2018 |
Aljanaideh, K; Janaideh, Al M; Rakotondrabe, M; Kundur, D Identification of Piezomicropositioning Hammerstein Systems with Generalized Prandtl-Ishlinskii Hysteresis Nonlinearities Inproceedings Proc. IEEE Conference on Decision and Control, Miami Beach, Florida, 2018. @inproceedings{AljAlJRakKunCDC18, title = {Identification of Piezomicropositioning Hammerstein Systems with Generalized Prandtl-Ishlinskii Hysteresis Nonlinearities}, author = {K Aljanaideh and Al M Janaideh and M Rakotondrabe and D Kundur}, year = {2018}, date = {2018-12-01}, booktitle = {Proc. IEEE Conference on Decision and Control}, address = {Miami Beach, Florida}, keywords = {dyn-sys}, pubstate = {published}, tppubtype = {inproceedings} } |
Aljanaideh, K; Rakotondrabe, M; Janaideh, Al M; Kundur, D Identification of Precision Motion Systems with Prandtl-Ishlinskii Hysteresis Nonlinearities Inproceedings Proc. American Control Conference, pp. to appear, 2018. @inproceedings{AljRakAlJKunACC18, title = {Identification of Precision Motion Systems with Prandtl-Ishlinskii Hysteresis Nonlinearities}, author = {K Aljanaideh and M Rakotondrabe and Al M Janaideh and D Kundur}, year = {2018}, date = {2018-06-01}, booktitle = {Proc. American Control Conference}, pages = {to appear}, keywords = {CPS, dyn-sys}, pubstate = {published}, tppubtype = {inproceedings} } |
2011 |
Kundur, D; Feng, X; Mashayekh, S; Liu, S; Zourntos, T; Butler-Purry, K L Towards Modeling the Impact of Cyber Attacks on a Smart Grid Journal Article International Journal of Security and Networks, 6 (1), pp. 2-13, 2011. Links | BibTeX | Tags: CPS, dyn-sys, smart grid @article{KunFenMasLiuZouButIJSN11, title = {Towards Modeling the Impact of Cyber Attacks on a Smart Grid}, author = {D Kundur and X Feng and S Mashayekh and S Liu and T Zourntos and K L Butler-Purry}, url = {http://www.comm.utoronto.ca/~dkundur/pub_pdfs/KunFenMasLiuZouButIJSN11.pdf http://dx.doi.org/10.1504/IJSN.2011.039629}, year = {2011}, date = {2011-10-04}, journal = {International Journal of Security and Networks}, volume = {6}, number = {1}, pages = {2-13}, keywords = {CPS, dyn-sys, smart grid}, pubstate = {published}, tppubtype = {article} } |
2009 |
Mathai, N J; Zourntos, T; Kundur, D Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation Journal Article EURASIP Journal on Advances in Signal Processing Special Issue on Signal Processing Advances in Robots and Autonomy, 2009 (Article ID 984752), pp. 9, 2009. Links | BibTeX | Tags: CPS, dyn-sys @article{MatZouKunJASP09, title = {Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation}, author = {N J Mathai and T Zourntos and D Kundur}, url = {http://www.comm.utoronto.ca/~dkundur/pub_pdfs/MatZouKunJASP09.pdf http://dx.doi.org/10.1155/2009/984752}, year = {2009}, date = {2009-01-01}, journal = {EURASIP Journal on Advances in Signal Processing Special Issue on Signal Processing Advances in Robots and Autonomy}, volume = {2009}, number = {Article ID 984752}, pages = {9}, keywords = {CPS, dyn-sys}, pubstate = {published}, tppubtype = {article} } |
2008 |
Mathai, Nebu John Cybernetic Automata: An Approach for the Realization of Economical Cognition for Multi-Robot Systems PhD Thesis Texas A&M University, 2008, ((Winner of TAMU 2008 U.S. Senator Phil Gramm Doctoral Award)). Abstract | BibTeX | Tags: CPS, dyn-sys, PhD thesis, thesis @phdthesis{MatPhDThesis08, title = {Cybernetic Automata: An Approach for the Realization of Economical Cognition for Multi-Robot Systems}, author = {Nebu John Mathai}, year = {2008}, date = {2008-05-01}, address = {College Station, TX}, school = {Texas A&M University}, abstract = {(Winner of TAMU 2008 U.S. Senator Phil Gramm Doctoral Award) The multi-agent robotics paradigm has attracted much attention due to the variety of pertinent applications that are well-served by the use of a multiplicity of agents (including space robotics, search and rescue, and mobile sensor networks). The use of this paradigm for most applications, however, demands economical, lightweight agent designs for reasons of longer operational life, lower economic cost, faster and easily-verified designs, etc. An important contributing factor to an agent’s cost is its control architecture. Due to the emergence of novel implementation technologies carrying the promise of economical implementation, we consider the development of a technology-independent specification for computational machinery. To that end, the use of cybernetics toolsets (control and dynamical systems