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检索条件"任意字段=Symposium on Dynamics and Control of Process Systems"

共 1795 条记录，以下是411-420 订阅

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Handover process Modeling in Autonomous Vehicles—a control Engineering Approach

Handover Process Modeling in Autonomous Vehicles—a Control ...

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International symposium on Computational Intelligence and Informatics

作者： Dániel András Drexler Árpád Takács Tamás Dániel Nagy Tamás Haidegger Óbuda University Antal Bejczy Center for Intelligent Robotics University Research Innovation and Service Center Bécsi út 96/b H-1034 Budapest Hungary

ISBN: (数字)9781728156255

ISBN: (纸本)9781728156262

Automated driving and advanced driver assistance technologies represent an emerging field. The difference in maturity of various commercial and prototype systems causes ambiguities in the use and reliance for the users, who generally are not trained or educated for autonomous system management and efficient handover processes. While numerous models for shared vehicle control and driver behavior have been introduced recently, not much is known about the effect of situation awareness in a closed-loop human driver-vehicle system. This paper proposes a novel driver model based on a control theory approach, taking both situation awareness and vehicle dynamics into consideration.

关键词： handover process takeover time autonomous vehicle car safety Road safety Autonomous Vehicles control engineering System management Driver Behavior Vehicle control Vehicle dynamics Reliance resin cement Drivers

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Spatial control Actions for a Physical Training with a Smart Walker

Spatial Control Actions for a Physical Training with a Smart...

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International symposium on Electronics in Marine (ELMAR)

作者： Denis Stogl Peter Wern Björn Hein Dennis Hartmann Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology (KIT) Engler-Bunte-Ring 8 Karlsruhe Germany Karlsruhe University of Applied Science Moltkestr. 30 Karlsruhe Germany

Research on smart walkers focuses mostly on low-level control methods using a variety of sensors to get inputs from a user or evaluate the user's gait. Our work investigates a possibility to use such a walker for a targeted robot-based motor training. In this paper a concept of control actions used as building blocks for the motor training are presented. These actions enable to challenge or support the user by influencing the output velocity of our smart walker-Robotrainer. The concept and evaluation of four types of control actions are presented in detail and their use in the training scenarios is discussed.

关键词： Force Robot kinematics Training Robot sensing systems Legged locomotion dynamics

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A New Robust control Strategy for Multistage PV Battery Chargers 9

A New Robust Control Strategy for Multistage PV Battery Char...

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9th IEEE International symposium on Power Electronics for Distributed Generation systems (PEDG)

作者： Dalala, Zakariya M. Saadeh, Osama S. German Jordanian Univ Energy Engn Dept POB 35247 Amman 11180 Jordan

ISBN: (纸本)9781538667057

This manuscript presents a new overall control strategy for a standalone photovoltaic (PV) battery charging system. The battery can be regarded as an energy storage element in the system for reliable operation, or it can be considered as the load itself while being charged from null to full. The charger consists of a boost converter followed by a buck converter that charges the battery. The two converters are interfaced using a dc link capacitor that can be a super capacitor for increased energy buffer capability and to meet power spikes needed by the load. Traditionally, the boost converter is controlled to achieve maximum power point tracking (MPPT), while the output voltage of the boost converter is regulated by the buck converter, which connects to the battery. In this paper, a coordinated control strategy for the two converters is proposed and implemented to achieve multi-objective performance. When the optimal charging power is less than the offered maximum PV power, a power-matching control mode is initiated to keep the charging process smooth. In this mode of operation, the dc link voltage will be kept constant. When the PV maximum input power is less than the battery optimal charging power, the system shifts into MPPT control. In this paper, the dc link voltage information is used to guide the entire supervisory control system. By offering a range of voltage variation across the dc link capacitor, the system can ride through fast shading or partial shading dynamics, which stabilizes the charging process in such normally occurring environmental conditions. Simulation results show the performance of the proposed control strategy.

关键词： Battery Charger DC/DC converter Multistage charger PV system

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Depth control of Underwater Robots using Sliding Modes and Gaussian process Regression 15

Depth Control of Underwater Robots using Sliding Modes and G...

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15th Latin American Robotic symposium (LARS) / 6th Brazilian symposium on Robotics (SBR) / 9th Workshop on Robotics in Education (WRE)

作者： Lima, Gabriel S. Bessa, Wallace M. Trimpe, Sebastian Univ Fed Rio Grande do Norte RoboTeAM Robot & Machine Learning Campus Univ Lagoa Nova BR-59078970 Natal RN Brazil Max Planck Inst Intelligent Syst Intelligent Control Syst Grp D-70569 Stuttgart Germany

ISBN: (纸本)9781538677612

The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation for hydrodynamic effects. In this work, a new robust control scheme is presented for remotely operated underwater vehicles. In order to meet both robustness and tracking requirements, sliding mode control is combined with Gaussian process regression. The convergence properties of the closed-loop signals are analytically proven. Numerical results confirm the stronger improved performance of the proposed control scheme.

