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Distributed attitude synchronization control Thunberg, Johan ; ; in Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) (2011) In this paper we consider the problem of constructing feedback control laws for a system of n agents that shall synchronize their attitudes in SO(3). We propose distributed controllers for two ... [more ▼] In this paper we consider the problem of constructing feedback control laws for a system of n agents that shall synchronize their attitudes in SO(3). We propose distributed controllers for two synchronization problems, in which the objective is the same, to synchronize the orientations, but what the agents can perceive or communicate differs. In the first problem the agents can measure their orientation to a common reference object, and either communicate with the neighbors or estimate the relative orientation to their neighbors. In the second problem the agents can, without communication, only measure the relative orientation to the neighbors. For the first problem we present a controller which will lead to synchronization, provided the neighborhood graph is connected. For the second problem we present a controller that will lead to synchronization provided the neighborhood graph is connected and the agents initially are contained within a geodesic ball of radius π/2, which is the maximal convex set in SO(3). [less ▲] Detailed reference viewed: 50 (0 UL)Distributed attitude synchronization control of multi-agent systems with directed topologies Thunberg, Johan ; ; et al in the proceedings of the 10th World Congress on Intelligent Control and Automation (2012) In the present paper we consider the problem of attitude synchronization for a system of rigid body agents. We provide distributed kinematic control laws for two different synchronization problems. In the ... [more ▼] In the present paper we consider the problem of attitude synchronization for a system of rigid body agents. We provide distributed kinematic control laws for two different synchronization problems. In the two problems the objective is the same, i.e., to synchronize the orientations of the agents, but what is assumed to be measurable by the agents differs. In problem 1 the agents measure their own orientations in a global reference frame, and obtain the orientations of their neighbors by means of communication. In problem 2 the agents only measure the relative orientations to their neighbors. By using the axis-angle representation of the orientation, we show that simple linear control laws solve both synchronization problems. Moreover we show that our proposed control laws work for directed and connected topologies on almost all SO(3) for problem 1 and on convex balls in SO(3) for problem 2. [less ▲] Detailed reference viewed: 61 (0 UL)Distributed attitude synchronization control of multi-agent systems with switching topologies Thunberg, Johan ; ; et al in Automatica (2014), 50(3), 832-840 This paper addresses the attitude synchronization problem in multi-agent systems with directed and switching interconnection topologies. Two cases for the synchronization problem are discussed under ... [more ▼] This paper addresses the attitude synchronization problem in multi-agent systems with directed and switching interconnection topologies. Two cases for the synchronization problem are discussed under different assumptions about the measurable information. In the first case the agents can measure their rotations relative to a global reference coordinate frame, whilst in the second case they can only measure the relative rotations between each other. Two intuitive distributed control laws based on the axis–angle representations of the rotations are proposed for the two cases, respectively. The invariance of convex balls in SO(3) is guaranteed. Moreover, attitude synchronization is ensured under the well-known mild switching assumptions, the joint strong connection for the first case and joint quasi-strong connection for the second case. To show the effectiveness of the proposed control schemes, illustrative examples are provided. [less ▲] Detailed reference viewed: 84 (2 UL)Distributed attitude synchronization control of multi-agent systems with time-varying topologies ; Thunberg, Johan ; et al in Proceedings of the 10th World Congress on Intelligent Control and Automation (2012) This paper addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the ... [more ▼] This paper addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the orientation, a distributed controller based on differences between the orientations of agents in a global frame is proposed. In the case of the balanced interconnection graph, the attitude synchronization is achieved with the well-known mild assumption (that is, uniform joint strong connection). To demonstrate the effectiveness of the proposed control scheme, an illustrative example is provided. [less ▲] Detailed reference viewed: 58 (0 UL)Distributed attitude synchronization using backstepping and sliding mode control Thunberg, Johan ; ; et al in Control Theory and Technology (2014), 12(1), 48-55 We consider the problem of attitude synchronization for systems of rigid body agents with directed topologies. Two different scenarios for the rotation matrices of the agents are considered. In the first ... [more ▼] We consider the problem of attitude synchronization for systems of rigid body agents with