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Добірка наукової літератури з теми "Dynamic control and generation of tasks"

Автор: Grafiati

Опубліковано: 20 січня 2024

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Статті в журналах з теми "Dynamic control and generation of tasks"

Jung, Ga Young, and Incheol Kim. "Dynamic 3D Scene Graph Generation for Robotic Manipulation Tasks." Journal of Institute of Control, Robotics and Systems 27, no. 12 (December 31, 2021): 953–63. http://dx.doi.org/10.5302/j.icros.2021.21.0140.

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Valera, A., V. Mata, M. Vallés, F. Valero, N. Rosillo, and F. Benimeli. "Solving the inverse dynamic control for low cost real-time industrial robot control applications." Robotica 21, no. 3 (May 13, 2003): 261–69. http://dx.doi.org/10.1017/s0263574702004769.

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This work deals with the real-time robot control implementation. In this paper, an algorithm for solving Inverse Dynamic Problem based on the Gibbs-Appell equations is proposed and verified. It is developed using mainly vectorial variables, and the equations are expressed in a recursive form, it has a computational complexity of O(n). This algorithm will be compared with one based on Newton-Euler equations of motion, formulated in a similar way, and using mainly vectors in their recursive formulation. This algorithm was implemented in an industrial PUMA robot. For the robot control a new and open architecture based on PC had been implemented. The architecture used has two main advantages. First it provides a total open control architecture, and second it is not expensive. Because the controller is based on PC, any control technique can be programmed and implemented, and in this way the PUMA can work on high level tasks, such as automatic trajectory generation, task planning, control by artificial vision, etc.

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Savic, Srdjan, Mirko Rakovic, Branislav Borovac, and Milutin Nikolic. "Hybrid motion control of humanoid robot for leader-follower cooperative tasks." Thermal Science 20, suppl. 2 (2016): 549–61. http://dx.doi.org/10.2298/tsci151005037s.

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This paper presents a framework for leader-follower type cooperative transportation of an object by multiple humanoid robots or a single robot and a human. The emphasis in this paper is on the hybrid control algorithm and motion generation of the follower robot, while the influence of the leader has been simulated as external force acting on the follower?s hands. The presented approach uses impedance controller to provide compliant behavior of robot arms and it is an extension of our previous work on dual-mode impedance controller for safe human-robot interaction. Synthesis of the follower?s legs and trunk motion is based on the reconfigurable adaptive motion primitives, which are defined as simple, parameterized motion building blocks that can be combined in a sequence or in parallel to generate complex motion. It has been already proven that motion generation, based on reconfigurable adaptive primitives enables the robot to modify gait parameters online, at any time instant, and to synthesize dynamically balanced walk. Motion of the follower is based on the reactive approach, where the gait parameters (walking velocity, direction and step length) depend on the intensity and the direction of the external force vector. Robot end-effectors are compliant in the horizontal plain, adapting to the physical guidance of the leader, while being stiff in the vertical direction in order to compensate the external force in negative Z direction. The proposed framework has been tested by numerical simulations involving a dynamic robot model.

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Gardiner, B., S. A. Coleman, T. M. McGinnity, and H. He. "Robot control code generation by task demonstration in a dynamic environment." Robotics and Autonomous Systems 60, no. 12 (December 2012): 1508–19. http://dx.doi.org/10.1016/j.robot.2012.07.023.

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Biletskyi, Yurii Olegovych, Ihor Zenonovich Shchur, and Rostyslav-Ivan Kuzyk. "PASSIVITY-BASED CONTROL SYSTEM FOR STAND-ALONE HYBRID ELECTROGENERATING COMPLEX." Applied Aspects of Information Technology 4, no. 2 (June 30, 2021): 140–52. http://dx.doi.org/10.15276/aait.02.2021.2.

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The desire for energy independence presupposes the use of various types of elements for energy generation from renewable sources, for the stand-alone operation of which energy storage devices are required. A power generation complex created in this way must perform a number of tasks that are formed by the energy management system. The control system performs these tasks and ensures proper static and dynamic characteristics of this complex with many inputs and outputs. The results of recent world researches, as well as the authors experience of this work, show that, for creating such control systems, it is advisable to use Passive Based Control (PBC), presenting the control object as a Port-Controlled Hamiltonian (PCH) system. Thanks to the developed method of additional interconnections and damping injection (Interconnection & Damping Assignment - IDA) passive control provides ample opportunities to adjust the control effects, while ensuring the asymptotic stability of the system as a whole. This is particularly useful in the complex system considered in this paper that includes both a hybrid power plant for electricity generation from the sun and wind and a hybrid energy storage unit consisting of the battery and supercapacitor module. This article shows the procedure of PBC system synthesis, according to which three structures of control influence formers (CIF) were designed and investigated. These structures have different combinations of additional interconnections and damping, which allows forming the desired energy flows inside the closed-loop system and therefore provide desired control results. Among them, there are tasks of maintaining voltages on the DC bus and the supercapacitor module at reference levels, and the smoothness of the battery current transients. A comparative simulation studies were performed on a computer model of the power generation complex with synthesized control systems, which was created in the MATLAB/Simulink environment. It showed the efficiency of their work and the advantages of different CIF structures.

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Steer, A. J. "Supersonic transport aircraft longitudinal flight control law design." Aeronautical Journal 108, no. 1084 (June 2004): 319–29. http://dx.doi.org/10.1017/s000192400000018x.

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Abstract Modern civil transport aircraft utilise increasingly complex command and stability augmentation systems to restore stability, optimise aerodynamic performance and provide the pilot with the optimum handling qualities. Provided it has sufficient control power a second generation fly-by-wire supersonic transport aircraft should be capable of exhibiting similarly desirable low-speed handling qualities. However, successful flight control law design requires identification of the ideal command response type for a particular phase of flight, a set of valid handling quality design criteria and piloted simulation evaluation tasks and metrics. A non-linear mathematical model of the European supersonic transport aircraft has been synthesized on the final approach to land. Specific handling quality design criteria have been proposed to enable the non-linear dynamic inversion flight control laws to be designed, with piloted simulation used for validation. A pitch rate command system, with dynamics matched to the aircraft’s flight path response, will consistently provide Level 1 handling qualities. Nevertheless, pre-filtering the pilot’s input to provide a second order pitch rate response, using the author’s suggested revised constraints on the control anticipation parameter will generate the best handling qualities during the terminal phase of flight. The resulting pre-filter can be easily applied to non-linear dynamic inversion inner loop controllers and has simple and flight proven sensor requirements.

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Mohamed, Zulkifli, Mitsuki Kitani, and Genci Capi. "Adaptive arm motion generation of humanoid robot operating in dynamic environments." Industrial Robot: An International Journal 41, no. 2 (March 11, 2014): 124–34. http://dx.doi.org/10.1108/ir-10-2013-409.

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Purpose – The purpose of this paper is to compare the performance of the robot arm motion generated by neural controllers in simulated and real robot experiments. Design/methodology/approach – The arm motion generation is formulated as an optimization problem. The neural controllers generate the robot arm motion in dynamic environments optimizing three different objective functions; minimum execution time, minimum distance and minimum acceleration. In addition, the robot motion generation in the presence of obstacles is also considered. Findings – The robot is able to adapt its arm motion generation based on the specific task, reaching the goal position in simulated and experimental tests. The same neural controller can be employed to generate the robot motion for a wide range of initial and goal positions. Research limitations/implications – The motion generated yield good results in both simulation and experimental environments. Practical implications – The robot motion is generated based on three different objective functions that are simultaneously optimized. Therefore, the humanoid robot can perform a wide range of tasks in real-life environments, by selecting the appropriate motion. Originality/value – A new method for adaptive arm motion generation of a mobile humanoid robot operating in dynamic human and industrial environments.

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Roper, Daniel, Sanjay Sharma, Robert Sutton, and Philip Culverhouse. "Energy-Shaping Gait Generation for a Class of Underactuated Robotic Fish." Marine Technology Society Journal 46, no. 3 (May 1, 2012): 34–43. http://dx.doi.org/10.4031/mtsj.46.3.6.

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AbstractThe recent explosion of interest in subsea research and industries has led to a demand for efficient, versatile submarine robots to perform interaction and survey tasks. While most of these robots employ conventional propeller- or thruster-based locomotion, there has also been a growing interest in the development of biologically inspired robotic swimmers (or robotic fish). Such devices take inspiration from biological swimmers in the hope of gaining some of their manoeuvrability and efficiency.Early robotic fish achieved their gait by directly controlling the relative angle between each vertebrae using multiple active actuators.Following observations that many biological locomotive gaits utilize spring dynamics to create efficient oscillatory motion with minimal active input, there has been a recent trend toward the development of underactuated robotics utilizing dynamics to achieve harmonic locomotive gaits.For a harmonic dynamic system, the path is dependent on the total energy in the system. By controlling the total energy in the system, the gait can then be controlled by varying a single degree of freedom.This study explores the potential of a novel approach to use an energy-based control to produce an effective propulsive gait for a class of robotic fish. It outlines a deadbeat control strategy and presents simulation results, which demonstrate the effectiveness of the approach. Furthermore, it is shown that the gaits produced would unlikely be found using geometric gait optimization.

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Mendez Monroy, Paul Erick. "Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot." International Journal of Computers Communications & Control 12, no. 3 (April 23, 2017): 330. http://dx.doi.org/10.15837/ijccc.2017.3.2842.

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Push recovery is an essential requirement for a humanoid robot with the objective of safely performing tasks within a real dynamic environment. In this environment, the robot is susceptible to external disturbance that in some cases is inevitable, requiring push recovery strategies to avoid possible falls, damage in humans and the environment. In this paper, a novel push recovery approach to counteract disturbance from any direction and any walking phase is developed. It presents a pattern generator with the ability to be modified according to the push recovery strategy. The result is a humanoid robot that can maintain its balance in the presence of strong disturbance taking into account its magnitude and determining the best push recovery strategy. Push recovery experiments with different disturbance directions have been performed using a 20 DOF Darwin-OP robot. The adaptability and low computational cost of the whole scheme allows is incorporation into an embedded system.

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Mathiyakom, W., J. L. McNitt-Gray, and R. Wilcox. "Lower extremity control and dynamics during backward angular impulse generation in backward translating tasks." Experimental Brain Research 169, no. 3 (November 5, 2005): 377–88. http://dx.doi.org/10.1007/s00221-005-0150-7.

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Більше джерел

Дисертації з теми "Dynamic control and generation of tasks"

Hodson-Tole, Emma Frances. "Motor Control for Dynamic tasks." Thesis, Royal Veterinary College (University of London), 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.498065.

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MENGARELLI, ALESSANDRO. "Balance and Motor Control in Dynamic Tasks." Doctoral thesis, Università Politecnica delle Marche, 2017. http://hdl.handle.net/11566/245482.

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Nella prima parte dello studio si è descritto il mantenimento dell’equilibrio in seguito a perturbazioni indotte da stimoli esterni. La risposta posturale è stata analizzata dal punto di vista dinamico, cinematico ed elettromiografico, ottenendo una descrizione completa dei meccanismi adottati per contrastare la perdita di equilibrio. Vari parametri sono stati estratti dallo spostamento del centro di pressione e del centro di massa e sulla base dell’attività muscolare acquisita mediante elettromiografia di superficie, con lo scopo di ottenere indici che correlino con le diverse caratteristiche della perturbazione. Sulla base dei dati cinematici sono state descritte le strategie posturali adottate per contrastare la perturbazione indotta, allo scopo di quantificare se differenti condizioni perturbative facciano sorgere differenti risposte, che prevedono l’uso di differenti strategie articolari. Infine il controllo dell’equilibrio è stato descritto attraverso un modello a doppio pendolo inverso, attraverso tecniche che, sebbene ben note ed impiegate in altri ambiti, risultano poco usate per la descrizione della postura in condizioni dinamiche. Nella seconda parte si è indagato il controllo della dinamica del cammino in termini di attività muscolare, acquisita su centinaia di passi consecutivi, permettendo un nuovo tipo di descrizione non basata solamente su parametri temporali ma anche sulla frequenza con cui ogni modalità di attivazione muscolare di presenta durante il cammino. I principali risultati includono la quantificazione dei pattern di co-contrazione dei flessori di caviglia e la loro ricorrenza durante il cammino. Si sono inoltre descritte le differenze legate al genere riguardanti l’attività dei principali muscoli dell’intero arto inferiore. Basandosi sui precedenti risultati si sono poi quantificate le differenze legate al genere nei pattern di co-contrazione degli antagonisti che regolano la meccanica dell’articolazione di caviglia durante il cammino.
In the first part of this work a characterization of the upright stance recovery after balance perturbation administered through external stimuli was performed. Balance response has been analyzed in dynamics, kinematics and electromyographic terms, in order to obtain a complete description of which mechanisms are employed to withstand sudden stance perturbations. A series of parameters have been extracted from center of pressure and center of mass displacement and from electromyographic signals, acquired from lower limb and trunk muscles, in order to obtain a series of indexes which can correlate with the different characteristic of perturbations. From kinematic data, a description of the postural strategies adopted to withstand perturbations has been performed, in order to observe whether different perturbation conditions evoke different responses, employing different articular joints. Eventually, a first attempt to model perturbed upright stance through a double-link inverted pendulum is proposed, applying control systems seldom employed in describing this kind of dynamic motor task. In the second part, the motor control during the walking task was described in terms of muscular activity. Myoelectric signals were acquired in hundreds of consecutive strides, obtaining a new type of description, not only in terms of temporal parameters of muscles activity but also in terms of the occurrence frequency of each muscular activation modality during gait. The main outcomes include the description of co-contraction activity between ankle flexor muscles and the assessment of the recurrence of each co-activation pattern during walking. Furthermore, a description of the whole lower limb muscles behavior was performed, aimed to the quantification of gender-based differences in muscular recruitment during gait. Then, these two aspects were joined in assessing gender-related differences in co-contraction activity of muscles which control the ankle joint mechanics during walking.

