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international conference on Unmanned Aircraft systems (ICUAS)

作者： Alexopoulos, Alexander Kirsch, Benjamin Badreddin, Essameddin Heidelberg Univ Chair Automat ZITI Mannheim Germany

ISBN: (纸本)9781509044948

Multi-agent pursuit-evasion games are a common way to describe problems in topics like police missions, surveillance, or warfare. Since many agents are involved in such problems, a game-theoretical solution seems reasonable. Game-theoretical solution approaches are generally very complex, especially in games with more than two agents, as it is the case in this paper. More and more unmanned aerial vehicles (UAV), in particular multi-rotors, are used in such applications because of their high maneuverability in all three dimensions. Especially in dangerous missions and applications UAVs excel, as they do not risk the life of the pilot. Tele-operated UAVs still require a pilot which has to be trained to do a task and a constant radio link between the pilot and the vehicle has to be maintained. An autonomous agent, able of performing the task of cooperative pursue and evasion can substitute the pilot. In this work, a realization of cooperative pursuit-evasion games with UAVs is presented. A real-time implementation is proposed, enabling a game-theoretical solution of the regarded problem. The applicability was proven during several real outdoors flight experiments with a hex-rotor UAV. Furthermore, the results obtained by the flight experiments were compared to simulations of the same games. Although, the most experimental results met the reference, disturbances like strong wind, wind gusts and sensor uncertainties affected the results significantly.

关键词： Games Attitude control Real-time systems Rotors Velocity control Unmanned aerial vehicles Mathematical model

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complex Issues in Regulator Designing

Complex Issues in Regulator Designing

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international Russian Automation conference (RusAutoCon)

作者： Vadim A. Zhmud Wolfram Hardt Lubomir V. Dimitrov Hubert Roth Department of Automation Novosibirsk State Technical University Novosibirsk Russia Department of Computer Science Chemnitz University of Technology Chemnitz Germany Technical University of Sofia Sofia Bulgaria Department of Automatic Control Engineering University of Siegen Siegen Germany

ISBN: (纸本)9781538649398

The problem of control object with the use of feedback loop is extremely relevant, because only this method provides for the accurate control. It happened that the theory of automatic control paid much attention to the methods of regulators design based on mathematical transformations, using a mathematical model of the object. It describes the transformation of an input signal into an output signal inside the object. The methods were imperfect, so one of the following simplification methods was the most frequently used: the mathematical model of the object was simplified, or the calculations were carried out with approximation, for example, the oscillations in the system were studied by the amplitude and phase of the first harmonic only. Therefore, the result of using such regulators in practice did not exactly correspond to the theory provisions. To get mathematical and experimental basis of system developer tool, a solution of the elementary sub-problems was required. Among them there are tasks of the control of an object of the first and second order. Today the situation has changed. There is a means of sufficiently accurate mathematical modeling of the behavior of the system consisting of the loop with an object and a regulator. There are software and mathematical means for regulator calculating by the method of numerical optimization. Now there is sufficient software for calculating the regulators of the object, having a rather complex mathematical model. However, this did not change the situation. A lot of articles are still published, in which it is suggested performing additional fine tuning to achieve the required parameters after calculating the regulator and its technical implementation. Quite a big number of articles is still being published; they consider the methods of the empirical tuning of regulators based on the parameters of the transient process with a given fixed gain coefficient. This situation demonstrates insufficient using of the important t

关键词： Regulators Task analysis Cost function Mathematical model Numerical models Automation

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2017 international conference on control, Automation and Diagnosis, ICCAD 2017

2017 International Conference on Control, Automation and Dia...

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2017 international conference on control, Automation and Diagnosis, ICCAD 2017

ISBN: (纸本)9781509059874

The proceedings contain 98 papers. The topics discussed include: parameter complexity reduction of multivariable systems using genetic algorithm;Bayesian network and probability boxes to analyze uncertainty in unavailability assessment;fuzzy diagnosis based on p-time Petri nets for a winding machine;an analysis of the dynamics of SPICE memristor model;electric cars -sharing systems modeling and analysis;modeling and control of a reaction wheel pendulum with visual feedback;design and implementation of wireless system by using microcontrollers and microcomputer with application to drive acquisition system;design and implementation of wireless system by using microcontrollers and microcomputer with application to drive acquisition system;state and unknown input estimation using proportional multiple integral observer for uncertain Takagi-Sugeno Fuzzy systems;bond graph based automated modeling of switchmode power converters using VHDL-AMS;EMD-based denoising by customized thresholding;diagnosis and prognosis of hybrid dynamic systems;extraction of geometric parameters of underground tube using GPR;nonlinear predictive control based on the bilinear-Laguerre model;modeling a system with hybrid automata and multi �models;and centralized sliding mode control with input delay of complex system: application to a four tank system.

