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2024 International conference on Intelligent Robots and systems

作者： Wang, Yunfei Sun, Weiyuan Tang, Wei Zhang, Xianrui Yu, Zhenping Cao, Shunxiang Qu, Juntian Tsinghua Univ SISG Shenzhen 518055 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Central Pattern Generators (CPG) nonlinear oscillation network is being increasingly used in the control of multi-joint collaborative robots. The motion attitude of robots can be effectively adjusted by tuning parameters of the CPG neural network. However, the mapping from CPG parameters to motion attitude is relatively complicated. To improve the motion performance, an optimization method combining computational fluid dynamics (CFD) and CPG network is proposed. In this work, we design a three-joint biomimetic soft robot fish following the body structure of trevally and an improved CPG network based on the Hopf model is incorporated into the control system. Directly optimizing the swimming performance through experiments is time consuming and complex, a mode of first adjusting parameters on the simulation platform and then refining on the robot is usually adopted. Therefore, a CFD simulation platform using hydrodynamic solutions has been established to assist in analyzing the swimming effect. Finally, the experimental results show that the swimming simulation by the CFD is highly similar to the real test, and the swimming performance after the improved CPG network optimization has been significantly increased.

关键词： Collaborative robots

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Bitrate-adaptive and quality-aware HTTP video streaming with the multi-access edge computing server handoff control

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MULTIMEDIA systems 2024年第4期30卷 234-234页

作者： Huang, Chung-Ming Hu, Zi-Yuan Natl Chen Kung Univ Comp Sci & Informat Engn Tainan Taiwan

To deal with the coming Multi-access Edge Computing (MEC)-based 5G and the future 6G wireless mobile network environment, a Multi-access Edge Computing (MEC)-based video streaming method using the proposed quality-aware video bitrate adaption and MEC server handoff control mechanisms for Dynamic Adaptive Streaming over HTTP (MPEG-DASH) video streaming was proposed in this work. Since the user is moving, the attached Base Station (BS) of the cellular network can be changed, i.e., the BS handoff can happen, which results in the corresponding MEC server handoff. Thus, this work proposed the MEC server handoff control mechanism to make the playing quality be smooth when the MEC server handoff happens. To have the MEC server to be able to derive the video bit rate for each video segment of the MPEG-DASH video streaming and to have the smooth video streaming when the MEC server handoff happens, the proposed method (i) derives the estimated bandwidth using the adaptive filter mechanism, (ii) generates some candidate video bit rates by considering the estimated bandwidth and the buffer occupancy situation in the client side and then (iii) selects a video bit rate from the candidate ones considering video quality's stability. For the video quality's stability concern, the proposed method considered not only (i) both bandwidth and buffer issues but also (ii) the long-term quality variation and the short-term quality variation to have the adaptive video streaming. The results of the performance evaluation, which was executed in a lab-wide experimental LTE network eNB system, shown that the proposed method has the more stable video quality for the MPEG-DASH video streaming over the wireless mobile network.

关键词： HTTP adaptive video streaming (HAS) MPEG-DASH Mobile edge computing (MEC) Bandwidth prediction Video bitrate adaption MEC server handoff Streaming handoff

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performance Evaluation of Routing Protocols iFORP-3DD for DANET Considering Drone Movement Speed

Performance Evaluation of Routing Protocols iFORP-3DD for DA...

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International Technical conference on Circuits/systems, Computers, and Communications (ITC-CSCC)

作者： Otani, Shosei Gyoda, Koichi Shibaura Inst Technol Grad Sch Engn & Sci Tokyo Japan

ISBN: (纸本)9798350379068;9798350379051

Unmanned aerial vehicles (UAVs), such as drones, are beginning to be utilized for various purposes. Currently, most communication between drones and their control terminals is one-to-one direct communication, with the range for transmitting data, such as video, limited to the direct reach of radio waves. As a solution to this problem, DANET, a drone-composed ad-hoc network, is gaining attention. However, existing protocols are insufficient for achieving adequate performance in DANETs. To configure a reliable DANET, we have proposed iFORP-3DD, an enhanced version of the iFORP routing protocol that incorporates cooperative control functionalities for managing the movement of relay terminals based on their location information and evaluated its communication performance. In this paper, we propose a route selection method using a cooperative operation approach that determines the duration of cooperative operation and movement speed according to the number of neighboring terminals in order to reduce the load on relay terminals and describe the evaluation results of the proposed method through simulation.

关键词： Ad-hoc network FANET DANET Routing iFORP-3DD AODV

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Adaptive Neural network Tracking control for Switched Nonlinear systems with Prescribed performance: A State-Dependent Switching Approach 43

Adaptive Neural Network Tracking Control for Switched Nonlin...

