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Development of Accommodation System for Fault Caused by Change of Value of Coulomb Friction Coefficient in Electric Servo Actuators of Manipulation Robots 12

Development of Accommodation System for Fault Caused by Chan...

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12th international IEEE Scientific and Technical conference on Dynamics of systems, Mechanisms and Machines (Dynamics)

作者： Filaretov, V. Zuev, A. Khomchenko, V. G. Protsenko, A. RAS FEB Inst Automat & Control Proc Moscow Russia Far Eastern Fed Univ Vladivostok Russia Omsk State Tech Univ Omsk Russia Inst Marine Technol Problems Vladivostok Russia

ISBN: (纸本)9781538659410

The paper describes development of accommodation systems for faults caused by change of coefficient of coulomb friction value in electric servo actuators of manipulation robots. The proposed method develops diagnostic observers for detection and isolation of faults using logic-dynamic approach. A feature of this approach is the possibility of diagnosing systems even with nonsmooth nonlinearities using linear methods. For solving the task of fault values estimation, a feedback by residual signal was proposed to use in observers. The efficiency and operability of the proposed fault accommodation system was confirmed by mathematical modeling.

关键词： electric servo actuators fault identification logic-dynamic approach multilink manipulation robots accommodation diagnosis non-smooth nonlinearities Coulomb friction

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Checking Consistency of Real-Time Requirements on Distributed Automotive control Software Early in the Development Process Using UPPAAL 23rd

Checking Consistency of Real-Time Requirements on Distribute...

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23rd international conference on Formal Methods for Industrial Critical systems (FMICS)

作者： Toennemann, Jan Rausch, Andreas Howar, Falk Cool, Benjamin Tech Univ Clausthal Clausthal Zellerfeld Germany Dortmund Univ Technol Dortmund Germany Fraunhofer ISST Dortmund Germany

ISBN: (纸本)9783030002442;9783030002435

The next generation of automotive control software will run on complex networks of control units, connected by a multitude of different bus systems. With a rising number of safety-critical functions being realized (at least partly) in software, real-time requirements for distributed functions become more important (e.g., time until a system reacts to a perceived driving situation). Defining and refining such requirements consistently during system development is not trivial. Inconsistencies or unrealizability can easily be introduced when decomposing requirements (e.g., time budgets) for functions that run on multiple control units. The automotive industry is actively pursuing methods for finding such problems as early as possible in the system design. In this paper, we present some initial work on the automated verification of requirements on distributed control functions that are deployed to networks of automotive control units. The presented analysis provides insights into the consistency of requirements and relies only on information available at the end of the planning stage in the development process.

关键词： Automotive industry

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Vibration mitigation of high-rise buildings via tuned mass damper subjected to dynamic loads

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IOP conference Series: Materials Science and Engineering 2021年第1期1070卷

作者： Mohammad Shamim Miah Department of Civil Engineering International University of Business Agriculture and Technology Dhaka 1230 Bangladesh

Vibration mitigation and control problems in structural engineering are complex to deal with due to many reasons such as overall size of the structures (high-rise or low-rise), controlling systems (passive, active, semi-active, hybrid), and unknown input excitations. This study focuses into the vibration mitigation of high-rise buildings via the use of tuned-mass-damper (TMD). To do this end, a 15-storied structure is considered and the investigations are performed by employing MATLAB and SIMULINK. Even though the functionality of TMD is simple as the main controlling parameters are mass ratio, stiffness, and damping of the TMD. However, the tuning process of TMD parameters (e.g. manual tuning) gets complicated when the structures get taller and larger. Therefore, to deal with the aforementioned issues, the sensitivity of the TMD parameters have been performed. And the optimization is carried out by employing an unconstrained multi-variable function using derivative-free method and those (e.g. optimized) parameters are incorporated to perform the final simulations. Herein the performance of the TMD is compared with an uncontrolled system where no damper was used. In a nutshell, the outcome of this study shows that the vibration mitigation of high-rise buildings are possible effectively with optimized (optimal) parameters of the TMD.

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Model Transformation Method for Hybrid Approach 38th

Model Transformation Method for Hybrid Approach

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38th international conference on Information systems Architecture and Technology (ISAT)

作者： Sitek, Pawel Wikarek, Jaroslaw Stefanski, Tadeusz Kielce Univ Technol Inst Management & Control Syst Al 1000 Lecia PP 7 PL-25314 Kielce Poland

ISBN: (纸本)9783319672298;9783319672281

This paper presents a universal model transformation method for the problem which is represented in the form of facts. This method is the key element of the hybrid approach. In this approach, two environments of constraint logic programming (CLP) and mathematical programming (MP) were integrated and hybridized. Hybrid approach is very effective method for modeling and solving different kinds of decision and optimization problems in manufacturing, transportation, logistics etc. These problems are characterized by large numbers of integer variables and constraints, which build a large space of possible solutions. The model transformation method makes it possible to significantly reduce this space even before looking for a solution. The paper also presents an author's illustrative model for variant of CVRP (Capacity Vehicle Routing Problem) and many numerical experiments to test the model transformation method and evaluate its effectiveness when using a hybrid approach.

