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检索条件"任意字段=Proceedings of the 2nd IFAC Symposium on Nonlinear Control Systems Design"

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Deep Reinforcement Learning Based Adaptation of Pure-Pursuit Path-Tracking control for Skid-Steered Vehicles 2nd

Deep Reinforcement Learning Based Adaptation of Pure-Pursuit...

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2nd Modeling, Estimation and control Conference (MECC)

作者： Joglekar, Ajinkya Sathe, Sumedh Misurati, Nicola Srinivasan, Srivatsan Schmid, Matthias J. Krovi, Venkat Clemson Univ Dept Automot Engn Greenville SC 29607 USA

The growing need for autonomous vehicles in the offroad space raises certain complexities that need to be considered more rigorously in comparison to onroad vehicle automation. Popular path control frameworks in onroad autonomy deployments such as the pure-pursuit controller use geometric and kinematic motion models to generate reference trajectories. However in the offroad settings these controllers, despite their merits (low design and computation requirements), could compute dynamically infeasible trajectories as several of the nominal assumptions made by these models don't hold true when operating in a 2.5D terrain. Outside of the notable challenges such as uncertainties and non-linearities/disturbances introduced by the unknown/unmapped 2.5D terrains, additional complexities arise from the use of vehicle architectures such as the skid-steer that experience lateral skidding for achieving simple curvilinear motion. Additionally, linear models of skid-steer vehicles often consist of high modeling uncertainty which renders traditional linear optimal and robust control techniques inadequate given their sensitivity to modeling errors. nonlinear MPC has emerged as an upgrade, but needs to overcome real-time deployment challenges (including slow sampling time, design complexity, and limited computational resources). This provides an unique opportunity to utilize data-driven adaptive control methods in tailored application spaces to implicitly learn and hence compensate for the unmodeled aspects of the robot operation. In this study, we build an adaptive control framework called Deep Reinforcement Learning based Adaptive Pure Pursuit (DRAPP) where the base structure is that of a geometric Pure-Pursuit (PP) algorithm which is adapted through a policy learned using Deep Reinforcement Learning (DRL). An additional law that enforces a mechanism to account for the rough terrain is added to the DRL policy to prioritize smoother reference-trajectory generation (and thereby mor

关键词： Adaptive control Path tracking Offroad systems Pure pursuit Deep reinforcement learning Data-driven control

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Full-Closed Loop Tracking control Based on Multi-factor Coupling Compensations Using Artificial Neural Network for a Cable-Pulley-Driven Surgical Robotic Manipulator 1

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2nd USCToMM symposium on Mechanical systems and Robotics (MSR)

作者： Yu, Xiang Liu, Guangming Wang, Zhengyu Zi, Bin Hefei Univ Technol Sch Mech Engn Hefei 230009 Peoples R China

ISBN: (数字)9783030998264

ISBN: (纸本)9783030998264;9783030998257

The Cable-Pulley-Driven System (CPDS) is widely used in surgical robots. It is an important foundation for long-distance drive and design of small-sized end-effectors. It is generally used as one of the key components of the minimally invasive surgical machine-driven unit. Compared with the traditional rigid driven system, CPDS is light in weight, compact in structure and flexible in movement. CPDS can complete long-distance and high-load transmission in the narrow and curved space of the human body. However, due to the non-linear characteristics of CPDS, the tension loss of the cable will be caused, and the positioning accuracy and position control performance of the operating device will be significantly affected. This paper proposed a full-closed loop tracking control method for CPDS surgical robotic manipulator with PID position control strategy. This method used an Artificial Neural Network (ANN) for Multi-factor Coupling Compensation (MCC). The feasibility and effectiveness of this method are verified by a series of experimental analyses on a Backdrivable Cable-Driven Series Elastic Actuator (BCDSEA).

关键词： Surgical robot Cable-Pulley-Driven system Tracking control Multi-factor Coupling Compensations Artificial Neural Network

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International Workshops which were held in conjunction with 27th European symposium on Research in Computer Security, ESORICS 2022

International Workshops which were held in conjunction with ...