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43rd Chinese control conference (CCC)

作者： Liu, Hongbin Xie, Jing Yang, Dong Wang, Juan Zhang, Di Zhang, Zhihui Shenyang Univ Technol Sch Artificial Intelligence Shenyang 110819 Peoples R China Qufu Normal Univ Sch Engn Rizhao 276826 Shandong Peoples R China Shenyang Jianzhu Univ Sch Elect & Control Engn Shenyang 110168 Peoples R China

ISBN: (纸本)9798350366907;9789887581581

In this paper, the global prescribed performance tracking control issue for a class of uncertain switched nonlinear systems is presented by using adaptive neural network technology. First, a state-dependent switching signal is devised, which can guarantee a dwell time between any two adjacent switching instants. Secondly, an adaptive controller is designed to ensure that output tracking error satisfies the prescribed performance for any initial points and all of the signals in the closed-loop system are uniform ultimate bounded. Thirdly, the prescribed performance tracking control problem of each subsystem does not demand to be solvable. Finally, a simulation example is used to demonstrate the feasibility of the proposed method.

关键词： Switched nonlinear systems Switching law design Prescribed performance Multiple Lyapunov functions

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Optimizing Remaining Useful Life Predictions for Aircraft Engines: A Dilated Recurrent Neural network Approach 12

Optimizing Remaining Useful Life Predictions for Aircraft En...

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12th IFAC Symposium on control of Power and Energy systems (CPES)

作者： Boujamza, Abdeltif Elhaq, Saad Lissane Hassan II Univ Natl Higher Sch Elect & Mech ENSEM Lab Engn Res Casablanca Morocco

Predicting the remaining useful life (RUL) plays a crucial rule in the field of prognostics and health management (PHM) for mechanical systems. Specifically within the domain of turbofan engines, predicting RUL plays a vital role in strategically planning maintenance activities. Consequently, this aids in optimizing the overall performance of the energy system by reducing downtime and improving sustainability and efficiency. This research endeavors to forecast the RUL of turbofan engines. It employs a Dilated Recurrent Neural network (D-RNN) Approach, a neural network structure that integrates dilated convolutions into the recurrent layers. The model underwent fine-tuning through a random grid search optimization and was tested using the Commercial Modular Aero Propulsion System Simulation (C-MAPSS) dataset. The results showcase the superior performance of the proposed D-RNN, outperforming the accuracy of other research studies. Copyright (c) 2024 The Authors.

关键词： Prognostics and health management remaining useful life prediction deep learning recurrent neural network C-MAPSS

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Stabilization of nonlinear systems by neural Lyapunov approximators and Sontag's formula 10

Stabilization of nonlinear systems by neural Lyapunov approx...

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10th International conference on control, Decision and Information Technologies (CoDIT)

作者： Mele, Adrian Pironti, Alfredo Ecole Polytech Fed Lausanne Swiss Plasma Ctr CH-1015 Lausanne Switzerland CREATE Univ Napoli Federico II Via Claudio 21 I-80125 Naples Italy

ISBN: (纸本)9798350373981;9798350373974

This note describes a method to train a Neural network so that it approximates a control Lyapunov function for a nonlinear system in affine form. The network is trained in a physics-informed fashion, as the training data are generated by enforcing the negativity of the orbital derivative of the clf along the system trajectories in a large set of collocation points. Positive-definiteness of the clf is guaranteed by the choice of the network structure. The network is then used to derive a stabilizing control law based on the well-known Sontag's formula. The validity of the proposed approach is illustrated through numerical examples.

关键词： neural networks universal approximation Lyapunov stabilization Sontag's formula neural control

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Confidence-Aware Decision-Making and control for Tool Selection

Confidence-Aware Decision-Making and Control for Tool Select...

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2024 International conference on Intelligent Robots and systems

作者： Meera, Ajith Anil Lanillos, Pablo Radboud Univ Nijmegen Donders Inst Nijmegen Netherlands Spanish Res Council Cajal Int Ctr Neurosci Madrid Spain

ISBN: (纸本)9798350377712;9798350377705

Self-reflecting about our performance (e.g., how confident we are) before doing a task is essential for decision making, such as selecting the most suitable tool or choosing the best route to drive. While this form of awareness-thinking about our performance or metacognitive performance-is well-known in humans, robots still lack this cognitive ability. This reflective monitoring can enhance their embodied decision power, robustness and safety. Here, we take a step in this direction by introducing a mathematical framework that allows robots to use their control self-confidence to make better-informed decisions. We derive a mathematical closed-form expression for control confidence for dynamic systems (i.e., the posterior inverse covariance of the control action). This control confidence seamlessly integrates within an objective function for decision making, that balances the: i) performance for task completion, ii) control effort, and iii) self-confidence. To evaluate our theoretical account, we framed the decision-making within the tool selection problem, where the agent has to select the best robot arm for a particular control task. The statistical analysis of the numerical simulations with randomized 2DOF arms shows that using control confidence during tool selection improves both real task performance, and the reliability of the tool for performance under unmodelled perturbations (e.g., external forces). Furthermore, our results indicate that control confidence is an early indicator of performance and thus, it can be used as a heuristic for making decisions when computation power is restricted or decision-making is intractable. Overall, we show the advantages of using confidence-aware decision-making and control scheme for dynamic systems.

关键词： Robotic arms

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Communication-control Co-design for Robotic Manipulation in 5G Industrial IoT 21

Communication-Control Co-design for Robotic Manipulation in ...

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IEEE 21st International conference on Industrial Informatics (INDIN)

作者： Merwaday, Arvind Vannithamby, Rath Eisen, Mark Sudhakaran, Susruth Cavalcanti, Dave A. Frascolla, Valerio Intel Corp Intel Labs Santa Clara CA 95051 USA

ISBN: (纸本)9781665493130

Industrial Internet of Things (iioT) use cases have stringent reliability and latency requirements to enable real-time wireless control systems, which are supported by the 5G ultra-reliable low-latency communications (URLLC). However, extremely high quality-of-service (QoS) requirements in 5G URLLC causes huge radio resource consumption and low spectral efficiency, thus limiting network capacity in terms of the number of supported devices. Industrial control applications typically incorporate redundancy in their design and may not always require extreme QoS to achieve the expected control performance. Therefore, we propose both communication-control co-design and dynamic QoS to address the capacity issue for robotic manipulation use cases in 5G-based iioT. We have developed an advanced co-simulation framework that includes a network simulator, physics simulator, and compute emulator, for realistic performance evaluation of the proposed methods. Through simulations, we show significant improvements in network capacity (i.e., the number of supported URLLC devices), and about 2x gain for the robotic manipulation use case.

关键词： dynamic QoS 5G URLLC industrial robotics 5G network simulator robotic manipulation iioT

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Experimental Study of Transport Layer Protocols for Wireless networked control systems 20

Experimental Study of Transport Layer Protocols for Wireless...

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20th Annual IEEE International conference on Sensing, Communication, and networking (SECON)

作者： Kutsevol, Polina Ayan, Onur Pappas, Nikolaos Kellerer, Wolfgang Tech Univ Munich Chair Commun Networks Munich Germany Linkoping Univ Dept Comp & Informat Sci Linkoping Sweden

ISBN: (纸本)9798350300529

In Wireless networked control systems (WNCSs), the feedback control loops are closed over a wireless communication network. The proliferation of WNCSs requires efficient network resource management mechanisms since the control performance is significantly affected by the impairments caused by network limitations. In conventional communication networks, the amount of transmitted data is one of the key performance indicators. In contrast, in WNCSs, the efficiency of the network is measured by its ability to facilitate control applications, and the data transmission rate should be limited to avoid network congestion. In this work, we consider an experimental setup where multiple control loops share a wireless communication network. Our testbed comprises up to five control loops that include Zolertia Re-Mote devices implementing IEEE 802.15.4 standard. We propose a novel relevance- and network-aware transport layer (TL) scheme for WNCSs. The proposed scheme admits the most important measurements for the control process into the network while considering current network conditions. Moreover, we propose a mechanism for the scheme parameters adaptation in dynamic scenarios with unknown network statistics. Unlike the conventional TL mechanisms failing to provide adequate control performance due to either congestion in the network or inefficient utilization of available resources, our method prevents network congestion while keeping the control performance high. We argue that relevance- and network-awareness are critical components of network protocol design to avoid control performance degradation in practice.

关键词： Closed loop control systems

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High Efficiency Data Driven control Based on Dynamic Linearization and PIDNN With Cohen-Coon for Discrete Nonlinear Fast Time-Varying systems

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IEEE TRANSACTIONS ON CIRCUITS AND systems ii-EXPRESS BRIEFS 2024年第2期71卷 782-786页

作者： Hao, Jun Zhang, Guoshan Zhu, Desheng Ye, Hui Jiangsu Univ Sci & Technol Coll Automat Zhenjiang 212100 Jiangsu Peoples R China Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China China Univ Min & Technol Beijing Sch Mech Elect & Informat Engn Beijing 100083 Peoples R China

In this brief, a high efficiency data driven control algorithm based on dynamic linearization (DL) and proportional-integral-derivative neural network (PIDNN) with Cohen-Coon (CC) is designed to achieve trajectory tracking control of discrete nonlinear fast time-varying systems (DNFTS). Firstly, CC approach is used to reliably obtain initial parameters of PIDNN and initial pseudo partial derivative (PPD) of DNFTS by exciting systems to produce input/output (I/O) data, meanwhile, DL method utilizes system I/O data to online establish a virtual data model equivalent to DNFTS. Secondly, the equivalent virtual data model generates PPD to online compensate PIDNN weights, which guarantees that PIDNN weights can be promptly tuned in the right direction. Moreover, one algorithm complexity criterion is defined to estimate proposed algorithm execution efficiency. The simulation studies indicate that proposed DL-PIDNN-CC has high execution efficiency in terms of fast convergence speed with low computational burden and has superior control performance in terms of Integral Squared Error (ISE) and Integral Absolute Error (IAE).

关键词： Heuristic algorithms Data models Time-varying systems Nonlinear dynamical systems Neural networks control systems Stability criteria Data driven control initial parameter settings high execution efficiency discrete nonlinear fast time-varying systems

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