A distributed and scalable architecture for the control of an autonomous robot is presented in this work. In our proposal a whole robotic agent is divided into sub-agents. Every sub-agent is coded into a very simple neural network, and controls one sensor/actuator element of the robot. Sub-agents learn by evolution how to handle their sensor/actuator and how to cooperate with the rest of sub-ag...

This paper presents a new multi-agent physics-based simulation framework (DISCOVERY), supporting experiments with self-organizing underwater sensor and actuator networks. DISCOVERY models mobile autonomous underwater vehicles, distributed sensor and actuator nodes, as well as multi-agent datato-decision integration. The simulator is a real-time system using a discrete action model, fractal-base...

The paper considers the active control of harmonic and random sound transmitted through a double-leaf partition using a single distributed actuator and a single distributed sensor. The double-leaf partition consists of a pair of small plates (300x380 mm, separated by a 100 mm air-gap,). An actuator made up of shaped, distributed PVDF offers the possibility of cent rolling the volume velocity of...

Recent technological advances have enabled the development of low-cost, low-power, and multifunctional sensor devices. Large collections of these devices organized in multihop sensor networks have the potential to revolutionize the way humans can “sense” the physical world. Owing to their theoretical challenges and myriads of practical applications, wireless sensor networks are emerging as one ...

Usually magnetic bearing consists of an actuator and a levitated object which can be either the rotor of a motor or any other ferromagnetic body. For proper function and to provide stable support, the actuator needs an accurate information about the position of the levitated body which must be given by a sensor. In many applications the displacement sensor with associated wires and cost to be a...

We consider the standard linear, time-invariant, multiinput multi-output unity-feedback system with possiblc failures in the sensor or actuator-connections. We parametrize the set of all controllers such that the closed-loop system is stable when sensors or actuators fail. We consider two classes of failures: the failure of one connection and the failure of any number of connections provided th...

In this paper, we described a new type of multi-DOF manipulator using a structure with three artificial muscle (IPMC) segments. We develop the kinematic modeling of multilink motions for the control of the manipulator using a transposed Jacobian or an inverse Jacobian using as sensors elements of motions was realized by IPMC film too, because was used the special actuator-sensor segment (IPMC f...

In this paper, H∞ controller is synthesized for networked systems subject to random transmission delays with known upper bound and different occurrence probabilities in the both of feedback (sensor to controller) and forward (controller to actuator) channels. A remote observer is employed to improve the performance of the system by computing non-delayed estimates of the sates. The closed-loop s...