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Pogulis, Jakob. "Generation of dynamic control-dependence graphs for binary programs." Thesis, Linköpings universitet, Databas och informationsteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-110247.

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Dynamic analysis of binary files is an area of computer science that has many purposes. It is useful when it comes to debugging software in a development environment and the developer needs to know which statements affected the value of a specific variable. But it is also useful when analyzing a software for potential vulnerabilities, where data controlled by a malicious user could potentially result in the software executing adverse commands or executing malicious code. In this thesis a tool has been developed to perform dynamic analysis of x86 binaries in order to generate dynamic control-dependence graphs over the execution. These graphs can be used to determine which conditional statements that resulted in a certain outcome. The tool has been developed for x86 Linux systems using the dynamic binary instrumentation framework PIN, developed and maintained by Intel. Techniques for utilizing the additional information about the control flow for a program available during the dynamic analysis in order to improve the control flow information have been implemented and tested. The basic theory of dynamic analysis as well as dynamic slicing is discussed, and a basic overview of the implementation of a dynamic analysis tool is presented. The impact on the performance of the dynamic analysis tool for the techniques used to improve the control flow graph is significant, but approaches to improving the performance are discussed.

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Gargas, Eugene Frank III. "Generation and use of a discrete robotic controls alphabet for high-level tasks." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43651.

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The objective of this thesis is to generate a discrete alphabet of low-level robotic controllers rich enough to mimic the actions of high-level users using the robot for a specific task. This alphabet will be built through the analysis of various user data sets in a modified version of the motion description language, MDLe. It can then be used to mimic the actions of a future user attempting to perform the task by calling scaled versions of the controls in the alphabet, potentially reducing the amount of data required to be transmitted to the robot, with minimal error. In this thesis, theory is developed that will allow the construction of such an alphabet, as well as its use to mimic new actions. A MATLAB algorithm is then built to implement the theory. This is followed by an experiment in which various users drive a Khepera robot through different courses with a joystick. The thesis concludes by presenting results which suggest that a relatively small group of users can generate an alphabet capable of mimicking the actions of other users, while drastically reducing bandwidth.

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Roca, Filella Nicolas. "Contributions à la robotisation de tâches entrant dans la fabrication de pneumatiques." Electronic Thesis or Diss., Université Clermont Auvergne (2021-...), 2023. http://www.theses.fr/2023UCFA0011.

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La recherche en robotique connait un intérêt croissant pour la manipulation des objets mous : des tissus, des mousses ou tout autre objet déformable comme le caoutchouc. La déformation d’un tel objet est généralement modélisée par l’introduction de nouveaux degrés de liberté, ce qui rend plus complexe son contrôle. Dans le contexte de l’industrie du futur, la Manufacture Française des Pneumatiques Michelin souhaite moderniser son procédé de fabrication de pneumatiques qui consiste à assembler, couche par couche, des bandes et des nappes de gomme. Ces tâches, qui n’ont jamais été robotisées avant cette thèse, entrent dans le domaine de la manipulation robotique d’objets déformables (MROD).Issue d’une convention CIFRE (Convention Industrielle de Formation par la Recherche) de l’ANRT (Association Nationale de la Recherche et de la Technologie), cette thèse s’intéresse à cette problématique dans un contexte applicatif industriel à travers la conception d’une cellule robotique en apportant des solutions technologiques innovantes, notamment en termes d’actionnement, de perception et d’architecture de commande. Cependant, nous montrons que l’intégration de ces solutions est limitée par des problématiques classiques de la MROD, telles que la modélisation des déformations de l’objet, la perception multimodale ou encore la commande et la génération dynamique de tâches.Une première contribution apportée est l’adaptation d’algorithmes de traitement d’image issus de bibliothèques libres dans un contexte industrielle. Ces algorithmes remplacent des solutions industrielles du commerce et permettent une plus grande liberté de paramétrage pour chaque fonction. Le résultat est donc un assemblage de briques algorithmiques flexibles et adaptées aux spécificités du procédé de fabrication de pneumatiques.Cette thèse explore également l’utilisation d’un modèle physique réduit pour contrôler la tension dans une bande de gomme en suspension dont une extrémité est enroulée autour d’une bobine et l’autre extrémité est manipulée par un robot. Nous distinguons alors trois contributions : l’estimation par vision de la tension, une loi de commande en boucle fermée pour réguler la vitesse de rotation de la bobine et ainsi varier la longueur de la partie suspendue de la bande, et un algorithme de planification de la tension désirée.Une dernière contribution concerne une commande par retour visuelle permettant de joindre bout à bout les deux extrémités d’une nappe enroulée autour d’une surface cylindrique. Cette opération complexe se base sur la perception par vision et la reconstruction en 3D du bord de nappe ainsi qu’une loi de commande prenant en compte une mesure pondérée de l’erreur.Nos développements ont permis la conception et la réalisation d’un démonstrateur industriel qui se veut prêt à un déploiement en usine. Cela impose donc de prendre en compte dès le début de la réflexion scientifique les contraintes industrielles telles que l’encombrement, le temps de cycle, la matériel et l’architecture logicielle à disposition, ou encore les tolérances de qualité. Des validations expérimentales ont été réalisées sur ce banc d’essai
Robotics research is increasingly interested in the manipulation of soft objects: fabrics, foams or any other deformable object like rubber. The deformation of such an object is usually modeled by introducing new degrees of freedom, which makes its control more complex. In the context of the industry of the future, the Manufacture Française des Pneumatiques Michelin wishes to modernize its tire manufacturing process which consists of assembling, layer by layer, strips and plies of rubber. These tasks, which have never been robotized before this thesis, fall within the domain of robotic manipulation of deformable objects (RMDO).Through the CIFRE plan (French Industrial Research Training Convention) of the ANRT (French National Association for Technological Research), this thesis addresses this issue in an industrial application context through the design of a robotic cell by providing innovative technological solutions, especially in terms of actuation, perception, and control. However, we show that the integration of these solutions is limited by classical problems of RMDO, such as the modeling of object deformations, multimodal perception or dynamic control and generation of tasks.A first contribution is the adaptation of image processing algorithms from open-source libraries to an industrial context. These algorithms replace commercial industrial solutions and allow a greater freedom of parameterization for each function. The result is an assembly of flexible algorithmic bricks adapted to the specificities of the tire manufacturing process.This thesis also explores the use of a reduced physical model to control the tension in a suspended gum strip, one end of which is wrapped around a spool while the other is manipulated by a robot. We distinguish three contributions: vision-based estimation of the tension, a closed-loop control law to regulate the rotation speed of the reel and thus vary the length of the suspended part of the strip, and a planning algorithm to achieve the desired tension.A last contribution concerns a visual feedback control allowing to join end to end the two ends of a web wrapped around a cylindrical surface. This complex operation is based on visual perception and 3D reconstruction of the edge of the ply as well as a control law considering a weighted measure of the error.Our developments have enabled the design and production of an industrial demonstrator that is ready for deployment in a factory. This means that industrial constraints such as sizing, cycle time, available hardware and software architecture, and quality tolerances have been considered from the beginning of the scientific reflection. Experimental validations were carried out on this test bench

