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检索条件"任意字段=IFAC Symposium on Modelling and Control in Biomedical Systems"

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Estimation of cornering stiffness using ultra-local model and LPV-based observer 12

Estimation of cornering stiffness using ultra-local model an...

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12th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Fenyes, Daniel Hegedus, Tanias Gaspar, Peter HUN REN Inst Comp Sci & Control SZTAKI Kende U 13-17 H-1111 Budapest Hungary Budapest Univ Technol & Econ Dept Control Transportat & Vehicle Syst Stoczek U 2 H-1111 Budapest Hungary

The paper presents an observer design method for estimating the slips and the cornering stiffness of autonomous road vehicles. As a first step, the dynamical one-wheeled bicycle model is reformulated to express directly the slips of the vehicle. In the second step, a polytopic model-based observer is designed which can deal with the variation of the scheduling parameters (longitudinal velocity, cornering stiffness). In order to eliminate the parameter uncertainty an ultra-local model is applied by which the cornering stiffness is estimated. The effectiveness and the operation of the proposed observer method are demonstrated through a complex scenario in the high-fidelity simulation software, CarMaker. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： ultra-local model observer lateral dynamics cornering stiffness

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Using Redistribution Index to Identify an Outdated Detail Prior in the DCT-based 3D EIT Algorithm 12

Using Redistribution Index to Identify an Outdated Detail Pr...

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12th ifac symposium on Biological and Medical systems (BMS)

作者： Chen, Rongqing Krueger-Ziolek, Sabine Battistel, Alberto Rupitsch, Stefan J. Moeller, Knut Hsch Furtwangen Inst Tech Med ITeM Jakob Kienzle Str 17 Villingen Schwenningen Germany Univ Freiburg Fac Engn Georges Kohler Allee 101 Freiburg Germany

The integration of detailed prior information obtained from morphological images into the discrete cosine transformation (DCT) based 3D electrical impedance tomography (EIT) algorithm significantly enhances the interpretability of the obtained results. However, the presence of outdated detail priors may introduce inaccuracies, thereby compromising the accuracy of clinical decisions. Consequently, detecting outdated detail priors in an EIT algorithm is essential for ensuring the reliability of the reconstruction results. To address this concern, we propose the redistribution index to assess and quantify potential errors associated with detailed priors. Simulations covering various atelectasis scales were conducted to evaluate the redistribution index behavior. An increase is observed in the redistribution index, escalating from 0.02 at 64% atelectasis to 0.50 at 0% atelectasis when the detail prior is outdated. The redistribution index from the accurate detail prior remains small and stable. This finding demonstrates that the redistribution index effectively detects outdated detail priors, but consideration of specific application requirements and tolerances in the clinical setting is necessary. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： biomedical imaging systems biomedical system modeling simulation and visualization model formulation decision support systems for the control of physiological and clinical variables

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A Kernel-Based Approach to Data-Driven Actuator Fault Estimation 12

A Kernel-Based Approach to Data-Driven Actuator Fault Estima...

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12th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Sheikhi, Mohammad Amin Esfahani, Peyman Mohajerin Keviczky, Tamas Delft Univ Technol Delft Ctr Syst & Control Mekelweg 2 NL-2628 CD Delft Netherlands

This paper considers the problem of fault estimation in linear time-invariant systems when actuators are subject to unknown additive faults. A data-driven approach is proposed to design an inverse-system-based filter for reconstructing fault signals when the underlying fault subsystem can be either a minimum phase or non-minimum phase system. Unlike traditional two-step data-driven methods in the literature, the proposed method directly computes the filter parameters from input-output data to avoid the propagation of identification errors through an inverse operation into the fault estimates, which is the case in state-of-the-art filter designs. Furthermore, regarding out-of-sample performance of the filter, a kernel-based regularization is exploited to not only reduce the model complexity but also enable the design scheme to take advantage of available prior knowledge on the underlying system behavior. This knowledge can be incorporated into basis functions, promoting the desired solution to the optimization problem. To validate the effectiveness of the proposed method, a simulation study is conducted, demonstrating a notable reduction in estimation error compared to state-of-the-art methods. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Fault estimation Data-driven Non-minimum phase systems Kernel-based regularization

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Fault Diagnosis of PEM Fuel Cells: An Assessment of two Bayes' Filters 12

Fault Diagnosis of PEM Fuel Cells: An Assessment of two Baye...