引用

8th Workshop on the Security of Industrial control systems and of Cyber-Physical systems, CyberICPS 2022, 6th International Workshop on Security and Privacy Requirements Engineering, SECPRE 2022, 4th Workshop on Security, Privacy, Organizations, and systems Engineering, SPOSE 2022, 3rd Cyber-Physical Security for Critical Infrastructures Protection, CPS4CIP 2022, 2nd International Workshop on Cyber Defence Technologies and Secure Communications at the Network Edge, CDT and SECOMANE 2022, 1st International Workshop on Election Infrastructure Security, EIS 2022 and 1st International Workshop on System Security Assurance, SecAssure 2022 held in conjunction with 27th European symposium on Research in Computer Security, ESORICS 2022

ISBN: (纸本)9783031254598

The proceedings contain 39 papers. The special focus in this conference is on Research in Computer Security. The topics include: Towards a Security Impact Analysis Framework: A Risk-Based and MITRE Attack Approach;data Protection Officers’ Perspectives on Privacy Challenges in Digital Ecosystems;Rebooting IT Security Awareness – How Organisations Can Encourage and Sustain Secure Behaviours;towards Reverse Engineering of Industrial Physical Processes;solutions for Protecting the Space Ground Segments: From Risk Assessment to Emergency Response;modelling and Simulation of Railway Networks for Resilience Analysis;honeyChart: Automated Honeypot Management over Kubernetes;ComSEC: Secure Communications for Baggage Handling systems;Coordinated Network Attacks on Microgrid Dispatch Function: An EPIC Case Study;methodology for Resilience Assessment for Rail Infrastructure Considering Cyber-Physical Threats;coverage-Guided Fuzzing of Embedded systems Leveraging Hardware Tracing;Challenges and Pitfalls in Generating Representative ICS Datasets in Cyber Security Research;securing Cyber-Physical Spaces with Hybrid Analytics: Vision and Reference Architecture;a Precision Cybersecurity Workflow for Cyber-physical systems: The IoT Healthcare Use Case;a Revisitation of Clausewitz’s Thinking from the Cyber Situational Awareness Perspective;examining 5G Technology-Based Applications for Military Communications;design of a Validation Model of the Cognitive State in Military Operations in Cyberspace;design and Validation of a Threat Model Based on Cyber Kill Chain Applied to Human Factors;the Cloud Continuum for Military Deployable Networks: Challenges and Opportunities;adversarial Attacks and Mitigations on Scene Segmentation of Autonomous Vehicles;ballot-Polling Audits of Instant-Runoff Voting Elections with a Dirichlet-Tree Model;non(c)esuch Ballot-Level Comparison Risk-Limiting Audits;why Is Online Voting Still Largely a Black Box?;connecting Incident Reporting Infrastructure to Ele

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Comparative Study of nonlinear controllers for Standalone PV System 2

Comparative Study of Nonlinear Controllers for Standalone PV...

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2nd International Conference on Electronics and Sustainable Communication systems, ICESC 2021

作者： Manisha Masoom, Md. Modassir Kumar, Narendra Delhi Technological University Department of Electrical Engineering Delhi India

ISBN: (纸本)9781665428675

The following paper shows the analysis of nonlinear controllers to deal with the nonlinearity present in the Photo-Voltaic (PV) system. The Output power of Photo-Voltaic (PV) panels changes if there are any changes in load or atmospheric conditions like temperature irradiation level. A tracking technique is always required to obtain the utmost power from the panel. PV systems can be made more productive by simulating controllers to track maximum power point (MPP). The circuit simulated in this paper is having PV connected to a resistive load through DC/DC Boost converter, a Sliding Mode controller (SMC) and Back-Stepping control (BSC) design is used to provide a dedicated control performance. The Sliding Mode and Backstepping controllers for obtaining the optimal power point and stability are based on Lyapunov function analysis and then efficiency with which these two controllers track the ideal power is obtained graphically. Model and the control methodologies are analyzed with a simulation model that is entirely done in Simulink/Matlab. © 2021 IEEE.

关键词： controllers

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2nd USCToMM symposium on Mechanical systems and Robotics, USCToMM MSR 2022

2nd USCToMM Symposium on Mechanical Systems and Robotics, US...

