robotic tasks usingg discrete event controller

... within the setting of Petri networks developed in Chapter 2: stochastic event graphs coincide with the class of discrete event systems that have a representation as a max-plus linear system in ... Consider a project which consists of various tasks Some of these tasks cannot be started before some others have been finished The dependence of these tasks can be given in a directed graph in which ... Stochastic Systems 303 Ergodic Theory of Event Graphs 7.1 Introduction 7.2 A Simple Example in Rmax 7.2.1 The Event Graph 7.2.2...

Ngày tải lên: 19/02/2014, 03:20

... sequence of events is given in Table Dependencies among events is shown in the directed graph of Figure 2; a directed line from event el to event e2 denotes that event e2 depends directly on event ... terminal may be thought of as a pp In tradi- Discrete- Event Simulation l 43 tional simulation terminology, each pp is described by a set of events and each event has an associated time of occurrence ... time) We further restrict ourselves to discrete- event simulations; we assume that events in the physical system-in our case, message transmissions-happen at discrete points in time 1.1.1 Traditional...

Ngày tải lên: 19/02/2014, 18:20

... generate discrete random variates in the next section Discrete- Event Simulation: A First Course Section 6.1: Discrete Random Variables 8/ 27 Mean and Standard Deviation The mean µ of the discrete ... − 1) x = a + 1, a + 2, , b A discrete random variable can be defined by specifying either its pdf or its cdf Discrete- Event Simulation: A First Course Section 6.1: Discrete Random Variables 7/ ... +· · · ) = Discrete- Event Simulation: A First Course Section 6.1: Discrete Random Variables 4/ 27 Cumulative Distribution Function The cumulative distribution function(cdf) of the discrete random...

Ngày tải lên: 07/03/2014, 17:20

... individual objects simulate a discrete event problem The chapter describes all simulation model objects, their attributes and methods Another important element of the discrete event simulator is the ... property of the simulation system provides the possibility to build a complex discrete event system using predefined discrete event model objects Chapter 14 Using Simulation Systems for Decision Support ... Imperial College, UK Chapter 15, Discrete Event Simulation of Spiking Neural Networks, is an overview of the simulation of spiking neural networks that relates discrete event simulation to other approaches...

Ngày tải lên: 29/05/2014, 16:39

... Discrete Event Simulation Method Chapter Distributed Modeling of Discrete Event Systems Giulia Pedrielli, Tullio Tolio, Walter Terkaj and Marco Sacco Chapter The Speedup of Discrete Event Simulations ... step Discrete event simulation [5] The difference between discrete event simulation and timebased simulation is twofold Firstly, the process being modeled is understood to advance through events ... time-based simulation In discrete event simulation, both cause and effects refer to events However, upon execution due to an event, a model may not generate an output event thus appearing to imply...

Ngày tải lên: 28/06/2014, 10:20

... Discrete Event Simulation Method Chapter Distributed Modeling of Discrete Event Systems Giulia Pedrielli, Tullio Tolio, Walter Terkaj and Marco Sacco Chapter The Speedup of Discrete Event Simulations ... step Discrete event simulation [5] The difference between discrete event simulation and timebased simulation is twofold Firstly, the process being modeled is understood to advance through events ... time-based simulation In discrete event simulation, both cause and effects refer to events However, upon execution due to an event, a model may not generate an output event thus appearing to imply...

Ngày tải lên: 28/06/2014, 20:20

... of discrete event simulation are always in doldrums The large scale of “industrial transformation” has led to new Discrete Event Simulation problems to managers and new challenges to discrete event ... BC, Canada 10 Discrete Event Simulations A dynamically configurable discrete event simulation framework for many-core chip multiprocessors 11 X A dynamically configurable discrete event simulation ... generation of discrete event simulation software Keywords: Discrete and interactive simulations, hybrid manufacturing systems, what-ifanalysis, systems modeling Overview of Discrete Event Simulation...

