic model in network flow theory. This model illustrates the least cost of the shipment of a commodity through a capacitated network in terms of the imprecisely known available supplies at certain nodes which should be transmitted to fulfil uncertain demands at other nodes. First, we review on the most valuable results on fuzzy duality concepts to facilitate the discussion of this paper. By applying Hukuhara’s difference, approximated and exact multiplication and Wu’s scalar production, we exhibit the flow in network models. Then, we use combinatorial algorithms on a reduced problem which is derived from fully fuzzified MCFP to acquire fuzzy optimal flows. To give duality theorems, we utilize a total order on fuzzy numbers due to the level of risk and realize optimality conditions for providing some efficient combinatorial algorithms. Finally, we compare our results with the previous worthwhile works to demonstrate the efficiency and power of our scheme and the reasonability of our solutions in actual decision-making problems.     

Quantitative analysis of packet-processing applications regarding architectural guidelines for network-processing-engine development

This paper presents a simulation-based profile-driven quantitative analysis of packet-processing applications. In this domain, demands for increasing the performance and the ongoing development of network protocols both call for flexible and performance-optimized engines. Based on the achieved profiling results, we introduce platform-independent analysis that locates the performance bottlenecks and architectural challenges of a packet-processing engine. Finally based on these results, we extract helpful architectural guidelines for design of a flexible and high-performance embedded processor that is optimized for packet-processing operations in high-performance and cost-sensitive network embedded applications.     

Free vibration analysis of double-viscoelastic nano-composite micro-plates reinforced by FG-SWCNTs based on the third-order shear deformation theory

Microsystem Technologies - In this paper, free vibration analysis of a double viscoelastic nano-composite plate system reinforced by functionally graded single-walled carbon nanotubes (FG-SWCNT)...     

Energy and load balancing routing protocol for IoT

Due to the limitation of node energy resources, the management of energy consumption is one of the most important problems of the internet of things (IoT). Therefore, many studies have tried to optimize and manage energy consumption by focusing on different techniques. Although each of these studies has improved and optimized energy consumption, there are many important problems, including maintaining traffic balance and energy consumption of network nodes. Therefore, a new method is necessary to maintain the load and energy balancing of network nodes. Therefore, this paper introduces energy and load balancing routing protocol for IoT (ELBRP) based on the development of the RPL routing protocol and the efficiency of data distribution technique. The ELBRP performance has three steps. In the first step, along with the process of sending DODAG information object (DIO) messages, the status of network nodes is evaluated. In the second step, the DODAG communication graph is formed according to the ELBRP. In the third step, data transmission is done according to the distribution technique with the goal of balancing traffic and energy. The simulation results using cooja simulator showed the superiority of ELBRP in improving energy consumption and successful delivery ratio, reducing delay and increasing the network lifetime compared to the similar methods.     

Agent-based time delay margin in consensus of multi-agent systems by an event-triggered control method: Concept and computation

This paper deals with defining the concept of agent-based time delay margin and computing its value in multi-agent systems controlled by event-triggered based controllers. The agent-based time delay margin specifying the time delay tolerance of each agent for ensuring consensus in event-triggered controlled multi-agent systems can be considered as complementary for the concept of (network) time delay margin, which has been previously introduced in some literature. In this paper, an event-triggered control method for achieving consensus in multi-agent systems with time delay is considered. It is shown that the Zeno behavior is excluded by applying this method. Then, in a multi-agent system controlled by the considered event-triggered method, the concept of agent-based time delay margin in the presence of a fixed network delay is defined. Moreover, an algorithm for computing the value of the time delay margin for each agent is proposed. Numerical simulation results are also provided to verify the obtained theoretical results.