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12th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Allam, A. Mangold, M. Zhang, P. Bingen Univ Appl Sci D-55411 Bingen Germany Univ Kaiserslautern Landau Inst Automat Control D-67653 Kaiserslautern Germany

In this paper a comparative performance assessment of two Bayes' Filters, the square root unscented Kalman filter (SRUKF) and the particle filter (PF), is conducted in terms of detecting the failure events of flooding and catalytic degradation. The Bayes' filters operate within a multiple model fault diagnosis framework, where the models are distinguished by an augmented state vector incorporating a system parameter, namely the mass transfer coefficient of the gas diffusion layer or the exchange current density. To achieve a solid comparison, a multi-scale PEMFC degradation model is derived and used in the simulation study to better emulate the behaviour of the PEMFC in the case of catalytic degradation. Simulation results demonstrate that the early detection of flooding and catalytic degradation can be achieved by both the SRUKF based and the PF based multiple model fault diagnosis system, with a slight performance superiority for the SRUKF. Copyright (c) 2024 The Authors.

关键词： Fault Detection and Diagnosis Proton Exchange Membrane Fuel Cells Flooding Catalytic Degradation Sqaure Root Unscented Kalman Filter Particle Filter

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12th ifac symposium on Biological and Medical systems, BMS 2024 - Proceedings

12th IFAC Symposium on Biological and Medical Systems, BMS 2...

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12th ifac symposium on Biological and Medical systems, BMS 2024

The proceedings contain 108 papers. The topics discussed include: international results for breast cancer screening system survey;extracting features and sentiment from text posts and comments relating to polycystic ovary syndrome;non-contact acquisition of ppg signal using chest movement-modulated radio signals;model parameter identification as an index of fluid responsiveness;estimating aortic blood pressure from femoral pressure measurements via an arterial transfer function: a gaussian decomposition approach;determining distribution of a seven-dimensional point cluster with a novel hypersphere method;improved control system for digital imaging elasto-tomography breast cancer screening;radio frequency measurements for electrical impedance tomography;skin servo control for neonatal incubators: a novel approach using infrared thermography;and quantitative evaluation of camera-based 3D reconstruction in laparoscopy: a review.

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Semantic modelling of a Manufacturing Value Chain: Disruption Response Planning 18

Semantic Modelling of a Manufacturing Value Chain: Disruptio...

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18th ifac symposium on Information control Problems in Manufacturing (INCOM)

作者： Elshafei, Basem Martinez-Arellano, Giovanna Chaplin, Jack C. Ratchev, Svetan Univ Nottingham Inst Adv Mfg Nottingham England

Supply chains have been profoundly impacted by recent global disruptions, resulting in widespread shortages of parts, goods, and raw materials, significantly affecting the manufacturing sector to the extent of halting production lines completely. This paper employs semantic ontology reasoning to model a disruption in the value chain for a manufacturer, to generate and plan potential responses. First, a clear understanding of the available resources, capabilities, and entities is essential to construct a digital representation of the relationships throughout the chain. Then, using ontological reasoning, the model identifies the affected processes and products specific to the disruption, subsequently suggesting a set of coordinated responses to maintain productivity. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Semantic Ontology Disruption modelling Supply Shortages Reasoning Engines Supply Network Resilience Automated Responses to Disruptions

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Automatic Drawbridge Scheduling by Integrating Highway and Waterway Traffic 17

Automatic Drawbridge Scheduling by Integrating Highway and W...

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17th ifac symposium on control of Transportation systems (CTS)

作者： Mooij, M. J. Dominguez Frejo, J. R. Reppa, V. Delft Univ Technol Dept Maritime & Transport Technol Delft Netherlands Univ Seville Dept Syst Engn & Automat Control Seville Spain Delft Univ Technol Dept Maritime & Transport Technol Delft Netherlands

