Distributed Control Research Papers - Academia.edu (original) (raw)

2025

There is a tremendous growth in the deployment and usage of Wireless Local Area Networks (WLANs) in recent years. There is also an increasing interest in supporting voice applications over WLANs. In this paper we use analytical models presented in the literature for saturation throughput, average packet delay and packet drop probability and simulative results for jitter to evaluate voice traffic over WLANs. We propose a methodology that determines the voice capacity of WLANs and we examine the effect of packetization interval and transmission rate on voice capacity using G.711 codec. Analytical results for voice capacity match simulative results presented in the literature using extensive simulations.

2025

The objective of this dissertation is to enhance the overall understanding of practical manufacturing systems by using rigorous academic approaches, primarily queueing theory. The scope spans from the performance of a single manufacturing process to the performance of a manufacturing system. Queueing models are commonly used to evaluate the performance of manufacturing systems. Exact M/M/1 or approximations of G/G/1 models are usually adopted to describe the behavior of a single machine system. However, when applying queueing models to a single machine, some practical issues are encountered. A real machine is subject to different types of interruptions, such as breakdowns, setups and routine maintenance. The proper queueing models under interruptions are presented. The behavior of manufacturing systems is explored by first investigating the underlying structure of tandem queues. We introduce two properties describing the dependence among servers in tandem queues, namely the intrinsi...

2025, IEEE Transactions on Cloud Computing

This paper presents a novel approach for realizing coordinated control of Distributed Energy Resources (DERs) based on cloud-hosted and edge-hosted digital twins (DTs) of DERs. DERs are playing an increasingly important role in supporting the frequency regulation of power systems with massive integration of renewable resources. However, due to the significant differences in DERs' capability and characteristics, individual and un-coordinated responses from DERs could lead to a less effective overall response with undesirable traits, e.g. slow response, severe overshoots, etc. Therefore, the coordination of DERs is critical to ensure the desirable aggregated overall response. A major shortcoming of conventional centralized or distributed approaches is their significant reliance on real-time communications. This paper addresses the challenges by the application of DTs that can be hosted in the cloud for the centralized control approach and the edge for the distributed approach to minimize the need for real-time communications, while being able to achieve the overall coordination among DERs. The proposed DT-based coordinated control is validated using a realistic real-time simulation test setup, and the results demonstrate that the DT-based coordinated control can significantly improve the aggregated DERs' response, thus offering effective support to the grid during contingency events.

2025, IEEE Transactions on Nuclear Science

The VIRGO experiment for the detection of gravitational waves is a big challenge both for physics and for technology, in particular, to satisfy the stringent requirements on the alignment and position of its suspended optical components to keep the detector at its working point, a very complex distributed and supervised control system has been implemented. The current constraints are about 10 -10 m RMS for the longitudinal control (''Locking'') and 10 -9 rad RMS for the angular degrees of freedom (''Alignment''). These requirements are satisfied by means of a specially designed hierarchical architecture for the local control system, necessary for managing the hard task of filtering all the environmental noises that limit the sensitivity of the interferometer, supervised by a distributed global control system to maintain the detector fully operational. In this paper we describe the status of the real-time distributed control system of the Virgo interferometric detector of Gravitational waves, its performances and planned improvements.

2025, arXiv preprint arXiv:1009.5001

Abstract: In this work passive electric damping of structural vibrations by distributed piezoelectric transducers and electric networks is analyzed. Different distributed electric controllers are examined as finite degrees of freedom... more

2025, Procedia Technology

The need to measure human motion and to estimate its kinematic and dynamic parameters in a real time appears in many fields such as medicine, sport, art and entertainment. This publication describes, inexpensive and easy to customize for many applications, Inertial Motion Capture Costume. The costume is based on IMU sensors and includes industry grade software that enables acquisition, visualization and analysis of human motion data.

2025, IEEE Transactions on Automatic Control

2025, IEEE PES ISGT Europe 2013

This work addresses the problem of maintaining the balance between consumption and production in the electricity grid when volatile resources, such as wind and sun, account for a large percentage of the power generation. We present control structures for Smart Grid balancing services on three different levels: portfolio, larger scale individual power units, and aggregations of small power units. Our focus is on illustrating the connection between coordination and control algorithms.

