Abstract: A method plans paths of a set of mobile sensors with changeable positions and orientations in an environment. Each sensor includes a processor, an imaging system and a communication system. A desired resolution of coverage of the environment is defined, and an achieved resolution of the coverage is initialized. For each time instant and each sensor, an image of the environment is acquired using the imaging system. The achieved resolution is updated according to the image. The sensor is moved to a next position and orientation based on the achieved resolution and the desired resolution. Then, local information of the sensor is distributed to other sensors using the communication system to optimize a coverage of the environment.

Abstract: A method controls an operation of a system. The system is operated by a controller. The controller is model-based controller determined according to a model of the system. The method updates the model, during the operation, based on an extremum seeking, and updates the controller based on the updated model.

Abstract: A method determines a sway of an elevator rope during an operation of an elevator system. The method includes acquiring at least one measurement of a motion of the elevator rope during the operation of the elevator system; and determining the sway of the elevator rope connecting an elevator car and a pulley based on an interpolation between boundaries of the elevator rope based on the measurement of the motion.

Abstract: A distributed energy resource (DER) exchanges with each neighboring DER portions of the total demand for power accumulated by the DER and each neighboring DER and portions of a total capability of the network to generate the total power accumulated by the DER and each neighboring DER before each communication step. The DER updates the portion of the total demand for power and total capability accumulated by the DER using the portions of the total demand and the portions of the total capability received from the neighboring DERs. After the fixed number of communication steps, the DER accumulates the total demand for power and the total capability of the network and generates an amount of the power as a product of the total demand for the power and a ratio of a maximum capability of the DER to generate the power and the total capability of the network.

Abstract: A method and a system determine a position of at least one sway sensor in an elevator system for sensing a lateral motion of an elevator rope between a first boundary location and a second boundary location. An operation of the elevator system is simulated with a model of the elevator system to produce an actual shape of the elevator rope caused by the operation. At least one sway location is determined, such that an error between the actual shape of the elevator rope and an estimated shape of the elevator rope is minimized. The estimated shape of the elevator rope is determined by interpolation of the first boundary location, the second boundary location, and the sway location. The position of the sway sensor is determined, such that the sway sensor senses the lateral motion of the elevator rope at the sway location.

Abstract: A method controls an operation of an elevator system. The method receives an amplitude of a sway of an elevator rope and a velocity of the sway of the elevator rope determined during the operation of the elevator system. The method modifies a damping coefficient of a semi-active damper actuator connected to the elevator rope according to a function of the amplitude and the velocity of the sway.

Abstract: A method reduces a sway of an elevator rope supporting an elevator car within an elevator system using an elevator sheave. The method controls, using a movement of the elevator sheave, a tension of the elevator rope according to a control law of the tension of the elevator rope between a first point and a second point. The first point is associated with a contact of the elevator rope with the elevator sheave. The second point is associated with a contact of the elevator rope with the elevator car or a counterweight of the elevator car. The control law is a function of one or combination of a relative position, a relative velocity and a relative acceleration between the first and the second points.

Abstract: A method controls an operation of an actuator. A first control signal is determined to change a position of a moving element of the actuator according to a trajectory of the moving element. A second control signal is determined to compensate for a first component of an error of the operation due to uncertainty of a model of the actuator. A third control signal is determined to compensate for a second component of the error of the operation due to an external disturbance on the actuator. The operation of the actuator is controlled based on a combination of the first control signal, the second control signal, and the third control signal.

Abstract: Vibration in a mechanical system driven by a motor connected to a load is reduced by providing an angular position and an angular velocity of the motor to a linear feedback term and to a nonlinear feedback term. Outputs of the linear feedback term and the nonlinear feed term, and an optimal feedforward term determined off-line are summed to produce a summed signal, which is fed back to control a torque of the motor.

Abstract: In an elevator apparatus, an actuating device applies a tension for suppressing a lateral vibration to a rope. A computation controller controls the actuating device by using lateral-vibration information of the rope as an input. Also, the computation controller selectively outputs, to the actuating device, a plurality of actuating commands including a first actuating command for applying the tension to the rope regardless of phase information of the lateral vibration of the rope and a second actuating command for applying a tension fluctuation for damping the lateral vibration to the rope based on the phase information.

Abstract: A method controls an operation of an elevator system using a control law to stabilize a state of the elevator system using a tension of an elevator rope. A derivative of a Lyapunov function along dynamics of the elevator system controlled by the control law is negative definite. The control law is a function of amplitude of a sway of the elevator rope and a velocity of the sway of the elevator rope. The method determines the amplitude of the sway of the elevator rope and the velocity of the sway of the elevator rope during the operation, and determines a magnitude of the tension of the elevator rope based on the control law, and the amplitude and the velocity of the sway of the elevator rope.

Abstract: A sway of an elevator rope is determined during an operation of an elevator system. A disturbance of the elevator system is determined based on a state model of the elevator system and at least one measurement of a state of the elevator system. The sway of the elevator rope is determined based on the disturbance and a system model of the elevator system.

Abstract: A method controls an operation of an actuator. A first control signal is determined to change a position of a moving element of the actuator according to a trajectory of the moving element. A second control signal is determined to compensate for a first component of an error of the operation due to uncertainty of a model of the actuator. A third control signal is determined to compensate for a second component of the error of the operation due to an external disturbance on the actuator. The operation of the actuator is controlled based on a combination of the first control signal, the second control signal, and the third control signal.

Abstract: A method controls an operation of a system. The system is operated by a controller. The controller is model-based controller determined according to a model of the system. The method updates the model, during the operation, based on an extremum seeking, and updates the controller based on the updated model.

Abstract: A method and a system determine a position of at least one sway sensor in an elevator system for sensing a lateral motion of an elevator rope between a first boundary location and a second boundary location. An operation of the elevator system is simulated with a model of the elevator system to produce an actual shape of the elevator rope caused by the operation. At least one sway location is determined, such that an error between the actual shape of the elevator rope and an estimated shape of the elevator rope is minimized. The estimated shape of the elevator rope is determined by interpolation of the first boundary location, the second boundary location, and the sway location. The position of the sway sensor is determined, such that the sway sensor senses the lateral motion of the elevator rope at the sway location.

Abstract: A method determines a sway of an elevator rope during an operation of an elevator system. The method includes acquiring at least one measurement of a motion of the elevator rope during the operation of the elevator system; and determining the sway of the elevator rope connecting an elevator car and a pulley based on an interpolation between boundaries of the elevator rope based on the measurement of the motion.

Abstract: Vibration in a mechanical system driven by a motor connected to a load is reduced by providing an angular position and an angular velocity of the motor to a linear feedback term and to a nonlinear feedback term. Outputs of the linear feedback term and the nonlinear feed term, and an optimal feedforward term determined off-line are summed to produce a summed signal, which is fed back to control a torque of the motor.