关键词： Constraint logic programming Mathematical programming Hybrid methods CVRP

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A 1-phase Static VAr Compensator with Low Current THD and Wide control Range 8

A 1-phase Static VAr Compensator with Low Current THD and Wi...

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8th IEEE international conference on Power Electronics, Drives and Energy systems (PEDES)

作者： Maiti, Dipten Mukhopadhyay, Susovan Biswas, Sujit K. Jadavpur Univ Dept Elect Engn Kolkata India Netaji Subhash Engn Coll Dept Elect Engn Kolkata India

ISBN: (纸本)9781538693155

A 1-phase Static VAr Compensator (SVC) topology is proposed using a tapped Thyristor controlled Reactor (TCR) and a third harmonic tuned filter. The TCR is controlled by firing angle delay over a limited range initially and its tapping is changed to create operation using different equivalent value of effective reactance, such that the amount of harmonics generated is limited. The third harmonic filter attenuates the corresponding harmonics to low magnitude and also presents a capacitive reactance at the fundamental frequency fur VAr compensation. Such an arrangement prevents the third harmonics from entering into the supply system while some major characteristic harmonics are kept limited, along with control of VAr through the TCR. Thus, without using any additional complex set of individual harmonic filters, or additional capacitor hank, this scheme enables reactive power control with a low current THD over a reasonable range of control, meeting requisite harmonics standards. Simplicity in construction and operational requirements of the proposed topology makes it a viable and cost effective solution. Its modeling, analysis and performance assessment are presented. Simulation and experimental results support the theoretical proposition.

关键词： Static Var Compensator Phase control Power system harmonics Power Quality Reactive power control Thyristor controlled reactors

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Motion Planning for an Underwater Mobile Manipulator by Exploiting Loose Coupling

Motion Planning for an Underwater Mobile Manipulator by Expl...

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

作者： Youakim, Dina Dornbush, Andrew Likhachev, Maxim Ridao, Pere Univ Girona Comp Vis & Robot Inst Girona Spain Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA

ISBN: (纸本)9781538680940

Intervention Autonomous Underwater Vehicle or I-AUV has recently started to grab researchers attention in the last 20 years. Only three I-AUVs have demonstrated autonomous manipulation skills: ALIVE, SAUVIM and GIRONA 500. While prior systems rely on variations of the task-priority redundancy control framework, our recent research showed preliminary results using motion planning for floating-based intervention in the presence of obstacles. With the increasing need for autonomously performing more complex manipulation tasks, two main challenges need to be addressed: the high-dimensionality of the system, and the motion coordination between the mobile base and the working arm. The latter challenge is of high importance if accurate execution is required, especially considering the floating nature of the AUV and the control challenges that come with it. Our approach relies on exploiting the loose coupling between the AUV and the arm. In particular we present an approach based on MR-MHA* (Multi-Representation, Multi-Heuristic A*), and we show how it can generate efficient trajectories by exploiting decoupling. We show for the first time the use of a search-based planner on a high-dimensional underwater manipulator. In addition, we support our claims with experimental analysis of the generated trajectories with respect to various metrics in different environments. Furthermore, we demonstrate the ability of our approach to conduct a full intervention mission in a realistic simulated underwater intervention environment.

关键词： Task analysis Planning Manipulators Search problems Trajectory Kinematics

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Mathematical Analysis of the Maltus Population Model in a Variable Environment

Mathematical Analysis of the Maltus Population Model in a Va...

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international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： A. A. Kaygermazov F. Kh. Kudayeva D. A. Khashkhozheva A. Kh. Zhemukhov S. B. Balkarova M. B. Etezova Institute of physics and mathematics Kabardino-Balkarian State University named after Kh.M. Berbekov Nalchik Russia Institute of chemistry and biology Kabardino-Balkarian State University named after Kh.M. Berbekov Nalchik Russia Kabardino-Balkarian State University named after Kh.M. Berbekov Nalchik Russia Higher school of international education Kabardino-Balkarian State University named after Kh.M. Berbekov Nalchik Russia Institute of physics and mathematics Kabardino-Balkarian State University named after Kh.M. Berbekov Nalchik Russia

ISBN: (纸本)9781728149127

The construction and application of mathematical models is the main means of knowledge of each science. Currently mathematical models along with physical and chemical are a powerful tool in the study of biological problems. One of the main elements in the construction of mathematical models describing the dynamics of the isolated population is to take info account the population under the influence of factors of different nature. Balance considerations underlie the construction of both discrete and continuous mathematical models of population dynamics. If the development of the population is carried out synchronously then it is convenient to use discrete models to describe its dynamics. At the same time, due to the fact that the death and birth of individuals is continuous, the use of discrete models in practice is limited. Therefore the most widely used in practice and deeply studied is a class of models based on ordinary differential equations. Therefore, the most widely used in practice and sufficiently deeply studied analytically is a class of models built on the basis of ordinary differential equations. The proposed work is devoted to the study of a constant population model of Malthus in a nonstationary environment for different values of the growth coefficient. Exact analytical solutions of the Cauchy problem are found. The schemes of identification of growth parameters on the basis of the interval between two consecutive divisions are constructed. Test calculations on the computer are carried out. Graphs of population size change are constructed. The obtained results allow us to conclude that the Malthus model describing the exponential phase of population development can describe in particular the logistic process of continuous growth.