2025, IJICRT

Developing ECUs (Electronic Control Units) has been integral to advancing embedded systems in the aerospace and automotive industries[8]. Over the past decade, the industry has made significant efforts to improve the efficiency and accuracy of ECU validation using simulation technologies such as Model-in-the-Loop (MIL) and Software-in-the-Loop (SIL). These techniques enable early validation of ECU software and control algorithms, ensuring that embedded systems meet functional and performance requirements before integration with hardware. This paper examines the evolution of ECU validation techniques, mainly focusing on how simulation-based testing has evolved over the last decade and how some of these methodologies can be effectively applied to In-Flight Entertainment (IFE) systems. IFE providers can use simulation tools to test communication protocols and system integration to reduce validation time, increase software quality, and ensure seamless interaction between ECUs and cabin management systems. The paper also discusses how ecu simulators can be effectively used in the design and integration phase by suggesting an approach and talking about theoretical results it can achieve.

2025, British Journal of Educational Studies

Recent policy statements reveal that the future workbased route to vocational qualifications in the UK will include 'taught knowledge and understanding' as well as competence acquired in the workplace. The intention is to bring National / Scottish Vocational Qualifications into line with the German dual system of apprenticeship, which involves much more academic study. This article seeks to clarify the UK policy by exploring recent developments in the German dual system, and considering two key questions: how to define knowledge and understanding in this context, and how to distribute control of the curriculum between the stakeholders.

2025, 2017 European Conference on Networks and Communications (EuCNC)

This paper provides a view to Peer-to-Peer (P2P) approach for smart grid operation adopted in P2P-SmarTest project. It provides an overview on solutions proposed for distributed P2P energy trading, P2P grid control and wireless communication enabling the proposed P2P operation. The paper proposes some business models that can be adopted in a P2P setting. We also outline the barriers and enablers against and for adopting local or regional P2P based electricity operations.

2025

Dans divers types de problemes, par exemple de prise de decision sequentielle, les algorithmes de recherche heuristique permettent d'exploiter la connaissance d'une situation initiale et d'une heuristique admissible pour rechercher efficacement une solution optimale. De tels algorithmes existent y compris en cas de dynamique incertaine, d'observabilite partielle, de criteres multiples, ou d'agents multiples collaborant. Nous proposons ici un algorithme de recherche heuristique pour jeux stochastiques a deux joueurs et a somme nulle, et avec critere decompte, algorithme reposant sur HSVI—donc sur la generation de trajectoires. Nous demontrons que, chaque joueur agissant de maniere optimiste, et en employant des initialisations heuristiques simples, l'algorithme obtenu converge vers une solution-optimale en temps fini.

2025

Les contraintes d'architecture sont des specifications definies par les developpeurs dans la phase de conception, qui permettent de verifier, apres une evolution de l'architecture, si sa description est encore conforme aux conditions imposees par un patron ou un style architectural. Ces specifications peuvent etre exprimees avec un langage standardise comme OCL (Object Constraint Language). Afin de verifier ces contraintes d'architecture dans la phase d' implementation nous devrions soit: i) reecrire entierement ces contraintes avec un langage qui est interpretable dans cette phase de developpement , ou ii) developper de nouveaux interpreteurs pour le langage de contrainte (OCL, par exemple) qui peuvent analyser le code des programmes sur lesquels les contraintes doivent etre verifiees. Ce dernier choix est difficile a mettre en œuvre et necessite beaucoup de travail. Cependant, meme en optant pour la premiere solution, la tâche de reecrire entierement les contrainte...

