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Underwater modeling, Experiments and control Strategies of FroBot

Underwater Modeling, Experiments and Control Strategies of F...

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25th IEEE/RSJ international conference on Intelligent Robots and systems (IROS)

作者： Yang Yi Fan Zhenhui Zhu Zhongjing Zhang Jianqing Beijing Inst Technol Sch Automat Beijing Peoples R China Beijing Inst Technol State Key Lab Intelligent Control & Decis Complex Beijing Peoples R China Beijing Inst Technol Beijing Peoples R China HIKVISION Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781538680940

FroBot can locomote both on land and underwater based on its dual swing-legs propulsion mechanism. This paper presents the dynamic model, experimental studies, and control strategies of FroBot underwater. In this work, an experimental setup consisting of two-degree-of-freedom(2DOF) robotic swing-legs is built to study the model of FroBot underwater. We first improve the dynamic model of caudal fins based on the Morison equation. Combined with experimental data, we optimize the model parameters and then obtain the optimal control strategy of uniform swing. In addition, we apply the CPGs control strategy and improve it based on the FroBot model. These two control strategies have their advantages and demonstrate the potential for future use in control applications.

关键词： Legged locomotion Mathematical model Dynamics Propulsion Force Acceleration

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On the use of agent-based modeling for smart farming 22

On the use of agent-based modeling for smart farming

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22nd international conference on System Theory, control and Computing, ICSTCC 2018

作者： Lopez-Jimenez, Jorge Quijano, Nicanor Wouwer, Alain Vande Department of Electrical and Electronics Engineering Universidad de Los Andes Colombia Automatic Control Laboratory University of Mons Belgium

ISBN: (纸本)9781538644447

In this paper, we investigate the possibility of using Agent-Based Models (ABMs) for describing a crop growing system. Even though ABMs have received increasing attention for modeling ecological systems, their use in modern farming is still limited. To develop such a model, a proper definition of the plants as agents can be provided following a standard protocol named ODD (overview, design concepts, and details). This description allows to define complex interaction between environment (e.g., soil, climatic conditions, and limited resources) and plants, and between plants. To validate this preliminary development, a comparative study is achieved with a classical crop-modeling environment, i.e., AquaCrop, using potato plants as sample crop. © 2018 IEEE.

关键词： Cultivation

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Application of Robust control Barrier Function with Stochastic Disturbance Model for Discrete Time systems 5

Application of Robust Control Barrier Function with Stochast...

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5th international-Federation-of-Automatic-control (IFAC) conference on Engine and Powertrain control, Simulation and modeling (E-COSM)

作者： Takano, Rin Oyama, Hiroyuki Yamakita, Masaki Tokyo Inst Technol Meguro Ku 2-12-1 Oookayama Tokyo 1528552 Japan

For engine control systems, there are several constraints to prevent damages of engines due to bad phenomena, eg. knocking. When the dynamics of the systems are modeled as state space representations, the constraints can be represented as state constraints. Therefore, many researchers have studied controllers to achieve good control performances without violating given state constraints. Recently, a new method to solve such constraint control problems has been proposed, which is called CLF-CBF-QP. The control method was proposed first for continuous time systems and was extended to discrete time systems. It can achieve good control performances in the nominal case, however it is impossible to achieve good results in the presence of disturbances. This paper proposes a robust constrained stabilization control using control barrier function and Gaussian process regression for discrete time systems affected by stochastic disturbances, and show an application to the engine control systems. (C) 2018, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Constrained System control Barrier Function Discrete time systems

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control Algorithm for an Unwinding Machine's Electric Motor on a Rebar Production Line 10

Control Algorithm for an Unwinding Machine's Electric Motor ...

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10th international conference on Electrical Power Drive systems (ICEPDS)

作者： Lukyanov, Sergey I. Bodrov, Evgeny E. Safin, Ildar R. Nosov Magnitogorsk State Tech Univ Elect & Microelect Dept Magnitogorsk Russia United Serv Co Maintenance & Repair Dept Magnitogorsk Russia

ISBN: (纸本)9781538647134

One of the key factors leading to product quality improvement by reducing the imperfect product percentage on rebar production lines lies in modernization of electric motors' control system. Known technical solutions for those systems were developed without consideration of their effect to the quality of the rebar. One of the important quality factors characteristic of the rebar is depths of notches on it. It is established that the electric motors that drive the rebar line's units can affect the depths of notches on the processed rebar wire. The objective of this paper is the development of the unwinding machine's electric motor control system algorithm which would decrease imperfect product percentage caused by the deviation of the depths of notches on the wire from desired values. The objective was achieved based on analytical methods for solving algebraic problems, computer modeling methods and statistical processing of the experimental data consisting of depths of notches values and the line's electric motors' load torque alteration values. Novelty of the paper is in proposing new control algorithm for the unwinding machine electric motor. That algorithm stabilizes rebar wire tension on a specified level at the inlet of profile stand by the means of alteration of the breaking torque that is produced by the unwinding machine's electric motor. That, in turn, decreases depths of notches deviation. As a result of the implementation of this algorithm there was obtained decrease in rebar percentage that has depths of notches out of allowable range from 7.2 % to 1.1 %.