Ngày tải lên: 29/06/2014, 14:20

... develop a discreteevent simulation model (Algorithm 1.1.1) and then conduct a discrete- event simulation study (Algorithm 1.1.2) 4 Models Algorithm 1.1.1 If done well, a typical discrete- event simulation ... Next -Event Simulation 185 Section 5.1 Next -Event Simulation (program ssq3) Section 5.2 Next -Event Simulation Examples (programs sis3 and msq) Section 5.3 Event ... 223 Chapter Discrete Random Variables Section Section Section Section Section 6.1 6.2 6.3 6.4 6.5 Discrete Random Variables Generating Discrete Random Variables Discrete Random Variable...

Ngày tải lên: 01/07/2014, 15:47

... so-called discrete event simulation In discrete event simulation the model is discrete, and the simulated clock always jumps from one event time to the most imminent event time At each event time ... • Discrete: the state changes only at discrete instances of time (event times) • Combined continuous and discrete: the state changes instantaneously at event times; in between consecutive event ... discrete event simulation There are basically three approaches that can be used for discrete event simulation: the event- based, the activity-based and the process-based approach [5] (1) The event- based...

Ngày tải lên: 01/07/2014, 17:04

... time clock to the earliest event in the event list, which is for time 1.2 It removes this event from the event list, and then resumes the thread corresponding to the 1.2 event, i.e the thread for ... service-done event for time ServiceFinishedtime to the event set sleep until wakened by the event- set manager SumResidenceTimes += SimTime - jobobject.ArrivalTime NJobsServed++ thread exit The event ... MaxSimTime sleep until event set is nonempty delete the minimum-time event E from the event set update SimTime to the time scheduled for E wake whichever thread had added E to the event set thread...

Ngày tải lên: 01/07/2014, 17:28

... facility location literature stream Chapter three uses the inventory theoretic approach in a discrete event simulation in an effort to investigate the accuracy of the numerical approach in estimating ... Research 34 Conclusions 35 References 37 Chapter 3: A Discrete Event Simulation of the Inventory Theoretic Approach 41 Introduction 41 Literature ... Costs Using the Analytical Approach 56 Calculating Estimated Total Logistics Costs Using a Discrete Event Simulation 59 Model Parameters 63 Assumptions 68 Findings...

Ngày tải lên: 02/11/2014, 00:50

... broad range of robotic tasks The challenge of applying POMDPs to robotic tasks has two aspects The first is model design The model must correctly capture the essential behaviors of the robotic system, ... have been applied to di↵erent robotic tasks such as unmanned aircraft collision avoidance and autonomous vehicle navigation Experimental results for these robotic tasks demonstrated the benefits ... and the pedestrian Figure 1.1(c) illustrates a discrete model, which is quite inaccurate Discrete POMDP models impose several limitations on robotic tasks like this We have to manually discretize...

Ngày tải lên: 09/09/2015, 11:08

... 128 5.2.3 5.3 Overall Model in Discrete- Time 130 Discrete- Time Output ISM Control 132 5.3.1 Controller Design and Stability Analysis ... framework for advanced discrete- time controller analysis and design We consider three different scenarios: 1) Regulation and Output tracking of Sampled-Data MIMO Systems, 2) Discrete- Time Systems ... continuoustime process and Kd is a discrete- time control law All three methods begin with begin with the principle continuous-time model G and aim to design the discrete- time controller Kd and analyze...

Ngày tải lên: 14/09/2015, 14:12

... of discrete controller synthesis defines a sequence of tasks by constructing a global controller that interacts with the tasks local controllers by mean of controllable points This global controller s ... framework 1.3 Control of reactive multitasks systems 1.3.1 Robotics systems as multitasks systems A common approach in the design of robotics systems is the discrete/ continuous control approach ... set resulting from the general composition of all the automata Discrete controller synthesis 4.1.3 Discrete controller synthesis Controller Coexecution Controlled automaton Figure 3: Compilation...

