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检索条件"任意字段=International Conference on Complex Systems: Control and Modeling Problems"

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Design and Robust control of a 2 DOFs Lower Limb Exoskeleton

Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton

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international conference on Communications and Electrical Engineering (ICCEE)

作者： Ghezal, Mohamed Guiatni, Mohamed Boussioud, Ismail Renane, Cherif Sofiane Ecole Mil Polytech Complex Syst Control & Simulators Lab Algiers Algeria

ISBN: (纸本)9781728101125

For the past few decades, robotic exoskeletons have been the subject of extensive research in research laboratories. The level of performance and reliability of these systems has steadily increased. Today, these applications involve neuromotor rehabilitation and, more marginally, support for patients suffering from motor impairments. In this context, we designed and built a motorized exoskeleton with two degrees of freedom for the functional support of the lower limbs. The design was developed taking into account the different constraints related to the anatomy of the human being lower limb and the kinematicstatic compatibility and the transparency of the structure. Elastic actuators, which combine deformable elements and conventional DC motors have been produced and associated with the mechanical structure. The electronic part was also developed to instrument and control the joints of the exoskeleton. After the modeling, we have synthesized and implemented several control approaches, namely PID and Twisting second order sliding mode. The results obtained showed the capacity of the exoskeleton to perform walking cycles and its robustness with regard to external disturbances.

关键词： Lower limb exoskeleton Rotary Series Elastic actuator Robust control Mechatronics design Motion control Twisting Algorithm

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Information Technologies in the Solution of Some Environmental problems on Mountain and Foothill Landscapes

Information Technologies in the Solution of Some Environment...

引用

IEEE conference on Quality Management, Transport and Information Security, Information Technologies (IT&MQ&IS)

作者： Tatyana Yu. Khashirova Mariana A. Georgieva Inal Z. Eleev Zamir G. Lamerdonov Salih A. Zhaboev Institute of Informatics Electronics and Robotics Kabardino-Balkarian State University. H.M. Berbekova Nalchik Russia Kabardino-Balkarian State Agrarian University Nalchik Russia

Mountain and foothill landscapes are complex techno and natural systems consisting of subsystems, each of which is defeated of destructive influence of water runoff. One of the most effective ways to solve this problem is computer simulation of processes using the mathematical planning theory based on a computational experiment. A methodology of model development is proposed, as well as an integral indicator that takes into account such factors as: reliability, efficiency and environmental friendliness.

关键词： Mathematical model Rivers Information technology Sediments Adaptation models Analytical models Computational modeling

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modeling and control of a Quadcopter Flying in a Wind Field: A Comparison between LQR and Structured ∞ control Techniques

Modeling and Control of a Quadcopter Flying in a Wind Field:...

引用

2018 international conference on Unmanned Aircraft systems, ICUAS 2018

作者： Masse, Catherine Gougeon, Olivier Nguyen, Duc-Tien Saussie, David Mobile Robotics and Autonomous Laboratory PolytechniqueMontreal Canada

ISBN: (纸本)9781538613535

This article deals with the stationary flight control problem of an Unmanned Aircraft Vehicle (UAV) flying in a wind field. The main objective is to develop a robust control law to stabilize the drone flying under real-life outdoor conditions while maintaining adequate flight performances. To do so, a generic nonlinear dynamic model of the quadcopter is firstly developed;this model is then completed with the modeling of the wind disturbances, which allows the simulation of the proposed control algorithms. Two approaches for the synthesis of the control laws are compared: the first one uses Linear Quadratic Regulator (LQR) synthesis and the second one uses structured H synthesis. Simulations are conducted to evaluate the performances of both control laws when subjected to a nominal wind step input varying from 0 to 14 m/s. This particular input choice makes it possible to analyze the performance of the controllers in both transient (wind gust) and steady states (sustained wind). The results show that better performances are obtained with the structured H synthesis using the robust control theory than with the LQR synthesis using the optimal control theory. Furthermore, it is shown that the simplicity of use of the Robust control Toolbox of MATLAB favors the usage of more complex control architectures without impacting the workload of the control engineer. © 2018 IEEE.

关键词： Robust control

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Model Learning of Robot Inverse Dynamics based on Self-Organizing Map Gaussian Process Regression

Model Learning of Robot Inverse Dynamics based on Self-Organ...

