Now showing items 1-10 of 10

    • An Analytical Model of the CAN Bus for Online Schedulability Test 

      Shi, Zhenwu; Zhang, Fumin (Georgia Institute of Technology, 2012-12-04)
      Controller area network (CAN) is a prioritybased bus that supports real-time communication. Existing schedulability analysis for the CAN bus is peformed at the design stage, by assuming that all message information ...
    • A Bio-inspired Plume Tracking Algorithm for Mobile Sensing Swarms in Turbulent Flow 

      Chang, Dongsik; Wu, Wencen; Webster, Donald R.; Weissburg, Marc J.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      We develop a plume tracking algorithm for a swarm of mobile sensing agents in turbulent flow. Inspired by blue crabs, we propose a stochastic model for plume spikes based on the Poisson counting process, which captures the ...
    • Controlled Lagrangian Particle Tracking Error Under Biased Flow Prediction 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013)
      In this paper we model the controlled Lagrangian particle tracking (CLPT) error for marine vehicles moving in an ocean flow field, with guidance from ocean models. We linearize the error about the nominal modeled ...
    • Diagnosis and Prognosis of Scrubber Faults for Underwater Rebreathers based on Stochastic Event Models 

      Chang, Dongsik; Zhang, Fumin; West, Michael (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Imperfect CO₂ removal mechanisms of CO₂ scrubbers often lead to the existence of CO₂ in gas inhaled by a diver from underwater rebreathers. This may cause CO₂ related rebreather faults and subsequently would increase ...
    • Input-to-State Stability for Curve Tracking Control: A Constructive Approach 

      Malisoff, Michael; Mazenc, Frédéric; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011)
      We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggested the robust performance of the control laws under perturbations. In this note, we use ...
    • Intruder Capturing Game on a Topological Map Assisted by Information Networks 

      Kim, Jonghoek; Maxon, Sean; Egerstedt, Magnus B.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper ...
    • A provably complete exploration strategy by constructing Voronoi diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2010)
      We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements ...
    • Robust Geometric Formation Control of Multiple Autonomous 

      Yang, Huizhen; Wang, Chuanfeng; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-free ...
    • Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints 

      Malisoff, Michael; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We analyze the robustness of a class of controllers that enable three-dimensional curve tracking of free moving particles. By building a strict Lyapunov function and robustly forwardly invariant sets, we show input-to-state ...
    • Task Scheduling for Control Oriented Requirements for Cyber-Physical Systems 

      Zhang, Fumin; Szwaykowska, Klementyna; Wolf, Wayne; Mooney, Vincent (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-12)
      The wide applications of cyber-physical systems (CPS) call for effective design strategies that optimize the performance of both computing units and physical plants. We study the task scheduling problem for a class of ...