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Albagul, Abdulgani. "Dynamic modelling and control of a wheeled mobile robot." Thesis, University of Newcastle Upon Tyne, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.327239.

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Myhre, Torstein Anderssen. "Path Planning, Dynamic Trajectory Generation and Control Analysis for Industrial Manipulators." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-13568.

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Many unsolved problems exists in the field of robot control.This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are applicable to, and their weaknesses.This is done by applying them to problems with actual real-world relevance.

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Guo, Xi. "Remote control service system architecture and dynamic web user interface generation." Thesis, Loughborough University, 2011. https://dspace.lboro.ac.uk/2134/8485.

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According to current development of internet technology, remote control over the internet becomes a heated discussed topic. Some recent technologies such as Service-Oriented Architecture (SOA), web service and ontology offer great opportunity for remote control over the internet and a lot of research has been done into this topic. However, there are still many challenges in architecture design and dynamic user interface generation. Architectures in this research field lack clear description of controlled machine model as well as related knowledge support. Also, there is little system support further control service development. There is little research on web user interface design for remote control system over the internet. The design of web user interface has the challenge of overcoming the limitations of web technology to satisfactorily support different machines, users and control process requirements. This work overcomes the limitations on architecture by offering a SOA based design which allows both multiple users and distributed machine access. The system applies a machine model for the description of the machine structure and functions, which help the system to reason about machine components and their relationships with instructions. With a web service based design, different machines can be connected via the system and execute user commands. Using semantic description and ontology based methods the system can automatically retrieve machine information and generate the structure and function descriptions for different machines. Moreover, the system provides services which can support further development in remote control services. The proposed architecture improves on former designs, and offers a flexible architecture for remote control services over the internet. An intelligent web user interface is also introduced in this work. The design separates the interface data structure from the data representation. Supported by the remote control service development environment, the user interface could adapt to the control sessions. Semantic descriptions are used to describe the page data structure, session context as well as control command. Therefore, control page content can be adapted by the computer to real time control session. At the same time, a session dependent navigation is designed to resolve the problem of changeable requirements for multiple-machine web user interface. With a message driven model and a session dependent semantic data structure, the required machine data can be analysed by the system and categorised according to user s requirements. Compare with other designs, this service offers a method for web user interface generation for different machines, users and can adapt to different control processes. The design is demonstrated in five evaluation scenarios aimed at testing different aspects of the system. Evaluation demonstrates the design proposed in this thesis is feasible. It also shows the design can be applied to different areas and adapted to different control related requirements well.

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Stanhope, Austin. "A control architecture for dynamic execution of robot tasks trained in real-time using particle filters." abstract and full text PDF (UNR users only), 2009. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1472980.

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Shiltz, Dylan J. "Integrating automatic generation control and demand response via a dynamic regulation market mechanism." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/104267.

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Анотація:

Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 65-68).
In this thesis, a transactive control strategy is proposed to integrate flexible consumers of electricity with automatic generation control in a large AC power system with multiple interconnected areas. The proposed Dynamic Regulation Market Mechanism enables aggregated Demand Response units to bid alongside generators in real time, which in turn allows frequency regulation to be performed optimally while respecting the constraints of the bidders as well as the power system. A linearized model of a 3 area, 900 bus power system is introduced, including the dynamics of both generators and aggregated Demand Response units. The Dynamic Regulation Market is framed as a modified DC Optimal Power Flow problem and an iterative primal-dual algorithm based on Newton-Raphson is proposed to solve the problem. Next, the physical layer is coupled with the market layer. Market negotiations serve as set-point commands to the physical system, while Area Control Error is fed back from the physical system to the market. The stability of this coupling is discussed, and potential cost savings are quantified through simulations. Notable features of this proposal include an explicit mechanism for guaranteeing energy neutral consumption for Demand Response, a quantitative evaluation of the potential savings from Demand Response participation in regulation, and realistic simulations on a large, multiple-area power system. Furthermore, these objectives are achieved under realistic communication requirements and without sacrificing the privacy of bidders' private information.
by Dylan J. Shiltz.
S.M.

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Книги з теми "Dynamic control and generation of tasks"

Vepa, Ranjan. Dynamic Modeling, Simulation and Control of Energy Generation. London: Springer London, 2013. http://dx.doi.org/10.1007/978-1-4471-5400-6.

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Kolpakov, Vasiliy. Economic and mathematical and econometric modeling: Computer workshop. ru: INFRA-M Academic Publishing LLC., 2020. http://dx.doi.org/10.12737/24417.

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The textbook presents mathematical research methods and models of economic objects and processes designed for the analysis and prediction of economic factors and develop control solutions as in the deterministic conditions, and in conditions of some uncertainty, and dynamics. Each Chapter of the book consists of a theoretical framework, discussed in detail several examples and tasks for independent work. As workbench simulation uses standard office the program Excel and Mathcad. Tutorial focused on independent performance of students individual tasks on disciplines "Economic-mathematical methods" and "Econometrics". Meets the requirements of Federal state educational standard of higher education of the last generation. The publication is intended for students and postgraduate students in economic disciplines. It can also be useful as they perform final qualifying works. The book will be useful for practitioners engaged in the analysis of the current financial and economic condition and future development of firms and businesses.

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Bashin, Yuriy, Gennadiy Grinev, and Yuliya Dremova. Economics of the information society. ru: INFRA-M Academic Publishing LLC., 2020. http://dx.doi.org/10.12737/1039916.

