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20th international conference on Remote Engineering and Virtual Instrumentation: Open Science in Engineering, REV 2023 co-organized with the international Edunet World conference, IEWC 2023

作者： Vasiliu, Nicolae Călinoiu, Constantin Vasiliu, Daniela Stoica, Costinel University Politehnica from Bucharest Bucharest Romania Hidroelectrica SA Bucharest Romania

ISBN: (纸本)9783031424663

This paper contains a report on a long series of theoretical and experimental activities aiming to create a new type of electro hydraulic digital speed governor for hydraulic KAPLAN turbines. Computational methods, control software, design problems, and experimental validation using REV tools are shortly presented. The first successful implementations running without any damage from 2002 is shortly described starting by the concept, modeling, simulation, mechanical design, digital design, manufacturing process, set up of the long communication systems, programming, software validation, and full performances test. High-speed solenoids controlled servovalves, with one, two or three stages were used, together with constant pressure supply systems or high-speed swash plate servopump. The guarantee test have shown the validity of all the designs. High quality controllers, designed for 30 years of operation as ADWIN and PXI were promoted, together with remote control capabilities in complex SCADA systems, with redundant architectures. The simulation language SIMCENTER AMESIM was intensively used, together with Automation Studio, ADbasic, MATLAB, Simulink, and LabVIEW. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： ADbasic ADwin Real - Time controllers AMESIM Digital Speed Governors Remote control Two-Stage Servovalves

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Real2Sim2Real Transfer for control of Cable-driven Robots via a Differentiable Physics Engine

Real2Sim2Real Transfer for Control of Cable-driven Robots vi...

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IEEE/RSJ international conference on Intelligent Robots and systems (IROS)

作者： Wang, Kun Johnson, William R., III Lu, Shiyang Huang, Xiaonan Booth, Joran Kramer-Bottiglio, Rebecca Aanjaneya, Mridul Bekris, Kostas Rutgers State Univ Comp Sci New Brunswick NJ 08901 USA Yale Univ Mech Engn & Mat Sci New Haven CT USA

ISBN: (纸本)9781665491907

Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control, however, due to high dimensionality, complex dynamics, and a coupled architecture. Physics-based simulation is a promising avenue for developing locomotion policies that can be transferred to real robots. Nevertheless, modeling tensegrity robots is a complex task due to a substantial sim2real gap. To address this issue, this paper describes a Real2Sim2Real (R2S2R) strategy for tensegrity robots. This strategy is based on a differentiable physics engine that can be trained given limited data from a real robot. These data include offline measurements of physical properties, such as mass and geometry for various robot components, and the observation of a trajectory using a random control policy. With the data from the real robot, the engine can be iteratively refined and used to discover locomotion policies that are directly transferable to the real robot. Beyond the R2S2R pipeline, key contributions of this work include computing non-zero gradients at contact points, a loss function for matching tensegrity locomotion gaits, and a trajectory segmentation technique that avoids conflicts in gradient evaluation during training. Multiple iterations of the R2S2R process are demonstrated and evaluated on a real 3-bar tensegrity robot.

关键词： Robots

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IMC Based PID controller for Spherical Tank Liquid Level control 1

IMC Based PID Controller for Spherical Tank Liquid Level Con...

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1st international conference on AIML-Applications for Engineering and Technology, ICAET 2025

作者： Kadu, C.B. Bhosale, V.P. Vikhe, P.S. Mandhare, V.V. Pravara Rural Engineering College Department of Instrumentation & Control Engineering Loni India Pravara Rural Engineering College Department of Computer Engineering Loni India

ISBN: (纸本)9798350355611

In the process industries, it's hard to control a non-linear process. Nonlinear behavior is frequently seen in real processes. The challenging problem of controlling a spherical tank is result of its nonlinearity caused by the continuously varying cross section. An IMC-based PID controller is employed to improve efficiency of controlling the level of spherical tanks which exhibit nonlinear dynamics. For processes up to second-order with dead time and first-order numerator dynamics, a single tuning parameter will be offered. The process model is determined employing mathematical modeling and standard step response-based system identification. The laboratory model of an interacting and non-interacting nonlinear system is introduced, which is capable of performing more complex tasks. To verify the effectiveness of the suggested IMC based PID controller, results of real-time experiments and a simulation study on spherical tank level control are incorporated. © 2025 IEEE.

关键词： Three term control systems

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OPERATIONS OPTIMISATION OF A GAS-LIFT COMPRESSION SYSTEM USING A DIGITAL-TWIN APPROACH 69

OPERATIONS OPTIMISATION OF A GAS-LIFT COMPRESSION SYSTEM USI...

