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Semi-Proximal ADMM for Model Predictive Control Problem with Application to a UAV system 20

Semi-Proximal ADMM for Model Predictive Control Problem with...

引用

20th International conference on Control, Automation and systems (ICCAS)

作者： Cheng, Zilong Ma, Jun Zhang, Xiaoxue Lee, Tong Heng Natl Univ Singapore NUS Grad Sch Integrat Sci & Engn Singapore 119077 Singapore Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

ISBN: (纸本)9788993215199

A lasso model predictive control (MPC) problem solved by the alternative direction method of multipliers (ADMM) is investigated in this work. More specifically, a semi-proximal ADMM algorithm with Gauss-Seidel iterations is proposed to solve the lasso MPC problem with singular weighting matrices. It is well-known that the interior-point algorithm is an effective and efficient algorithm, which is commonly used to obtain the real-time solution to the MPC optimization problem. However, when the weighting matrices of the lasso MPC problem are singular, it is extremely challenging to solve the optimization problem by using the classical interior-point algorithm. In fact, in some special cases, the interior-point algorithm is entirely infeasible for solving the aforementioned problems. In the work here, our developments reveal that the proposed optimization methodology (a semi-proximal ADMM algorithm with Gauss-Seidel iterations) is much more advantageous compared to the interior-point algorithm in some specific cases, especially in the case where singular weighting matrices exist in the cost function. An MPC based tracking problem of an unmanned aerial vehicle (UAV) system is implemented to compare the performance of the proposed algorithm to the performance of the existing solver. the simulation result shows that with the proposed algorithm, higher accuracy and computational efficiency can be realized.

关键词： optimization model predictive control (MPC) path tracking unmanned aerial vehicle (UAV)

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Kinematic modeling of Spherical Rolling Robots with a three-Omnidirectional-Wheel Drive Mechanism 20

Kinematic Modeling of Spherical Rolling Robots with a Three-...

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20th International conference on Control, Automation and systems (ICCAS)

作者： Pham Dinh Ba Quoc Dong Hoang Lee, Soon-Geul thanh Hai Nguyen Xuan Quang Duong Boi Chau tham Vietnam Maritime Univ Dept Mech Engn Hai Phong Vietnam Kyung Hee Univ Dept Mech Engn Suwon South Korea Sejong Univ Dept Mech Engn Seoul South Korea

ISBN: (数字)9788993215205

ISBN: (纸本)9788993215199

the spherical rolling robot (SRR) is an underactuated system with nonholonomic constraints. the proposed drive mechanism for the mobile robot is comprised of three omnidirectional wheels to make the omnidirectional movement of the robot on the floor. the kinematic model of the SRR is derived via nonholonomic constraints. Numerical simulation is analyzed. Results indicate that the robot can track the desired trajectory and maintain its balance stably at the same time.

关键词： Spherical rolling robot underactuated system nonholonomic constraints omnidirectional motion kinematics

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Decoupling Data and Linguistic Knowledge for Spontaneous Tabular Q/A

Decoupling Data and Linguistic Knowledge for Spontaneous Tab...

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International Bhurban conference on Applied Sciences & Technology, IBCAST

作者： Farhan Dhanani Muhammad Rafi Department of Computer Science School of computingNational University of Computer and Emerging Sciences Karachi Campus

ISBN: (数字)9798350308259

ISBN: (纸本)9798350308266

Recent advances in natural language processing and deep learning have opened thousands of new dimensions for transforming dreams into reality. One such dimension is Table Question-Answering (Q/A). It's an old fantasy of computer science to query tables in natural human language and extract the desired information. Currently, the subject is trending because a huge chunk of modern business data still exists in structured and semi-structured tables. the computational and hardware requirements of the problem linearly increase with the size and number of the provided tables, which makes it complex for real-time production environments. this challenging nature has raised the interest of new aspiring researchers in efficiently applying modern deep-learning tactics and developing systematically optimized solutions. In this paper, we aim to explore a sub-field of Table Question-Answering (Q/A) called Non-Semantic Closed-Domain Free-Form Table Question-Answering (Q/A) and develop a novel solution by decoupling the tabular data from linguistic knowledge. the goal of such decoupling is to enable the computational and resource optimizations that will benefit the scalability of the proposed system and allow the solution to function independently of the table size.

关键词： Deep learning Computer science Scalability Production Linguistics Real-time systems Natural language processing Hardware Data mining optimization

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Research on the Orderly Charging Strategy of EV in Regional Energy system Based on NSGA-II and Monte Carlo 7th

Research on the Orderly Charging Strategy of EV in Regional ...

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7th International conference on Life system modeling and Simulation, LSMS 2021, and 7th International conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2021

作者： Shi, Shanshan Fang, Chen Wang, Haojing Luo, Ling Yin, Shen Li, Chenxi Peng, Daogang State Grid Shanghai Electric Power Company Electric Power Research Institute Shanghai200437 China College of Automation Engineering Shanghai University of Electric Power Shanghai200090 China

ISBN: (纸本)9789811672095

Time-of-use has an important role in the scheduling optimization of electric vehicles, and the core content of the research on time-of-use is the pricing of tariff and the division of time periods. In this paper, firstly, the K-means algorithm is used to divide the peak and valley periods, and the tariff of different time periods is determined according to the actual situation;then an orderly charging and discharging model of EV based on time-of-use is established, and two different methods are used to solve the model, the Pareto optimal boundary of multi-objective function is found by NSGA-II algorithm, through analysis and calculation, it can be found that the EV orderly charging strategy based on time-of-use not only reduces the charging cost of users, but also reduces the average value of net load in the system and improves the stability of system operation. © 2021, Springer Nature Singapore Pte Ltd.

关键词： K-means clustering

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Variable Parameters Model of a PEM Electrolyzer Based Model Reference Adaptive system Approach

Variable Parameters Model of a PEM Electrolyzer Based Model ...

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20th IEEE International conference on Environment and Electrical Engineering (EEEIC) / 4th IEEE Industrial and Commercial Power systems Europe conference (I and CPS Europe)

作者： Guilbert, Damien Vitale, Gianpaolo Univ Lorraine GREEN F-54000 Nancy France Italian Natl Res Council Italy ICAR Inst High Performance Comp & Networking Palermo Italy

ISBN: (纸本)9781728174556

this paper proposes an equivalent circuit model of a PEM electrolyzer in which the time constant of the cathode reaction depends on the current supplied to the electrolyzer. A fixed-parameter circuit model is used to implement an analytical impedance function in which the time constant is identified based on the error between the output voltage given by the model and the voltage at the terminals of the electrolyzer. the identification is performed by using experimental data when supplying the electrolyzer with different current steps. the developed model is validated by using a commercial-400 W PEM electrolyzer. the obtained results allow demonstrating the effectiveness of the adaptive system approach to estimate the time constant of the cathode reaction.

关键词： proton exchange membrane electrolyzer variable parameters modeling dynamic behavior PEM emulator

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Non-convex optimization in Digital Pre-distortion of the Signal 1

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20th International conference on Mathematical optimization theory and Operations Research , MOTOR 2021

作者： Maslovskiy, Alexander Pasechnyuk, Dmitry Gasnikov, Alexander Anikin, Anton Rogozin, Alexander Gornov, Alexander Antonov, Lev Vlasov, Roman Nikolaeva, Anna Begicheva, Maria Moscow Institute of Physics and Technology 9 Institutskiy per. Dolgoprudny141701 Russia Matrosov Institute for System Dynamics and Control Theory 134 Lermontov Street Irkutsk664033 Russia Russian Research Institute Huawei Moscow Russia Institute for Information Transmission Problems RAS Bolshoy Karetny per. 19 build.1 Moscow127051 Russia Caucasus Mathematical Center Adyghe State University 208 Pervomayskaya Street Maykop385000 Russia Skolkovo Institute of Science and Technology Bolshoy Boulevard 30 bld. 1 Moscow121205 Russia

ISBN: (数字)9783030864330

ISBN: (纸本)9783030864323

this paper reviews application of modern optimization methods for functionals describing Digital Pre-distortion (DPD) of signals with orthogonal frequency division multiplexing (OFDM) modulation. the considered family of model functionals is determined by the class of cascade Wiener–Hammerstein models, which can be represented as a computational graph consisting of various nonlinear blocks. To assess optimization methods with the best convergence depth and rate as a properties of this models family, we multilaterally consider modern techniques used in optimizing neural networks and numerous numerical methods used to optimize non-convex multimodal functions. the research emphasizes the most effective of the considered techniques and describes several useful observations about the model properties and optimization methods behavior. © 2021, Springer Nature Switzerland AG.

关键词： Orthogonal frequency division multiplexing

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modeling of Magnetorheological Fluids Relative Magnetic Permeability by using a Neural Network approach 20

Modeling of Magnetorheological Fluids Relative Magnetic Perm...

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20th IEEE Mediterranean Eletrotechnical conference (IEEE MELECON)

作者： Kowol, Pawel Szczygiel, Marcin Lo Sciuto, Grazia Capizzi, Giacomo Silesian Tech Univ Dept Mechatron Fac Elect Engn Gliwice Poland Univ Catania Dept Elect Elect & Informat Engn Catania Italy

ISBN: (纸本)9781728152004

In this paper, starting from the experimental data obtained with an empirical measurement device developed for this purpose, it has been determined a simple and accurate model (based on a small number of parameters) that allows to represent the relative magnetic permeability of the magnetorheological fluids as a function of the magnetic field in which it is immersed in. the model thus obtained is in excellent agreement with the experimental data. In fact the obtained error is approximately of 8%.