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2nd USCToMM symposium on Mechanical systems and Robotics, USCToMM MSR 2022

ISBN: (纸本)9783030998257

The proceedings contain 23 papers. The special focus in this conference is on Mechanical systems and Robotics. The topics include: On the Evolution of Automotive Steering Mechanisms;a 3D Biomechanical Model of Human-Seat Interaction;inverse Dynamics of the Utility Truck’s Morphing Robotic Manipulator;soft Pneumatic Actuator Inspired on Flexion-Extension Motion Trajectory of the Human Fingers;hybrid Dynamics of Nonsmooth Mechanical systems: A Switching Differential-Algebraic Formulation;a Revisit of the Planar Four-Bar Linkage Synthesis Problem for Two and Three Input-Output Positions;a K-Means Clustering Approach to Segmentation of Maps for Task Allocation in Multi-robot systems Exploration of Unknown Environments;manufacture of a Folding Continuum Mechanism;design of Continuum Mechanisms with Target Motions;multi-modal Continuous Approximate Algebraic Input-Output Synthesis of Planar Four-Bar Function Generators;on the Computation of the Average of Planar Displacements;a Unified Approach to Dyad and Triad Synthesis for Planar Mechanisms for Motion Generation;differentially Flat Prosthetic Leg for Unilateral Transfemoral Amputees;Synthesis of Watt II Six-Bars for Simultaneous Pick and Place Tasks with Guiding Positions;Steady-State Modeling and Simulation of a 1-DOF Dual-Input and Dual-Output Planetary Speed Increaser for Counter-Rotating Wind Turbines;application of Machine Learning Techniques to Hybrid Engine Restart Prediction;full-Closed Loop Tracking control Based on Multi-factor Coupling Compensations Using Artificial Neural Network for a Cable-Pulley-Driven Surgical Robotic Manipulator;towards Modeling Finger Joint Coordination for Natural Motion;pose Estimation of a Cable-Driven Parallel Robot Using Kalman Filtering and Forward Kinematics Error Covariance Bounds;analysis of the Walking Chair from Tokyo Institute of Technology with Screw Theory;watt I Indirect Cognates of Four-Bar Linkages.

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Software design of the Upper Computer of Soft Switching Inverter System Based on Virtual Instrument Technology 2

Software Design of the Upper Computer of Soft Switching Inve...

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2nd International symposium on Computer Engineering and Intelligent Communications, ISCEIC 2021

作者： Hu, Ping Liu, Kai Zhang, Lin-Sen Liu, Xue-Xia Chen, Hao-Yi Zhang, Chao Naval University of Engineering College of Naval Architecture and Ocean Engineering Wuhan China Wuhan Donghu University College of Mechanical and Electronic Engineering Wuhan China

ISBN: (纸本)9781665441605

In the soft switch inverter system, the core part is the lower computer of the main chip with the TMS320F28335 DSP. In order for the operator to issue the command control system operation and intuitively reflect the operating performance of the system, this paper applies virtual instrument technology to soft switch inverter system and designs the software of the upper computer of soft switch inverter system with the help of the powerful graphics control of virtual instrument. The upper computer and the lower computer realize information interaction through CAN communication. On the upper computer, the motor operation status is displayed using control software written by Lah/Windows CVI. The upper computer sends instructions such as rotation speed setting according to the system's needs. Through experiments, the correctness and reliability of the upper computer software are verified. © 2021 IEEE.

关键词： Computer control systems

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Optimal speed controller design with interval type-2 fuzzy sets 2

Optimal speed controller design with interval type-2 fuzzy s...

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2nd IEEE KhPI Week on Advanced Technology, KhPI Week 2021

作者： Zakovorotniy, Alexander Kharchenko, Artem National Technical University Kharkiv Polytechnic Institute Computer Engineering and Programming Department Kharkiv Ukraine

ISBN: (纸本)9781665412056

Interval type-2 fuzzy sets are often used in the designing of fuzzy systems associated with the speed control under uncertainty. In this paper, we consider the possibilities of using interval type-2 fuzzy sets to describing the uncertainties that arise when defining input variables. These uncertainties can be presented as the different meanings on the same dynamic system or changes in the technical parameters that occur due to external factors. We also present complex interval type-2 fuzzy sets and give the examples of their use to reduce the number of fuzzy sets and rules in a fuzzy knowledge base. The necessary conditions for the construction of complex interval type-2 fuzzy sets and methods for determining lower and upper membership functions in them are also given. The footprint of uncertainty for the complex interval type-2 fuzzy set is presented with upper and lower membership functions of different fuzzy sets. All methods which are described in this work can be used in decision support systems design, to select the optimal parameters of a nonlinear system, or in fuzzy speed controller design. © 2021 IEEE.