2025

Cet article traite le probleme de la co-conception des systemes commandes a travers un reseau sans fil (WNCS). L'integration du reseau sans fil (WN) dans la boucle de commande influence la Qualite de Controle (QoC) du systeme en terme de la Qualite de Service (QoS) du reseau sans fil. Nous presentons une approche de co-conception basee sur des reseaux bayesiens distribues. Cette approche permet de prendre des decisions pour assurer une bonne QoC pour le robot et aussi faire en sorte que la QoS soit toujours suffisante pour maintenir une bonne QoC. Maintenir une QoS suffisante depend de la methode d'ordonnancement utilisee et donc l'approche proposee vise egalement a determiner une methode d'ordonnancement pour maintenir les performances du systeme.

2025, Proceedings of the 14th annual conference companion on Genetic and evolutionary computation

The Digital Enzyme [2] model of control is based on the bottomup, reactive process of signal transduction found in cells. An earlier study applied a specific instance of the this model to the foraging problem. Here, we extend the system and use it to explore a fundamental question in both biology and evolutionary computation, namely, whether environmental complexity is a driving factor for an organism's internal control structure. To address this question, we extended the original system to allow the open-ended evolution of the unique programs, instructions, and threads within each controller. With the extended model, we were able to evolve successful foraging strategies that nearly doubled the performance of strategies found in the earlier work. In response to increasing environmental complexity, we discovered a high degree of variation for the number of programs, threads, and instructions that produced successful strategies. These results highlight the importance of evolutionary search techniques that enable the open-ended evolution of key internal control components.

2025

The expected rise of electric vehicles will lead to significant additional demand on low voltage (LV) distribution systems. Uncontrolled charging could lead to problems such as thermal overload of transformers and lines, voltage deviation, harmonics, and phase unbalance. We propose two electric vehicle charging algorithms, one centralized and one distributed, and compare their performance in simulations that use real vehicle data, on a model based on a real LV network in northern Melbourne, Australia. Our experiments confirm that the locations of the vehicles in the network are an important factor in predicting adverse effects. Furthermore, our coordinated charging solutions allow penetrations of electric vehicles approximately 3-6 times higher than is possible using uncoordinated charging, in our network.

2025

This paper presents a model for virtual reconfigurable modular robots in order to evolve artificial creatures, able of self-adaptation to the environment as well as good adjustment to various given tasks. For this purpose, a simulator has been entirely developed with the assistance of a physics engine to represent force activities. One of the most crucial points in modular robot construction is the choice of module type, complexity and diversity. We took interest on existing elements to obtain realistic results but assume simplifications to focus on our main goal that is algorithmic.

2025

Not long ago, members of the EPICS 1 community pointed out that existing archiving solutions lacked a user-friendly, high performance tool to browse through gigabytes of data. This paper describes EPICS ArchiveViewer, a software application that presents archived data to the user in various formats. The application is easy to install, multi-threaded, highly modular, and expandable in many ways. It is written in pure Java and is thus platform-independent.

2025

Over the last two decades EPICS has evolved from a basic set of control applications created for the Ground Test Accelerator to a rich and reliable control system framework installed in more than 120 locations worldwide. The continuous development of EPICS is supported by the worldwide collaboration and coordinated by a set of major laboratories. This procedure ensures continuous quality checking and thus leads to stable production versions. The clear separation of the robust core software on the Input Output Controllers (IOC'S) from the channel access protocol and the applications running on workstations and servers allows nearly independent software developments on all three levels. This paper will describe the new developments on the IOC side, which will increase robustness by adding redundancy, and improve the management and the functionality. This includes the vision of a new Java- based IOC. The support for new data types will bring more flexibility to the channel access p...

2025, Journal of Optical Networking

We propose, to our knowledge, a novel ring-based local access Passive Optical Network (PON) architecture that addresses some of the limitations of current tree-based PON architectures that include supporting private networking capability. Specifically, we propose and devise a simple ring-based Ethernet PON (EPON) architecture that supports a truly shared LAN capability among end users as well as upstream access to the central office. Unlike a typical ring-based PON topology in which the optical line terminal (OLT) and the optical network units (ONUs) are interconnected via a long fiber ring, under the proposed architecture, ONUs are interconnected via a short distribution fiber ring in the local loop but share the standard trunk feeder fiber for long-reach connectivity to the central office (CO). The main characteristic of the proposed architecture is that it supports a fully distributed control plane among the ONUs for ONU-ONU communication as well as upstream access to the OLT. This architecture is well suited to an autonomous access environment such as a university campus or a private corporation where several buildings are closely dispersed within a 0.5-1 km diameter area.

