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A non linear model approach to define priority for air quality control

A non linear model approach to define priority for air quali...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Carnevale, C. De Angelis, E. Finzi, G. Pederzoli, A. Turrini, E. Volta, M. Univ Brescia Dept Mech & Ind Engn Via Bronze 38 I-25123 Brescia Italy

In this work a source-apportionment approach is presented and applied in order to define priority on emission control strategies to limit PM10 concentrations in atmosphere. Emission control priority is defined starting from the results of the application of the source apportionment module of the CAMx chemical transport model. The module, based on reactive tracers approach, allows to take into account the effect of the heavy non linearity affecting the formation and accumulation of PM10 in the atmosphere. The methodology has been applied on Northern Italy, a region often affected by high PM10 levels both in cold and warm season. The application results are presented in two different steps. In the first one, the validation of the overall CAMx model is presented, in terms of its capability to describe the phenomena involved in PM10 accumulation and formation. The second step concerns the application of the model to define priority on PM10 control actions. The validation results show high performances both in terms of mean values and other statistical indexes, with correlation around 1 and normalized errors close to 0 for almost all the considered validation stations. The source-apportionment methodology application highlights that control of emissions due to domestic heating, transport, agriculture and industrial processes is the main priority for a decision maker, accounting for the 70% of the PM10 levels. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear models air pollution mathematical models validation

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Quaternion Modeling and Observer-based Torque Compensation of an Aerial Manipulator

Quaternion Modeling and Observer-based Torque Compensation o...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Alvarez-Munoz, J. U. Escareno, J. Marchand, N. Guerrero-Castellanos, J. F. Raharijaona, T. Rakotondrabe, M. Inst Polytech Sci Avancees FR-94200 Paris France GIPSA Lab FR-38000 Grenoble France Autonomous Univ Puebla BUAP Fac Elect MX-75270 Puebla Mexico Aix Marseille Univ CNRS ISM Marseille France UMR CNRS UFC ENSMM UTBM Automat Control & Micromech Dept FEMTO ST Inst 24 Rue Alain Savary Besancon France

This paper proposes a simple solution regarding the stabilization of a quadcopter unmanned aerial vehicle endowed with a manipulator arm. The manipulator robot is attached below the rotors plane and this one induces torques producing stability issues. The present study deals with the stabilization of the full system (quadcopter and arm) by means of a set of nonlinear control techniques. First, a mathematical model is proposed for the system. Then, an attitude control, consisting on a bounded quaternion-based feedback allows the quadcopter attitude stabilization while compensating adverse torques from manipulator's motion. A simple-to-implement strategy is proposed to estimate the actual torque for compensation purposes. Then, the formulation of a nonlinear control, which drives the aerial vehicle to a desired position is presented. Both controls consist on saturation functions. Simulation results validate the proposed control strategy and compare the results with different manipulator torque estimations. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Aerial Manipulation Euler-Lagrange and Quaternion Modeling Stochastic vs Deterministic State Estimation Nonlinear control

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Quadrotor Input-Output Linearization and Cascade control

Quadrotor Input-Output Linearization and Cascade Control

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Malo Tamayo, Alejandro J. Villasenor Rios, Cesar A. Ibarra Zannatha, Juan Manuel Orozco Soto, Santos M. Ctr Invest & Estudios Avanzados Dept Control Automat Mexico City 07360 DF Mexico

This work presents a new perspective regarding the input-output linearization of a quadrotor. There are several ways of linearizing a nonlinear system. Taylors series gives the approximate behaviour around an equilibrium point. Another way popular in the literature, is to use the input-output linearization, this is the approach used in the present article. However, quadrotors have six degrees of freedom and usually, only four are actuated. Therefore, they fall into the partially actuated system category. Mark Spong showed that this kind of systems can be only partially linearized, either the controlled (collocated) or, under more restrictive conditions, the non-controlled (non-collocated) part of the system. In the standard case, there is a part of the system that is not linked directly to the control but to the controlled variables, the zero dynamics, with no impact on the output. In the case we study, the un-actuated part is linked in cascade with the actuated part, becoming indirectly actuated by the actuated variables and the control. The main contributions of this work are a new perspective on: (1) the input-output linearization of the attitude-height output ({phi,theta,psi,z}) for a standard quadrotor. And for the yaw and position of a quadcopter ({psi,x,y,z}) the input-output linearization we show that it can be done (2) if the quadcopter has the propeller axes tilted inward or (3) if the controlled variables {phi,theta} are used in a nonlinear map to control the indirectly controlled {x,y} variables. Results of simulations are presented. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Underactuated System Nonlinear Model CFD control design

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Identification of Impulse Responses of Multi-Input systems 2

Identification of Impulse Responses of Multi-Input Systems

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2nd IEEE International conference on Automatic control and Intelligent systems (I2CACIS)

作者： Tan, Ai Hui Ng, Yin Hoe Multimedia Univ Fac Engn Cyberjaya Malaysia

ISBN: (纸本)9781538608463

This paper considers the identification of impulse responses of systems with multiple inputs. An existing technique utilizing signal sets which are correlated with one another is modified to improve its convergence properties. A detailed example is presented to compare the performance between identification using a set of correlated signals and identification using a set of uncorrelated signals. In particular, it is shown that correlated design has the capability to outperform uncorrelated design in terms of estimation accuracy, signal design complexity and experimentation time.