Ngày tải lên: 22/06/2014, 19:20

... output feedback controller with an observer is proposed by Kim [19] for rigid robotic manipulators, which contains two NNs, one for the observer and the other for the controller The controller design ... unified scheme diagram of the proposed controller is shown in Fig The NN controller (or adaptive controller) with as an input vector, acts as a feedforward controller, which is used to approximate ... with a robotic , , and manipulator (5) Define Under the conditions (18) Then the following can be proven Theorem 1: Consider the output-feedback controller (17) in a closed loop with a robotic...

Ngày tải lên: 27/06/2014, 18:20

... Người đọc quan tâm đến [23.24] cho nhiều chi tiết mô hình trình bày Trong thí nghiệm này, Microsoft Robotics Developer Studio(MRDS) sử dụng để thực điều khiển đề xuất MRDS thực mã chương trình điều ... Control of multiple arms with rolling constraints In: Proceedings of the International Conference on Robotics and Automation, pp 2193–2198 (1992) Lewis, F.L., Abdallah, C.T., Dawson, D.M.: Con-tol ... wheeled mobile robot J Robot Syst.14, 697–709 (1997) 14 Yun, X., Sarkar, N.: Unified formulation of robotic systems with holonomic and nonholonomic constraints IEEE Trans Robot Autom.14(4), 640–650...

Ngày tải lên: 12/10/2014, 08:30

... Digital Controllers • Dead-Beat Controller • Dahlin Controller • Microcontroller Implementation • PID Controller • Exercises Prior to Lecture Discrete- time System with analog reference input Discrete- time ... (1) Digital Controllers Dead-Beat Controller • Example: Design the Dead-Beat Controller for the system given by 𝑒 −2𝑠 𝐺 𝑠 = + 10𝑠 Assume that T = 1s Digital Controllers Dead-Beat Controller • ... 𝐷 𝑧 = 0.095 𝑧 − Digital Controllers Dead-Beat Controller • Solution (cont.) Step response of the system Control signal Digital Controllers Dahlin Controller • Dahlin Controller: produces an exponential...

Ngày tải lên: 23/07/2015, 15:20

... p tho i Set Forest Functional Level: ch n Windows Server 2008 > Next p tho i Additional Domain Controller Options: Gi nguyên u check “DNS server” > Next p tho i Active Directory Domain Services...

Ngày tải lên: 13/08/2012, 16:40

... house Event) hay Khỏch hng (dụi vúi Event Agency), nguũi lrn Event cú duqc nhỹng thụng tin ce bỏn: dich, lv tụ chỳtc kiờn, thũri gian, sú lutcyng tham gia, dụi tutcyng tharn cỏc yờu cõu dụi vúri Event ... thuũng duqc nguũi lm Event vớ nhu linh hụn cỳa Event cho nờn buúc hỡnh thnh Concept cho Event rọt quan trỗng Sau dọ cú Concept, nguũi ta sờ phỏt triờn duqc Theme (Ch dờ Event) , nhỹrng hiờu ỳng ... sau Event (Post -Event) : Ngay tai hiờn truũng, chỳng ta sờ phi thu dgn, bn giao dớa diem cho chỳ dớa diem, tr lai cỏc thiờt bi, võt dung thuờ mua tự nh cung cõp, cú the phi cựng nhúm lm Event (Event...

Ngày tải lên: 21/08/2012, 17:19

... PHẦN II: Cách cài đặt Domain Controller cấu hình DNS -Mời bạn xem bài: | | | | - Phần hướng ... (Full Qualify Domain Name) từ địa IP Nó tốt cài mail server Phần III: Hướng dẫn cài đặt Domain Controller DNS hệ điều hành Windows 2000 Server -Mời bạn xem bài: | | | | ... không cần thiết Bạn vừa hoàn tất phần tạo Pointer Record (PTR) Phần IV: Hướng dẫn cài đặt Domain Controller DNS hệ điều hành Windows 2000 Server -Mời bạn xem bài: | | | | ...

Ngày tải lên: 31/08/2012, 09:33