Abstract: A decentralized control of decoupled plants which each include a motor and a load. A controller is connected in series with each decoupled plant. An adder is configured to receive a set point signal and a negative feedback signal from the plant output and generate an error signal. Each controller receives a set of tuning parameters, modifies the error signal based on a tuning parameter space vector and generates drive signals which actuate the motor, operate the load, and generate the plant output in accordance with a frequency domain assessment function. A compensator samples the error signals and the plant outputs, Fourier transforms the error signals, generates the tuning parameter space vector, based on a frequency domain assessment function, obtains the set of tuning parameters from the tuning parameter space vector, and transmits the frequency domain assessment function and the set of tuning parameters to each controller.

Abstract: A system, method, and non-transitory computer readable medium that utilizes a distance transformation vector constructed of a probability distribution function (PDF) and a distribution parameter ? in the estimation process for precise and effective PDF estimation. The system includes a mobile wireless agent, a base station and a computing device interconnected over a wireless communication network. The wireless meter transmits sensory information to the computing device, where the sensory information is processed to estimate characteristics of the wireless communication signal based on the Rayleigh estimator. For the estimation, a distance transformation vector of the PDF and a distribution parameter are constructed. The estimated parameters along with a motion actuation plan are sent to the base station, which uses the estimated parameters in transmitting the motion actuation plan to the mobile wireless agent.

Abstract: The present invention contemplates a method and/or system for accurately and accelerated synchronization of communication networks. The method contemplates providing a virtual clock module in which all nodes of a network use the module in an identical manner and wherein the virtual clock module of nodes is generally a data stream whose element is the virtual time with whatever notice made is in communication with at that instant. In a preferred embodiment of the invention, the method or system is processed using a finite impulse filter. The virtual clock in each node is responsible for generating a stream of data in which one may consider as virtual time. Each sample of the discrete time stream is constructed by its nearest neighbor of the node concerned communicating the current sample of its own virtual time stream to the node.

Abstract: A mobile robot including a motion actuator; at least one detection sensor configured to detect field information in a movement field of the mobile robot; a guidance generation unit configured to generate a motion guidance policy to a target position from a current position, the motion guidance policy being updated by the guidance generation unit when the field information has been received from the at least one detection sensor; a safety sensitization unit configured to generate a safety sensitized policy which is the motion guidance policy with a reduced velocity magnitude relative to an angle between the motion guidance policy and the current motion of the mobile robot; and a motion actuation unit configured to determine an actuation signal for instructing the motion actuator to project the current motion of the mobile robot in conformity with the safety sensitized policy provided by the safety sensitization unit.

Abstract: A mobile robot including a motion actuator; at least one detection sensor configured to detect field information in a movement field of the mobile robot; a guidance generation unit configured to generate a motion guidance policy to a target position from a current position, the motion guidance policy being updated by the guidance generation unit when the field information has been received from the at least one detection sensor; a safety sensitization unit configured to generate a safety sensitized policy which is the motion guidance policy with a reduced velocity magnitude relative to an angle between the motion guidance policy and the current motion of the mobile robot; and a motion actuation unit configured to determine an actuation signal for instructing the motion actuator to project the current motion of the mobile robot in conformity with the safety sensitized policy provided by the safety sensitization unit.

Abstract: The present invention contemplates a method and/or system for accurately and accelerated synchronization of communication networks. The method contemplates providing a virtual clock module in which all nodes of a network use the module in an identical manner and wherein the virtual clock module of nodes is generally a data stream whose element is the virtual time with whatever notice made is in communication with at that instant. In a preferred embodiment of the invention, the method or system is processed using a finite impulse filter. The virtual clock in each node is responsible for generating a stream of data in which one may consider as virtual time. Each sample of the discrete time stream is constructed by its nearest neighbor of the node concerned communicating the current sample of its own virtual time stream to the node.

Abstract: A system and associated methodology identifies and estimates relaxation frequencies, which are used by a Ground Penetrating Radar (GPR). These estimated relaxation frequencies are used to characterize and interpret a reflected GPR signal from a ground. The system also identifies the number of relaxation frequencies and estimates their magnitudes and values. The system also exhibits high resistance to noise.

Abstract: The multi-agent deployment protocol method for the coverage of cluttered spaces is a sensor-based control protocol, which, if used by each member of the group, will cause the collective group to distribute itself in the environment in a manner that satisfies stringent requirements, including the requirement that the systems should be self-deploying and self-maintaining, robust and resilient, while tolerating the loss or insertion of agents. The group members must also be able to figure-out on their own where the best coverage locations are and how to reach them from anywhere in space without self-collision or collision with obstacles. Overall, the autonomous process performs the following functions: determine where the agents should be positioned (i.e., location); propel each agent to its corresponding target location; and organize the overall space to avoid collisions or deadlocks.

Abstract: A system and associated methodology identifies and estimates relaxation frequencies, which are used by a Ground Penetrating Radar (GPR). These estimated relaxation frequencies are used to characterize and interpret a reflected GPR signal from a ground. The system also identifies the number of relaxation frequencies and estimates their magnitudes and values. The system also exhibits high resistance to noise.

Abstract: A method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach is provided. A controller, including a processor and memory, may receive parameters of the robot and a plan having a reference velocity field vector. The controller calculates a synchronization signal and a control signal. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan.

Abstract: A method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach is provided. A controller, including a processor and memory, may receive parameters of the robot and a plan having a reference velocity field vector. The controller calculates a synchronization signal and a control signal. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan.