Abstract Analyze the major tendency of degradation of concrete bridges through the study of the main causes of their degradation firstly; then analyze the process fold line of their degradation via the aspect of reliability; thirdly, study the law and the characteristics of the degradation of bridges from structural elements; eventually got the entire trend of the degradation of concrete bridges.

Task synchronization means that each redundant module has the same executing schedule in each task scheduling cycle of the operating system in the Triple Modular Redundancy (abbreviated TMR) fault-...

Abstract This paper presents a methodology that utilizes soft computing approaches to enable locomotion of multiple legged robotic agents operating in natural terrain environrnents. For individual robotic control, the locomotion strategy consists of a hybrid FSM-GA approach that couples leg orientation states with a genetic algorithm to leazn necessary leg movement sequences. To achieve multi-agent formations, locomotion behavior is driven by using a trained neural network to extract relevant distance metrics necessary to realize desired robotic formations while operating in the field. These distance metrics aze then fed into local controllers for realizing lineaz and rotational velocity values for each robotic agent. Details of the methodology are discussed, and experimental results with a team of mobile robots aze presented.

Abstract In this paper, we propose aself-constructing neural fuzzy network with dynamic-form symbiotic evolution (SCNFN-DSE) for solving various problerns. A novel hybrid learning approach, which consists of the self-clustering algorithm (SCA) and the dynamic-form symbiotic evolution (DSE), is proposed for adjusting the parameters of neural fuzzy networks. First, the proposed SCA is used to identify a pazsimonious internal structure. The SCA is an online clustering method and is a distance-based connectionist clustering method. Second, the proposed DSE uses the sequential-search based dynamic evolution (SSDE) method. The better chromosomes will be initially generated while the better mutation points will be determined for performing dynamic-mutation. Simulation results have shown that 1) the SCNFN-DSE model converges quickly; 2) the SCNFNDSE model requires a small number of population sizes; 3) the SCNFN-DSE model construct only 4 fuzzy models in every generation.

Abstract In this paper, an approach for online relay automatic tuning of multi-loop PI controllers is described for multivariable processes. In the absence of significant inter-loop cross-coupling, only one closed-loop experiment may be necessary to tune the controllers to achieve specified closed-loop characteristics. When the inter-loop interaction is significant, multiple relay experiments can be conducted to derive a process model, based on which both the decoupler and the multi-loop controllers can be designed. Simulation examples (on two-inputs-two-outputs (TITO) processes) and areal-time experiment are provided to illustrate the practical appeal of the proposed method. The performance is compared to multi-loop control design based on the Biggest Log Modulus (BLT) method.

ABSTRACTAutomatic development of cooperative strategies for teams of distributed autonomous robots, or software agents, is presented in this paper. It is shown that a team of robotic agents that initially plays a random game of simulated soccer, can acquire winning strategies through successive generations, utilizing techniques of evolutionary computation. The concept of Tropism-based Control Architecture is introduced that not only allows for the evolution of cooperative strategies, but also obtains the acquired knowledge in a format that is easily comprehensible by humans. The advantage of this approach is that the cooperative strategies can then be transported onto a variety of platforms for testing and deployment. It is discussed as to why the game of robot soccer provides a good environment for this type of investigation, and how the presented concepts can have applications in multi-robot system design. The proposed cognitive architecture has been inspired by biological systems, and the paper include...

ABSTRACTThe contribution of this work relates to two subjects. In the first part of the paper we present a reduced order dynamic description of mechanical (Lagrangian) systems with Acatastatic nonholonomic constraints. This development was motivated by the need for a convenient and simple dynamic model for the controller. Essentially, the new element of this development is QR-like decomposition of the constraint matrix. Following this decomposition, we have proven a new dynamic property of the considered system (see Property3). This property allows us to express the system dynamics in terms of a new reduced-order state vector. The second part of the work is concerned with development of the adaptive position/force controllers for Lagrangian systems with the Acatastatic constraints. The adaptive control law guarantees the uniform ultimate boundness of the tracking error. A detailed numerical example is presented to illustrate the developed method.