关键词： magnetic permeability magnetorheological fluids Gabor system neural network

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7th International conference on Functional Differential Equations and Applications, FDEA 2019

7th International Conference on Functional Differential Equa...

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7th International conference on Functional Differential Equations and Applications, FDEA 2019

ISBN: (纸本)9789811662966

the proceedings contain 20 papers. the special focus in this conference is on Functional Differential Equations and Applications. the topics include: the Second Lyapunov Method for Time-Delay systems;some Extremal Problems for Solutions of the Modified Helmholtz Equation in the Half-Space;delay optimization Problem for One Class of Functional Differential Equation;on Qualitative Research of Lattice Dynamical system of Two- and three-Dimensional Biopixels Array;oscillation Criteria for Higher Order Linear Differential Equations;on Necessary Conditions of Optimality to the Extremum Problem for Parabolic Equations;homogenization of a Parabolic Equation for p-Laplace Operator in a Domain Perforated Along (n- 1 ) -Dimensional Manifold with Dynamical Boundary Condition Specified on Perforations Boundary: Critical Case;poisson Problem for a Functional–Differential Equation. Positivity of a Quadratic Functional. Jacobi Condition;on Asymptotic Behavior of the First Derivatives of Bounded Solutions to Second-Order Differential Equations with General Power-Law Nonlinearity;nonlinear Models of the Fluid Flow in Porous Media and their Methods of Study;periodic Solutions for a Class of Impulsive Delay Differential Equations;research on Solutions Stability for Dynamic Switched Time-Delayed systems;a Method for Stabilization of Ground Robot Path Controlled by Airborne Autopilot with Time Delay;some Properties of the Solution of the Nonlinear Equation of Oscillations in modeling the Magnetic Separation;diffusion-Kinetic Model for Curing of Epoxy Polymer;modeling of Control of the Immune Response in the Acute Form of an Infectious Disease Under Conditions of Uncertainty;some Problems of Mathematical modeling of Radiophysical Sounding Signals;PDE modeling of Bladder Cancer Treatment Using BCG Immunotherapy.

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Towards modeling of Information Processing Within Business-Processes of Service-Providing Organizations 20th

Towards Modeling of Information Processing Within Business-P...

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20th Annual International conference on Computational Science (ICCS)

作者： Kovalchuk, Sergey, V Funkner, Anastasia A. Balabaeva, Ksenia Y. Derevitskii, Ilya, V Fonin, Vladimir V. Bukhanov, Nikita, V ITMO Univ St Petersburg Russia PMT Online Moscow Russia LLC GazpromNeft STC St Petersburg Russia

ISBN: (纸本)9783030503710;9783030503703

the paper presents an ongoing research project aimed towards the development of an approach to modeling of information spreading in complex organizations during providing service to customers and performing domain-specific business processes (BP). the approach is based on the idea of information spreading modeling and includes the view of this process in three main levels (physical, informational, and technical). the multi-layer view enables the integration and automation of obtained models in order to resolve domain-specific tasks of BP understanding, optimization, and extension. Two domain-specific case studies from healthcare and HR-management were considered within the approach proposing a way to resolve existing problems.

关键词： Business process Information processing Information system Complex network

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Performance optimization and Analysis of the Unstructured Discontinuous Galerkin Solver on Multi-Core and Many-Core Architectures

Performance Optimization and Analysis of the Unstructured Di...

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IEEE International conference on High Performance Computing and Communications (HPCC)

作者： Zhe Dai Liang Deng Yueqing Wang Fang Wang Ming Li Jian Zhang China Aerodynamics Research and Development Center Computational Aerodynamics Institute Mianyang China State Key Laboratory of Aerodynamics China Aerodynamics Research and Development Center Mianyang China

the discontinuous Galerkin (DG) algorithm is a representative high order method in Computational Fluid Dynamics (CFD) area which possesses considerable mathematical advantages such as high resolution, low dissipation, and dispersion. However, DG is rather computationally intensive to demonstrate practical engineering problems. this paper discusses the implementation of our in-house practical DG application in three different programming models, as well as some optimization techniques, including grid renumbering and mixed precision to maximize the performance improvements in a single node system. the experiment on CPU and GPU shows that our CUDA, OpenACC, and OpenMP-based code obtains a maximum speedup of 42.9x, 35.3x, and 8.1x compared with serial execution by the original application, respectively. Besides, we systematically compare the programming models in two aspects: performance and productivity. Our empirical conclusions facilitate the programmers to select the right platform with a suitable programming model according to their target applications.

关键词： Productivity Computational fluid dynamics Heuristic algorithms Graphics processing units Computer architecture Programming Mathematical models

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