Intelligent Space with time sensitive applications

1. Structure of a NBC system - The controller sends control signals to the remote plant. - The plant states are measured and sent back to the controller. - The communication network induces time delay in the control loop. Delay time alleviation method - Redesign a new controller to alleviate the effect of time delay - Use a gain scheduler method (GSM) Intelligent Space with time sensitive applications Advanced Diagnosis, Automation and Control (ADAC) Laboratory Department of Electrical and Computer Engineering, North Carolina State University Director: Dr. Mo-Yuen Chow chow@ncsu.edu Research Assistants: Bulent Ayhan ♦ Rachana A Gupta ♦ Danny Leung♦ Zheng Li Tyler Richards ♦ Rangsarit Vanijjirattikhan ♦ Le Xu ♦ Sang Seok Yun {bayhan, ragupta, wlleung, zli7, trichar, rvanijj, lxu, ssynn}@ncsu.edu iSpace concept - Large scale Mechatronics System - Time-sensitive Network Based Control (NBC) Structure: - Actuator -e.g. Mobile Robot - Distributed sensors -e.g. Web-cam - Main Controller -e.g. PC in the base station - Communication -e.g. TCP/IP with 802.11b wireless structure Experiment: “Johnyn plays fetch” Image Processing: Path Generation and Path Tracking - Fast Marching Method (Dijkstra algorithm) - Quadratic Curve Path Tracking Delay time investigation - Propagation delay over the network - Delay time between sensor and controller - Delay time between controller and actuator - Image acquisition and image processing delay