A Model-driven Approach to the Development of Autonomous Control Applications⋆

نویسندگان

  • Helge Parzyjegla
  • Michael A. Jaeger
  • Gero Mühl
  • Torben Weis
چکیده

Actuator and sensor networks (AS-Nets) will become an integral part of our living and working environment. AS-Nets are formed by modern end-user devices (ranging from PCs over PDAs and TV/HiFisystems to service robots) that communicate wirelessly (e.g., by using WLAN, Bluetooth, or IrDA) and may cooperatively provide services in e-Home scenarios. This paper presents a model-driven approach to the development of applications for AS-Nets that reliefs developers from worrying about heterogeneity, distribution, faults, and self-organization by encapsulating the necessary expert knowledge in the model transformation. Moreover, knowledge derived from the model is exploited at runtime to adapt the application to dynamic changes in the environment.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Robust stabilization of a class of three-dimensional uncertain fractional-order non-autonomous systems

  This paper concerns the problem of robust stabilization of uncertain fractional-order non-autonomous systems. In this regard, a single input active control approach is proposed for control and stabilization of three-dimensional uncertain fractional-order systems. The robust controller is designed on the basis of fractional Lyapunov stability theory. Furthermore, the effects of model uncertai...

متن کامل

Intelligent Auto pilot Design for a Nonlinear Model of an Autonomous Helicopter by Adaptive Emotional Approach

There is a growing interest in the modeling and control of model helicopters using nonlinear dynamic models and nonlinear control. Application of a new intelligent control approach called Brain Emotional Learning Based Intelligent Controller (BELBIC) to design autopilot for an autonomous helicopter is addressed in this paper. This controller is applied to a nonlinear model of a helicopter. This...

متن کامل

Autonomous Drug-Encapsulated Nanoparticles: Towards a Novel Non-Invasive Approach to Prevent Atherosclerosis

Introduction This paper proposes the concept of autonomous drug-encapsulated nanoparticle (ADENP) as a novel non-invasive approach to prevent atherosclerosis. ADENP consists of three simple units of sensor, controller (computing), and actuator. The hardware complexity of ADENP is much lower than most of the nanorobots, while the performance is maintained by the synergism in the swarm architectu...

متن کامل

Dual Space Control of a Deployable Cable Driven Robot: Wave Based Approach

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

متن کامل

Adaptive Voltage-based Control of Direct-drive Robots Driven by Permanent Magnet Synchronous Motors

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

متن کامل

Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2007