关键词： continuous production control system synthesis metal product industries motor drives optimized production technology torque control

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Single Phase Grid Tied PV System modeling and control with Low Voltage Ride Through Capability

Single Phase Grid Tied PV System Modeling and Control with L...

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international conference on Electrical, Communication, and Computer Engineering (ICECCE)

作者： Hassan Zahid Butt Muhammad Awon Hassan Abdullah Khalid U.S Pakistan Center for Advanced Studies in Energy NUST Islamabad Pakistan

ISBN: (纸本)9781728138268

Solar energy generation and its integration with the utility grid is gaining importance with the increasing trend towards distributed generation systems but is also causing problems for the grid in terms of stability and protection. Disconnection of a distributed PV system from the grid due to anti-islanding protection in under voltage conditions may lead to a more drop in the grid voltage that can cause more distributed PV systems to disconnect, thus leading to a huge cascaded failure. To avoid this condition, ancillary service like low voltage ride through is being used in countries like China, Germany and Italy, that avoids disconnection of PV inverters for normally occurring voltage dips in the grid and have reactive power injection capability for dynamic grid support. This study presents a model of a 3500W single-phase grid tied PV system connected to a 240V Vrms grid. Low voltage ride through control using peak current control has been implemented and the operation principle has been tested via simulations in MATLAB/Simulink. Three different scenarios having voltage sags of different amplitudes have been generated keeping the PV generation constant and the working of the algorithm is verified via the German grid code. The results show that the implemented method is effective to provide voltage support in under voltage conditions with a satisfactory performance based on the grid requirement.

关键词： Inverters Reactive power Voltage control Low voltage Current control Distributed power generation Power quality

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Practical Implementation and Evaluation of Deep Reinforcement Learning control for a Radiant Heating System 18

Practical Implementation and Evaluation of Deep Reinforcemen...

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5th ACM international conference on systems for Built Environments (BuildSys)

作者： Zhang, Zhiang Lam, Khee Poh Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9781450359511

Deep reinforcement learning (DRL) has become a popular optimal control method in recent years. This is mainly because DRL has the potential to solve the optimal control problems with complex process dynamics, such as the optimal control for heating, ventilation, and air-conditioning (HVAC) systems. However, DRL control for HVAC systems has not been well studied. There is limited research on the real-life implementation and evaluation of this method. This study implements and deploys a DRL control method for a radiant heating system in a real-life office building for energy efficiency. A physics-based model for the heating system is first created and then calibrated using the measured building operation data. After that, the model is used as a simulator to train the DRL agent. The trained agent is then deployed in the actual heating system, and a smartphone App is used to let the occupants submit their thermal preferences to the DRL agent. It is found the DRL control method can save 16.6% to 18.2% heating demand compared to the old rule-based control logic over the three-month deployment period. However, several limitations of this study are found, such as the low participation rate of the App-based thermal preference feedback system, inefficient DRL training, and the requirement for a large amount of building data.

关键词： HVAC control deep reinforcement learning energy efficiency

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A domain-specific language for supporting event log extraction from ERP systems 7

A domain-specific language for supporting event log extracti...

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7th international conference on Computers Communications and control, ICCCC 2018

作者： Simović, Ana Pajić Babarogić, Sladan Pantelić, Ognjen Department of Information Systems Faculty of Organizational Sciences University of Belgrade Belgrade Serbia

ISBN: (纸本)9781538619346

Process mining techniques provide capabilities for discovering the real business process flows from data, and compare expected and actual behaviors. Actual behaviors, in many cases, are obtained from Enterprise Resource Planning (ERP) systems and other enterprise information systems transaction logs. These transaction logs provide valuable insight into the companies' business processes. They traditionally hold a large amount of data in a set of conceptual documents related to each other through one-to-many and many-to-many relations, where information changes occur in transactions. Underlying data model gives rise to complex interactions between multiple data objects without a clear notion of a unique case identifier in an isolated process. However, enterprise process mining techniques can be applied only to event logs containing event data related to one notion of process instances. Within ERP systems, such event logs are not explicitly given and substantial domain knowledge is required to select the right data from multiple tables in relational databases. In order to respond to this need, in this paper we present an abstract syntax of domain-specific language (DSL) for facilitating the extraction of an appropriate dataset from ERP systems by domain experts, and its conversion into event log based on XES IEEE standard. It is developed specifically to describe behavior over complex data from ERP systems in terms of multiple interacting artifacts. The goal is to align the data and process perspectives, supporting extraction of complex ambiguous cases, affected by data convergence and data divergence problems. The basic concepts of the language as well as principles are discussed in depth in this paper. © 2018 IEEE.