关键词： Mathematical model Sociology Statistics Biological system modeling Analytical models

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Soft Switching Stacked-Up Boost Push-Pull Converter 14

Soft Switching Stacked-Up Boost Push-Pull Converter

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

作者： Osipov, Aleksandr V. Lopatin, Aleksandr A. Latypov, Raimzhan A. Shemolin, Ilysia S. Tomsk State University of Control Systems and Radioelectronics Russia JSC Academician M.F. Reshetnev Information Satellite Systems Zheleznogorsk Russia

ISBN: (纸本)9781538670545

This work describes boost type push-pull converter with actives rectification based on center tapped topology. It is shown that active rectification not only reduce static losses but makes converter bidirectional, which can be used to charge accumulator battery as well. Besides that active rectification makes transfer function linear down to the idle by recuperation input filter energy. control method to minimize static losses has been proposed. Commutation transitions have been analyzed. It is shown that inductor current reversal due to active rectifier employed provides resonant discharge of intrinsic capacitances and soft commutation for switching transitions of low side transistors. Soft commutation of high side transistors is provided by inductor current inertia. Prototype has been developed to verify analysis validity. Soft commutation has been confirmed. Efficacy achieved is 98.5%. © 2018 IEEE.

关键词： Zero voltage switching

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modeling and Prediction of Human Behaviors based on Driving Data using Multi-Layer HMMs

Modeling and Prediction of Human Behaviors based on Driving ...

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international conference on Intelligent Transportation

作者： Qi Deng Dirk Söffker Chair of Dynamics and Control University of Duisburg-Essen Duisburg Germany

ISBN: (纸本)9781538670255

Understanding and predicting of human driving behavior play an important role in the development of Advanced Driver Assistance systems (ADAS) for assisting drivers. In this contribution, a Multi-Layer (3-layer) Hidden Markov Models (HMM) approach is proposed and developed for predicting human driving behavior. For a single HMM, more inputs will cause a longer training time, higher complexity, and even overfitting. The proposed method can fit to complex situations, also when more inputs are considered. In this contribution the first layer is considered to predict driving behavior in certain single working cases, i.e. each input variable is used to train a single model independently in the first layer. The outputs are combined into different models containing different information in the second and third layers. All HMMs in combination with a prefilter are used to predict driving behavior in parallel. Lane changing, as a usual driving maneuver, will be used as representative example task to be predicted. Based on observations (training), the HMM algorithm calculates the most probable driving behavior through the observation sequences. Furthermore, the observed sequences are also used for training of HMM during modeling *** define model parameters and to improve the model performance NSGA-II is used. Using experimental data taken from driving simulator, it can be concluded that selecting optimal parameters increase the performance of driving behavior prediction. The effectiveness of the suggested Multi-Layer HMMs has been successfully proved based on experiments. The results show that the newly introduced approach outperforms alternative approaches applied to the same data set.

关键词： Hidden Markov models Vehicles Predictive models Training Heuristic algorithms Input variables Silicon

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Poster: Atomic-SDN: A Synchronous Flooding Framework for SDN control of Low-Power Wireless 19

Poster: Atomic-SDN: A Synchronous Flooding Framework for SDN...

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Proceedings of the 2019 international conference on Embedded Wireless systems and Networks

作者： Michael Baddeley Usman Raza Mahesh Sooriyabandara George Oikonomou Reza Nejabati Dimitra Simeonidou Toshiba Research Europe Ltd. University of Bristol

ISBN: (纸本)9780994988638

We present Atomic-SDN, a highly flexible framework capable of dynamically scheduling synchronous flooding phases to accommodate multiple traffic patterns resulting from application-level requirements. Specifically, AtomicSDN accommodates the complex and varying traffic generated in a Software Defined Networking (SDN) control solutions for low-power wireless networks, where the highoverhead and centralized nature of SDN causes considerable problems due to the constrained nature of the network. By utilizing the high-reliability and low-latency properties of synchronous flooding, our results show that Atomic-SDN is capable of providing minimal bounded latency guarantees for network-wide SDN operations. This reduces the time to perform SDN operations on all nodes by orders-ofmagnitude, and allows core SDN concepts to be pushed to the very edge of IoT networks.

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