2025, Proceedings of the 2011 American Control Conference

This paper presents an identification technique to identify models for Parameter-Varying Spatially Interconnected systems. The main focus of the note is the case when there is additive colored noise in the output of the data generating system. A Refined Instrumental Variable method is proposed to identify parameter-varying spatially interconnected models with Box-Jenkins structure. The technique allows identification of models for general multi-dimensional systems, which may be separable or non-separable, causal, semi-causal (spatially interconnected systems) or non-causal. The effectiveness of the method is shown with application to simulation example.

2025, Revue …

Résumé Dans cet article nous proposons un méta-modèle pour les architectures à base de composants multimédia hétérogènes. Il n'existe actuellement pas de solution générique pour déployer automatiquement de telles architectures. La... more

2025

There is a proliferation of "smart" devices for industrial and commercial systems employing embedded processor, sensors, logic, and communications. Along with benefits provided such as enhanced control and diagnostics, there is a commensurate increase in system complexity and the need to effectively manage real time dynamic system components. A framework for managing complex, dynamic, coupled entities based on autonomous cooperating agents has been shown to be effective in managing a chilled water system representative of shipboard systems. This same model may be readily extended to manage power generation and distribution such as found in a shipboard environment. Additional capabilities are provided by integrating the distributed intelligent power system control architecture with the corresponding model for other ship services such as chilled water. The use of autonomous cooperating agents for individual critical ship subsystems and their collaboration across ship services to realize mission-level objectives are the basis for an integrated suite of intelligent devices that can provide superior performance, reliability, survivability, and lifecycle cost.

2025

The control system for a municipal water system needs to meet the criteria of maintaining continuity and reliability in the water supply for satisfying the consumer demand while saving the energy costs and maintaining the quality of water. In this paper, we propose an intelligent agent system for a municipal water system. This work shows the benefits of using the agent-based approach in handling different scenarios including the uncertain behavior of the system. A distributed control strategy is implemented and promising results are evaluated in a simulation of a water distribution system.

2025, Lecture Notes in Computer Science

In this paper, we summarize advantages of using agent technology in the design and operation of industrial control systems. To support appropriate responses to dynamically generated events, we divided the agent operation into two main levels: planning and real-time control. A higher-level software agent covers the planning phase and low-level distributed control agent provides the real-time control. The proposed architecture is targeted on applications where real-time response is essential but also more sophisticated higher-level control mechanisms are needed for efficient control. An implementation of such system is briefly described.

2025, IFIP International Federation for Information Processing

We are interested in providing an agent infrastructure for truly distributed control. Requirements include multiple language implementations so that this agent host environment can exist in real-time controllers. Our first infrastructure, the Autonomous Cooperative System (ACS) was built as a low priority control task within the operating system of the automation controllers. The environment added the functionality to host a set of agents. This ACS kernel evolved for a long time almost independently of the controller operating system. New releases of the controllers will cause complications in the integration of the software and adoption of new functionality. We need to evolve ACS to be seamless integrated with the controllers. These changes will affect the infrastructure. In this document, we discuss the implications and results of the transformation.

2025

This paper presents a new concept of mobile robot capable to cross all-terrain obstacles at high speed. Based on innovative suspensions that have two degrees of freedom per wheel, it relies on horizontal passive damping capacities to cross very steep and high obstacles. This result was obtained by multibody simulation. A single-wheel and a doublewheel model model are presented and several configurations are tested.

2025

This paper addresses cooperative manipulation and transportation of any payload shape, by assembling a group of simple mobile robots (denoted m-bots) into a modular poly-robot (p-bot). The focus is made in this paper on the chosen methodology to obtain sub-optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation. This appropriate positioning is obtained by combining the constraint to ensure Force Closure Grasping (FCG) for stable and safe lifting of the payload and the maximization of the Static Stability Margin (SSM) during the transport. A predefined control law is then used to track a virtual structure in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by a parametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software validate our proposal.