directed topologies. Two different scenarios for the rotation matrices of the agents are considered. In the first scenario, the rotations are contained in a convex subset of SO(3), which is a ball of radius less than π/2, whereas in the second scenario the agents are contained in a subset of SO(3), which is a ball of radius less than π. Using a control law based on backstepping and sliding mode control, we provide distributed, semi-global, torque control laws for the agents so that the rotations asymptotically synchronize. The control laws for the agents in the first scenario only depend on the relative rotations between neighboring agents, whereas the control laws in the second scenario depend on rotations defined in a global coordinate frame. Illustrative examples are provided where the synchronization is shown for both scenarios. [less ▲] Detailed reference viewed: 88 (0 UL)Distributed Automatic Vehicle Location (AVL) System Based on Connected Vehicle Technology ; ; Viti, Francesco et al in Proceedings of IEEE-ITS Conference (2015, September) Detailed reference viewed: 46 (9 UL)Distributed high-gain attitude synchronization using rotation vectors ; Thunberg, Johan ; et al in Journal of Systems Science and Complexity (2015), 28(2), 289-304 This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are ... [more ▼] This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are considered. In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors, while in the second scenario the agents can only obtain their own angular velocities and measure the relative rotations and relative angular velocities of their neighbors. By using rotation vectors and the high gain control, the authors provide torque control laws asymptotically synchronizing the rotations of the system almost globally for the first scenario and with initial rotations of the agents contained in a convex ball of SO(3) for the second scenario. An illustrative example is provided to show the synchronization results for both scenarios. [less ▲] Detailed reference viewed: 73 (3 UL)Distributed identification of the Cell Transmission traffic model: A case study Rinaldi, Marco ; ; et al in Procedings of the 2012 American Control Conference, ACC 2012 (2012) The problem of the distributed identification of a macroscopic first-order traffic model, viz. the Cell Transmission Model (CTM), is considered in the paper. The parameters to be identified characterize ... [more ▼] The problem of the distributed identification of a macroscopic first-order traffic model, viz. the Cell Transmission Model (CTM), is considered in the paper. The parameters to be identified characterize the dynamics of the density in different sections of the freeway (cells). We explore different distributed identification schemes. The purposes of the approach are mainly to obtain good prediction models through the minimization of the one-step ahead prediction error of the densities of the cells, and to reduce the computational time and the effort required to perform the identification. The methodology is validated relying on real-life data measured on a portion of the A12 freeway in The Netherlands. An evaluation of the performance of the identified model used as a set of virtual sensors in different scenarios is presented. © 2012 AACC American Automatic Control Council). [less ▲] Detailed reference viewed: 37 (0 UL)Distributed Kalman Filter with minimum-time covariance computation ; ; et al in The proceedings of the IEEE 52nd Annual Conference on Decision and Control (2013) This paper considerably improves the well-known Distributed Kalman Filter (DKF) algorithm by Olfati-Saber (2007) by introducing a novel decentralised consensus value computation scheme, using only local ... [more ▼] This paper considerably improves the well-known Distributed Kalman Filter (DKF) algorithm by Olfati-Saber (2007) by introducing a novel decentralised consensus value computation scheme, using only local observations of sensors. It has been shown that the state estimates obtained in [8] and [9] approaches those of the Central Kalman Filter (CKF) asymptotically. However, the convergence to the CKF can sometimes be too slow. This paper proposes an algorithm that enables every node in a sensor network to compute the global average consensus matrix of measurement noise covariance in minimum time without accessing global information. Compared with the algorithm in [8], our theoretical analysis and simulation results show that the new algorithm can offer improved performance in terms of time taken for the state estimates to converge to that of the CKF. [less ▲] Detailed reference viewed: 69 (0 UL)Distributed reconstruction of nonlinear networks: An ADMM approach Pan, Wei ; ; in Proceedings of the 19th World Congress of the International Federation of Automatic Control (IFAC 2014) (2014) In this paper, we present a distributed algorithm for the reconstruction of large-scale nonlinear networks. In particular, we focus on the identification from time-series data of the nonlinear functional ... [more ▼] In this paper, we present a distributed algorithm for the reconstruction of large-scale nonlinear networks. In particular, we focus on the identification from time-series data of the nonlinear functional forms and associated parameters of large-scale nonlinear networks. In (Pan et al. (2013)), a nonlinear network reconstruction problem was formulated as a nonconvex optimisation problem