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Data-Driven Feed-Forward control of Hydraulic Cylinders using Gaussian Process Regression for Excavator Assistance Functions

Data-Driven Feed-Forward Control of Hydraulic Cylinders usin...

引用

ieee conference on control technology and applications (CCTA)

作者： Rabenstein, Georg Demir, Ozan Trachte, Adrian Graichen, Knut Friedrich Alexander Univ Erlangen Nuremberg Chair Automat Control Nurnberg Germany Robert Bosch GmbH Renningen Germany

ISBN: (数字)9781665473385

ISBN: (纸本)9781665473385

In this work, we introduce a data-driven feedforward control approach for hydraulic cylinders using Gaussian process regression. Gaussian process (GP) models provide advantageous features for data-based models like the incorporation of prior knowledge and the consideration of uncertainty. We employ these properties to combine physical expert knowledge and training data in hybrid modelling and for online model adaptation. In order to match the real-time requirements for our application, we introduce a novel sparse GP methodology to reduce the computational effort for data reduction and inference. The overall control concept is implemented and validated on a test vehicle.

关键词： Adaptation models Uncertainty Computational modeling Training data Gaussian processes Hydraulic systems Excavation

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Flexible and High Throughput Designs of Operational Amplifiers 2

Flexible and High Throughput Designs of Operational Amplifie...

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2nd ieee International conference on Interdisciplinary Approaches in technology and Management for Social Innovation, IATMSI 2024

作者： Kumar, V. Avinash Basiri M, Mohamed Asan Indian Institute of Information Technology Design and Manufacturing Department of Electronics and Communication Engineering Kurnool518007 India Indian Institute of Information Technology Design and Manufacturing Electronics and Communication Engineering Kurnool518007 India

ISBN: (纸本)9798350360523

Operational amplifiers, also known as op-amps, are most widely used in various real-time engineering applications such as mixed signal processing, analog circuit design, and etc. They have become fundamental components in various fields, such as electronics and telecommunications. These amplifiers are primarily designed to amplify small signals into various voltages. In this paper, we propose three op-amp circuits. The first is a three stage op-amp only with analog switches that performs two stage and three stage amplifications according to the select line of the switch. The second is a three stage op-amp with two extra CS amplifiers that performs two stage and three stage amplifications simultaneously. The third one is a modification of the telescopic op-amp, which produces two different gains according to the control value. All the conventional existing and proposed opamps are designed with 180nm CMOS technology using Cadence Virtuoso. © 2024 ieee.

关键词： Operational amplifiers

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Exploring Modern Sensor in Robotics: A review

Exploring Modern Sensor in Robotics: A review

引用

2024 Asia Pacific conference on Innovation in technology, APCIT 2024

作者： Acharya, Vikas Raviraj Rao, Vidya S. Manipal Institute of Technology MAHE Department of Instrumentation and Control Engineering Karnataka Manipal India

ISBN: (纸本)9798350361537

This research paper offers a thorough analysis of modern sensors' significant influence on the robotics industry, encompassing a range of breakthroughs from basic discoveries to cutting-edge discoveries. It looks into how different optical, acoustic, and tactile sensors can help with perception, control, and navigation in robotic systems. The study also examines current developments in sensor technologies, emphasizing how robotics has been profoundly impacted by algorithms, computer vision, and artificial intelligence. The study highlights how crucial sensors are to advancing robotic systems development by carefully examining sensor applications in various fields, including space exploration, industrial automation, healthcare, and agriculture. © 2024 ieee.

关键词： Space research

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Digital Twin of a Single-Phase Home Converter System Integrating Distributed Energy Resources

Digital Twin of a Single-Phase Home Converter System Integra...

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2023 ieee International conference on Energy Technologies for Future Grids, ETFG 2023

作者： Patel, Ashish Yadav, Sisir Kumar Tiwary, Shubham Mathur, Hitesh Datt Birla Institute of Technology & Science Department of Electrical and Electronics Engineering Pilani333031 India

ISBN: (纸本)9781665471640

A digital twin (DT) is a digital representation of a physical entity or process that closely emulates the behavior of its real counterpart and is strongly connected to the real entity through data exchange links. DT technology is widely applied to various areas like smart cities, industrial automation, equipment design, manufacturing, and the automotive industry. Such applications are intended for improved design, operation, control, and maintenance of the real entity whose digital twin is prepared. Power Electronics applications heavily rely on digital electronics to model, simulate, and control the power converters. Such applications can immensely benefit from DT technology, but such applications in power converters are nascent. This paper presents a digital twin of a single-phase home inverter connected to a battery, AC load, and the grid. The inverter supplies power to the connected load in two modes- battery mode and grid mode. The digital twin of the inverter, implemented in Opal-RT, emulates the actual behavior of the hardware counterpart in both modes. © 2023 ieee.

