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Author: Sven Reimann Publisher: ISBN: 9783832539801 Category : Languages : en Pages : 0
Book Description
Modern control systems are usually realized as embedded systems. This typically leads to resource-constrained control systems due to constraints on computing speed, memory size or communication bandwidth. In this thesis, scheduling and control strategies as well as event-triggered control strategies are addressed for handling the limited computation and communication resources. All proposed strategies are designed in a way, such that they can be realized based on output information. Part I focuses on scheduling and control design methods for distributing efficiently the limited computation and communication resources. First, an integrated control and scheduling design is proposed for controlling several plants over one share communication network, which assumes full state measurement. By including a switched observer the control and scheduling can be realized based on output information. Second, a strategy for scheduling a set of PI control tasks with limited computation resources is developed. The focus lies on the scheduling of PI control tasks with low computational overhead. Both presented strategies are online scheduling algorithms, where the scheduling decision is made based on output-feedback information of the plants. This allows a reactiveness to disturbances and reference changes and, hence, an improved control performance compared with offline scheduling algorithms. In Part II, a novel event-triggered PI control concept is developed for setpoint tracking problems. The focus lies on reducing the resource utilization, especially the communication over the feedback link, while maintaining a certain level of performance. An event-triggered PI control strategy is proposed, where both the event-triggering condition and the PI controller are realized periodically, such an implementation can be easily realized in a standard time-sliced embedded software architecture. Further, a control synthesis is presented, which allows to design the control parameters taking the event-triggered implementation into account. All proposed strategies in Part I and Part II are evaluated by simulations and experimental studies in comparison with related approaches from literature, to demonstrate the effectiveness.
Author: Sven Reimann Publisher: ISBN: 9783832539801 Category : Languages : en Pages : 0
Book Description
Modern control systems are usually realized as embedded systems. This typically leads to resource-constrained control systems due to constraints on computing speed, memory size or communication bandwidth. In this thesis, scheduling and control strategies as well as event-triggered control strategies are addressed for handling the limited computation and communication resources. All proposed strategies are designed in a way, such that they can be realized based on output information. Part I focuses on scheduling and control design methods for distributing efficiently the limited computation and communication resources. First, an integrated control and scheduling design is proposed for controlling several plants over one share communication network, which assumes full state measurement. By including a switched observer the control and scheduling can be realized based on output information. Second, a strategy for scheduling a set of PI control tasks with limited computation resources is developed. The focus lies on the scheduling of PI control tasks with low computational overhead. Both presented strategies are online scheduling algorithms, where the scheduling decision is made based on output-feedback information of the plants. This allows a reactiveness to disturbances and reference changes and, hence, an improved control performance compared with offline scheduling algorithms. In Part II, a novel event-triggered PI control concept is developed for setpoint tracking problems. The focus lies on reducing the resource utilization, especially the communication over the feedback link, while maintaining a certain level of performance. An event-triggered PI control strategy is proposed, where both the event-triggering condition and the PI controller are realized periodically, such an implementation can be easily realized in a standard time-sliced embedded software architecture. Further, a control synthesis is presented, which allows to design the control parameters taking the event-triggered implementation into account. All proposed strategies in Part I and Part II are evaluated by simulations and experimental studies in comparison with related approaches from literature, to demonstrate the effectiveness.
Author: Robert Klein Publisher: Springer Science & Business Media ISBN: 146154629X Category : Business & Economics Languages : en Pages : 379
Book Description
Project management has become a widespread instrument enabling organizations to efficiently master the challenges of steadily shortening product life cycles, global markets and decreasing profit margins. With projects increasing in size and complexity, their planning and control represents one of the most crucial management tasks. This is especially true for scheduling, which is concerned with establishing execution dates for the sub-activities to be performed in order to complete the project. The ability to manage projects where resources must be allocated between concurrent projects or even sub-activities of a single project requires the use of commercial project management software packages. However, the results yielded by the solution procedures included are often rather unsatisfactory. Scheduling of Resource-Constrained Projects develops more efficient procedures, which can easily be integrated into software packages by incorporated programming languages, and thus should be of great interest for practitioners as well as scientists working in the field of project management. The book is divided into two parts. In Part I, the project management process is described and the management tasks to be accomplished during project planning and control are discussed. This allows for identifying the major scheduling problems arising in the planning process, among which the resource-constrained project scheduling problem is the most important. Part II deals with efficient computer-based procedures for the resource-constrained project scheduling problem and its generalized version. Since both problems are NP-hard, the development of such procedures which yield satisfactory solutions in a reasonable amount of computation time is very challenging, and a number of new and very promising approaches are introduced. This includes heuristic procedures based on priority rules and tabu search as well as lower bound methods and branch and bound procedures which can be applied for computing optimal solutions.
Author: Christian Artigues Publisher: John Wiley & Sons ISBN: 1118623703 Category : Technology & Engineering Languages : en Pages : 235
Book Description
This title presents a large variety of models and algorithms dedicated to the resource-constrained project scheduling problem (RCPSP), which aims at scheduling at minimal duration a set of activities subject to precedence constraints and limited resource availabilities. In the first part, the standard variant of RCPSP is presented and analyzed as a combinatorial optimization problem. Constraint programming and integer linear programming formulations are given. Relaxations based on these formulations and also on related scheduling problems are presented. Exact methods and heuristics are surveyed. Computational experiments, aiming at providing an empirical insight on the difficulty of the problem, are provided. The second part of the book focuses on several other variants of the RCPSP and on their solution methods. Each variant takes account of real-life characteristics which are not considered in the standard version, such as possible interruptions of activities, production and consumption of resources, cost-based approaches and uncertainty considerations. The last part presents industrial case studies where the RCPSP plays a central part. Applications are presented in various domains such as assembly shop and rolling ingots production scheduling, project management in information technology companies and instruction scheduling for VLIW processor architectures.
Author: Ewa Ratajczak-Ropel Publisher: Springer ISBN: 3319628933 Category : Technology & Engineering Languages : en Pages : 247
Book Description
This book addresses two of the most difficult and computationally intractable classes of problems: discrete resource constrained scheduling, and discrete-continuous scheduling. The first part of the book discusses problems belonging to the first class, while the second part deals with problems belonging to the second class. Both parts together offer valuable insights into the possibility of implementing modern techniques and tools with a view to obtaining high-quality solutions to practical and, at the same time, computationally difficult problems. It offers a valuable source of information for practitioners dealing with the real-world scheduling problems in industry, management and administration. The authors have been working on the respective problems for the last decade, gaining scientific recognition through publications and active participation in the international scientific conferences, and their results are obtained using population-based methods. Dr E. Ratajczk-Ropel explores multiple agent and A-Team concepts, while Dr A. Skakovski focuses on evolutionary algorithms with a particular focus on the population learning paradigm.
Author: Min Wu Publisher: Logos Verlag Berlin GmbH ISBN: 383255484X Category : Technology & Engineering Languages : en Pages : 212
Book Description
In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.
Author: Alen Turnwald Publisher: Logos Verlag Berlin GmbH ISBN: 3832552057 Category : Technology & Engineering Languages : en Pages : 175
Book Description
With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.
Author: Christoph Schwindt Publisher: Springer ISBN: 3319054430 Category : Business & Economics Languages : en Pages : 691
Book Description
Due to the increasing importance of product differentiation and collapsing product life cycles, a growing number of value-adding activities in the industry and service sector are organized in projects. Projects come in many forms, often taking considerable time and consuming a large amount of resources. The management and scheduling of projects represents a challenging task, and project performance may have a considerable impact on an organization's competitiveness. This handbook presents state-of-the-art approaches to project management and scheduling. More than sixty contributions written by leading experts in the field provide an authoritative survey of recent developments. The book serves as a comprehensive reference, both, for researchers and project management professionals. The handbook consists of two volumes. Volume 1 is devoted to single-modal and multi-modal project scheduling. Volume 2 presents multi-project problems, project scheduling under uncertainty and vagueness, managerial approaches and a separate part on applications, case studies and information systems.
Author: Jan Weglarz Publisher: Springer Science & Business Media ISBN: 1461555337 Category : Business & Economics Languages : en Pages : 534
Book Description
Project scheduling problems are, generally speaking, the problems of allocating scarce resources over time to perform a given set of activities. The resources are nothing other than the arbitrary means which activities complete for. Also the activities can have a variety of interpretations. Thus, project scheduling problems appear in a large spectrum of real-world situations, and, in consequence, they have been intensively studied for almost fourty years. Almost a decade has passed since the multi-author monograph: R. Slowinski, 1. W~glarz (eds. ), Advances in Project Scheduling, Elsevier, 1989, summarizing the state-of-the-art across project scheduling problems, was published. Since then, considerable progress has been made in all directions of modelling and finding solutions to these problems. Thus, the proposal by Professor Frederick S. Hillier to edit a handbook which reports on the recent advances in the field came at an exceptionally good time and motivated me to accept the challenge. Fortunately, almost all leading experts in the field have accepted my invitation and presented their completely new advances often combined with expository surveys. Thanks to them, the handbook stands a good chance of becoming a key reference point on the current state-of-the-art in project scheduling, as well as on new directions in the area. The contents are divided into four parts. The first one, dealing with classical models -exact algorithms, is preceded by a proposition of the classification scheme for scheduling problems.
Author: Bo Huang Publisher: John Wiley & Sons ISBN: 1119619696 Category : Technology & Engineering Languages : en Pages : 288
Book Description
Presents strategies with reachability graph analysis for optimizing resource allocation systems Supervisory Control and Scheduling of Resource Allocation Systems offers an important guide to Petri net (PN) models and methods for supervisory control and system scheduling of resource allocation systems (RASs). Resource allocation systems are common in automated manufacturing systems, project management systems, cloud data centers, and software engineering systems. The authors—two experts on the topic—present a definition, techniques, models, and state-of-the art applications of supervisory control and scheduling problems. The book introduces the basic concepts and research background on resource allocation systems and Petri nets. The authors then focus on the deadlock-free supervisor synthesis for RASs using Petri nets. The book also investigates the heuristic scheduling of RASs based on timed Petri nets. Conclusions and open problems are provided in the last section of the book. This important book: Includes multiple methods for supervisory control and scheduling with reachability graphs, and provides illustrative examples Reveals how to accelerate the supervisory controller design and system scheduling of RASs based on PN reachability graphs, with optimal or near-optimal results Highlights both solution quality and computational speed in RAS deadlock handling and system scheduling Written for researchers, engineers, scientists, and professionals in system planning and control, engineering, operation, and management, Supervisory Control and Scheduling of Resource Allocation Systems provides an essential guide to the supervisory control and scheduling of resource allocation systems (RASs) using Petri net reachability graphs, which allow for multiple resource acquisitions and flexible routings.
Author: Sven Reimann
Author: Sven Reimann
Author: Robert Klein
Author: Christian Artigues
Author: Ewa Ratajczak-Ropel
Author: Min Wu 
Author: Alen Turnwald
Author: Christoph Schwindt
Author: Jan Weglarz
Author: Bo Huang
Author: Kevin Basil Gerard Luxford