2025

et mots clés Cet article expose une méthode de suivi de fond pour véhicule sous-marin naviguant en environnement a priori inconnu. Elle repose sur l'adaptation de la trajectoire planifiée aux contraintes de manoeuvrabilité du véhicule étudié. Un algorithme basé sur des fonctions géométriques simples et sur les courbes d'interpolation telles que les « splines cubiques semi-forcées » ou les polynômes de Hermite permet de créer un trajet adapté au véhicule. Les données bathymétriques utilisées lors de ce processus proviennent de deux sondeurs placés à l'avant du véhicule. Des simulations hydrodynamiques ont été réalisées pour valider cette méthode. La validation expérimentale en milieu naturel est également présentée. Véhicule autonome sous-marin (A.U.V.), planification de trajectoire, suivi de fond.

2025, Computer Aided Geometric Design

A new class of subdivision schemes is presented. Each scheme in this class is a quasi-interpolatory scheme with a tension parameter, which reproduces polynomials up to a certain degree. We find that these schemes extend and unify not only the well-known Deslauriers-Dubuc interpolatory schemes but the quadratic and cubic B-spline schemes. This paper analyzes their convergence, smoothness and accuracy. It is proved that the proposed schemes provide at least the same or better smoothness and accuracy than the aforementioned schemes, when all the schemes are based on the same polynomial space. We also observe with some numerical examples that, by choosing an appropriate tension parameter, our new scheme can remove undesirable artifacts which usually appear in interpolatory schemes with irregularly distributed control points.

2025, …

The Energy Recovery Linac Prototype (ERLP) is a 35 MeV superconducting linac currently being commissioned at Daresbury Laboratory. Its purpose is to demonstrate the technology necessary to design and build a 600 MeV energy recovery linac (4GLS), which, together with a suite of XUV, VUV, and IR FELs can be used to undertake pump-probe experiments to investigate dynamic systems. The ERLP control system is based on EPICS, VME64x hardware and the VxWorks operating system. Status control and interlock protection are handled by a Daresbury-designed CANbus system that has been tightly integrated into EPICS. Construction and commissioning of ERLP have taken place in parallel, and this introduced a number of problems in the planning and implementation of the control system. This paper describes the ERLP control system and discusses the successes and difficulties encountered during the early phases of commissioning. Plans are already in place to extend the control system to cover EMMA, a novel, nonscaling, fixed-field alternating gradient (FFAG) accelerator that will be added to ERLP in 2008/9.

2025, Robotics and Autonomous Systems

We are pursuing techniques for coordinating the actions of large numbers of small-scale robots to achieve useful large-scale results in surveillance, reconnaissance, hazard detection, and path finding. Using the biologically inspired notion of "virtual pheromone" messaging, we describe how many coordinated activities can be accomplished without centralized control. By virtue of this simple messaging scheme, a robot swarm can become a distributed computing mesh embedded within the environment, while simultaneously acting as a physical embodiment of the user interface. We further describe a set of logical primitives for controlling the flow of virtual pheromone messages throughout the robot swarm. These enable the design of complex group behaviors mediated by messages exchanged between neighboring robots.

2025, IEEE Transactions on Power Electronics

Smart microgrids offer a new challenging domain for power theories and compensation techniques, because they include a variety of intermittent power sources, which can have dynamic impact on power flow, voltage regulation, and distribution losses. When operating in the islanded mode, low-voltage smart microgrids can also exhibit considerable variation of amplitude and frequency of the voltage supplied to the loads, thus affecting power quality and network stability. Due to limited power capability in smart microgrids, the voltage distortion can also get worse, affecting measurement accuracy, and possibly causing tripping of protections. In such context, a reconsideration of power theories is required, since they form the basis for supply and load characterization, and accountability. A revision of control techniques for harmonic and reactive compensators is also required, because they operate in a strongly interconnected environment and must perform cooperatively to face system dynamics, ensure power quality, and limit distribution losses. This paper shows that the conservative power theory provides a suitable background to cope with smart microgrids characterization needs, and a platform for the development of cooperative control techniques for distributed switching power processors and static reactive compensators. Index Terms-Conservative power theory (CPT), distributed control, electronic power processors, power measurement, revenue metering, smart microgrids. S MART grids represent one of the grand challenges at plane- tary level. The infusion of information technology throughout the electric grid creates new capabilities, with potential impact on environment, science and technology, economics, and lifestyle. The term "smart grid" outlines the evolution of electrical grids and a change of paradigm in the electric market organization and management [30], . In a global perspective, implementation of smart grids and microgrids on a large scale will result in dramatic improvement of electrical services and considerable market increase.

