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    • 1. 发明授权
    • Market based control of structural movement
    • 基于市场的结构运动控制
    • US07191137B1
    • 2007-03-13
    • US09404729
    • 1999-09-24
    • Andrew A. BerlinTad H. HoggOliver GuentherWarren B. Jackson
    • Andrew A. BerlinTad H. HoggOliver GuentherWarren B. Jackson
    • G06Q99/00
    • G09F9/372
    • A distributed market based control assembly used in conjunction with fixed or movable structures. Typically multiple actuators are attached to the structure, with each of the multiple actuators having an actuator controller to control actuator applied force. Sensors are used for measuring structure movement, and a marketwire is connected to each actuator controller to convey price information to the actuator controllers by analog fluctuations in electrical characteristics of the marketwire. Actuators can be used to stabilize a fixed structure against movement, or alternatively can be used to control movement of movable structures from defined first positions to second positions (e.g. moving a robotic arm so its tip moves from point A to point B).
    • 与固定或可移动结构结合使用的基于分布式市场的控制组件。 通常,多个致动器附接到结构,其中每个致动器具有致动器控制器以控制致动器施加的力。 传感器用于测量结构运动,并且标记连接到每个致动器控制器,以通过标记的电特性的模拟波动将价格信息传送到致动器控制器。 可以使用致动器来稳定固定结构以防止运动,或者可替代地可以用于控制可移动结构从限定的第一位置到第二位置的运动(例如,移动机械臂,使得其尖端从点A移动到点B)。
    • 3. 发明授权
    • Adaptive multiagent control system for controlling object motion with
smart matter
    • 用智能物体控制物体运动的自适应多代理控制系统
    • US6027112A
    • 2000-02-22
    • US33389
    • 1998-03-02
    • Oliver GuentherTad H. HoggBernardo A. Huberman
    • Oliver GuentherTad H. HoggBernardo A. Huberman
    • B65G51/03B65H5/22B65H7/20B65H29/24G01K15/00
    • B65H5/228B65G51/03B65H7/20B65H2511/20B65H2515/212B65H2557/24B65H2557/33
    • A multi-agent control system controls a transport assembly for moving objects. The transport assembly is formed using sensors and actuators that are proximately coupled in physical space. The multi-agent control system includes a learning mechanism which takes advantage of the proximate coupling between the sensors and actuators. The learning mechanism improves system performance by making iterative changes to an interaction matrix that represents the organizational structure of the multi-agent control system. In operation, the learning mechanism makes iterative changes to several of the elements a.sub.ij, of the interaction matrix at one time, around a randomly chosen location (i,j) in the matrix. Changes to the interaction matrix continue to be made so long as the changes result in improved performance of the transport assembly. Advantageously, the learning mechanism enables the multi-agent control system to control the transport assembly without requiring knowledge of specific operating characteristics of the transport assembly.
    • 多代理控制系统控制用于移动物体的运输组件。 运输组件使用近似耦合在物理空间中的传感器和致动器形成。 多代理控制系统包括利用传感器和致动器之间的紧密耦合的学习机构。 学习机制通过对表示多代理控制系统的组织结构的交互矩阵进行迭代更改来提高系统性能。 在操作中,学习机制在矩阵中围绕随机选择的位置(i,j),一次对交互矩阵的几个元素aij进行迭代改变。 只要更改导致传输组件的性能得到改进,继续改变交互矩阵。 有利地,学习机构使得多代理控制系统能够控制传输组件,而不需要知道传输组件的特定操作特性。