based on the combination of a marginal likelihood maximisation procedure with sparsity inducing priors. Using a convex-concave procedure (CCCP), an iterative reweighted lasso algorithm was derived to solve the initial nonconvex optimisation problem. By exploiting the structure of the objective function of this reweighted lasso algorithm, a distributed algorithm can be designed. To this end, we apply the alternating direction method of multipliers (ADMM) to decompose the original problem into several subproblems. To illustrate the effectiveness of the proposed methods, we use our approach to identify a network of interconnected Kuramoto oscillators with different network sizes (500∼100,000 nodes). [less ▲] Detailed reference viewed: 69 (1 UL)DistributedFBA.jl: High-level, high-performance flux balance analysis in Julia. Heirendt, Laurent ; Thiele, Ines ; Fleming, Ronan MT in Bioinformatics (2017) MOTIVATION: Flux balance analysis, and its variants, are widely used methods for predicting steady-state reaction rates in biochemical reaction networks. The exploration of high dimensional networks with ... [more ▼] MOTIVATION: Flux balance analysis, and its variants, are widely used methods for predicting steady-state reaction rates in biochemical reaction networks. The exploration of high dimensional networks with such methods is currently hampered by software performance limitations. RESULTS: DistributedFBA.jl is a high-level, high-performance, open-source implementation of flux balance analysis in Julia. It is tailored to solve multiple flux balance analyses on a subset or all the reactions of large and huge-scale networks, on any number of threads or nodes. AVAILABILITY: The code is freely available on github.com/opencobra/COBRA.jl. The documentation can be found at opencobra.github.io/COBRA.jl. [less ▲] Detailed reference viewed: 204 (12 UL)Drawing ER diagrams with TikZ Fiandrino, Claudio in Ars TeXnica (2013), 15 The paper will illustrate some techniques to represent Entity-Relationship (ER) diagrams with TikZ. In particular, it will focus on the standard internal library \library{er}, on the external package TikZ ... [more ▼] The paper will illustrate some techniques to represent Entity-Relationship (ER) diagrams with TikZ. In particular, it will focus on the standard internal library \library{er}, on the external package TikZ-er2, on the external tool Graphviz and on the object-oriented approach provided by the er-oo library. [less ▲] Detailed reference viewed: 114 (8 UL)A dual control approach for repeated anticipatory traffic control with estimation of network flow sensitivity ; Viti, Francesco ; in Journal of Advanced Transportation (2016) Detailed reference viewed: 55 (1 UL)A Dual-Grid Multiscale Approach to CFD-DEM Couplings for Multiphase Flow Pozzetti, Gabriele Doctoral thesis (2018) This thesis focuses on a novel dual-grid multiscale approach to CFD- DEM1 couplings, proposes its advantages in terms of numerical proper- ties and performance, and provides examples of engineering ... [more ▼] This thesis focuses on a novel dual-grid multiscale approach to CFD- DEM1 couplings, proposes its advantages in terms of numerical proper- ties and performance, and provides examples of engineering applications that can benefit from it. In recent years, CFD-DEM couplings are be- coming a more and more adopted solution for the numerical simulation of particle-laden flows. In particular, couplings based on the volume av- eraging technique have become a standard for numerical simulations in chemical and process engineering. Furthermore, they are rapidly spread- ing to civil, geotechnical and mechanical applications due to their ability in dealing with arbitrarily complex mixtures of continuum and granular media. Despite the several advantages that these Eulerian-Lagrangian cou- plings provide, their rigorous application to complex scenarios is currently limited by two main factors. First, the computational traceability of the solutions can become problematic due to the lack of a general theory on the subject. In particular, grid-convergence studies for the solution of the continuous phases are often not feasible due to the averaging procedure that imposes limitations on the grid structure and refinement. Second, the parallel implementation of these numerical schemes holds important disadvantages in terms of memory consumption and inter-physics com- munication load. These disadvantages are significantly limiting the ex- tension of these approaches to large-scale scenarios. This thesis collects some of the most significant works published in the last years on a novel approach that allows solving the two above- mentioned problems, and, therefore, tackling more complex and expen- sive scenarios. I refer to this approach as dual-grid multiscale approach for CFD-DEM couplings. It consists in using two different computational grids, one for the coupling between continuum and discrete entities and one for the solution of the so-obtained continuum equations. The two grids, i.e. the two problems, are in this way resolved on two different scales. The first scale or “bulk” scale is chosen to optimize the averag- ing operation. At this length-scale, the discrete entities are considered as zero-dimensional, and interact with the fluid with local exchanges of momentum, mass, and energy. The second scale or “fluid-fine” scale is identified as the one at which a unique solution for the averaged