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Applications of the Theory of Fuzzy Sets in complex control systems 20

Applications of the Theory of Fuzzy Sets in Complex Control ...

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20th IEEE international conference on Soft Computing and Measurements (SCM)

作者： Logvinov, S. S. Univ Manchester Math Finance Manchester Lancs England

ISBN: (纸本)9781538618103

Despite the fact that for the first time odd sets were mentioned in 1965, the theory of fuzzy sets does not lose its relevance. The fact that their values are combined into an infinite set allows more detailed description of the models and obtaining accurate data. The theory of fuzzy sets gives a lot of scope for creativity both in operator activity, namely in writing rules for logical-linguistic models and interpretation of results, and for programming, namely, writing approximations for the values of fuzzy sets. Moreover, the convenience and relative simplicity of their use help to make managerial decisions in places that are difficult to access for powerful computers.

关键词： measurement fuzzy set logic and argumentation modeling of systems

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Optimal Solutions to Indoor Temperature control problems for District Heating systems in Short Supply Conditions 2

Optimal Solutions to Indoor Temperature Control Problems for...

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2nd international Ural conference on Measurements (UralCon)

作者： Basalaev, A. A. South Ural State Univ Chelyabinsk Russia

ISBN: (纸本)9781538605219

In the modern-day automated district heating systems a lot of importance is attached to functional reliability of the heat generating units and pipeline networks to ensure uninterrupted supply of heat medium of expected quality and quantity. This is usually achieved by redundancy of both generating equipment and heat medium transport pipelines. However, such redundancy can not be provided for all systems as a consequence of technical or economic constraints. Therefore, during heating system accidents, it starts operating in the so called short supply condition. In this case, there is a need to redistribute heating energy between consumers, for example, according to their social significance. At the same time, in the general case, distribution among different-ranking consumers is disproportional with maximum possible maintenance of required temperature range for more significant consumers. Meanwhile it is required to distribute energy to among equal-ranking consumers in a proportionate manner. Distribution of this kind can be properly performed only on the basis of thermotechnical calculation. Such calculation can be promptly performed and implemented using automated district heating systems, whose control should be based on modeling and simulation. The article considers algorithms required for implementation of automation systems operating to the principle of buildings indoor temperature maintenance in short supply conditions of a heating system.

关键词： district heating system modeling and simulation optimization heat medium temperature short supply condition emergency condition

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Power Tracking in a MMC-Multi-Terminal HVDC System with Centralized and Decentralized MPC using a Black Box modeling Approach 52

Power Tracking in a MMC-Multi-Terminal HVDC System with Cent...

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52nd international Universities Power Engineering conference (UPEC)

作者： Nowak, T. Suriyah, M. Leibfried, T. Karlsruhe Inst Technol KIT IEH Inst Elect Energy Syst & High Voltage Technol Karlsruhe Germany

ISBN: (纸本)9781538623442

This paper introduces and compares a decentralized and centralized model predictive control scheme for power tracking in a multi-terminal HVDC system based on MMCs. The MPC scheme requires a prediction, which is implemented by treating the HVDC system as a black box. With this approach it is possible to use an MPC scheme without detailed knowledge about the controlled system, which eases the design of the controller and allows using this method on more complex systems. While a centralized MPC achieves a better performance, a decentralized MPC is more practical, since it does not require communication between the terminals. This paper investigates the performance loss of decentralized MPCs compared to a centralized MPC and introduces a new method to increase the performance of decentralized MPCs by iteratively minimizing undesired control interactions. The proposed method is not limited to HVDC systems.

关键词： black box model decentralized control dynamic matrix control (DMC) input-output model model predictive control multi-terminal HVDC optimization

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An asynchronous MI-based BCI for brain-actuated robot grasping control

An asynchronous MI-based BCI for brain-actuated robot graspi...

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international conference on Computer systems, Electronics and control (ICCSEC)

作者： Zhang, Wenchang Sun, Fuchun Chen, Jianhua Wu, Hang Su, Weihua Tan, Chuanqi Tsinghua Univ Dept Comp Sci & Technol Beijing Peoples R China Inst Med Equipment Tianjin Peoples R China

ISBN: (纸本)9781538635735

The brain-actuated robot grasping control is a hard and complex problem due to the low classification accuracy of mental pattern and the high degree of freedom of robot hand and arm. We propose an asynchronous MI-based BCI that allows the user to control the moving direction of robot hand and arm by intension whenever he feels necessary to adjust the moving path. In order to improve the classification accuracy and real-time performance, the thresholding method and LDS modeling approach are employed for online motor imagery pattern recognition. Then, the shared control strategy combines the automatic grasping control of robot and mental control by our asynchronous MI-based BCI to grasp the object with obstacle. Finally, the two experiments illustrate the advantages of our methods in the classification accuracy and grasping performance aspects.