2025

Secret sharing schemes (SSS) are very important, because they are used in critical applications such as e-voting, cryptographic key distribution and sharing, secure online auctions, information hiding, and secure multiparty computation. We explained some popular algorithms of secret sharing such as threshold, graph, and visual schemes and their access structures. Besides, we discussed the limitations of those available schemes. Additionally, we proposed a novel threshold secret sharing scheme based on Fast Fourier Transform (FFT) algorithm, which is used for the first time in this paper in the field of secret sharing. That is, we exploited the robust characteristics of FFT such as linearity, reversibility, efficiency, that has time complexity of O(n log n) , and it provided us with a wider field, complex numbers. The presented scheme is ideal; the share’s size is smaller than the secret and very secure because it depends on solving a linear system of equations generated by FFT. Thus...

2025, Journal of Mathematical Fluid Mechanics

This paper is devoted to prove the local exact controllability to the trajectories of micropolar fluids with distributed controls supported in small sets. First, we deduce new Carleman inequalities for associated linearized systems which leads to null controllability at any time T > 0. Then, we deduce a local result concerning the exact controllability to the trajectories of the whole nonlinear system. The arguments are presented separately in the two-dimensional and three-dimensional cases, since the required techniques are different.

2025

In an effort to achieve responsiveness, increase effectiveness, and reduce the uncertainty involved in maintaining a space architecture dependent on a few high-capacity, high-cost satellites, the Defense Advanced Research Projects Agency (DARPA) has proposed the concept of fractionated spacecraft. DARPA plans to compress spacecraft development timelines, enable launch with smaller, more responsive vehicles, and make the spacecraft architecture fundamentally flexible and robust. DARPA's System F6 (Future Fast, Flexible, Free-Flying, Fractionated Spacecraft united by Information eXchange) is a technological and paradigmatic demonstrator of this concept. While fractionated architecture is likely to significantly transform the technology base, as well as the development and operational concept for delivering on-orbit capability, this disruptive concept arose from a substantial and rather distinguished pedigree of foundational thoughts, concepts, and demonstrators developed throughout the Space Age as designers have explored satellite constellations, cooperative spacecraft, distributed systems, and miniaturization. Concepts or programs ranging from pioneers like the Transit navigation and IDSCP/DSCS-I communications satellite efforts through the Air Force's XSS series, NASA's New Millennium, DART, and TPF programs, Orbcomm, ANTS, TechSat-21, GPS, and many others have contributed to the stream of innovation leading to the architectural paradigm shift of the F6 program. It was not just the promise of new technologies and operational concepts that led to the genesis of F6, but also the deficiencies of the conventional, monolithic approach to space systems that largely pervades the industry today. This paper traces the development of the intellectual, technological, and policy foundations of the fractionated spacecraft concept throughout the preceding decades. We conclude with an assessment of future hurdles to its proliferation and make some projections about its likely applicability to various space missions in the years to come.