关键词： Fuzzy control

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proceedings of 2021 IEEE 2nd International Conference on Smart Technologies for Power, Energy and control, STPEC 2021

Proceedings of 2021 IEEE 2nd International Conference on Sma...

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2nd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2021

ISBN: (纸本)9781665443197

The proceedings contain 157 papers. The topics discussed include: AC side controller for grid connected hybrid renewable energy sources;a backstepping integral sliding mode controller design for partial feedback linearized models of synchronous generators in simple power systems to improve the transient stability;a composite nonlinear controller design to enhance the large-signal stability of a DC distribution system with constant power loads;cost benefit analysis of EV charging scheduling under stochastic framework considering PV and battery energy storage;evolutionary neural network based hybrid architecture for strategic bidding in electricity market;miniaturization of filter circuit using an inductor and capacitors composite element;trip chain information model based stochastic energy management system for microgrid;a fault direction estimation scheme for transmission lines based on fault current power frequency component;harmonic modeling and performance analysis of the basic IPT topologies under varying operating conditions;and a novel loss-of-excitation protection scheme based on load angle variation of parallel synchronous generators.

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Coupling Analysis of Autonomous Vehicles and Road Safety 2

Coupling Analysis of Autonomous Vehicles and Road Safety

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2nd International symposium on Electrical, Electronics and Information Engineering, ISEEIE 2022

作者： Hou, Duo Zhang, Lei Dong, Decun Ou, Dongxiu Tongji University Department of Traffic Information and Control Engineering Shanghai China

ISBN: (数字)9781665468749

ISBN: (纸本)9781665468749

To study the driving safety characteristics of autonomous vehicles in existing transport infrastructure, this paper treats vehicle stability as a research breakthrough to study the safety characteristics of autonomous vehicles on curves and ramps by analyzing the viaduct approach context. Conducting force analysis of a vehicle in curve and ramp settings can determine the relationship between the vehicle's lateral stability on the curve and its longitudinal stability on the slope. Further, force analysis can establish the autonomous vehicle's speed and stability. This model is used to calculate the safe driving speed threshold of autonomous vehicles;their driving safety is guaranteed by controlling their speed. The calculation results show that severe weather conditions, such as rain and snow, have a significantly stronger impact on vehicle stability than factors such as vehicle models and load capacity. In fine weather, load capacity has a greater impact on the stability of heavy trucks. The safe speed threshold of autonomous vehicles, calculated in real time, is often much better than the road alignment design speed. Compared with conventional manned driving, the autonomous vehicle safe speed threshold can improve traffic efficiency to a certain extent and reduce traffic jams to enhance the traffic environment. © 2022 IEEE.

关键词： Roads Snow Force Stability analysis Road safety Real-time systems Safety

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A Novel Chaotic System based on Binomial Functions for Detection of Ultra Weak Signals 3rd

A Novel Chaotic System based on Binomial Functions for Detec...

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3rd ifac Conference on Modelling, Identification and control of nonlinear systems (MiCNON)

作者： Pancoatl-Bortolotti, Pedro Costa, Antonio H. Enriquez-Caldera, Rogerio Guerrero-Castellanos, Fermi Tello-Bello, Maribel Lopez-Hernandez, Monica Inst Nacl Astrofis Opt & Elect INAOE Puebla Mexico Univ Massachusetts Dartmouth Dept Elect & Comp Engn N Dartmouth MA 02747 USA Benemerita Univ Autonoma Puebla BUAP Fac Ciencias Elect Puebla Mexico Univ Anahuac Puebla Puebla Mexico

This research presents a new 2nd order non-linear chaotic system that is created using the Lienard Theorem and binomial functions. The systems parameters are properly chosen to assure a stable limit cycle and simultaneously bifurcation diagrams are conjugated together with Lyapunov exponents to generate chaotic and periodic trajectories in the phase space. Then the system is configured to operate in the state of intermittence for detection of ultra-weak signals. Computer model simulations provide encouraging results for detection of signals with signal-to-noise ratio of -45 dB. As a parallel result, a new method named Short Time Inspired Lyapunov exponent (STILE), is presented as an efficient way to detect intermittence in time sequences. Copyright (C) 2021 The Authors.

关键词： STILE Lienard systems Chaotic Oscillators Weak signal detection Binomial functions

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