As inland waterway usage intensifies, it increasingly intersects and conflicts with railway and road transportation modes, highlighting the need for efficient management of these critical junctures. In particular, movable bridges represent a key intersection of highway and waterway traffic but also a potential source of conflict. This paper proposes and analyzes the use of automatic schedulers that consider both highway and waterway traffic, reduce conflicts, and make key decisions about bridge use. The METANET macroscopic traffic model is elaborated to allow the simulation of drawbridge openings on the highway mainline, based on the modelling of mainstream metering. Several MPC-based schedulers are proposed using the designed highway traffic model and key vessel information, aiming to study the impact of the bridge opening and scheduling on highway traffic. The simulation results indicate a significant reduction in traffic conflicts at drawbridge intersections due to the implementation of these schedulers. The functioning of the schedulers is shown to be robust and demonstrate verifiable behavior, indicating their high potential in real-world applications. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Movable bridges

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Hierarchical Fault-Tolerant Coverage control for an Autonomous Aerial Agent 12

Hierarchical Fault-Tolerant Coverage Control for an Autonomo...

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12th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Papaioannou, Savvas Vitale, Christian Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. Univ Cyprus KIOS Res & Innovat Ctr Excellence KIOS CoE CY-1678 Nicosia Cyprus Univ Cyprus Dept Elect & Comp Engn CY-1678 Nicosia Cyprus

Fault-tolerant coverage control involves determining a trajectory that enables an autonomous agent to cover specific points of interest, even in the presence of actuation and/or sensing faults. In this work, the agent encounters control inputs that are erroneous;specifically, its nominal controls inputs are perturbed by stochastic disturbances, potentially disrupting its intended operation. Existing techniques have focused on deterministically bounded disturbances or relied on the assumption of Gaussian disturbances, whereas non-Gaussian disturbances have been primarily been tackled via scenario-based stochastic control methods. However, the assumption of Gaussian disturbances is generally limited to linear systems, and scenario-based methods can become computationally prohibitive. To address these limitations, we propose a hierarchical coverage controller that integrates mixed-trigonometric-polynomial moment propagation to propagate non-Gaussian disturbances through the agent's nonlinear dynamics. Specifically, the first stage generates an ideal reference plan by optimising the agent's mobility and camera control inputs. The second-stage fault-tolerant controller then aims to follow this reference plan, even in the presence of erroneous control inputs caused by non-Gaussian disturbances. This is achieved by imposing a set of deterministic constraints on the moments of the system's uncertain states. Copyright (c) 2024 The Authors.

关键词： Fault-tolerant control Autonomous vehicles Stochastic systems

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Efficient tuning for motion control in diverse systems: a Bayesian framework 20

Efficient tuning for motion control in diverse systems: a Ba...

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20th ifac symposium on System Identification (SYSID)

作者： Catenaro, E. Aarnoudse, L. Formentin, S. Oomen, T. Politecn Milan Dept Elect Informat & Bioengn Milan Italy Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands

Feed-forward control is widely used in motion control systems that involve repetitive tasks, leading to substantial performance improvements. This paper presents a model-free feed-forward optimization framework centred around Bayesian Optimization (BO). Bypassing the need for exhaustive system modelling, the method directly optimizes the Iterative Learning control (ILC) degrees of freedom based on a user-defined parametrization of the feed-forward controller. Experimental results on a motion control application show significant improvements with respect to more classical ILC. A notable advantage emerges when dealing with an industrially relevant case with multiple similar plants;the optimizer is shown to adeptly adjust the feed-forward control to be compliant with the response of the measured system. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)

关键词： Bayesian Optimization Iterative Learning control Feed-forward control Model-free Optimization Motion System

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12th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2024 - Proceedings

12th IFAC Symposium on Fault Detection, Supervision and Safe...

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12th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2024

The proceedings contain 126 papers. The topics discussed include: tree based diagnosis enhanced with meta knowledge applied to dynamic systems;making systems fail-aware: a semi-supervised machine learning approach for identifying failures by learning the correct behavior of a system;diagnosis driven anomaly detection for cyber-physical systems;a multiple sensor fault diagnosis scheme for autonomous surface vessels;active thruster fault diagnosis for an overactuated autonomous surface vessel;sensor set decomposition for enhanced distributed sensor fault isolability of marine propulsion systems;a survey on data-driven fault diagnostic techniques for marine diesel engines;actuator fault tolerant control for a remotely operated vehicle based on adaptive extended Kalman filter;and nodal hydraulic head estimation through unscented Kalman filter for data-driven leak localization in water networks.

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