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Distributed allocation using analog market wire computation and communication.

 

Control of mechatronic systems with tens to thousands of components requires new control design and hardware architecture because existing calculation and communication methods scale poorly with the number of elements. In this work, we present simple, inexpensive asynchronous analog electronic hardware for both real-time communication and allocation of actuation among large numbers of elements based on a market approach. We apply our general analog market hardware approach to the problem of controlling the motion of a sheet of paper using an air jet table as an example. In this system the analog market solves the problem of deciding which of a number of binary valves should be opened or closed in order to deliver the required aggregate force and torque. The system is comprised of a controller (consumer), two wires (representing the force and torque 'markets'), and one agent per actuator (producers). At equilibrium, each agent produces an actuation proportional to the current added to the market wire while the consumer removes current in proportion to the desired force and torque, thereby accomplishing the combined actuation task. This market wire approach appears to be a promising, robust architecture for both computation of allocation among large numbers of elements and communication of the results.

 
citation

Jackson, W. B. ; Mochon, C. ; Van Schuylenbergh, K. ; Biegelsen, D. K. ; Fromherz, M. P. J. ; Hogg, T .; Berlin, A. A. Distributed allocation using analog market wire computation and communication. 7th Mechatronics Forum International Conference 2000; 2000 September 6-8; Atlanta, GA.