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The textbook presents modern ideas about the development and formation of the economy of the information society. Scientific concepts of transformation of the modern post-industrial society into an information society based on information and communication technologies and knowledge are highlighted. The basic concepts of technological processes of the information society, as well as definitions and dynamics of development of information resources, products and services in the economy of the information society, and a number of other topical issues are presented. The structure of the manual helps to identify the main aspects of the studied socio-economic processes, organize and specify the educational process. Questions for self-control and tasks are offered to activate the assimilation of the material. Meets the requirements of the Federal state educational standards of higher education of the latest generation. It is intended for students of higher educational institutions studying in the field of training 38.03.05 "Business Informatics".

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Baburina, Ol'ga. World economy and international economic relations. ru: INFRA-M Academic Publishing LLC., 2020. http://dx.doi.org/10.12737/1039802.

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The main provisions of the theory of the world economy and international economic relations are presented. The strengthening of the integrity of the world economy is justified. The most important indicators from the point of view of system analysis are given. The concepts, concepts and dynamics of development of key forms of international economic relations are revealed. The construction of the balance of payments of various countries is analyzed. In the proposed publication, to control the level of mastering the discipline on each topic, tests, topics of reports and abstracts are given, practice-oriented tasks are developed based on objective statistical data of recent years. Meets the requirements of the Federal state educational standards of higher education of the latest generation. For bachelors studying in the field of Economics, it can be useful for teachers who lead the disciplines "World economy", "World economy and international economic relations", as well as for anyone interested in the processes taking place in the modern world economic system and the role of Russia in it.

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Buyal'skiy, Vladimir. Wind turbines with optimal control of electricity generation. ru: INFRA-M Academic Publishing LLC., 2023. http://dx.doi.org/10.12737/1946200.

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In the monograph, based on the analysis of modern methods of automatic control of wind power installations, a solution is proposed for the correct connection (in theoretical terms) of related problems of dynamic behavior of power units with optimal control of electricity generation. In this direction, principles, structures and algorithms have been obtained to reduce the dynamic loads of the components of modern wind turbines based on timely preparation of the system for external disturbing influences and taking into account the vibration load of the drive under different operating modes of the power unit. It is intended for researchers and specialists in the field of wind energy, automation of technological processes, system analysis, as well as graduate students and students of relevant training areas and specialties of technical universities.

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T, Batina John, Williams Marc H, and United States. National Aeronautics and Space Administration., eds. Temporal-adaptive Euler/Navier-Stokes algorithm for unsteady aerodynamic analysis of airfoils using unstructured dynamic meshes. [Washington, DC]: National Aeronautics and Space Administration, 1990.

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Gadzhiev, Nazirhan, Sergey Konovalenko, Ruslan Kornilovich, and Mihail Trofimov. Control and audit. Workshop. ru: INFRA-M Academic Publishing LLC., 2021. http://dx.doi.org/10.12737/1048687.

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The workshop contains situational tasks and practical tasks on the main chapters of the discipline. The presented tasks, tests and practical situations reveal the specifics of the discipline on such problematic issues as control and audit of operations with cash and securities, control and audit of operations with fixed assets and intangible assets, control and audit of settlement and credit operations, control and audit of financial results and the use of profits. Meets the requirements of the federal state educational standards of higher education of the latest generation. For cadets, students of the specialty 38.05.01 "Economic Security", studying in higher educational institutions, including educational organizations of the Ministry of Internal Affairs of the Russian Federation.

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Berezhnaya, Ol'ga, Vladimir Berezhnoy, Mariya Seroshtan, and Tat'yana Rogulenko. Statistics in examples and tasks. ru: INFRA-M Academic Publishing LLC., 2023. http://dx.doi.org/10.12737/1913712.

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The textbook is a workshop on statistics, containing brief theoretical information, questions for discussion, examples of problem solving, practical tasks, tasks and tests for self-solution, questions for self-control on the main topics of the general theory of statistics and socio-economic statistics. It allows you to develop the skills of collecting, processing and analyzing statistical information necessary for making managerial decisions. Meets the requirements of the federal state educational standards of higher education of the latest generation. For students of higher educational institutions studying in the field of training 38.03.02 "Management". It can be used by teachers, graduate students and undergraduates, as well as specialists in the field of economics and management.

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Частини книг з теми "Dynamic control and generation of tasks"

Kim, Jung Hyup, Ling Rothrock, Anand Tharanathan, and Hari Thiruvengada. "Investigating the Effects of Metacognition in Dynamic Control Tasks." In Human-Computer Interaction. Design and Development Approaches, 378–87. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-21602-2_41.

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Grohmann, Axel, and Roland Kopetzky. "Dynamic process modelling and communication in environment information systems of the third generation." In Tasks and Methods in Applied Artificial Intelligence, 838–48. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/3-540-64574-8_470.

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Chen, Weihai, Zhen Wu, Qixian Zhang, Jian Li, and Luya Li. "A direct iteration method for global dynamic control of redundant manipulators." In Tasks and Methods in Applied Artificial Intelligence, 183–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/3-540-64574-8_404.

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Medina-Meléndez, W., L. Fermín, J. Cappelletto, C. Murrugarra, G. Fernández-López, and J. C. Grieco. "Vision-Based Dynamic Velocity Field Generation for Mobile Robots." In Lecture Notes in Control and Information Sciences, 69–79. London: Springer London, 2007. http://dx.doi.org/10.1007/978-1-84628-974-3_6.

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Gidron, Yoad, Israel Ben-Shaul, and Yariv Aridor. "Dynamic Configuration and Enforcement of Access Control for Mobile Components." In Next Generation Information Technologies and Systems, 267–76. Berlin, Heidelberg: Springer Berlin Heidelberg, 1999. http://dx.doi.org/10.1007/3-540-48521-x_21.

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Jerhotova, Eva, Marek Sikora, and Petr Stluka. "Dynamic Alarm Management in Next Generation Process Control Systems." In IFIP Advances in Information and Communication Technology, 224–31. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-40361-3_29.

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Aha, David W., and Steven L. Salzberg. "Learning to Catch: Applying Nearest Neighbor Algorithms to Dynamic Control Tasks." In Selecting Models from Data, 321–28. New York, NY: Springer New York, 1994. http://dx.doi.org/10.1007/978-1-4612-2660-4_33.

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Vukobratović, Miomir, Dragan Stokić, and Nenad Kirćanski. "Computer-Assisted Generation of Robot Dynamic Models in Analytical Form." In Non-Adaptive and Adaptive Control of Manipulation Robots, 1–35. Berlin, Heidelberg: Springer Berlin Heidelberg, 1985. http://dx.doi.org/10.1007/978-3-642-82201-8_1.

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Zhang, Wenjuan, James Shirley, Yulin Deng, Na Young Kim, and David Kaber. "Effects of Dynamic Automation on Situation Awareness and Workload in UAV Control Decision Tasks." In Advances in Intelligent Systems and Computing, 193–203. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-94223-0_18.

