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real-time Discrete Adaptive control of Robot Arm Based on Digital Signal Processing

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Journal of Southwest Jiaotong University(English Edition) 2008年第1期16卷 24-29页

作者：龙绪明 School of Electrical Engineering Southwest Jiatong University

A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control （MRAC） and digital signal processing （DSP） computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity.

关键词： Robot Model reference adaptive control (MRAC) Digital signal processing (DSP) real-time control

Development of In-Situ real-time CD Monitoring and control System through PEB Process

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Development of In-Situ Real-Time CD Monitoring and Control S...

real-time trajectory optimization for powered planetary landings based on analytical shooting equations

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作者： Arthur Tay Weng Khuen Ho Department of Electrical and Computer Engineering National University of Singapore

real-time control is the trend for photoresist processing in the advanced lithography. In this paper we develop an in-situ ellipsometer integrated with a programmable thermal heating system, which could perform real-time monitoring and control for critical dimension (CD) latent image through the entire post-exposure bake (PEB) process. The inline ellipsometry measurements are fitted into an electromagnetic wave model built on the rigorous coupled-wave analysis (RCWA) theory for CD latent image characterization. Thereafter a real-time control scheme is proposed by applying the programmable thermal bake-plate. The experimental outcome demonstrates a significant improvement on the final CD result comparing to the conventional baking method.

关键词： real-time control Ellipsometer Critical Dimension Post-Exposure Bake

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Chinese Journal of Aeronautics 2022年第7期35卷 91-99页

作者： Lin CHENG Peng SHI Shengping GONG Zhenbo WANG School of Astronautics Beihang UniversityBeijing 100191China Department of Mechanical Aerospaceand Biomedical EngineeringUniversity of TennesseeKnoxville 37996USA

Traditionally,numerical trajectory integration for shooting equation calculation and iterations for shooting with randomly guessed initial solutions deteriorate the real-time performance of indirect methods for on-board *** this study,the indirect method is improved to achieve real-time trajectory optimization of fuel-optimal powered planetary landings with the help of analytical shooting equation derivations and a practical homotopy ***,the contributions of this paper are ***,the analytical expressions for shooting equation calculation are derived to replace the traditional time-consuming trajectory ***,the computational efficiency is significantly ***,the original three-dimensional landing problem is connected with a simplified one-dimensional problem that only involves the vertical dynamics,and its analytical solution is obtained based on Pontryagin’s minimum ***,starting with the analytical solution,the accurate solution of the original landing problem can be obtained through an adaptive homotopy *** results of Earth landing scenarios are given to substantiate the effectiveness of the proposed techniques and illustrate that the developed method can obtain a fuel-optimal landing trajectory in 5 ms with 100%success rate.

关键词： Adaptive homotopy Analytical solution Fuel-optimal landings Indirect method real-time control

An intelligent target detection method of UAV swarms based on improved KM algorithm

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Chinese Journal of Aeronautics 2021年第2期34卷 539-553页

作者： Xiangming ZHENG Chunyao MA Key Laboratory of Fundamental Science for National Defense Design Technology of Flight Vehicle Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Complete and efficient detection of unknown targets is the most popular application of UAV swarms. Under most situations, targets have directional characteristics so that they can only be successfully detected within specific angles. In such cases, how to coordinate UAVs and allocate optimal paths for them to efficiently detect all the targets is the primary issue to be solved. In this paper, an intelligent target detection method is proposed for UAV swarms to achieve real-time detection requirements. First, a target-feature-information-based disintegration method is built up to divide the search space into a set of cubes. Theoretically, when the cubes are traversed, all the targets can be detected. Then, a Kuhn-Munkres(KM)-algorithm-based path planning method is proposed for UAVs to traverse the cubes. Finally, to further improve search efficiency, a 3 D realtime probability map is established over the search space which estimates the possibility of detecting new targets at each point. This map is adopted to modify the weights in KM algorithm, thereby optimizing the UAVs’ paths during the search process. Simulation results show that with the proposed method, all targets, with detection angle limitations, can be found by UAVs. Moreover, by implementing the 3 D probability map, the search efficiency is improved by 23.4%–78.1%.

关键词： 3D probability map Kuhn-Munkres algorithm Path planning real-time control Swarm intelligence Target detection Unmanned aerial vehicle(UAV)

Period selection for integrated controller tasks in cyber-physical systems

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Chinese Journal of Aeronautics 2015年第3期28卷 894-902页

作者： Du Chenglie Tan Longhua Dong Yali School of Computer Science Northwestern Polytechnical University

Abstract Performance optimization of cyber-physical systems （CPS） calls for co-design strategies that handle the issues in both computing domain and physical domain. Periods of controller tasks integrated into a uniprocessor system are related to both control performance and real-time schedu- lability analysis simultaneously. System performance improvement can be achieved by optimizing the periods of controller tasks. This paper extends an existing model to select task periods in real-time for CPS with fixed priority controller tasks scheduled by rate-monotonic algorithm. When all the tasks can be integrated, the analytic solution of the problem is derived by using the method of Lagrange multipliers and gradient descent method is evaluated to be suitable online. To further deal with the condition that the system is overloaded, an integrated method is proposed to select periods of tasks online by selecting a subset of tasks first and then optimizing the periods for them. Experimental results demonstrate that our method yields near-optimal result with a short running time.