关键词： Extraction

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Requirement modeling of Simulation Platform for High-Speed Maglev Operation control System Based on Multi-Resolution modeling 18

Requirement Modeling of Simulation Platform for High-Speed M...

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18th COTA international conference of Transportation Professionals: Intelligence, Connectivity, and Mobility, CICTP 2018

作者： Chen, Yijun Zhao, Huahua Yu, Yi Nai, Wei College of Electronics and Information Engineering Tongji Univ. 4800 Caoan Rd. Shanghai China Maglev Transportation Engineering RandD Center Tongji Univ. 4800 Caoan Rd. Shanghai China Dept. of Electronic and Information Engineering Tongji Zhejiang College Jiaxing314051 China

ISBN: (数字)9780784481523

ISBN: (纸本)9780784481523

For large-scale complex systems such as a high-speed maglev operation control system (OCS), it is important and necessary to build a simulation platform with multi-granularity requirement modeling. A multi-resolution method is summarized, and the composition of an OCS simulation platform is analyzed. Then, taking a vehicle safety computer 1 (VSC1) as an example, we present the required modeling, which is based on analysis of low resolution, medium resolution, and high resolution. Finally, this paper summarizes and points out the direction of further research. © 2018 American Society of Civil Engineers.

关键词： Simulation platform

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modeling the Operation of the System in the CODESYS Software Environmentper

Modeling the Operation of the System in the CODESYS Software...

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international Science and Technology conference (EastConf)

作者： A.A. Gusarova S.V. Shilkina MGSU Moscow State University of Civil Engineering Moscow Russia

ISBN: (纸本)9781728119328

Nowadays the world seeks to automate all branches of life. Automation plays a significant role in large-scale manufacturing, due to the large volume of production. complex processes that have many controlled and testing parameters are difficult to implement by a team of workers. There is also a human factor that can disrupt the process. To solve this problem, programmable logical controllers (PLCs) were created that took on the role of a “brain” in a controlled system. The task of the controller is to evaluate all the factors of the system and to correct its operation to perform the given mode. So, all automation systems are built. Each process has its own peculiarities and mode. The PLC runs on the program loaded into it, which corresponds to the selected process. Correct writing of the program is one of the main tasks in the design of the system. The article discusses the programming environment of CoDeSys controllers, which makes it possible for any specialist, with the help of logical operations in a different view, to compile a program for any process. Writing the program is possible in any convenient format: in the language of relay contact circuits, in the graphical language of functional block charts, and also with the help of high-level diagrams describing the stages and conditions of the transitions in the contemporary computer programming language. In addition, the complex CoDeSys makes it possible for you to see the program in operation, using the visualization editor. Visualization is possible without connecting the PLC. In this article, an example of using the CoDeSys complex to develop a simulation program for the batching and blending process of a glass charge is considered. In the work, various ways of modeling the process are presented for a more illustrative demonstration of the system operation and debugging of the controller. When the flow chart of this process is constructed, a visualization of the process is carried out by means of a graphical

关键词： Sensors Visualization Software Process control Mixers Production Tools

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High efficiency electric vehicle charging strategy based on model predictive control

High efficiency electric vehicle charging strategy based on ...

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IEEE international conference on Automation, Electronics and Electrical Engineering (AUTEEE)

作者： Shichun Yang Xinan Zhou Yang Hua Rong He Xinhua Liu Sida Zhou School of Transportation Science and Engineering Beihang University Beijing China Dyson School of Design Engineering Name of Organization Imperial College London UK

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150314

The accuracy of lithium-ion battery charging control has a profound effect on the cycle life and safety of battery system in electric vehicles. Therefore, we propose a highly efficient charging method based on model predictive control. A high-precision SOC estimation approach can be carried out by unscented Kalman filter based on Thevenin model, and parameters are identified by simulated annealing algorithm. Further, the model predict control is presented and the implementation is realized. Finally, precision of SOC estimation is validated by experiment. Simulation results show that compared with the CCCV method, the proposed battery charging strategy has advantages of both high accuracy and high efficiency, hence delivering its practicability to be extended to battery systems applying complex operating conditions.

关键词： Batteries Integrated circuit modeling State of charge Mathematical model Estimation Equivalent circuits Kalman filters

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