11,699 research outputs found
On the Development of SCILAB Compatible Software for the Analysis and Control of Repetitive Processes
In this paper further results on the development of a SCILAB compatible software package for the analysis and control of repetitive processes is described. The core of the package consists of a simulation tool which enables the user to inspect the response of a given example to an input, design a control law for stability and/or performance, and also simulate the response of a controlled process to a specified reference signal
A General Spatio-Temporal Clustering-Based Non-local Formulation for Multiscale Modeling of Compartmentalized Reservoirs
Representing the reservoir as a network of discrete compartments with
neighbor and non-neighbor connections is a fast, yet accurate method for
analyzing oil and gas reservoirs. Automatic and rapid detection of coarse-scale
compartments with distinct static and dynamic properties is an integral part of
such high-level reservoir analysis. In this work, we present a hybrid framework
specific to reservoir analysis for an automatic detection of clusters in space
using spatial and temporal field data, coupled with a physics-based multiscale
modeling approach. In this work a novel hybrid approach is presented in which
we couple a physics-based non-local modeling framework with data-driven
clustering techniques to provide a fast and accurate multiscale modeling of
compartmentalized reservoirs. This research also adds to the literature by
presenting a comprehensive work on spatio-temporal clustering for reservoir
studies applications that well considers the clustering complexities, the
intrinsic sparse and noisy nature of the data, and the interpretability of the
outcome.
Keywords: Artificial Intelligence; Machine Learning; Spatio-Temporal
Clustering; Physics-Based Data-Driven Formulation; Multiscale Modelin
Design of Optimal Sparse Feedback Gains via the Alternating Direction Method of Multipliers
We design sparse and block sparse feedback gains that minimize the variance
amplification (i.e., the norm) of distributed systems. Our approach
consists of two steps. First, we identify sparsity patterns of feedback gains
by incorporating sparsity-promoting penalty functions into the optimal control
problem, where the added terms penalize the number of communication links in
the distributed controller. Second, we optimize feedback gains subject to
structural constraints determined by the identified sparsity patterns. In the
first step, the sparsity structure of feedback gains is identified using the
alternating direction method of multipliers, which is a powerful algorithm
well-suited to large optimization problems. This method alternates between
promoting the sparsity of the controller and optimizing the closed-loop
performance, which allows us to exploit the structure of the corresponding
objective functions. In particular, we take advantage of the separability of
the sparsity-promoting penalty functions to decompose the minimization problem
into sub-problems that can be solved analytically. Several examples are
provided to illustrate the effectiveness of the developed approach.Comment: To appear in IEEE Trans. Automat. Contro
Computational neural learning formalisms for manipulator inverse kinematics
An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints
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