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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1444 条记录，以下是121-130 订阅

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Bayesian Transfer Learning Between Uniformly Modelled Bayesian Filters 16th

Bayesian Transfer Learning Between Uniformly Modelled Bayesi...

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16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Jirsa, Ladislav Kuklišová Pavelková, Lenka Quinn, Anthony The Czech Academy of Sciences Institute of Information Theory and Automation Prague Czech Republic Trinity College Dublin the University of Dublin Dublin Ireland

ISBN: (纸本)9783030631925

We investigate sensor network nodes that sequentially infer states with bounded values, and affected by noise that is also bounded. The transfer of knowledge between such nodes is the principal focus of this chapter. A fully Bayesian framework is adopted, in which the source knowledge is represented by a bounded data predictor, the specification of a formal conditioning mechanism between the filtering nodes is avoided, and the optimal knowledge-conditioned target state predictor is designed via optimal Bayesian decision-making (fully probabilistic design). We call this framework Bayesian transfer learning, and derive a sequential algorithm for pairs of interacting, bounded filters. To achieve a tractable, finite-dimensional flow, the outputs of the time step, transfer step and data step are locally projected onto parallelotopic supports. An informal variant of the transfer algorithm demonstrates both strongly positive transfer of high-quality (low variance) source knowledge—improving on a former orthotopically supported variant—as well as rejection of low-quality (high variance) source knowledge, which we call robust transfer. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Decision making

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Functional Model-based Resource Management: An Application to the Electric Vehicle Thermal control 17

Functional Model-based Resource Management: An Application t...

引用

17th international conference on informatics in control, automation and robotics (icinco)

作者： Boyer, Baptiste Fiani, Philippe Sandou, Guillaume Godoy, Emmanuel Vlad, Cristina Sherpa Engn R&D Dept F-92000 Nanterre France Univ Paris Saclay CNRS Cent Supelec Lab Signaux & Syst F-91190 Gif Sur Yvette France

ISBN: (纸本)9789897584428

Environmental and economical constraints lead to designing more and more complex systems. To face these issues, Model Based System Engineering proposes an approach based on an interconnected multi point of view system modeling. Each representation of the system has a different abstraction level that is valuable at different stages of the system design and suits its own objectives respectively: 1) purposes and global constraints definition, 2) architecture choices, components sizing and strategies testing, 3) accurate simulation results on various scenarios. Interconnections between the different levels have two objectives: on one hand be able to define the requirements of a lower level using higher level information and on the other hand send back simulation variable values from a lower level to evaluate the higher level requirements satisfaction. Resource management is carried out through a functional model, which is a macroscopic and low-complexity model of the system providing fast simulation results. In this paper, this multi-level methodology is applied to the thermal system management of an electric vehicle in order to optimize its resource management. The different levels design and the development of their interconnections are detailed.

关键词： Resource Management control Design Multi-level control Systems Modeling Functional Modeling Thermal Management Model based System Engineering Complex Systems Electric Vehicle Optimization Problem

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Computational Experience with a Modified Newton Solver for Discrete-Time Algebraic Riccati Equations 15th

Computational Experience with a Modified Newton Solver for D...

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15th international conference on informatics in control, automation and robotics (icinco)

作者： Sima, Vasile Benner, Peter Natl Inst Res & Dev Informat Bucharest 011455 Romania Max Planck Inst Dynam Complex Tech Syst D-39106 Magdeburg Germany

ISBN: (纸本)9783030319939;9783030319922

A Newton-type algorithm and line search strategies for solving generalized discrete-time algebraic Riccati equations are dealt with. The conceptual algorithm is presented, and its main computational steps are discussed. Evaluation of residuals and closed-loop matrices at each iteration, determination of the step size, and the use of line search with backtracking, are addressed in detail. Algorithmic and implementation issues taken into account in the developed solver are described. An extensive performance investigation on a large collection of examples has been performed, and the results are summarized. Both usual line search and line search with backtracking, and either identity or diagonal performance index matrices are considered. Difficult examples are included. The results often show significantly improved accuracy, measured in terms of normalized and relative residuals, in comparison with the state-of-the-art MATLAB function. The new solver is strongly recommended for improving the solutions computed by other solvers.

关键词： Algebraic Riccati equation Numerical linear algebra Numerical methods Optimal control Optimal estimation

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informatics in control, automation and robotics 12th international conference, icinco 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers 1st ed. 2016

引用

丛书名： Lecture Notes in Electrical Engineering

2016年

作者： Joaquim Filipe Kurosh Madani Oleg Gusikhin Jurek Sasiadek

ISBN: (数字)9783319318981

ISBN: (纸本)9783319318967

The present book includes a set of selected extended papers from the 12th international conference on informatics in control, automation and robotics (icinco 2015), held in Colmar, France, from 21 to 23 July 2015. The conference brought together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. Four simultaneous tracks will be held, covering Intelligent control Systems, Optimization, robotics, automation, Signal Processing, Sensors, Systems Modelling and control, and Industrial Engineering, Production and Management. informatics applications are pervasive in many areas of control, automation and robotics. icinco 2015 received 214 submissions, from 42 countries, in all continents. After a double blind paper review performed by the Program Committee, 14% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the conference, based also on the assessment of presentation quality and audience interest, so that this book includes the extended and revised versions of the very best papers of icinco 2015. Commitment to high quality standards is a major concern of icinco that will be maintained in the next editions, considering not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, participation level and logistics.