关键词： digital twin distributed energy resources Power Converters real-time simulation solar PV

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Advancements in Generative AI: Exploring Fundamentals and Evolution 1

Advancements in Generative AI: Exploring Fundamentals and Ev...

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1st ieee International conference on Electronics, Computing, Communication and control technology, ICECCC 2024

作者： Gatla, Ranjith Kumar Gatla, Anitha Sridhar, Patti Kumar, Devineni Gireesh Naga Malleswara Rao, D.S. Institute of Aeronautical Engineering Department of EEE Telangana Hyderabad India Institute of Aeronautical Engineering Department of Information Technology Telangana Hyderabad India Marri Laxman Reddy Institute of Technology and Management Department of CSE Telangana Hyderabad India B V Raju Institute of Technology Department of EEE Telangana Narsapur India Gokaraju Rangaraju Institute of Engineering & Technology Department of EEE Telangana Hyderabad India

ISBN: (纸本)9798350371802

Generative Artificial Intelligence (AI) has emerged as a transformative field with far-reaching implications across various domains. This review manuscript provides a advancements in generative AI, focusing on its fundamental concepts, methodologies, and evolutionary trends. We begin by elucidating the foundational principles underlying generative AI techniques, including autoregressive models, Variational Autoencoders (VAEs), and Generative Adversarial Networks (GANs). Subsequently, we delve into the evolution of generative AI, discussing recent advancements, challenges, and potential future directions. Through an in-depth analysis of research literature and real-world applications, this manuscript aims to offer insights into the current landscape of generative AI and its profound impact on diverse sectors. © 2024 ieee.

关键词： Generative adversarial networks

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Model Predictive control of Bilinear Systems as Uncertain Linear Systems

Model Predictive Control of Bilinear Systems as Uncertain Li...

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ieee conference on control technology and applications (CCTA)

作者： Kafash, Sahand Hadizadeh Koeln, Justin Ruths, Justin Univ Texas Dallas Dept Mech Engn Richardson TX 75083 USA

ISBN: (数字)9781665473385

ISBN: (纸本)9781665473385

In this paper, we develop a model predictive control (MPC) strategy for discrete-time bilinear systems by interpreting the bilinear model as a linear system with uncertainty in the state matrix. Using the fact that this uncertainty is restricted to a polytopic set, we apply the existing methodologies on robust MPC for linear systems to stabilize the bilinear system. Due to the interrelated nature of the polytopic uncertainty and the ability to control the system, which are both tied to the bounds on the input, a phenomenon emerges that the region of attraction under the MPC policy can be expanded by lowering the actuator bounds. We present an approach and discussion around maximizing this region of attraction by balancing the uncertainty and input strength. Numerical examples demonstrate the efficacy of the presented technique for both cases of single-input and multi-input bilinear systems.

关键词： Linear systems Actuators Uncertainty Predictive models Prediction algorithms control systems Nonlinear systems

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PID Steering control for Lane Keeping Assist based on IMU Sensor and ROS 2

PID Steering Control for Lane Keeping Assist based on IMU Se...

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2nd ieee International conference on Electrical Engineering, Computer and Information technology, ICEECIT 2024

作者： Siagian, Marco Yosafat Salim, Taufik Ibnu Manurung, Philippians Firmansyah, Rendra Dwi Putrasari, Yanuandri Wahono, Bambang Wardana, Muhammad Khristamto Aditya Anam, Khairul Del Institute Of Technology North Sumatra Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Faculty Del Institute Of Technology North Sumatra Indonesia Intelligent System and Robotics CDAST UNEJ Jember Indonesia