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Abu-Tair, Mamun I., Geyong Min, Qiang Ni, and Hong Liu. "Performance Evaluation of a Dynamic Medium Access Control Scheme for Mobile Ad-Hoc Networks." In Wireless Systems and Mobility in Next Generation Internet, 89–101. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-89183-3_8.

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Тези доповідей конференцій з теми "Dynamic control and generation of tasks"

Buron, Cyprien, Jean-Eudes Marvie, Gaël Guennebaud, and Xavier Granier. "Dynamic on-mesh procedural generation control." In ACM SIGGRAPH 2014 Talks. New York, New York, USA: ACM Press, 2014. http://dx.doi.org/10.1145/2614106.2614129.

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Neupert, Joerg, Eckhard Arnold, Lukas Knierim, Oliver Sawodny, and Klaus Schneider. "Flatness Based Control and Model Predictive Trajectory Generation for Boom Cranes." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87033.

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The main control tasks for automation of crane operation are load sway damping and load velocity tracking control. A non-linear dynamic crane model combines the equations of motion of the rope suspended load and approximations of the actuator dynamics. Using the flatness property of the crane model, a non-linear controller is obtained by feedback linearization. Smooth and feasible reference trajectories are generated as solutions of an optimal control problem. The control system is implemented at a LIEBHERR harbor mobile crane. Measurement results show the validity of the approach.

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Zhao, Wei-Ye, Suqin He, Chengtao Wen, and Changliu Liu. "Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3208.

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Abstract Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot trajectory generation is highly nonlinear and nonconvex, which usually comes with collision avoidance constraints, robot kinematics and dynamics constraints, and task constraints (e.g., following a Cartesian trajectory defined on a surface and maintain the contact). The nonlinear and nonconvex planning problem is computationally expensive to solve, which limits the application of robot arms in the real world. In this paper, for redundant robot arm planning problems with complex constraints, we present a motion planning method using iterative convex optimization that can efficiently handle the constraints and generate optimal trajectories in real time. The proposed planner guarantees the satisfaction of the contact-rich task constraints and avoids collision in confined environments. Extensive experiments on trajectory generation for weld grinding are performed to demonstrate the effectiveness of the proposed method and its applicability in advanced robotic manufacturing.

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Kapania, Nitin R., John Subosits, and J. Christian Gerdes. "A Sequential Two-Step Algorithm for Fast Generation of Vehicle Racing Trajectories." In ASME 2015 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/dscc2015-9757.

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The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal control problem is typically computationally expensive and infeasible for real-time trajectory planning. This paper presents an iterative algorithm that divides the path generation task into two sequential subproblems that are significantly easier to solve. Given an initial path through the race track, the algorithm runs a forward-backward integration scheme to determine the minimum-time longitudinal speed profile, subject to tire friction constraints. With this speed profile fixed, the algorithm updates the vehicle’s path by solving a convex optimization problem that minimizes the resulting path curvature while staying within track boundaries and obeying affine, time-varying vehicle dynamics constraints. This two-step process is repeated iteratively until the predicted lap time no longer improves. While providing no guarantees of convergence or a globally optimal solution, the approach performs well when tested on the Thunderhill Raceway course in Willows, CA. The lap time reaches a minimum value after only three iterations, with each iteration over the full 5 km race course requiring only thirty seconds of computation time on a laptop computer. The resulting vehicle path and speed profile match very well with a nonlinear gradient descent solution and a path driven by a professional racecar driver, indicating that the proposed method is a viable option for online trajectory planning in the near future.

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Im, Jeong Joon, Alexander Leonessa, and Andrew Kurdila. "A Real-Time Data Compression and Occupancy Grid Map Generation for Ground-Based 3D LIDAR Data Using Wavelets." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4269.

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A map generated from ground-based 3D LIDAR data is a critical component for autonomous vehicle navigation using a vision based sensor. When the size of a map is large and the number of grid cells is relatively big, managing the map associated with a dense data set from 3D LIDAR scanner is a demanding task. Wavelets serve as the basis for an efficient compression scheme which makes it possible to significantly reduce processing effort to generate and manage a grid map in real-time. This paper proposes a novel approach to generate an occupancy map from compressed measurement signals. A one-dimensional Haar wavelet transform has been applied to compress 3D LIDAR data, from which occupancy maps have been generated. Our experimental results show that this method performs well to provide an autonomous vehicle with rich 3D environment information.

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Wensing, Patrick M., and David E. Orin. "Generation of dynamic humanoid behaviors through task-space control with conic optimization." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6631008.

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Yuan, Chengzhi, Fen Wu, and Chang Duan. "Cooperative Output Regulation of Multi-Agent Systems With Switched Leader Dynamics via Smooth Switching." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5055.

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This paper deals with the leader-following cooperative output regulation problem for heterogeneous multi-agent systems by considering a switched leader dynamics. The switched leader dynamics is composed by multiple linear models and a switching rule governing the switches among them, which is capable of generating more diverse and sophisticated reference signals so as to enhance the multi-agent system’s capability in coping with more complicated coordination tasks. A novel distributed switching control scheme, namely, the smooth switching control strategy, is proposed to achieve cooperative output regulation performance. Distributed switching stability of the overall network is established using multiple Lyapunov functions from the switching control theory. Moreover, under the proposed design framework, the overall cooperative switching output regulation problem can be decomposed into several independent switching stabilization subproblems, and the associated switching control synthesis conditions for each subproblems are formulated as a set of linear matrix inequalities (LMIs) plus linear algebraic equations. As a result, stabilizing switching rules for the leader and distributed switching protocols for the follower agents can be jointly synthesized via semi-definite programming. A numerical example has been used to demonstrate the effectiveness of the proposed approach.

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Tekes, Ayse. "Compliant Five Bar Mechanism Control to Achieve a Desired Trajectory." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-70077.

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In this study, two degrees of freedom planar compliant five-bar mechanism design is explored and synthesized to achieve a desired trajectory and to perform various defined tasks. The mechanism consists of five rigid links (including the ground) connected by the compliant large deflecting short beam joints and it is excited by the applied torques at the base links. The compliant five bar mechanism has not been explored in the literature for either a path tracking task or a function generation problem. The novelty of the compliant five bar mechanism presented in this paper is its large deflecting/rotating pivots joining the mechanism links. The mathematical model of the compliant five-bar mechanism is derived by using vector loop closures and dynamic inertia equations of the mechanism links. The dynamic response of the mechanism is investigated under the applied torques to the corresponding base links, using numerical 4th order Runge-Kutta methods. Compliant joints are represented by their equivalent torsional spring parameters so that the nonlinear large deflection equations of short beam joints are eliminated from the kinematic equations of the system using its equivalent Pseudo Rigid Body Model (PRBM). The torsional spring constants can be obtained, either by using nonlinear exact mathematical equations or by using geometrically nonlinear Finite Element Method software. The scope of this research is to derive a mathematical model of the system and to analyze the compliant five bar mechanism including the controller design for arbitrary predefined tasks to achieve the desired path for the end effector. The compliant five-bar mechanisms are superior to traditional rigid five-bar mechanisms in high precision tasks since compliant joints and links have no backlash and friction. This study explores path generation of compliant five bar mechanism resulting in high precision path tracking. The presented mechanism might be manufactured as a single piece using an injection molding technique or 3D printing by polypropylene and it is also suitable for a fully compliant Micro Electro Mechanical System fabrication. The mathematical model of the mechanism is validated by utilizing inverse-forward dynamic model. The tip point of the mechanism successfully follows the reference trajectory by employing model based PID controller.