关键词： asynchronous BCI MI shared control brain-actuated

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Fuzzy dynamic models of situation analysis, decision support, and control in complex systems

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Journal of Physics: conference Series 2019年第1期1391卷

作者： Armen Bagdasaryan Dubravka Gavric Department of Mathematics College of Engineering and Technology American University of the Middle East Kuwait

In this work we consider the theoretical foundations of building fuzzy models of system dynamics, analysis of situations, their development, and control in complex weakly-structured systems based on knowledge modeling and expert preferences. The proposed fuzzy models can serve as mathematical tool for analyzing the behavior of a system in various situations, as well as to serve as the basis of specialized computer simulation systems of decision support in unstructured fuzzy situations. As is known, decision making problems under uncertainty can be divided into two groups: decision making in static situations and decision making in dynamic situations. For decision making in static situations, the methods and models of decision support based on the theory of choice are developed. For decision-making in dynamic situations, the dynamic models, including those based on expert knowledge, are used. To build a dynamic model of a situation, the expert knowledge about physical, economic, or social processes occurring in a system, which are represented as a cognitive map, is employed. The models of analysis of static situations are focused on evaluation and ordering of alternatives, and models of analysis of dynamic situations are focused on generating of strategies (alternatives) to achieve the targets of control, that is, the desired target state of the situation. Thus, one of the aims of this paper is to develop mathematical methods for constructing integrated decision support models based on fuzzy models of hierarchical estimation, control, and fuzzy cognitive modeling.

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Summary of Medical Robot Technology Development

Summary of Medical Robot Technology Development

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IEEE international conference on Mechatronics and Automation

作者： Xu Zhang Xu Ma Jinpeng Zhou Qi Zhou Tianjin Key Laboratory of High Speed Cutting & Precision Maching Tian jin University of Technology and Education Tianjin China Tianjin Key Laboratory for Control Theory& Applications in Complicated System Tian jin University of Technology Tianjin China Tian jin University of Technology Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

In the past few decades, medical robots have developed rapidly. In this paper, medical robots are divided into the following categories based on the application of medical robots: neurosurgery robots, orthopedic robots, endoscopic surgery robots, instrutive robots, rehabilitation-assisted robots and capsule robots. The research and application status of typical surgical robots at home and abroad are briefly introduced, and medical 3D image modeling, virtual surgery simulation, open-source surgical systems, and remote surgery in complex environments involved in medical robots are studied. Key technologies were discussed, and the future direction of medical robots was pointed out.

关键词： Medical robotics Navigation Biomedical imaging Neurosurgery

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THE STRUCTURE OF VULNERABLE NODES IN BEHAVIORAL NETWORK MODELS OF complex ENGINEERED systems

THE STRUCTURE OF VULNERABLE NODES IN BEHAVIORAL NETWORK MODE...

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ASME international Design Engineering Technical conferences / Computers and Information in Engineering conference (IDETC/CIE 2017)

作者： Walsh, Hannah S. Dong, Andy Tumer, Irem Y. Oregon State Univ Sch Mech Ind & Mfg Engn Design Engn Lab Corvallis OR 97331 USA Univ Sydney Fac Engn & Informat Technol Sydney NSW 2006 Australia

ISBN: (纸本)9780791858219

All methods associated with failure analysis attempt to identify critical design variables and parameters such that appropriate process controls can be implemented to detect problems before they Occur. This paper introduces a new approach to the identification of critical design variables and parameters through the concept of bridging, nodes. Using a network-based perspective in which design parameters and variables are modeled as nodes, results show that vulnerable parameters tend to be bridging nodes, which are nodes that connect two or more groups of nodes that are organized together in order to perform an intended function. This paper extends existing modeling capabilities based upon a behavioral network analysis (BNA) approach and presents empirical results identifying the relationship between bridging nodes and parameter vulnerability as determined by existing, network metric-based methods. These topological network robustness metrics were used to analyze a large number of engineering systems. Bridging nodes are associated with significantly larger changes in network degradation, as measured by these metrics, than non-bridging nodes when subject to attack (p < 0.001). The results indicate the structural role of vulnerable design parameters in a behavioral network.

关键词： Network models Design Engineering systems and industry applications modeling Failure analysis Network analysis Robustness Process control

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