equa- tions can be provided. In practice, this is chosen as the one at which the solution of the fluid equations becomes grid-independent. An inter-scale communication is adopted by interpolating fields from the fluid-fine scale to the bulk one and vice-versa. The theoretical description of the method is first provided with par- ticular reference to the DEM-VOF coupling. Even in its simplest version, the multiscale approach is shown to generate grid-convergent solutions and significantly higher accuracy than a standard CFD-DEM coupling. This shows how the new approach is able to overcome the first main limitation described above. Then, an optimized parallel implementation of the method is pro- posed to show how this multiscale approach can provide significant ben- efits also for what concerns the execution time. Technically, this is made possible by moving the communication cost of the coupling from the inter-physics communication that characterized the standard CFD-DEM couplings to an optimized inter-scale communication routine. This en- ables the method to overcome a major bottleneck of the parallel execution of CFD-DEM couplings and therefore the second main limitation of those schemes. Finally, the dual-grid multiscale method is applied to approach in- dustrially relevant problems that were till now out-of-reach for standard CFD-DEM couplings, proving how this technique can have direct real- case application and produce immediate benefits for practitioners willing to adopt it. [less ▲] Detailed reference viewed: 57 (23 UL)Dynamic modeling of VISSIM critical gap parameter at unsignalized intersections Viti, Francesco ; ; et al Poster (2013) Detailed reference viewed: 65 (0 UL)Dynamic modeling of VISSIM's critical gap parameter at unsignalized intersections Viti, Francesco ; ; et al in Transportation Research Record: Journal of the Transportation Research Board (2014), 2395 Detailed reference viewed: 115 (7 UL)Dynamic modelling of ground antennas Breyer, Laurent Doctoral thesis (2011) Detailed reference viewed: 79 (3 UL)Dynamic neural network approach for atmospheric pollutant prediction: A pulp mill case study Sainlez, Matthieu Scientific Conference (2011, May 27) Detailed reference viewed: 35 (0 UL)Dynamic OD estimation in congested networks: theoretical findings and implications in practice ; Viti, Francesco ; in Transportmetrica (2013), 9(6), 494-513 In this study we analyse the impact of congestion in dynamic origin–destination (OD) estimation. This problem is typically expressed using a bi-level formulation. When solving this problem the ... [more ▼] In this study we analyse the impact of congestion in dynamic origin–destination (OD) estimation. This problem is typically expressed using a bi-level formulation. When solving this problem the relationship between OD flows and link flows is linearised. In this article the effect of using two types of linear relationship on the estimation process is analysed. It is shown that one type of linearisation implicitly assumes separability of the link flows, which can lead to biased results when dealing with congested networks. Advantages and disadvantages of adopting non-separable relationships are discussed. Another important source of error attributable to congestion dynamics is the presence of local minima in the objective function. It is illustrated that these local minima are the result of an incorrect interpretation of the information from the detectors. The theoretical findings are cast into a new methodology, which is successfully tested in a proof of concept. [less ▲] Detailed reference viewed: 53 (1 UL)Dynamic Origin-Destination Matrix Estimation on Large-Scale Congested Networks Using A Hierarchical Decomposition Scheme ; Viti, Francesco ; in Journal of Intelligent Transportation Systems (2014), 18(1), 51-66 Despite the ever increasing computing power, dynamic Origin-Destination (OD) estimation in congested networks remains troublesome. In previous research, we have shown that an unbiased estimation requires ... [more ▼] Despite the ever increasing computing power, dynamic Origin-Destination (OD) estimation in congested networks remains troublesome. In previous research, we have shown that an unbiased estimation requires the calculation of the sensitivity of the link flows to all Origin Destination flows, in order to incorporate the effects of congestion spillback. This is however computationally infeasible for large-scale networks. To overcome this issue, we propose a hierarchical approach for off-line application that decomposes the dynamic OD estimation procedure in space. The main idea is to perform a more accurate dynamic OD estimation only on subareas where there is congestion spillback. The output of this estimation is then used as input for the OD estimation on the whole network. This hierarchical approach solves many practical and theoretical limitations of traditional OD estimation methods. The main advantage is that different OD estimation method can be used for different parts of the network as necessary. This allows applying more advanced and accurate, but more time consuming methods only where necessary. The hierarchical approach is tested on a study network and on a real network. In both cases the proposed methodology performs better than traditional OD estimation approaches, indicating its merit. [less ▲] Detailed reference viewed: 130 (5 UL) |
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