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Electronic Information Technology and Computer Engineering (EITCE), international conference on

作者： Xiaoqiao Hu Yang Wang College of Information Engineering Wuhan University of technology Wuhan China

ISBN: (数字)9781728135847

ISBN: (纸本)9781728135854

An accurate inverse dynamics model of robotic systems is key in robotic applications. Analytic inverse dynamics models suffer from uncertainties of physical parameters estimation, some complex frictions and actuator dynamics. In such cases, developing machine learning algorithm to approximate the inverse dynamics model from collected data become a hot research field. In this paper, a novel approach based on Self-Organizing Map Gaussian Process Regression (SOM-GPR) is proposed for modeling inverse dynamics of a robotic arm, which is a combination of the SOM and GPR. In our method, we use the SOM neural network to divide the global GP model into multiple small-sized local GP models. The prediction for a test point is performed by the nearest local GP model. With our approach, we can achieve the accurate modeling of robot inverse dynamics models. The effectiveness of our proposed algorithm has been verified in the experiment. The result of the experiment shows that the combination of two techniques we propose has a better performance over other extensions of GPR applied to learn the inverse dynamics model.

关键词： Robots Neurons Computational modeling Neural networks Gaussian processes Inverse problems Ground penetrating radar

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BOSMI: A Framework for Non-Intrusive Monitoring and Testing of Embedded Multithreaded Software on the Logical Level 18

BOSMI: A Framework for Non-Intrusive Monitoring and Testing ...

引用

18th international conference on Embedded Computer systems - Architectures, modeling, and Simulation (SAMOS)

作者： Jahic, Jasmin Kuhn, Thomas Jung, Matthias Wehn, Norbert Fraunhofer IESE Kaiserslautern Germany Univ Kaiserslautern Kaiserslautern Germany

ISBN: (纸本)9781450364942

Traditional software testing methods are inefficient in cases where data inputs alone do not determine the outcome of a program's execution. In order to verify such software, testing is often complemented by analysis of the execution trace. For monitoring the execution trace, most approaches today insert additional instructions at the binary level, making the monitoring intrusive. Binary instrumentation operate on a low level, making it difficult to properly modify a program's states and to quantify its code coverage. In this paper, we present a framework for testing complex embedded multithreaded software on the logical level. Testing software on this level avoids dependency on concrete compilers and relates the execution to the source code, thus enabling coverage. Our non-intrusive execution monitoring and control is implemented using the LLVM interpreter compiler infrastructure. Instead of forcing thread interleaving, we suggest simulating interleaving effects through non-intrusive changes of shared variables. This makes it possible to test a single thread without executing the full software stack, which is especially useful in situations where the full software stack is not available (e.g., pre-integration testing). We complement existing approaches with new features such as dynamic configuration of monitoring and execution roll-back to the checkpoints. Our approach introduces acceptable overhead without any complex setup.

关键词： execution monitoring execution control LLVM coverage concurrency

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Neural Networks-Based Computational modeling of Bilinear control systems for Conservation Laws: Application to the control of Cogeneration

Neural Networks-Based Computational Modeling of Bilinear Con...

引用

16th international Carpathian control conference (ICCC)

作者： Danciu, Daniela Popescu, Dan Bobasu, Eugen Univ Craiova Dept Automat & Elect Craiova 200585 Romania

This paper considers the computational modeling of the class of bilinear control systems for hyperbolic conservation laws with nonstandard boundary conditions. These systems arise from (control) engineering applications of systems displaying propagation phenomena, i.e., integrating steam, water, and gas pipes. The aim of this paper is achieved by means of a systematic computational procedure previously introduced and adapted here for the class of systems under consideration. The procedure, based on a convergent Method of Lines ensures the convergence of the approximate numerical solution and also the preservation of the basic properties of the "true" solution as well as its Lyapunov stability. Thus, the approximate computational model allows numerical quantitative and qualitative analysis relevant to a specific problem. The computational efficiency of the procedure is ensured by its implementation based on some, possibly massively, parallel-structured devices belonging to the Artificial Intelligence field-the cell-based recurrent neural networks. As a case study, we consider a control system occurring in the cogeneration process (combined heat and electricity generation). A comparison between the results of the qualitative analysis and those of the numerical simulations demonstrates the correctness and effectiveness of the computational procedure for the dynamics and transients analysis. The paper ends with some conclusions and a list of open problems.

关键词： Bilinear control system cellular neural networks (CNNs) cogeneration computational modeling conservation laws heat and electricity generation process hyperbolic partial differential equations (hPDEs) method of lines (MoL)

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A dynamic traffic model and dispatching control scheme for urban road networks with ride-sharing services 23

A dynamic traffic model and dispatching control scheme for u...