2025

crisis coordination decisions, coming from the Permanent Coordination Centre, which can be found on a national or either regional level.The next figure summarizes the global system: The mines have been used for the first time during the American Civil War in the United States (1861-1865). Antitank (ATK) mines were later ameliorated and laid on the battlefields of the First World War: the mineclearing operations didn't pose major problems with those visible or easy-to-detect ATK-mines, reason why Anti-personal mines have been conceived and systematically used on the ATK minefields during the Second World War: such mines prevented the enemy from easy de-mining of the defence system. But the Antipersonal mines are today more and more used as offensive weapons and for sowing the terror among the civilian population of a country affected by guerrilla war: the marking of the minefield does no more exist and the Anti-personal mines, often buried in the ground, remain active after the war: about 60 millions AP-mines infest today 70 countries all over the world, two-third of them in Africa and South-East Asia…AP mines of the Second World War still exist in all the countries of Europe…45 countries are today assisted by the above mentioned European Assistance, namely Afghanistan,

2025

We present a new algorithm that reconfigures between any two edge-connected configurations of n sliding squares within their bounding boxes. The algorithm achieves the reconfiguration by means of Θ(n2) slide moves. A visual simulator and a set of experiments allows us to compare the performance over different shapes, showing that in many practical cases the number of slide moves grows significantly slower than in others as n increases.

2025

C'est avec une grande émotion et beaucoup de sincérité que je voudrais remercier toutes les personnes qui, par leur participation et leurs encouragements, m'ont permise de mener à bien ce travail. Cette thèse n'aurait vu le jour sans la confiance, la patience et la générosité de mes directeurs de recherche, M. Jean-Luc DEKEYSER et M. Pierre BOULET, que je veux vivement remercier. Leurs conseils précieux m'ont permis d'améliorer mes connaissances et d'aboutir à la production de ce travail. Je voudrais aussi les remercier pour le temps qu'ils m'ont accordé tout au long de ces années, d'avoir cru en mes capacités et de m'avoir fourni d'excellentes conditions de travail. Mes plus sincères remerciements vont également aux membres du jury, qui ont accepté d'évaluer mon travail de thèse. Merci à Mme. Atika MENHAJ-RIVENQ d'avoir accepter de présider le jury de cette thèse, et à M. Jean-Philippe BABAU et M. Robert DE SIMONE d'avoir accepté d'être les rapporteurs de ce manuscrit et de m'avoir fait l'honneur de juger ce travail avec intérêt. Leurs remarques et suggestions lors de la lecture de mon rapport m'ont permis d'apporter des améliorations à la qualité de ce dernier. Merci également à M. Éric RUTTEN pour la gentillesse et la patience qu'il a manifestées à mon égard durant cette thèse, pour tous les conseils qu'il a bien voulu me donner, et aussi pour avoir accepté d'examiner mon mémoire et de faire partie de mon jury de thèse. Un grand remerciement est également adressé à tous les membres de l'équipe WEST pour l'ambiance très favorable qu'ils ont su créer autour de moi. C'est en partie grâce à eux que j'ai pu évoluer au cours de ma thèse et apprécier toutes ces années au sein d'un milieux familial très chaleureux. Merci à Philippe M., Cédric, Abdoulaye, Samy et Smaïl pour leur gentillesse et précieux conseils, à Lossan pour son grand coeur, à Éric P. pour son humour particulier, à Julien T. toujours prêt à aider, à Huafeng et Imran pour leur sympathie, à Rabie, Ashish et Calin toujours sérieux, et avec beaucoup d'émotions, je dit merci à mes confidents Antoine et Sébastien toujours à l'écoute, pour leur gentillesse et pour leur soutien moral. Je n'oublie pas non plus les anciens membres de l'équipe :

2025, inf.ufrgs.br

One way to cope with the increasing demand in transportation networks is to integrate standard solutions with more intelligent measures. This problem has been approached from different sides such as the study of the assignment of the demand in the network, and the investigation of the effects of control measures. However, given that most of these approaches are complex and deal with different levels of abstraction of the original problem, there has been few attempts to address both demand and control in a single tool. This paper presents an overview of ITSUMO, a microscopic traffic simulator whose implementation uses agent technologies with a bottom-up philosophy in mind. We give an overview of the system and some details of its modules (simulation kernel, data management, control, driver and routing, and visualization), followed by an example of its use.

2025, Proceedings 2005 IEEE Swarm Intelligence Symposium, 2005. SIS 2005.