关键词： control theory robotics automation

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CoachGAN: Fast Adversarial Transfer Learning between Differently Shaped Entities 17

CoachGAN: Fast Adversarial Transfer Learning between Differe...

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17th international conference on informatics in control, automation and robotics (icinco)

作者： Mounsif, Mehdi Lengagne, Sebastien Thuilot, Benoit Adouane, Lounis Univ Clermont Auvergne SIGMA Clermont CNRS Inst Pascal F-63000 Clermont Ferrand France Univ Technol Compiegne Heudiasyc CNRS F-60200 Compiegne France

ISBN: (纸本)9789897584428

In the last decade, robots have been taking an increasingly important place in our societies, and shall the current trend keep the same dynamic,their presence and activities will likely become ubiquitous. As robots will certainly be produced by various industrial actors, it is reasonable to assume that a very diverse robot population will be used by mankind for a broad panel of tasks. As such, it appears probable that robots with a distinct morphology will be required to perform the same task. As an important part of these tasks requires learning-based control and given the millions of interactions steps needed by these approaches to create a single agent, it appears highly desirable to be able to transfer skills from one agent to another despite a potentially different kinematic structure. Correspondingly, this paper introduces a new method, CoachGAN, based on an adversarial framework that allows fast transfer of capacities between a teacher and a student agent. The CoachGAN approach aims at embedding the teacher's way of solving the task within a critic network. Enhanced with the intermediate state variable (ISV) that translates a student state in its teacher equivalent, the critic is then able to guide the student policy in a supervised way in a fraction of the initial training time and without the student having any interaction with the target domain. To demonstrate the flexibility of this approach, CoachGAN is evaluated over a custom tennis task, using various ways to define the intermediate state variables.

关键词： Transfer Learning Generative Adversarial Networks control Differentiable Models

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Application of a Distributed Containment Algorithm: Trajectory Tracking for Mobile Robots 14th

Application of a Distributed Containment Algorithm: Trajecto...

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14th international conference on informatics in control, automation and robotics (icinco)

作者： Vizuete, Renato Abad Torres, Jackeline Leica, Paulo Univ Grenoble Alpes UFR Phys Ingn TerreEnvironmMecan Grenoble France Escuela Politec Nacl Dept Automatizac & Control Ind Quito Ecuador

ISBN: (纸本)9783030112929;9783030112912

In this work, a distributed containment algorithm is proposed for the control of a formation of unicycle-type robots and mobile manipulators. This algorithm considers an interaction network among the agents in the formation, which is associated with a weighted directed graph. The structure of the formation considers the cases when virtual or real leaders delimit it. Further, the leaders form a convex hull that bounds the formation, and the positions of the followers inside this convex hull are determined by the Laplacian matrix of the network graph. The robot models are separated into a kinematic and a dynamic component. For the kinematic component, a containment algorithm is designed, while for the dynamic component, a controller based on the compensation of the mechanical parameters is proposed. The designed controllers are verified through computer simulations considering distinct number of agents and formation shapes. Additionally, some perturbations and mechanical parameters variations were applied to verify the robustness of the control laws.

关键词： Multi-agent system Formation control Distributed control Containment algorithm Consensus Unicycle-type robot Mobile manipulator

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Local Decay of Residuals in Dual Gradient Method with Soft State Constraints 14th

Local Decay of Residuals in Dual Gradient Method with Soft S...

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14th international conference on informatics in control, automation and robotics (icinco)

作者： Perne, Matija Gerksic, Samo Pregelj, Bostjan Jozef Stefan Inst Jamova Cesta 39 Ljubljana Slovenia

ISBN: (纸本)9783030112929;9783030112912

Quadratic programs resulting from a model predictive control problem in real-time control context are solved using a dual gradient method. The projection operator of the method is modified so as to implement soft state constraints with linear and quadratic cost on constraint violation without directly calculating values of slack variables. Evolution of iterates and residuals throughout iterations of the modified method is studied. We notice that in most iterations, the set of the constraints that are active and the ones that are violated does not change. Observing the residuals through multiple iterations in which the active and violated sets do not change leads to interesting results. When the dual residual is transformed into a certain base, its components are decaying independently of each other and at exactly predictable rates. The transformation only depends on the system matrices and on the active and violated sets. Since the matrices are independent of the system state, so is the transformation, and the decay rate of the components stays constant through multiple iterations. The predictions are confirmed by numerical simulations of MPC control, which is shown for the AFTI-16 benchmark example.

关键词： Model predictive control Gradient method Optimization

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Intelligent Labware Transportation Solution for the Hierarchical Life Science automation 14th

Intelligent Labware Transportation Solution for the Hierarch...