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23rd international conference of Hong Kong Society for Transportation Studies: Transportation systems in the Connected Era, HKSTS 2018

作者： Liao, Jingyang Shen, Yutong Zheng, Nan School of Transportation Science and Engineering Beihang University China Beihang University China

ISBN: (纸本)9789881581471

Mobility service by ride-sharing receive significant popularity. The existing approaches generally focus on the ride-sharing problems as small-scale vehicle routing optimization problems. These approaches considers static traffic flow, rarely treating the spatial-temporal dynamic features of traffic. This paper develops a macroscopic modeling approach for the operation and control of multi-mode traffic flow in ride-sharing urban road systems where vehicles circulate with service type as single- or multiple-occupancies. We construct a macroscopic traffic flow model capturing the spatial-temporal traffic dynamics, and the mode choices among private cars, taxis and sharing vehicles that allows multi-occupancy. The model can reflect evolution of vehicular and passenger trips under different travel demand, network structures and dispatching strategies. A region-level dispatch control system of relocating taxis and ride-sharing vehicles is developed. Results show the proposed dispatching control effectively increases the utilization of vehicles and reduces congestion and travel cost. © 2018 Transportation systems in the Connected Era - Proceedings of the 23rd international conference of Hong Kong Society for Transportation Studies, HKSTS 2018. All rights reserved.

关键词： Vehicles

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Construction of Adapted Three-Level Model of control Processes of Information Security System of Critical Information Infrastructure Objects 14

Construction of Adapted Three-Level Model of Control Process...

引用

14th international Scientific-Technical conference on Actual problems of Electronic Instrument Engineering, APEIE 2018

作者： Goldobina, Anastasia S. Isaeva, Julia A. Sclifanov, Valentin V. PC Axxtel-security Novosibirsk State University of Economics and Management 9 Kolkhidskaya Novosibirsk630071 Russia Novosibirsk State University of Economics and Management 188 Gogolya Novosibirsk630112 Russia

ISBN: (纸本)9781538670545

Critical information infrastructures in the Russian Federation need to be updated in a timely manner in order to avoid the implementation of various security incidents. The authors proposed an algorithm that allows to make timely decision- making by simulating the processes of the systems. modeling of the system allows to evaluate the effectiveness of the system. © 2018 IEEE.

关键词： Decision making

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A Parallelized Multi-Solver Algorithm for Solving Large and complex Electromagnetic problems 20

A Parallelized Multi-Solver Algorithm for Solving Large and ...

引用

20th international conference on Electromagnetics in Advanced Applications, ICEAA 2018

作者： Guan, Jian Yan, Su Zhang, Kedi Jin, Jian-Ming Department of Electrical and Computer Enginnering University of Illinois at Urbana-Champaign UrbanaIL United States

ISBN: (纸本)9781538667620

A parallelized multi-solver algorithm based on Robin transmission condition (MS-RTC) is developed on distributed computing systems. To solve large and complex electromagnetic problems using the MS-RTC method, the object with its background is partitioned into multiple non-overlapping subdomains based on their respective material properties, which are modeled by either the finite element method or the method of moments (MoM). Each subdomain problem in the MS-RTC method is solved in parallel to achieve a better efficiency. In particular, for the subdomains modeled by the MoM, the parallelized multilevel fast multipole algorithm is applied to accelerate the computation on many processors. Numerical examples are given to show the parallel efficiency and modeling capability of the proposed algorithm. © 2018 IEEE.

关键词： Finite element method

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A Deep Neural Network for Anomaly Detection and Forecasting for Multivariate Time Series in Smart City

A Deep Neural Network for Anomaly Detection and Forecasting ...

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IEEE international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Junjie He Min Dong Sheng Bi Weijie Zhao Xutao Liao School of Computer Science&Engineering South China University of Technology GuangZhou

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In the progress of constructing a smart city, large amounts of univariate and multivariate times series data is generated by complex real-world systems and internet of things(IoT) with sensors such as wearable devices. Abnormal status in univariate and multivariate time series are necessary to be identified by abnormal detection methods. Time series forecasting in univariate and multivariate which refers to detect the different patterns in the input time series is significant for managers. However, building a system for anomaly detection and forecasting is challenging. On the one hand, the temporal dependency is required to capture in time series data, on the other hand, inter-correlations in different pairs of time series data are so important for the system that the system needs to encode inter-correlations. In this work, we propose an Attention based Convolutional Recurrent Encoder-Decoder (ACRED), which is effective to address anomaly detection and forecasting problems in time series. The studies based on a Secure Water Treatment tested (SWaT) dataset suggest that ACRED can outperform popular deep recurrent neural network methods.

关键词： Iron IP networks conferences Automation control systems Intelligent systems Neural networks

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