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    • 63. 发明授权
    • Distributed control system with global contraints for controlling object motion with smart matter
    • 具有全局控制的分布式控制系统,用智能物体控制物体运动
    • US07269475B1
    • 2007-09-11
    • US09033222
    • 1998-03-02
    • Tad H. HoggBjorn R. CarlsonVineet GuptaAndrew A. Berlin
    • Tad H. HoggBjorn R. CarlsonVineet GuptaAndrew A. Berlin
    • G06F7/00
    • B65H5/228B65H7/02B65H2406/113B65H2511/20B65H2511/51B65H2513/40B65H2553/41Y10S414/101B65H2220/01B65H2220/03B65H2220/02
    • Embedded in a transport assembly are arrays of microelectromechanical sensors and actuators for detecting and propelling an object. A controller having defined therein local computational agents and a global controller controls the array of sensors and actuators. The global controller provides global operating constraints to the local computational agents. The global operating constraints are developed using an approximate specification of system behavior based on simplified assumptions of an idealized system as well as limited sensor information aggregated from the array of sensors. The local computational agents compute a desired local actuator response using sensor information from a localized grouping of sensor units. To improve the accuracy of the global operating constraints, the local computational agents reduce differences between a global actuator response, computed using the global operating constraints, and the desired local actuator response. In addition, the local computational agents reduce the correlation among different parts of the transport assembly by reducing differences between actuator responses of neighborhoods of local computational agents.
    • 嵌入在运输组件中的是用于检测和推进物体的微机电传感器和致动器的阵列。 其中定义有局部计算代理和全局控制器的控制器控制传感器和致动器阵列。 全局控制器为本地计算代理提供全局操作约束。 基于理想系统的简化假设以及从传感器阵列聚合的有限传感器信息,使用系统行为的近似规范来开发全局操作约束。 本地计算代理使用来自传感器单元的局部分组的传感器信息来计算期望的本地致动器响应。 为了提高全局操作约束的准确性,本地计算代理减少使用全局操作约束计算的全局执行器响应与所需局部执行器响应之间的差异。 此外,本地计算代理通过减少本地计算代理邻域的执行器响应之间的差异来减少运输组件的不同部分之间的相关性。