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69th ASME Turbomachinery Technical conference and Exposition (ASME Turbo Expo) (GT)

作者： Mucino, Marco Savage, John Whitecastle Engn London England

ISBN: (纸本)9780791888018

The Oil and Gas industry is facing complex challenges including spiralling exploration and development costs, aging assets, long lead times on equipment, shortage of skilled people, among others. As such, it is imperative existing assets are operated efficiently and properly maintained to maximise production. A typical approach to achieve this objective considers industry best practices, international standards, manufacturer recommendations and condition monitoring techniques such as oil analysis, vibration, thermography, ultrasound, etc. However, the advent of Industry 4.0 has promoted the development and adoption of advanced techniques: a prominent example being the Digital-Twin concept. A Digital-Twin is a virtual model developed using advanced modelling and data handling techniques to replicate and predict the behaviour of individual equipment or entire production systems. A Digital-Twin approach can deliver predictive monitoring capabilities;analysis of complex systems;define solutions to operational issues;virtual testing and confirmation of proposed modifications;etc. This paper presents the development of a Digital-Twin for troubleshooting and operations optimisation of a motor-driven three-stage gas-lift compression system with a long history of unstable operation, recurrent emergency shutdown events and low availability. The multidisciplinary approach includes analysis of the control system architecture, assessment of field instrumentation, data validation, performance benchmarking, dynamic modelling and off-line control system testing. A cost-effective solution with only minor software modifications was designed, tested and demonstrated before its implementation. The successful outcome of the project reduced the need for constant operator intervention, reduced emergency shutdown events, increased availability of the gas compression system from 86% to 98.2%, reduced gas imports, increased gas exports and enhanced oil production.

关键词： centrifugal compressors digital twins dynamic modeling operations and maintenance control system control redesign

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Investigation of Response from the Micro Objects of complex Shape Irradiated by Acoustic Wave 17

Investigation of Response from the Micro Objects of Complex ...

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IEEE 17th international conference on the Experience of Designing and Application of CAD systems (CADSM)

作者： Andriychuk, Mykhaylo Melnyk, Mykhaylo Orynchak, Mariia NASU Pidstryhach Inst Appl Problems Mech & Math Lvov Ukraine Lviv Polytechn Natl Univ Dept CAD Syst Lvov Ukraine

ISBN: (纸本)9798350310856

A numerical solution to a problem of the wave scattering by a medium with a set of small inclusions is studied under asymptotic assumption. The boundary impedance conditions are given on the boundaries of inclusions. The numerical data show that the characteristics of illumination of the medium with embedded inclusions differ from those that characterize the material free of such inhomogeneities. The above makes possible to simulate numerically the materials with the specific material parameters.

关键词： smasll inclusion asymptotic approach analytical-numerical solution illuminationn characteristic numerical modeling

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A Method for the Synthesis of Robust control systems Providing High-Precision Movement and Stabilization of Autonomous Underwater Vehicle-Manipulator systems 1

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7th international Russian Automation conference, RusAutoCon 2024

作者： Yukhimets, D.A. Zuev, A.V. Timoshenko, A.A. Institute of Automation and Control Processes Far East Branch of Russian Academy of Sciences 5 Radio St. Vladivostok690041 Russia M.D. Ageev Institute of Marine Technology Problems of Far East Branch of Russian Academy of Sciences 5 Building A Sukhanova St. Vladivostok690091 Russia

ISBN: (数字)9783031824944

ISBN: (纸本)9783031824937

The paper describes a method for synthesizing robust control systems for autonomous underwater vehicle-manipulator systems, which allow for high-precision movement of them along complex spatial trajectories and their stabilization at some point in the water space when performing manipulation operations in hover modes over work objects. The proposed system makes it possible to achieve this result even in the presence of uncertainties and inaccuracies in setting the parameters of dynamic models of an underwater robot, its propulsion and steering complex or manipulator by dividing the underwater vehicle control signal into two parts: the first is formed on the basis of these dynamic models with specified nominal parameters, the second provides compensation for uncertainties and inaccuracies in setting these parameters. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Dynamic model Manipulator Robust system Underwater vehicle Underwater vehicle-manipulator system

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Design and Development of a Hydrogel-based Soft Sensor for Multi-Axis Force control

Design and Development of a Hydrogel-based Soft Sensor for M...

