Feedback Control Design and Stability Analysis of One Dimensional Evacuation System

This paper presents design of nonlinear feedback controllers for two different models representing evacuation dynamics in one dimension. The models presented here are based on the laws of conservation of mass and momentum. The first model is the classical one equation model for a traffic flow based on conservation of mass with a prescribed relationship between density and velocity. The other model is a two equation model in which the velocity is independent of the density. This model is based on conservation of mass and momentum. The equations of motion in both cases are described by nonlinear partial differential equations. We address the feedback control problem for both models. The objective is to synthesize a nonlinear distributed feedback controller that guarantees stability of a closed loop system. The problem of control and stability is formulated directly in the framework of partial differential equations. Sufficient conditions for Lyapunov stability for distributed control are derived

Feedback Control of Macroscopic Crowd Dynamic Models

This paper presents design of nonlinear feedback controllers for two different macroscopic models for two- dimensional pedestrian dynamics. The models presented here are based on the laws of conservation of mass and momentum. These models have been developed by extending one-dimension macroscopic vehicle traffic flow models that use two-coupled partial deferential equations (PDEs). These models modify the vehicle traffic models so that bi-directional controlled flow is possible. Both models satisfy the conservation principle and are classified as nonlinear, time-dependent, hyperbolic PDE systems. The equations of motion in both cases are described by nonlinear partial differential equations. We address the feedback control problem for both models in the framework of partial differential equations. The objective is to synthesize nonlinear distributed feedback controllers that guarantee stability of a closed loop system

Index to NASA Tech Briefs, January - June 1967

Technological innovations for January-June 1967, abstracts and subject inde

Ship product modelling

This paper is a fundamental review of ship product modeling techniques with a focus on determining the state of the art, to identify any shortcomings and propose future directions. The review addresses ship product data representations, product modeling techniques and integration issues, and life phase issues. The most significant development has been the construction of the ship Standard for the Exchange of Product Data (STEP) application protocols. However, difficulty has been observed with respect to the general uptake of the standards, in particular with the application to legacy systems, often resulting in embellishments to the standards and limiting the ability to further exchange the product data. The EXPRESS modeling language is increasingly being superseded by the extensible mark-up language (XML) as a method to map the STEP data, due to its wider support throughout the information technology industry and its more obvious structure and hierarchy. The associated XML files are, however, larger than those produced using the EXPRESS language and make further demands on the already considerable storage required for the ship product model. Seamless integration between legacy applications appears to be difficult to achieve using the current technologies, which often rely on manual interaction for the translation of files. The paper concludes with a discussion of future directions that aim to either solve or alleviate these issues

Aerospace Medicine and Biology. A continuing bibliography with indexes

This bibliography lists 244 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1981. Aerospace medicine and aerobiology topics are included. Listings for physiological factors, astronaut performance, control theory, artificial intelligence, and cybernetics are included

Multi-Robot-Assisted Human Crowd Evacuation using Navigation Velocity Fields

This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to model human-robot interactions and design robot controls to indirectly control a human population that significantly outnumbers the robots. To address the challenge, we treat the crowd as a continuum and formulate the evacuation objective as driving the crowd density to target locations. We propose a novel mean-field model which consists of a family of microscopic equations that explicitly model how human motions are locally guided by the robots and an associated macroscopic equation that describes how the crowd density is controlled by the navigation velocity fields generated by all robots. Then, we design density feedback controllers for the robots to dynamically adjust their states such that the generated navigation velocity fields drive the crowd density to a target density. Stability guarantees of the proposed controllers are proven. Agent-based simulations are included to evaluate the proposed evacuation algorithms

From Social Simulation to Integrative System Design

As the recent financial crisis showed, today there is a strong need to gain "ecological perspective" of all relevant interactions in socio-economic-techno-environmental systems. For this, we suggested to set-up a network of Centers for integrative systems design, which shall be able to run all potentially relevant scenarios, identify causality chains, explore feedback and cascading effects for a number of model variants, and determine the reliability of their implications (given the validity of the underlying models). They will be able to detect possible negative side effect of policy decisions, before they occur. The Centers belonging to this network of Integrative Systems Design Centers would be focused on a particular field, but they would be part of an attempt to eventually cover all relevant areas of society and economy and integrate them within a "Living Earth Simulator". The results of all research activities of such Centers would be turned into informative input for political Decision Arenas. For example, Crisis Observatories (for financial instabilities, shortages of resources, environmental change, conflict, spreading of diseases, etc.) would be connected with such Decision Arenas for the purpose of visualization, in order to make complex interdependencies understandable to scientists, decision-makers, and the general public.Comment: 34 pages, Visioneer White Paper, see http://www.visioneer.ethz.c

Continuation with Non-invasive Control Schemes: Revealing Unstable States in a Pedestrian Evacuation Scenario

This paper presents a framework to perform bifurcation analysis in laboratory experiments or simulations. We employ control-based continuation to study the dynamics of a macroscopic variable of a microscopically defined model, exploring the potential viability of the underlying feedback control techniques in an experiment. In contrast to previous experimental studies that used iterative root-finding methods on the feedback control targets, we propose a feedback control law that is inherently non-invasive. That is, the control discovers the location of equilibria and stabilizes them simultaneously. We call the proposed control zero-in-equilibrium feedback control and we prove that it is able to stabilize branches of equilibria, except at singularities of codimension n+1, where n is the number of state space dimensions the feedback can depend on. We apply the method to a simulated evacuation scenario were pedestrians have to reach an exit after maneuvering left or right around an obstacle. The scenario shows a hysteresis phenomenon with bistability and tipping between two possible steady pedestrian flows in microscopic simulations. We demonstrate for the evacuation scenario that the proposed control law is able to uniformly discover and stabilize steady flows along the entire branch, including points where other non-invasive approaches to feedback control become singular.Comment: submitted (34 pages 12 figures