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Neptune, Richard R., and Craig P. McGowan. "Individual Muscle Contributions to Whole-Body Angular Momentum During Normal Walking." In ASME 2010 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2010. http://dx.doi.org/10.1115/sbc2010-19351.

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Walking is a complex dynamic task that requires the generation of whole-body angular momentum to maintain dynamic balance and perform a wide range of locomotor tasks. Previous studies have shown that controlling angular momentum is essential to maintaining dynamic balance and preventing falls during walking [1] and recovering from a trip [2]. Others have suggested that angular momentum is highly regulated by the central nervous system [3] and that control synergies may be used to provide this regulation [4].

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Xydas, Evagoras G., Loucas S. Louca, and Andreas Mueller. "Analysis and Passive Control of a Four-Bar Linkage for the Rehabilitation of Upper-Limb Motion." In ASME 2015 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/dscc2015-9916.

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In the last two decades robotic rehabilitation research provided significant insight regarding the human-robot interaction, helped understand the process by which the impaired nervous system is retrained to better control movements, and led to the development of a number of mathematical and neurophysiological models that describe both the human motion and the robot control. The human-machine interaction in this research is typically achieved through robotic devices that are based on open kinematic chains. These devices have multiple degrees of freedom (DOF), sophisticated computer control, actuation and sensing. The flexibility of such approach enables the easy implementation of the various models and methods that have to be applied in order to maximize the potential of robotic rehabilitation. On the other hand, mechanisms with fewer DOF’s that are based on closed kinematic chains can generate specific, yet adequate trajectories for the purposes of robotic rehabilitation. An example of such mechanisms is four-bar linkages that have only 1-DOF but yet can generate paths with complex kinematic characteristics. Design and analysis of four-bar linkages is used to achieve a variety of kinematics in terms of trajectory, velocity and acceleration profiles. The simplicity of these mechanisms is appealing and they can be used in rehabilitation due to their ability to replicate the motion of various human joints and limbs. The focus of the current work is to study the use of a four-bar linkage for generating the natural motion of upper-limb reaching tasks with the intention of using this mechanism for rehabilitation. This natural hand motion is described by a straight-line trajectory with a smooth bellshaped velocity profile, which in turn is generated by the well-established Minimum Jerk Model (MJM). The goal is to design passive control elements in a four-bar linkage that generate the required torque for producing the MJM motion. The passive elements are two linear translational springs that act on the driving link of a straight line generating mechanism. A design optimization is used to minimize the difference between the desired and actual input spring torque while remaining within the predefined design space. The final arrangement is simulated in a Multibody Dynamics software that applies feed-forward dynamics to generate the mechanism’s free response to the torque generated by the designed linear springs. The results of this work suggest that systematic design of a four-bar linkage can lead to simple mechanisms that can replicate the natural motion of reaching tasks. Relatively inexpensive linear springs can be employed in the design of passive-active controlled therapeutic mechanisms. Further investigation that combines analysis of both active and passive control/actuation elements must be performed for finalizing the control design. Simulations and analysis that incorporate various impaired hand responses must be also performed in order to finalize the design.

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Звіти організацій з теми "Dynamic control and generation of tasks"

Kuruganti, Teja, Mohammed Olama, Jin Dong, Yaosuo Xue, Christopher Winstead, James Nutaro, Seddik Djouadi, Linquan Bai, Godfried Augenbroe, and Justin Hill. Dynamic Building Load Control to Facilitate High Penetration of Solar Photovoltaic Generation: Final Technical Report. Office of Scientific and Technical Information (OSTI), September 2021. http://dx.doi.org/10.2172/1819555.

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Moisseytsev, A., and J. J. Sienicki. Analysis of supercritical CO{sub 2} cycle control strategies and dynamic response for Generation IV Reactors. Office of Scientific and Technical Information (OSTI), April 2011. http://dx.doi.org/10.2172/1011291.

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Amela, R., R. Badia, S. Böhm, R. Tosi, C. Soriano, and R. Rossi. D4.2 Profiling report of the partner’s tools, complete with performance suggestions. Scipedia, 2021. http://dx.doi.org/10.23967/exaqute.2021.2.023.

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This deliverable focuses on the proling activities developed in the project with the partner's applications. To perform this proling activities, a couple of benchmarks were dened in collaboration with WP5. The rst benchmark is an embarrassingly parallel benchmark that performs a read and then multiple writes of the same object, with the objective of stressing the memory and storage systems and evaluate the overhead when these reads and writes are performed in parallel. A second benchmark is dened based on the Continuation Multi Level Monte Carlo (C-MLMC) algorithm. While this algorithm is normally executed using multiple levels, for the proling and performance analysis objectives, the execution of a single level was enough since the forthcoming levels have similar performance characteristics. Additionally, while the simulation tasks can be executed as parallel (multi-threaded tasks), in the benchmark, single threaded tasks were executed to increase the number of simulations to be scheduled and stress the scheduling engines. A set of experiments based on these two benchmarks have been executed in the MareNostrum 4 supercomputer and using PyCOMPSs as underlying programming model and dynamic scheduler of the tasks involved in the executions. While the rst benchmark was executed several times in a single iteration, the second benchmark was executed in an iterative manner, with cycles of 1) Execution and trace generation; 2) Performance analysis; 3) Improvements. This had enabled to perform several improvements in the benchmark and in the scheduler of PyCOMPSs. The initial iterations focused on the C-MLMC structure itself, performing re-factors of the code to remove ne grain and sequential tasks and merging them in larger granularity tasks. The next iterations focused on improving the PyCOMPSs scheduler, removing existent bottlenecks and increasing its performance by making the scheduler a multithreaded engine. While the results can still be improved, we are satised with the results since the granularity of the simulations run in this evaluation step are much ner than the one that will be used for the real scenarios. The deliverable nishes with some recommendations that should be followed along the project in order to obtain good performance in the execution of the project codes.

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Thompson and Lawson. L51792 External Corrosion Control Monitoring Practices - Volumes I and II. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), May 2000. http://dx.doi.org/10.55274/r0010173.

