26,879 research outputs found

    Economic MPC of Nonlinear Systems with Non-Monotonic Lyapunov Functions and Its Application to HVAC Control

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    This paper proposes a Lyapunov-based economic MPC scheme for nonlinear sytems with non-monotonic Lyapunov functions. Relaxed Lyapunov-based constraints are used in the MPC formulation to improve the economic performance. These constraints will enforce a Lyapunov decrease after every few steps. Recursive feasibility and asymptotical convergence to the steady state can be achieved using Lyapunov-like stability analysis. The proposed economic MPC can be applied to minimize energy consumption in HVAC control of commercial buildings. The Lyapunov-based constraints in the online MPC problem enable the tracking of the desired set-point temperature. The performance is demonstrated by a virtual building composed of two adjacent zones

    Environmental drivers of large-scale movements of baleen whales in the mid-North Atlantic Ocean

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    © The Author(s), 2020. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Perez-Jorge, S., Tobena, M., Prieto, R., Vandeperre, F., Calmettes, B., Lehodey, P., & Silva, M. A. Environmental drivers of large-scale movements of baleen whales in the mid-North Atlantic Ocean. Diversity and Distributions, 00, (2020): 1-16, doi:10.1111/ddi.13038.Aim Understanding the environmental drivers of movement and habitat use of highly migratory marine species is crucial to implement appropriate management and conservation measures. However, this requires quantitative information on their spatial and temporal presence, which is limited in the high seas. Here, we aimed to gain insights of the essential habitats of three baleen whale species around the mid‐North Atlantic (NA) region, linking their large‐scale movements with information on oceanographic and biological processes. Location Mid‐NA Ocean. Methods We present the first study combining data from 31 satellite tracks of baleen whales (15, 10 and 6 from fin, blue and sei whales, respectively) from March to July (2008–2016) with data on remotely sensed oceanography and mid‐ and lower trophic level biomass derived from the spatial ecosystem and population dynamics model (SEAPODYM). A Bayesian switching state‐space model was applied to obtain regular tracks and correct for location errors, and pseudo‐absences were created through simulated positions using a correlated random walk model. Based on the tracks and pseudo‐absences, we applied generalized additive mixed models (GAMMs) to determine the probability of occurrence and predict monthly distributions. Results This study provides the most detailed research on the spatio‐temporal distribution of baleen whales in the mid‐NA, showing how dynamic biophysical processes determine their habitat preference. Movement patterns were mainly influenced by the interaction of temperature and the lower trophic level biomass; however, this relationship differed substantially among species. Best‐fit models suggest that movements of whales migrating towards more productive areas in northern latitudes were constrained by depth and eddy kinetic energy. Main conclusions These novel insights highlight the importance of integrating telemetry data with spatially explicit prey models to understand which factors shape the movement patterns of highly migratory species across large geographical scales. In addition, our outcomes could contribute to inform management of anthropogenic threats to baleen whales in sparsely surveyed region.We are very grateful to ClĂĄudia Oliveira, Irma CascĂŁo, Maria JoĂŁo Cruz, Miriam Romagosa and many volunteers, skilled skippers, crew and spotters that participated in the tagging fieldwork. This work was supported by Fundação para a CiĂȘncia e Tecnologia (FCT), Azores 2020 Operational Programme and Fundo Regional da CiĂȘncia e Tecnologia (FRCT) through research projects FCT‐Exploratory project (IF/00943/2013/CP1199/CT0001), TRACE (PTDC/MAR/74071/2006) and MAPCET (M2.1.2/F/012/2011) co‐funded by FEDER, COMPETE, QREN, POPH, ESF, ERDF, Portuguese Ministry for Science and Education, and Proconvergencia Açores/EU Program. We also acknowledge funds provided by FCT to MARE, through the strategic project UID/MAR/04292/2013. SPJ was supported by a postdoctoral grant (REF.GREENUP/001‐2016), MT by a DRCT doctoral grant (M3.1.a/F/028/2015), MAS by an FCT‐Investigator contract (IF/00943/2013), FV by an FCT Investigator contract (CEECIND/03469/2017) and RP by an FCT postdoctoral grant (SFRH/BPD/108007/2015). LMTL modelling work has been supported by the CMEMS Service Evolution GREENUP project, funded by Mercator Ocean. We are grateful to Elliott Hazen for offering guidance and advice, and to two anonymous referees whose comments greatly improved this work

    Operator vision aids for space teleoperation assembly and servicing

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    This paper investigates concepts for visual operator aids required for effective telerobotic control. Operator visual aids, as defined here, mean any operational enhancement that improves man-machine control through the visual system. These concepts were derived as part of a study of vision issues for space teleoperation. Extensive literature on teleoperation, robotics, and human factors was surveyed to definitively specify appropriate requirements. This paper presents these visual aids in three general categories of camera/lighting functions, display enhancements, and operator cues. In the area of camera/lighting functions concepts are discussed for: (1) automatic end effector or task tracking; (2) novel camera designs; (3) computer-generated virtual camera views; (4) computer assisted camera/lighting placement; and (5) voice control. In the technology area of display aids, concepts are presented for: (1) zone displays, such as imminent collision or indexing limits; (2) predictive displays for temporal and spatial location; (3) stimulus-response reconciliation displays; (4) graphical display of depth cues such as 2-D symbolic depth, virtual views, and perspective depth; and (5) view enhancements through image processing and symbolic representations. Finally, operator visual cues (e.g., targets) that help identify size, distance, shape, orientation and location are discussed

    A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace

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    This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points. Various limitations such as: obstacles, workspace boundary, thruster saturation and predefined desired upper bound of the vehicle velocity are captured as state and input constraints and are guaranteed during the control design. The proposed scheme incorporates the full dynamics of the vehicle in which the ocean currents are also involved. Hence, the control inputs calculated by the proposed scheme are formulated in a way that the vehicle will exploit the ocean currents, when these are in favor of the way-point tracking mission which results in reduced energy consumption by the thrusters. The performance of the proposed control strategy is experimentally verified using a 44 Degrees of Freedom (DoF) underwater robotic vehicle inside a constrained test tank with obstacles.Comment: IEEE International Conference on Robotics and Automation (ICRA-2018), Accepte
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