关键词： control performance Cyber-physical systemsOptimization Period selection real-time control

real-time programmable coding metasurface antenna for multibeam switching and scanning

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Chinese Physics B 2022年第9期31卷 260-267页

作者： Jia-Yu Yu Qiu-Rong Zheng Bin Zhang Jie He Xiang-Ming Hu Jie Liu Information and Navigation College Air Force Engineering UniversityXi'an 710077China

Novel electromagnetic wave modulation by programmable dynamic metasurface promotes the device design freedom,while multibeam antennas have sparked tremendous interest in wireless communications.A programmable coding antenna based on active metasurface elements(AMSEs)is proposed in this study,allowing scanning and state switching of multiple beams in real *** obtain the planar array phase distribution in quick response,the aperture field superposition and discretization procedures are *** the need for a massive algorithm or elaborate design,this electronically controlled antenna with integrated radiation and phase-shift functions can flexibly manipulate the scattering state of multiple beams under field-programmable gate array(FPGA)*** and experimental results show that the multiple directional beams dynamically generated in the metasurface upper half space have good radiation performance,with the main lobe directions closely matching the predesigned *** metasurface antenna has great potential for future applications in multitarget radar,satellite navigation,and reconfigurable intelligent metasurfaces.

关键词： programmable coding metasurface multibeam modulation real-time control antenna

real-time optimization power-split strategy for hybrid electric vehicles

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Science China(Technological Sciences) 2016年第5期59卷 814-824页

作者： XIA Chao Ying ZHANG Cong Institute of Electrical Engineering and Automation Tianjin University

Energy management strategies based on optimal control theory can achieve minimum fuel consumption for hybrid electric vehicles, but the requirement for driving cycles known in prior leads to a real-time problem. A real-time optimization power-split strategy is proposed based on linear quadratic optimal control. The battery state of charge sustainability and fuel economy are ensured by designing a quadratic performance index combined with two rules. The engine power and motor power of this strategy are calculated in real-time based on current system state and command, and not related to future driving conditions. The simulation results in ADVISOR demonstrate that, under the conditions of various driving cycles, road slopes and vehicle parameters, the proposed strategy significantly improves fuel economy, which is very close to that of the optimal control based on Pontryagin's minimum principle, and greatly reduces computation complexity.

关键词： hybrid electric vehicle (HEV) linear quadratic optimal control real-time control energy management strategy

Operational guidance for aeration and flow augmentation for the Chicago Area Waterway System—A case study

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Water Science and Engineering 2023年第4期16卷 345-358页

作者： Charles S.Melching Jennifer Wasik Ed Staudacher Thomas Minarik Melching Water Solutions LLC GreenfieldWI 53221USA Metropolitan Water Reclamation District of Greater Chicago ChicagoIL 60611USA Metropolitan Water Reclamation District of Greater Chicago CiceroIL 60804USA

The Chicago Area Waterway System(CAWS)is a 133.9 km branching network of navigable waterways controlled by hydraulic structures,in which the majority of the flow is treated wastewater effluent and there are periods of substantial combined sewer *** CAWS comprises a network of effluent dominated *** stringent dissolved oxygen(DO)standards and a reduced flow augmentation allowance have been recently applied to the ***,a carefully calibrated and verified one-dimensional flow and water quality model was applied to the CAWS to determine emission-based real-time control guidelines for the operation of flow augmentation and aeration *** goal of these guidelines was to attain DO standards at least 95%of the ***“optimal”guidelines were tested for representative normal,dry,and wet *** finally proposed guidelines were found in the simulations to attain the 95%target for nearly all locations in the CAWS for the three test *** developed operational guidelines have been applied since 2018 and have shown improved attainment of the DO standards throughout the CAWS while at the same time achieving similar energy use at the aeration stations on the Calumet River system,greatly lowered energy use on the Chicago River system,and greatly lowered discretionary diversion from Lake Michigan,meeting the recently enacted lower amount of allowed annual discretionary *** case study indicates that emission-based real-time control developed from a well calibrated model holds potential to help many receiving water bodies achieve high attainment of water quality standards.

关键词： Water quality modeling Water quality management real-time control Stream aeration Flow augmentation Dissolved oxygen

LQG controller Design Applied to a Pneumatic Stewart-Gough Platform

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International Journal of Automation and computing 2012年第1期9卷 45-53页

作者： Karmjit Singh Grewal Roger Dixon John Pearson control System Group Department of Electronic and Electrical EngineeringLoughborough University Systems Engineering Innovation Centre(SEIC) British Aerospace and Marconi Electronic Systems(BAE Systems)

This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom （6-DOF）. The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn （LQG） with reference tracking. The LQG controller is the combination of a Kalman filter, i.e., a linear-quadratic estimator （LQE） with a linear-quadratic regulator （LQR）. The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.

关键词： real-time control Kalman filter inverse kinematics pneumatic actuation Stewart-Gough platform