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14th international conference on informatics in control, automation and robotics (icinco)

作者： Neubert, S. Roddelkopf, T. Goede, B. Gu, X. Junginger, S. Stoll, N. Thurow, K. Univ Rostock Inst Automat Friedrich Barnewitz Str 8 D-18119 Rostock Germany Automat Celisca Ctr Life Sci Friedrich Barnewitz Str 8 D-18119 Rostock Germany

ISBN: (纸本)9783030112929;9783030112912

In life science laboratories spatially distributed automation systems are increasingly applied to process complex professional tasks of an overall workflow. The transportation-logistic fusion of interacting automation systems is so far often the job of human operators who are parallel involved in regular laboratory tasks. This paper describes the integration of mobile robots and human operators in a hierarchical workflow management system (HWMS) to increase the degree of automation concerning complex process chains. Mobile robots combine distributed automation systems by labware-transportation processes and enable automated building-wide workflows. The necessity of laboratory assistance for transportation and assistance tasks in these workflows still remains and consequently the flexible integration of human operators, via mobile devices such as smartphones and/or tablet PCs, in the environment of life science automation (LSA) is pursued. Besides the infrastructure for the connection of automation systems (instruments, workstations, integrated systems) also a transportation infrastructure needs to be considered for the workflow control, which distributes and controls transportation and assistance tasks for mobile robots and human operators. The development of the transportation infrastructure is discussed in detail by three potential variants. The implementation and application of the favored variant is amplified in context with automation systems.

关键词： Life science automation Laboratory execution system Mobile robot integration Dynamical scheduling Human machine interaction

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Convexification of Semi-activity Constraints Applied to Minimum-time Optimal control for Vehicles with Semi-active Limited-slip Differential 17

Convexification of Semi-activity Constraints Applied to Mini...

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17th international conference on informatics in control, automation and robotics (icinco)

作者： Sedlacek, Tadeas Odenthal, Dirk Wollherr, Dirk BMW M GmbH Daimlerstr 19 D-85748 Garching Germany Tech Univ Munich Dept Elect & Comp Engn Chair Automat Control Engn Theresienstr 90 D-80333 Munich Germany

ISBN: (纸本)9789897584428

Semi-active actuators provide a good compromise between low energy consumption and high performance. Thus, they are deployed in many engineering applications, often combined with other actuators into complex systems requiring an integrated control concept for optimal performance. Optimal control can be used to objectively evaluate the performance of such systems as well as to deduce optimal control input trajectories and optimal passive system designs. We present a novel approach which enables considering a broad class of semi-active actuators in optimal control problems via convex sets. This procedure is exemplarily depicted for semi-active limited-slip differentials which are used in automotive applications for lateral torque distribution. The performance benefit gained by installing a semi-active limited-slip differential at the rear axle of a vehicle is objectively quantified by numerically computing time-optimal trajectories on a racetrack via direct optimal control with Hermite-Simpson collocation. Although the overall problem remains nonconvex for this particular application, this procedure is a first step towards a fully convex implementation. By iteratively increasing the upper boundary for the differential torque in multiple optimisations, we identify the smallest upper differential torque boundary for optimal laps and determine the lap time sensitivity regarding this limit.

关键词： Minimum Lap Time Semi-active Limited-slip Differential Convexification Time Optimal control Hermite-Simpson Collocation Vehicle System Dynamics

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Scalable Electric-motor-in-the-Loop Testing for Vehicle Powertrains 17

Scalable Electric-motor-in-the-Loop Testing for Vehicle Powe...

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17th international conference on informatics in control, automation and robotics (icinco)

作者： D'hondt, Thomas Mollet, Yves Joos, Arthur Jacques Cecconi, Leonardo Sarrazin, Mathieu Gyselinck, Johan Siemens Ind Software NV Test Div Res Pk 1237Interleuvenlaan 68 B-3001 Leuven Belgium Univ Libre Bruxelles BEAMS Dept Ave Franklin Roosevelt 50CP165-52 B-1050 Brussels Belgium

ISBN: (纸本)9789897584428

Model-Based System Testing (MBST) combines physical testing and simulation models to enable the validation of complex systems early-on in their design cycle. Therefore, it shows great potential for the validation of increasingly complex Electric Vehicle (EV) powertrains. In this work, the MBST methodology is applied to a downscaled powertrain, including a Permanent-Magnet Synchronous Machine (PMSM) and a 3-phase switch-mode inverter. This System-under-Test (SuT) is integrated into an X-in-the-Loop (XiL) test bench, where real-time simulation models of the rest of the vehicle are used to impose realistic boundary conditions to the SuT. These include the emulation of the vehicle inertia, its friction losses and the regenerative braking controller. Both hardware and software architectures required to achieve this setup are presented. Subsequently, a methodology used for computing scaling factors that match the power levels of the full vehicle to the miniature test bench is proposed. Finally, the combined physical-virtual system is evaluated on a driving cycle to validate its behaviour. The usage of a downscaled SuT constitutes the first step towards full-scale E-powertrain-in-the-loop testing, as well as a valuable multi-purpose didactical XiL setup.

关键词： Electric Vehicles e-Powertrain Model-Based System Testing Scaling Real-time control X-in-the-Loop

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