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The changing natures of both work and the lives of the U.S. workforce have created an array of challenges for organizations attempting to foster work engagement. To accommodate the work and family needs of an increasingly diverse workforce, many firms are offering flexible work solutions to employees. However, the distribution of these types of organizational resources is unequal, with workers in...
As the number of nodes in large scale network control systems increases, allocating constant bandwidth to all the nodes is neither practical nor efficient in terms of quality of control because of the limited amount of available bandwidth. In order to resolve this issue of bandwidth management in a networked control system consisting of several control loops, dynamic methods for resource allocation...
Evolutionary Algorithms like Genetic Algorithm (GA) and Artificial Immune System (AIS) are commonly used to find solutions to problems not suitable for traditional optimization approaches. In this study, we compare the results of AIS and GA for path-planning where the objective is to optimize the safety and the travelling distance. Since these algorithms are computationally intensive, we perform offline...
In network based path tracking control of systems with multiple unmanned ground vehicles (UGVs), performance can be affected by network constraints including time-varying network delays and bandwidth limitation. Different static as well as dynamic bandwidth management strategies like Larger Error First (LEF), Rate Monotonic (RM), Behavior Control (BC) Based Allocation etc. have been proposed in the...
In network based path tracking control of systems with multiple unmanned ground vehicles (UGVs), performance can be affected by network constraints including time-varying network delays and bandwidth limitations. Network delay has previously been compensated for using smith predictor based techniques and gain scheduling to limit UGV motion. The predictive gain scheduler introduced in this paper uses...
Kalman filters (KF) have been extensively used in the integration of global positioning system (GPS) and inertial navigation system (INS) data. Often, the GPS data is used as a benchmark to update the INS data. In this study, an analysis of integration of GPS data with INS data using an extended Kalman filter is performed in terms of the filter's performance with respect to the amount of noise in...
This paper presents a predictive gain scheduler for path tracking control in a networked control system with variable delay. The controller uses the plant model to predict future position and find the amount of travel possible with the global path as a constraint. Based on variable network conditions and vehicle trajectory's curvature the vehicle is allowed to travel farther on the current control...
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