关键词： correlation frequency spectrum identification impulse response perturbation signal

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An Optimal Adaptive Model-Free control with a Kalman-filter-based Observer for a Generic Nonlinear MIMO System 2

An Optimal Adaptive Model-Free Control with a Kalman-filter-...

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2nd IEEE International conference on Automatic control and Intelligent systems (I2CACIS)

作者： Safaei, Ali Mahyuddin, Muhammad Nasiruddin Univ Sains Malaysia Sch Elect & Elect Engn Nibong Tebal 14300 Pulau Pinang Malaysia

ISBN: (纸本)9781538608463

In this paper, a new structure to design an optimal model-free control policy for tracking problem of non-affine nonlinear multi-input-multi-output (MIMO) systems is proposed. Here, it is assumed that the system dynamics contains bounded unknown nonlinearities and external disturbances. Also, it is assumed that all the states in the system can be measured using a set of sensors, but there is a source of noise on each of the sensors with a white noise model. The design procedure is proposed using online solution of the Hamilton-Jacobi-Bellman equation. The algorithm includes two separate robust adaptive laws for estimating the unknown nonlinear and linear terms. The adaptive law for estimation of the nonlinear terms is a model-free estimation algorithm, since it does not require any regressor parameters. In addition, a Kalman-filter is used to observe the values of the states free of the measurement noises. Moreover, a technique is presented to update the values for controller gain in an online manner. The performance of the proposed algorithm is studied on simulation of the Duffing-Holmes chaotic system with tracking objective.

关键词： multiple input multiple output systems nonlinearity System dynamics controller gain Noise measurement Sensors tracking problem control strategy Self tuning design process Kalman filters

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Efficient Dynamic Traffic Light control for ITS 17

Efficient Dynamic Traffic Light Control for ITS

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2nd International conference on Internet of things, Data and Cloud Computing (ICC)

作者： Nower, Naushin Hossan, Sakhawat Univ Dhaka Inst Informat Technol Dhaka Bangladesh

ISBN: (纸本)9781450347747

In almost all modern cities around the world, traffic congestion is a severe problem. Existing adaptive traffic control systems utilized traffic phase and phase duration either considering traffic density or vehicular waiting time and hunger level, without any optimization. To solve this problem, we have proposed an efficient dynamic traffic light control for ITS by considering multiple factors at a time with the provisions to optimize the average vehicular waiting time, and maximize throughput. Moreover, phase duration is set in such a way so that maximum people will get benefit. Simulation results demonstrate that our algorithm produces much higher throughput and lower vehicle's average waiting time, compared with that of other adaptive algorithms.

关键词： Intelligent Transportation System Efficient Dynamic Traffic Light control Sensor Network control Sensor Network

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Introducing Cyber Security at the design Stage of Public Infrastructures: A Procedure and Case Study 2nd

Introducing Cyber Security at the Design Stage of Public Inf...

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2nd International Asia-Pacific conference on Complex systems design and Management (csd and M)

作者： Adepu, Sridhar Mathur, Aditya Singapore Univ Technol & Design Ctr Cyber Secur Res iTrust Singapore Singapore

ISBN: (纸本)9783319296432;9783319296425

Existing methodologies for the design of complex public infrastructure are effective in creating efficient systems such as for water treatment, electric power grid, and transportation. While such methodologies and the associated design tools account for potential component and subsystem failures, they generally ignore the cyber threats;such threats are now real. This paper presents a step towards a methodology that incorporates cyber security at an early stage in the design of complex systems. A novel graph theoretic mechanism, named Dynamic State Condition Graph, is proposed to capture the relationships among sensors and actuators in a cyber physical system and the functions that are affected when the state of an actuator changes. Through a case study on a modern and realistic testbed, it is shown that introducing security at an early stage will likely impact the design of the control software;it may also lead to additional hardware and/or software requirements, e.g., sensors, or secure control algorithms. Such impact on the system design promises to improve the resilience of a system to cyber attacks.

关键词： Cyber attacks Cyber security Cyber physical systems Security by design Dynamic state condition graph SCADA Water treatment

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Mexico Ciudad Segura 2nd

Mexico Ciudad Segura

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2nd International Asia-Pacific conference on Complex systems design and Management (csd and M)

作者： Lancelin, Jean Henri Loic Huang, Hao Ming Thales Solut Asia 21 Changi North Rise Singapore 498788 Singapore

ISBN: (纸本)9783319296432;9783319296425

Mexico Ciudad Segura (Mexico Safe City) project provides an urban security solution to Mexico City, aiming to improve the operational efficiency of police and inter-agency coordination, better communication with citizens, reduce the crime rates and achieve better safety in the city. The Mexico Ciudad Segura solution is a large and complex "System of systems" (SOS), comprising of a field layer (Cameras, Automatic Plate Number Recognition, Gun Shot Detectors, Emergency Interphones, Mobile communication equipment for the Police forces) connected to 5 Command and control (C2) Centers and 2 mobile C2s, under the supervision of a Command, control, Communications, Computers, and Intelligence (C4I) Center. The Mexico Ciudad Segura has been developed by a consortium including Thales and Telmex the Mexican national telecom operator. Three entities of Thales have been involved in the solution design and development. This presentation provides the background information of the project, including the project schedule, engineering dimensioning parameters, concept and overview of operations, share of works and complexity profiler. It reviews the engineering challenges encountered and Thales' response to the challenges by using iterative development, integration and validation lifecycles in all Thales entities. The solution is deployed successfully in Mexico City and key statistics are shown to demonstrate the benefits to the city.

关键词： Mobile telecommunication systems

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Onboard autonomous management system of SPARK Earth observation microsatellites 68

Onboard autonomous management system of SPARK Earth observat...

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68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017

作者： Xu, Rui Wang, Hui Xu, Wenming Cui, Pingyuan Feng, Zhun School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Shanghai Engineering Center for Microsatellites Shanghai201210 China

ISBN: (纸本)9781510855373

Space remote sensing has played a key role in numerous fields, such as resource exploration, disaster prevention, and environmental protection. Many countries have been attracted to research the Earth observation microsatellite because of its short development period, low cost, and high return. With the increasing number of in-orbit satellites, however, traditional ground management way (TT&C) has caused a heavy workload, and is error-prone and timeconsuming. That makes increasingly urgent demand for the onboard autonomous management ability of satellites. As the onboard resources of microsatellites are extremely limited, the implementation of onboard autonomous management is especially difficult. This paper addresses an onboard autonomous management system for Earth observation microsatellites with double processors. A concurrent CAN bus architecture is designed to avoid affecting original onboard systems. As a node on the CAN bus, the autonomous management system (AMS) runs independently on a single FPGA with extra SRAMs. By transmitting, receiving, and listening, the AMS can communicate with original housekeeping system and other subsystems. For Earth observation microsatellites, the AMS mainly focuses on the autonomous generation of command sequences of observation and data transmission tasks. To satisfy multiple complex constraints and low computational cost, a new dynamic value based heuristic planning (DVHP) method is proposed for the multi-area-target observation of microsatellites. Additionally, an efficient rotational-path decomposition based recursive planning (RDRP) method is adopted for the attitude reorientation under bounded and pointing constraints. The AMS has been successfully applied in two SPARK microsatellites launched on 22 December, 2016, which were developed by the Shanghai Engineering Center for Microsatellites. Microsatellite experiment results demonstrate that under very limited onboard computing resources (32MHz processor, 2MB RAM), the A

关键词： Disaster prevention

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Modelling and simulation for the integrated design of mechatronic systems 2

Modelling and simulation for the integrated design of mechat...

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2nd ifac conference on Embedded systems, Computer Intelligence and Telematics, CESCIT 2015

作者： Barbieri, Giacomo Goldoni, Gabriele Borsari, Roberto Fantuzzi, Cesare University of Modena and Reggio Emilia Via Amendola 2 Reggio Emtlia42122 Italy Tetra Pak Packaging Solutions SpA Via Delfini 1 Modena41123 Italy

The development of mechatronic systems involves the use of multiple disciplines, from mechanical engineering to electronics engineering and computer science. Traditionally, every discipline was developed independently and then integrated to generate the final system. However, high quality designs cannot be achieved without simultaneously considering all the engineering disciplines. This mechatronic approach carries intrinsic complexity into system design process and numerous researches are on-going in order to find out optimal methods. This article refines a SysML-based design process for the high level development of mechatronic systems, focusing on the integration of modelling and simulation as fundamental aspect for an integrated approach. How conceptual SysML diagrams may support the generation of simulation models is shown, along with a chain of simulations for an integrated design. The proposed approach is applied to a prototype case study designed from scratch, in order to be validated and to demonstrate its potentiality. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： systems analysis

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