In this paper we propose a methodology to optimally manage and online control energy flows over a power network. Such a methodology is essentially based on a artificial life environment. Exploiting some results achieved in the field of evolutionary computing and artificial life environments, the proposed method is intended to combine the ability to select the current best configuration for the network flows with the capability of building an online model for the performance of the network by means of continuous learning the current situation, adapting its internal actions and updating the suggested optimal solution, which controls the process. With the aim to investigate in the future the possibility of a partially distributed control system, we firstly define the concept of energy district. Hence, we formulate the problem of the online optimal flows management in this type of energy power networks and we finally present some results about the application of the evolutionary control to a real benchmark, the network of the "Casaccia" Research Centre, when critic operating conditions are simulated.

2025

In this paper we present an overview of CMDragons 2009, Carnegie Mellon's entry for the RoboCup Small Size League. Our team builds upon the research and success of RoboCup entries in previous years. Our team's success can be contributed to a well-balanced combination of sophisticated robot hardware and a layered, intelligent software architecture consisting of computer vision, multi-robot play selection, as well as single robot tactics and navigation.

2025, IEEE Communications Magazine

In order to provide QoS differentiation at the service level, AQUILA defines a limited set of network services. Each network service is meant to support a class of applications with substantially similar requirements and characteristics... more

2025

A program called the Animat Creator was developed that allows a user to evolve Hebbian neural networks ("brains") for the task of articulated robot locomotion. Rather than focusing on any one single neuroevolution algorithm, the program was implemented to flexibly allow the "plug-and-play" of any arbitrary neuroevolution algorithm. As such, various neuroevolution methods were implemented and experimentally tested on simulated segmented hexapod and quadruped robots. The algorithms successfully produced brains that control the articulated robots to walk. In addition to the Animat Creator, associated tools called the Genome Editor and the Brain Viewer were created that allow visualizing brain genomes and brains respectively.

2025, IEEE Systems Journal

Increasing the usage of distributed generations (DGs) leads the microgrids (MGs) to develop. Considering the existence of alternating current (ac) loads and sources and concerning increasing direct current (dc) loads and sources, hybrid ac/dc MGs have been used to have the advantages of both ac and dc MGs and reduce the drawbacks of them. By integrating the DG units in hybrid ac/dc MGs. Hence, a proper control method is required in such MGs to achieve precise voltage regulation and power-sharing, desired power quality, high efficiency, and high reliability. This article focused on nonlinear exponential control and distributed secondary control schemes to properly control the MG and form an integrated nonlinear hierarchical control and management for hybrid ac/dc MGs. Finally, to evaluate the proposed nonlinear control strategy's performance, offline digital time-domain simulation studies are carried out on a test MG system in MATLAB/Simulink environment. The results are also compared with previously reported methods. The simulation results and the comparisons showed that the proposed methods could properly share the power among subgrids and DGs in both ac and dc subgrids. In contrast, the proposed control scheme can prove its effectiveness and superiority over conventional controllers.

2025, International Journal of Control

Model predictive control (MPC) is one of the few advanced control methodologies that have proven to be very successful in real-life applications. An attractive feature of MPC is its capability of explicitly taking state and input constraints into account. Recently, there has been an increasing interest in the usage of MPC schemes to control electrical power networks. The major obstacle for implementation lies in the large scale of these systems, which is prohibitive for a centralised approach. In this article, we therefore assess and compare the suitability of several non-centralised predictive control schemes for power balancing, to provide valuable insights that can contribute to the successful implementation of non-centralised MPC in the real-life electrical power system.

2025

This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t → ∞. These findings complement and extend earlier findings cited below.

2025, HAL (Le Centre pour la Communication Scientifique Directe)

Une version plus complète et élaborée de ce document sera incluse dans Vangelis Th. Paschos (ed.), Optimisation combinatoire : problèmes paradigmatiques et problématiques nouvelles, Hermès Science, série Informatique et Systèmes d'Information † Partie de ce travail a été réalisé lorsque l'auteur était professeur invité à l'Université d'Athènes 1. Plusieurs auteurs utilisent encore le terme optimalité de Pareto au lieu de « stabilité de Pareto » pour ce concept.

2025