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IEEE international conference on Robotics and Automation (ICRA)

作者： Cai, Yichen Hardman, David Iida, Fumiya Thurut, Thomas George Univ Cambridge Bioinspired Robot Lab Cambridge England

ISBN: (纸本)9798350323658

As soft robotic systems become increasingly complex, there is a need to develop sensory systems which can provide rich state information to the robot for feedback control. Multi-axis force sensing and control is one of the less explored problems in this domain. There are numerous challenges in the development of a multi-axis soft sensor: from the design and fabrication to the data processing and modelling. This work presents the design and development of a novel multi-axis soft sensor using a gelatin-based ionic hydrogel and 3D printing technology. A learning-based modelling approach coupled with sensor redundancy is developed to model the environmentally dependent soft sensors. Numerous real-time experiments are conducted to test the performance of the sensor and its applicability in closed-loop control tasks at 20 Hz. Our results indicate that the soft sensor can predict force values and orientation angle within 4% and 7% of their total range, respectively.

关键词： Hydrogels

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2022 7th international conference on Green Energy Technologies, ICGET 2022 July 14-16, 2022, Paris, France Integration design and control strategy of sCO2 Brayton cycle for concentrated solar power system

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ENERGY REPORTS 2023年 9卷 2861-2868页

作者： Hu, Feng Wang, Zhifeng Chinese Acad Sci Key Lab Solar Thermal Energy & Photovolta Syst Beijing 100190 Peoples R China Chinese Acad Sci Inst Elect Engn Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100190 Peoples R China Beijing Engn Res Ctr Solar Thermal Power Beijing 100190 Peoples R China

The concentrated solar power (CSP) system integrated with supercritical carbon dioxide (sCO2) Brayton cycle is considered as the major development trend of clean energy technology in mitigating climate change and promoting sustainable energy owing to its more compact structure, higher efficiency and lower cost. While the system integration and control are more complex because the thermal energy storage and heat exchange units are obliged to be provided with capacity and property matching with sCO2 compression and expansion units. Therefore, there is an urgent need for the whole system modeling and dynamic simulation of sCO2-CSP plants. In the paper, running logic of the integrated system is determined and novel system dynamic simulation platform is built. Moreover, for the sake of optimizing the system design, different control strategies are further studied. When the extremum-seeking control strategy is used, the average daily generating capacity of the system is 2.06% higher than that of the traditional fixed inventory control strategy;and when iterative learning control strategy is used, the average daily generating capacity of the system is 2.15% higher than that of the traditional fixed inventory control strategy. The progress of the technology will promote the development of new power systems and early realization of carbon neutrality.(c) 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： Sustainable power system Supercritical carbon dioxide Concentrated solar power Dynamic simulation control strategy

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Numerical modeling Results of the Combined Approach of Labor Cost Estimation 8

Numerical Modeling Results of the Combined Approach of Labor...

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8th international conference on Information, control, and Communication Technologies, ICCT 2024

作者： Galina, Saniya B. Galin, Rinat R. Laboratory of Cyber-Physical Systems V.A. Trapeznikov Institute of Control Sciences of RAS Moscow Russia

ISBN: (纸本)9798331517564

The combined method of estimation labor cost based on the analysis of literature on the topic of labor cost estimation, including modern approaches and those that were used before the intensification of IT technology development to support the life cycle of the project, a combined method of estimation was developed. Labor cost estimation in the development of complex technical devices is an important project management tool. Various estimation methods provide accurate and objective data necessary for resource planning and budget control. The proposed method takes into account the factors affecting labor costs, which provides an increase in the efficiency of the development of complex technical devices. The paper presents the results of a numerical experiment of labor cost estimation. An important role in the evaluation is played by the availability of qualified and experienced staff of specialists, as well as possible professional development during the project implementation period. © 2024 IEEE.

关键词： Cost estimating

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An mhADMM-PDAS method for sparse optimal control problems

An mhADMM-PDAS method for sparse optimal control problems

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2024 international conference on Computational modeling and Applied Mathematics - Chinese-Russian conference on Differential Equations and Applications, CMAM 2024 and DEA 2024

作者： Wang, Tongtong Chen, Xiaotong Shi, Yurong School of Science Dalian Maritime University Liaoning Dalian116026 China

We consider sparse optimal control problems with elliptic PDE constraints and L1 -control cost in this paper. Inspired by the outstanding performance of the multi-level heterogeneous alternating direction method of multipliers (mhADMM) and the primal-dual active set method (PDAS), we integrate both approaches' advantages and propose a two-phase mhADMM-PDAS method. In Phase I, we apply the mhADMM algorithm, which is known for its capability of attaining solutions with moderate accuracy. Then, in Phase II, the solutions obtained from Phase I are further refined to achieve higher precision through the employment of the PDAS method as a post-processor. Additionally, numerical results illustrate the efficiency of the mhADMM-PDAS method. © Published under licence by IOP Publishing Ltd.

关键词： Optimal control systems

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