theory) is appropriate, enabling a principled specification of robotic control architectures in mathematical terms that could be mapped directly to diverse implementation substrates. This dissertation, hence, addresses the problem of developing a technologyindependent specification for lightweight control architectures to enable robotic agents to serve in a multi-agent scheme. We present the principled design of static and dynamical regulators that elicit useful behaviors, and integrate these within an overall architecture for both single and multi-agent control. Since the use of control theory can be limited in unstructured environments, a major focus of the work is on the engineering of emergent behavior. The proposed scheme is highly decentralized, requiring only local sensing and no inter-agent communication. Beyond several simulation-based studies, we provide experimental results for a two-agent system, based on a custom implementation employing field-programmable gate arrays.}, note = {(Winner of TAMU 2008 U.S. Senator Phil Gramm Doctoral Award)}, keywords = {CPS, dyn-sys, PhD thesis, thesis}, pubstate = {published}, tppubtype = {phdthesis} } (Winner of TAMU 2008 U.S. Senator Phil Gramm Doctoral Award) The multi-agent robotics paradigm has attracted much attention due to the variety of pertinent applications that are well-served by the use of a multiplicity of agents (including space robotics, search and rescue, and mobile sensor networks). The use of this paradigm for most applications, however, demands economical, lightweight agent designs for reasons of longer operational life, lower economic cost, faster and easily-verified designs, etc. An important contributing factor to an agent’s cost is its control architecture. Due to the emergence of novel implementation technologies carrying the promise of economical implementation, we consider the development of a technology-independent specification for computational machinery. To that end, the use of cybernetics toolsets (control and dynamical systems theory) is appropriate, enabling a principled specification of robotic control architectures in mathematical terms that could be mapped directly to diverse implementation substrates. This dissertation, hence, addresses the problem of developing a technologyindependent specification for lightweight control architectures to enable robotic agents to serve in a multi-agent scheme. We present the principled design of static and dynamical regulators that elicit useful behaviors, and integrate these within an overall architecture for both single and multi-agent control. Since the use of control theory can be limited in unstructured environments, a major focus of the work is on the engineering of emergent behavior. The proposed scheme is highly decentralized, requiring only local sensing and no inter-agent communication. Beyond several simulation-based studies, we provide experimental results for a two-agent system, based on a custom implementation employing field-programmable gate arrays. |
Zourntos, T; Mathai, N J; Magierowski, S; Kundur, D A Bio-inspired Analog Scheme for Navigational Control of Lightweight Autonomous Agents Inproceedings Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 1132-1137, Pasadena, California, 2008. Links | BibTeX | Tags: dyn-sys @inproceedings{ZouMatMagKunICRA08, title = {A Bio-inspired Analog Scheme for Navigational Control of Lightweight Autonomous Agents}, author = {T Zourntos and N J Mathai and S Magierowski and D Kundur}, url = {http://www.comm.utoronto.ca/~dkundur/pub_pdfs/ZouMatMagKunICRA08.pdf http://dx.doi.org/10.1109/ROBOT.2008.4543356}, year = {2008}, date = {2008-05-01}, booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)}, pages = {1132-1137}, address = {Pasadena, California}, keywords = {dyn-sys}, pubstate = {published}, tppubtype = {inproceedings} } |
Mathai, N J; Zourntos, T; Kundur, D Vector Field Design of Screw-Type Chaos Journal Article Fluctuations and Noise Letters, 8 (3-4), pp. L369-L379, 2008. Links | BibTeX | Tags: dyn-sys @article{MatZouKunFNL08, title = {Vector Field Design of Screw-Type Chaos}, author = {N J Mathai and T Zourntos and D Kundur}, url = {http://www.comm.utoronto.ca/~dkundur/pub_pdfs/MatZouKunFNL08.pdf http://dx.doi.org/10.1142/S0219477508005045}, year = {2008}, date = {2008-01-01}, journal = {Fluctuations and Noise Letters}, volume = {8}, number = {3-4}, pages = {L369-L379}, keywords = {dyn-sys}, pubstate = {published}, tppubtype = {article} } |