An Overview of Own Tracking Wireless Sensors with GSM-GPS Features

Wireless Sensors (WS) mobility and pause time have a major impact directly influencing the energy consumption. Lifetime of a WS Network (WSN) depends directly on the energy consumption, thus, the hardware and software components must be optimized for energy management. This study aims to combine a compact hardware architecture with a smart energy management efficiency in order to increase ratio Lifetime/Energy Consumption, to improve the operating time on a portable tracking system with GPS/GSM/GPRS features and own power. In this paper we present the evolution of own WS tracking architecture with GPS/GSM/GPRS features, basic criterion being the lifetime combined with low power consumption. Concern was focused on hardware and software areas: Large number of physical components led to reconsideration of hardware architecture, while for software, we focused on algorithms able to reduce the number of bits in transmitted data packets, which help to reduce energy consumption. The results and conclusions show that the goal was achieved

On-line multiobjective automatic control system generation by evolutionary algorithms

Evolutionary algorithms are applied to the on- line generation of servo-motor control systems. In this paper, the evolving population of controllers is evaluated at run-time via hardware in the loop, rather than on a simulated model. Disturbances are also introduced at run-time in order to pro- duce robust performance. Multiobjective optimisation of both PI and Fuzzy Logic controllers is considered. Finally an on-line implementation of Genetic Programming is presented based around the Simulink standard blockset. The on-line designed controllers are shown to be robust to both system noise and ex- ternal disturbances while still demonstrating excellent steady- state and dvnamic characteristics

Towards generic satellite payloads: software radio

Satellite payloads are becoming much more complex with the evolution towards multimedia applications. Moreover satellite lifetime increases while standard and services evolve faster, necessitating a hardware platform that can evolves for not developing new systems on each change. The same problem occurs in terrestrial systems like mobile networks and a foreseen solution is the software defined radio technology. In this paper we describe a way of introducing this concept at satellite level to offer to operators the required flexibility in the system. The digital functions enabling this technology, the hardware components implementing the functions and the reconfiguration processes are detailed. We show that elements of the software radio for satellites exist and that this concept is feasible

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape