Automated site preparation on the Moon using a group of autonomous rovers is a topic of great interest for the establishment of a lunar base. A potentially very useful system in which multiple, autonomous rovers clear soil to create a landing pad while simultaneously forming berms with the soil cleared will be described. An Artificial Neural Tissue (ANT) architecture was used as the control algorithm to accomplish these tasks. This scalable architecture encourages task decomposition of the main mission tasks and requires minimal human supervision. To solve these tasks, a single fitness function to measure the performance of the controller and a set of allowable basis behaviors was defined. Next, an evolutionary (Darwinian) selection process was used to generate controllers in simulation. The fittest controller was subsequently implemented on LEGO robots for additional validation and testing. The ANT controller was ultimately integrated with a team of three large-scale rovers.

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Submitted by Mario BC (mario@bc.ufrpe.br) on 2018-09-11T12:28:29Z No. of bitstreams: 1 Rafaela Maria Jose Bertino Barros.pdf: 2123376 bytes, checksum: 1a40e1d7afebcfa5a033f2985d4d17bc (MD5) / Made available in DSpace on 2018-09-11T12:28:29Z (GMT). No. of bitstreams: 1 Rafaela Maria Jose Bertino Barros.pdf: 2123376 bytes, checksum: 1a40e1d7afebcfa5a033f2985d4d17bc (MD5) Previous issue date: 2018-02-26 / This study aimed to analyze the relationship between controller characteristics and their perceptions about controllability. It is an exploratory-descriptive research with a quantitative approach, having as a method of procedure the survey, the data were collected through a cross-sectional questionnaire. The data were collected from electronics forms sent to controllers from all over Brazil using the professional LinkedIn network. A total of 457 forms were submitted and received answered 121, corresponding to a response rate of 26.47%, the collection period occurred from December 2017 to January 2018. Data analysis was based on descriptive and inferential statistics. In order to reach the purpose of this study, it was necessary to map the characteristics of the respondents, where the majority are men, are between 36 and 45 years old, a good part has a degree in accounting sciences, graduated in a private HEI, already have a postgraduate degree; have graduated (undergraduate) for at least 11 years and hold up to nine years of acting as controller. Before performing the analysis of significance, it was necessary to identify the perception of the respondents about functions; goals; the controller as an organizational unit and the competencies of the controller. It was identified that 97.67% of the functions presented to controllers are within the concordance range. With regard to Controllership as an organizational unit, respondents believe that the controller should be linked to financial or accounting board. In relation to the objectives, 100% are understood as belonging to controller. Of the business, social and technical skills, 98.27% are perceived positively by the respondents. Regarding the inferential analysis, it was tested the significance of the group characteristics of the controllers and the functions, objectives, controllability as an organizational unit and the competencies of the controller. Among all, we have the Age characteristic as the one that presented the most significance in the analyzes performed. Followed by the nature of the institution and time after graduation (graduation) of the interviewees. However, all the characteristics in any of the analyzes presented significance. In the analyzes it was evident that characteristics of the respondents that were worked influence the way in which they perceive the controller. / Este estudo teve como objetivo analisar as relações entre as características dos controllers e suas percepções sobre a controladoria. Trata-se de uma pesquisa exploratório-descritiva com abordagem quantitativa, e teve como método de procedimento o levantamento. Os dados foram coletados através de questionário, de maneira transversal e de forma eletrônica, a partir de formulários encaminhados a controllers de todo o Brasil, utilizando-se da rede profissional LinkedIn. Foram enviados 457 formulários e recebidos 121, o que corresponde a uma taxa de resposta de 26,47%. O período de coleta foi de dezembro de 2017 a janeiro de 2018. Para análise dos dados utilizou-se a estatística descritiva e inferencial. Para alcançar o intuito deste estudo, foi preciso mapear as características dos respondentes, na maioria homens, coma faixa etária entre 36 e 45 anos. Boa parte desse contingente possui graduação em Ciências Contábeis, graduaram-se em uma IES privada, já possuem pós-graduação; se formaram (graduação) há pelo menos 11 anos e possuem até nove anos de atuação como controller. Antes de realizar as análises de significância, necessitou-se identificar a percepção dos respondentes sobre funções; objetivos; a controladoria como unidade organizacional e das competências do controller. Identificou-se que 97,67% das funções apresentadas aos controllers estão dentro da faixa de concordância. No que tange à Controladoria como unidade organizacional, os respondentes acreditam que a Controladoria deve estar ligada à diretoria financeira ou de contabilidade. Em relação aos objetivos, 100% são entendidos como pertencentes à Controladoria. Das competências negócios, sociais e técnicas, 98,27% são percebidos de maneira positiva pelos respondentes. No que se refere à análise inferencial, testou-se as significâncias entre o grupo características dos controllers e as funções, objetivos, a controladoria como unidade organizacional e as competências do controller. Dentre todas, tem-se a característica Idade como a que mais apresentou significância nas análises realizadas. Seguida por Natureza da instituição e Tempo pós-formação (graduação) dos entrevistados. Porém, todas as características, em alguma das análises, apresentaram significância. Nas análises ficaram evidentes que as características dos respondentes que foram trabalhadas influenciam o modo como eles percebem a controladoria.