ISBN: (纸本)9798331504373

This study presents the development and implementation of a PID steering control system for lane-keeping assistance using an IMU sensor and ROS (Robot Operating System). The system leverages the capabilities of the Teensy 4.1 microcontroller and the HWT905-TTL IMU sensor to maintain precise steering adjustments, crucial for autonomous vehicle applications. The PID controller, designed to respond dynamically to real-time feedback, ensures that the motor reaches designated target angles, even under varying test conditions. The control system was tuned experimentally to achieve optimal response times, resulting in a rise time of approximately 2 seconds, a steady-state error within ±1-2 degrees, and a maximum overshoot of 4.09%. Performance metrics such as the Integral of Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) further confirmed system accuracy and stability over time. Results indicate that the proposed control system effectively maintains lane-keeping with minimal error, demonstrating potential for future deployment in real-world autonomous driving scenarios. Future work will focus on enhancing system adaptability through advanced tuning techniques and sensor fusion to improve robustness in dynamic environments. © 2024 ieee.

关键词： Microcontrollers

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PSO Based Design of PID controller for Speed control of BLDC Motor for Robotic applications

PSO Based Design of PID Controller for Speed Control of BLDC...

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2023 ieee Silchar Subsection conference, SILCON 2023

作者： Danu, Meenakshi Navaneeth, M.G. Sunil Kumar, T.K. Sudheer, A.P. National Institute of Technology Calicut Department of Electrical Engineering Kerala Calicut India National Institute of Technology Calicut Department of Mechanical Engineering Kerala Calicut India

ISBN: (纸本)9798350314144

Brushless Direct Current (BLDC) motors are widely employed in robotic applications due to their high efficiency, reliability, and low maintenance requirements. However, the precise speed control of BLDC motors remains a challenge in this field. This research paper presents the mathematical model of the BLDC motor and conducts a comparative analysis of different control strategies. This paper contributes to find the optimal PID controller parameters using MATLAB auto-tuning approach, Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Artificial Neural Network (ANN). Mathematical model is developed using the MATLAB/Simulink platform. The Simulink environment is employed to estimate the performance of the proposed controller and results showed that the PSO outperforms other approaches, exhibiting lower rise time, overshoot, undershoot and settling time. © 2023 ieee.

关键词： Genetic algorithms

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Research and Design of Infrared Automatic Track-following and Obstacle Avoidance Intelligent Vehicle at Intersection 4

Research and Design of Infrared Automatic Track-following an...

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4th ieee International conference on Power, Electronics and Computer applications, ICPECA 2024

作者： Zhang, Xiaogang Liu, Ziming Zhang, Baojun Wang, Jian Liu, Chang School of Traffic and Electrical Engineering Dalian University of Science and Technology Dalian China School of Safety Engineering China University of Mining and Technology Xuzhou China Dalian Electric Power Section China Railway Shenyang Bureau Group Co. Ltd Dalian China

ISBN: (纸本)9798350359589

With the development of urban modernization, the level of motorization has been continuously improved, which has caused a large number of traffic accidents while the travel is convenient and fast. Therefore, it is particularly important to design a smart car that can follow and avoid obstacles and reduce the number of accidents at intersections. At present, most intelligent cars on the market are not designed with any auxiliary functions, low intelligence, high production cost and low stability coefficient, and the experimental results are quite different from the expected assumptions, and cannot meet the requirements of stable, accurate and fast control in different environments. With STC8A8K32S4A12 as the core, this project builds a buck module to supply power to the MCU. The main modules include infrared photoelectric tracking module, metal ultrasonic detection module, motor drive, Bluetooth remote control, etc., which can realize car tracking, ultrasonic obstacle avoidance display, Bluetooth remote control and other functions. It has reference significance for promoting intelligent transportation and safe transportation. © 2024 ieee.

关键词： automatic tracking Energy storage car microcontroller obstacle avoidance STC8A8K32S4A12

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A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED 14

A High-Precision Edge Detection Algorithm Based on Improved ...

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14th ieee International conference on Cyber technology in Automation, control, and Intelligent Systems, CYBER 2024

作者： Yuan, Yeborui Chen, Wenyuan Tang, Jie Yang, Jia School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics 110016 China University of Chinese Academy of Sciences Beijing100049 China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China

ISBN: (纸本)9798331506056

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology. © 2024 ieee.

关键词： Contrastive Learning

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