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The primary means of corrosion control for buried pipelines is the use of an external pipeline coating and the application of cathodic protection (CP). Monitoring the effectiveness of the corro sion control system is critical to the safe operation of natural gas pipelines. NACE International has established criteria andrecommended practices for monitoring the effectiveness of CP systems (RPO169-96). These practices and criteria have generally been accepted by regulatory agencies. Over the years a significant amount of research has been performed that is related to monitoring practices. Much of this research has been directed at improving measurement techniques that are aimed at satisfying the NACE criteria. In general, no significant effort has been made to incorporate research into currently used monitoring practices. The overall objectives of this project were (1) to consolidate research previously performed on monitoring the effectiveness of cathodic protection of pipelines, (2) to analyze the different monitoring techniques in light of the research, and (3) to produce monitoring guidelines that describe the application of these monitoring techniques for typical natural gas pipelines. The scope of this project was limited to the review of previous work, both PRCI funded and the open literature, and discussions with industry personnel. No field work or laboratory experiments were conducted. This project was further limited to the review of methodologies related to monitoring the effectiveness of the CP system and does not include methods for evaluating coatings. The research project was divided into the following two tasks: Task 1 - Review of Research and Practices and Task 2 - Development of Guidelines. This work was a consolidation of research that has been performed by the PRCI and others over the past several years. This review took the individual monitoring techniques (on-potential, off-potential, depolarized potential, close interval survey, etc.) and applied them to the typical pipeline scenarios (poorly-coated line, well-coated line, foreign line crossing, area with dynamic stray current, etc.). Each individual monitoring technique is summarized in terms of purpose, description, application, limitations, special considerations, and equipment requirements. Each pipeline scenario is supported with composite and line maps and the guidelines for each scenario are described in terms of a general description, applicable techniques, special considerations, measurement procedures, measurement locations, measurement frequency, applicable criteria, and data interpretation.

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Osypova, Nataliia V., and Volodimir I. Tatochenko. Improving the learning environment for future mathematics teachers with the use application of the dynamic mathematics system GeoGebra AR. [б. в.], July 2021. http://dx.doi.org/10.31812/123456789/4628.

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Анотація:

Immersive technologies and, in particular, augmented reality (AR) are rapidly changing the sphere of education, especially in the field of science, technology, engineering, arts and mathematics. High- quality professional training of a future mathematics teacher who is able to meet the challenges that permeate all sides, the realities of the globalizing information society, presupposes reliance on a highly effective learning environment. The purpose of the research is to transform the traditional educational environment for training future mathematics teachers with the use of the GeoGebra AR dynamic mathematics system, the introduction of cloud technologies into the educational process. The educational potential of GeoGebra AR in the system of professional training of future mathematics teachers is analyzed in the paper. Effective and practical tools for teaching mathematics based on GeoGebra AR using interactive models and videos for mixed and distance learning of students are provided. The advantages of the GeoGebra AR dynamic mathematics system are highlighted. The use of new technologies for the creation of didactic innovative resources that improve the process of teaching and learning mathematics is presented on the example of an educational and methodological task, the purpose of which is to create didactic material on the topic “Sections of polyhedra”. While solving it, future teachers of mathematics should develop the following constituent elements: video materials; test tasks for self-control; dynamic models of sections of polyhedra; video instructions for constructing sections of polyhedra and for solving basic problems in the GeoGebra AR system. The article highlights the main characteristics of the proposed educational environment for training future mathematics teachers using the GeoGebra AR dynamic mathematics system: interdisciplinarity, polyprofessionalism, dynamism, multicomponent.

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Berney, Ernest, Naveen Ganesh, Andrew Ward, J. Newman, and John Rushing. Methodology for remote assessment of pavement distresses from point cloud analysis. Engineer Research and Development Center (U.S.), April 2021. http://dx.doi.org/10.21079/11681/40401.

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The ability to remotely assess road and airfield pavement condition is critical to dynamic basing, contingency deployment, convoy entry and sustainment, and post-attack reconnaissance. Current Army processes to evaluate surface condition are time-consuming and require Soldier presence. Recent developments in the area of photogrammetry and light detection and ranging (LiDAR) enable rapid generation of three-dimensional point cloud models of the pavement surface. Point clouds were generated from data collected on a series of asphalt, concrete, and unsurfaced pavements using ground- and aerial-based sensors. ERDC-developed algorithms automatically discretize the pavement surface into cross- and grid-based sections to identify physical surface distresses such as depressions, ruts, and cracks. Depressions can be sized from the point-to-point distances bounding each depression, and surface roughness is determined based on the point heights along a given cross section. Noted distresses are exported to a distress map file containing only the distress points and their locations for later visualization and quality control along with classification and quantification. Further research and automation into point cloud analysis is ongoing with the goal of enabling Soldiers with limited training the capability to rapidly assess pavement surface condition from a remote platform.

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Perdigão, Rui A. P. Beyond Quantum Security with Emerging Pathways in Information Physics and Complexity. Synergistic Manifolds, June 2022. http://dx.doi.org/10.46337/220602.

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Анотація:

Information security and associated vulnerabilities have long been a pressing challenge, from the fundamental scientific backstage to the frontline across the most diverse sectors of society. At the tip of the iceberg of this problem, the citizens immediately feel that the reservation of privacy and the degradation of the quality and security of the information and communication on which they depend for the day-to-day activities, already of crucial relevance, are at stake. Naturally though, the challenges do not end there. There is a whole infrastructure for storing information, processing and communication, whose security and reliability depend on key sectors gearing modern society – such as emergency communication systems (medical, civil and environmental protection, among others), transportation and geographic information, the financial communications systems at the backbone of day-to-day transactions, the information and telecommunications systems in general. And crucially the entire defence ecosystem that in essence is a stalwart in preventing our civilisation to self-annihilate in full fulfilment of the second principle of thermodynamics. The relevance of the problem further encompasses the preservation of crucial values such as the right to information, security and integrity of democratic processes, internal administration, justice, defence and sovereignty, ranging from the well-being of the citizen to the security of the nation and beyond. In the present communication, we take a look at how to scientifically and technically empower society to address these challenges, with the hope and pragmatism enabled by our emerging pathways in information physics and complexity. Edging beyond classical and quantum frontiers and their vulnerabilities to unveil new principles, methodologies and technologies at the core of the next generation system dynamic intelligence and security. To illustrate the concepts and tools, rather than going down the road of engineered systems that we can ultimately control, we take aim at the bewildering complexity of nature, deciphering new secrets in the mathematical codex underlying its complex coevolutionary phenomena that so heavily impact our lives, and ultimately bringing out novel insights, methods and technologies that propel information physics and security beyond quantum frontiers.

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