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There has been a growing demand to manage bandwidth as the network traffic increases. Network applications such as real time video streaming, voice over IP and video conferencing in IP networks has risen rapidly over the recently and is projected to continue in the future. These applications consume a lot of bandwidth resulting in increasing pressure on the networks. In dealing with such challenges, modern networks must be designed to be application sensitive and be able to offer Quality of Service (QoS) based on application requirements. Network paradigms such as Software Defined Networking (SDN) allows for direct network programmability to change the network behavior to suit the application needs in order to provide solutions to the challenge. In this dissertation, the objective is to research if SDN can provide scalable QoS requirements to a set of dynamic traffic flows. Methods are implemented to attain scalable bandwidth management to provide high QoS with SDN. Differentiated Services Code Point (DSCP) values and DSCP remarking with Meters are used to implement high QoS requirements such that bandwidth guarantee is provided to a selected set of traffic flows. The theoretical methodology is implemented for achieving QoS, experiments are conducted to validate and illustrate that QoS can be implemented in SDN, but it is unable to implement High QoS due to the lack of implementation for Meters with DSCP remarking. The research work presented in this dissertation aims at the identification and addressing the critical aspects related to the SDN based QoS provisioning using flow aggregation techniques. Several tests and demonstrations will be conducted by utilizing virtualization methods. The tests are aimed at supporting the proposed ideas and aims at creating an improved understanding of the practical SDN use cases and the challenges that emerge in virtualized environments. DiffServ Assured Forwarding is chosen as a QoS architecture for implementation. The bandwidth management scalability in SDN is proved based on throughput analysis by considering two conditions i.e 1) Per-flow QoS operation and 2) QoS by using DiffServ operation in the SDN environment with Ryu controller. The result shows that better performance QoS and bandwidth management is achieved using the QoS by DiffServ operation in SDN rather than the per-flow QoS operation.

This thesis explores the use of an Autonomous Underwater Vehicle (AUV) to track and pursue a tagged shark through the water. A controller was designed to take bearing and range to the shark tag and then control the AUV to pursue it. First, the ability of a particle filter to provide an accurate estimation of the location of the shark relative to the AUV is explored. Second, the ability of the AUV to follow the shark's path through the water is shown. This ability allows for localized environmental sampling of the shark's preferred path. Third, various path weightings are used to optimize the efficiency of pursuing the shark. This demonstrates that the proposed controller is efficient and effective. Fourth, the benefits of the addition of a second AUV are explored and quantified. The secondary AUV is shown to maintain formation without direct communication from the primary AUV. However, the communication of the AUVs increases the accuracy of all measurements and allows for future expansion in the complexity of the controller. Fifth, the effects of predicting the shark$'$s future movement is explored. Sixth, the effect of noise in the signal from the shark tag is tested and the level of noise at which the AUV can no longer pursue the shark is shown. This investigates the real world ability of the controller to accept noisy inputs and still generate the appropriate response. Finally, the positive results of the previous sections are combined and tested for various noise levels to show the improved controller response even under increased noise levels. To validate the proposed estimator and controller, seven tests were conducted. All tests were conducted on existing shark path data recorded by a stationary acoustic receiver and a boat mounted acoustic receiver. Tests were conducted on data sets from two different species of sharks, (Shovelnose and White) with two very different swimming behaviors. This shows the solution's flexibility in the species of shark tracked.

Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping decentralized controller is proposed in this thesis for a class of large-scale systems with interconnections to solve regulation problems. Each subsystem contains m blocks¡¦ state variables, and m- 1 virtual input controllers are designed from the first block to the (m - 1)th block. Then the proposed robust controller is designed in accordance with the last block. Some adaptive mechanisms are embedded in the backstepping controllers as well as virtual input controllers in each subsystem, so that the upper bounds of interconnections as well as perturbations are not required. Furthermore, the dynamic equations of each subsystem do not need to strictly satisfy the block strict feedback form, and the resultant controlled system can achieve asymptotic stability. Finally, a numerical and a practical examples are given for demonstrating the feasibility of the proposed control scheme.

Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(情報学) / 甲第19125号 / 情博第571号 / 新制||情||100 / 32076 / 京都大学大学院情報学研究科システム科学専攻 / (主査)教授 杉江 俊治, 教授 石井 信, 教授 加納 学, 准教授 東 俊一 / 学位規則第4条第1項該当

Esta dissertação refere-se `a simulação de um sistema de controle em um manipulador robótico para compensação dos movimentos do coração em cirurgias cardíacas minimamente invasivas. No intuito de compensar os movimentos do batimento cardíaco utilizam-se técnicas de controle híbrido de posição/força e dados dos movimentos do coração obtidos in vivo, utilizadas como elementos básicos para a constituição deste sistema. Tópicos de modelagem de manipuladores robóticos e, em especial, a modelagem da relação entre as forças e deslocamentos na superfície do coração compõe a base estrutural. Focalizou-se, ainda, o papel do controle de força em relação `a posição da ferramenta do manipulador na superfície do coração. Pretende-se que a principal contribuição deste trabalho seja demonstrar que o controlador híbrido segue as restrições impostas pela dinâmica do sistema coração-pulmão. / This paper refers to the simulation of a control system for a robotic manipulator to compensate the movements of the heart in minimally invasive cardiac surgery. In order to compensate the motion of the beating heart techniques are used to implement a hybrid position/force controller based on data and the movements of the heart obtained in vivo, used as references to the input of the system. Topics modeling robotic manipulators, and in particular, modeling the relationship between forces and displacements on the surface of the heart comprises the structural basis. The role of power control over the position of the manipulator tool on the surface of the heart. It is intended that the main contribution of this study is to show that the hybrid controller follows the restrictions imposed by the dynamics of the heart-lung system.

Esta dissertação refere-se `a simulação de um sistema de controle em um manipulador robótico para compensação dos movimentos do coração em cirurgias cardíacas minimamente invasivas. No intuito de compensar os movimentos do batimento cardíaco utilizam-se técnicas de controle híbrido de posição/força e dados dos movimentos do coração obtidos in vivo, utilizadas como elementos básicos para a constituição deste sistema. Tópicos de modelagem de manipuladores robóticos e, em especial, a modelagem da relação entre as forças e deslocamentos na superfície do coração compõe a base estrutural. Focalizou-se, ainda, o papel do controle de força em relação `a posição da ferramenta do manipulador na superfície do coração. Pretende-se que a principal contribuição deste trabalho seja demonstrar que o controlador híbrido segue as restrições impostas pela dinâmica do sistema coração-pulmão. / This paper refers to the simulation of a control system for a robotic manipulator to compensate the movements of the heart in minimally invasive cardiac surgery. In order to compensate the motion of the beating heart techniques are used to implement a hybrid position/force controller based on data and the movements of the heart obtained in vivo, used as references to the input of the system. Topics modeling robotic manipulators, and in particular, modeling the relationship between forces and displacements on the surface of the heart comprises the structural basis. The role of power control over the position of the manipulator tool on the surface of the heart. It is intended that the main contribution of this study is to show that the hybrid controller follows the restrictions imposed by the dynamics of the heart-lung system.