关键词： Ground penetrating radar Gaussian processes Hydrodynamics Mathematical model Unmanned underwater vehicles Robots Vehicle dynamics

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Using process-mining for understating the emergence of self-organizing manufacturing systems

Using process-mining for understating the emergence of self-...

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16th IFAC symposium on Information control Problems in Manufacturing (INCOM)

作者： Jimenez, Jose-Fernando Zambrano-Rey, Gabriel Aguirre, Santiago Trentesaux, Damien Pontificia Univ Javeriana Ind Engn Dept Bogota Colombia UVHC CNRS LAMIH UMR 8201 F-59313 Valenciennes France

Self-organizing systems, a class of distributed systems, aim to maintain the purpose and intentions of the system regardless internal and external perturbations. These systems are composed of reconfigurable architectures and intelligent decisional entities that allow the achievement of both performance and reactivity needs. Beside other needed characteristics, such as modularity or customizability, the functioning of self-organizing systems is reliant on the degree of diagnosability during the system execution. An adequate diagnosis of the system dynamics allows the understanding the information contained and provides valuable input for the decision-making process. process mining is a tool that permits identifying trends and patterns from event logs. This paper focuses on the use of process-mining for the diagnosis of a self-organizing manufacturing system. The approach is tested considering two self-organization rules based on the machine selection within a manufacturing environment. The approach was experimentally tested on a simulation model of a flexible manufacturing system. This exploratory research suggests that process-mining is a promising approach for the diagnosis of the behaviour of self-organizing systems. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： process-mining Emergence Self-organized systems Reactivity FMS Machine selection control

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Autopilot Design for Unmanned Combat Aerial Vehicles (UCAVs) via Learning-based Approach

Autopilot Design for Unmanned Combat Aerial Vehicles (UCAVs)...

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IEEE symposium Series on Computational Intelligence (SSCI)

作者： Chang-Hun Lee Min-Jea Tahk Department of Aerospace Engineering KAIST Daejeon Republic of Korea

ISBN: (数字)9781728124858

ISBN: (纸本)9781728124865

This paper deals with the autopilot design methodology for UCAVs (Unmanned Combat Aerial Vehicles) using the learning-based approach. In this study, the acceleration control is considered for the UCAV's autopilot design, and the reinforcement learning, especially deep deterministic policy gradient (DDPG) method, is used to design the autopilot. To this end, we establish the autopilot design problem based on the reinforcement learning framework. First, we define an actor, an environment, an observation, and a reward. And then, we design appropriate observation and reward function for the autopilot design problems using the reinforcement learning framework. In order to validate the proposed method, the numerical simulation is performed using tensor flow. The potential importance of the proposed approach is that it can learn the autopilot algorithm from scratch without any model information of the UCAV systems. Therefore, the proposed method can allow to significantly reduce time and effort for identifying the model information in the autopilot design process. This ability of the proposed method could also be useful for improving the safety of the systems against the unexpected system failure or damage of the UCAVs during their operations.

关键词： Learning (artificial intelligence) Acceleration Aerodynamics Vehicle dynamics Numerical models control systems Aerospace electronics

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The dynamics and Stability of Probabilistic Population processes 1

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19th International symposium on Stabilization, Safety, and Security of Distributed systems (SSS)

作者： Chatzigiannakis, Ioannis Spirakis, Paul Sapienza Univ Rome Dept Comp Control & Management Engn Rome Italy Univ Liverpool Comp Sci Dept Liverpool Merseyside England Univ Patras Comp Engn & Informat Dept Patras Greece

ISBN: (数字)9783319690841

ISBN: (纸本)9783319690841;9783319690834

We study here the dynamics and stability of Probabilistic Population processes, via the differential equations approach. We provide a quite general model following the work of Kurtz [15] for approximating discrete processes with continuous differential equations. We show that it includes the model of Angluin et al. [1], in the case of very large populations. We require that the long-term behavior of the family of increasingly large discrete processes is a good approximation to the long-term behavior of the continuous process, i.e., we exclude population protocols that are extremely unstable such as parity-dependent decision processes. For the general model, we give a sufficient condition for stability that can be checked in polynomial time. We also study two interesting sub cases: (a) Protocols whose specifications (in our terms) are configuration independent. We show that they are always stable and that their eventual subpopulation percentages are actually a Markov Chain stationary distribution. (b) Protocols that have dynamics resembling virus spread. We show that their dynamics are actually similar to the well-known Replicator dynamics of Evolutionary Games. We also provide a sufficient condition for stability in this case.

关键词： dynamics

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Experiment of Sliding Mode control with Nonlinear Sliding Surface Design for a 3-DOF Helicopter Model

Experiment of Sliding Mode Control with Nonlinear Sliding Su...

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XXII International symposium on Information, Communication and Automation Technologies, ICAT

作者： Umit M. Guzey Engin H. Copur Sinan Ozcan A. Cagri Arican B. Mahmut Kocagil Metin U. Salamci Gazi Univeristy Ankara Turkey Necmettin Erbakan University Konya Turkey Turkish Aerospace Ankara Turkey

Sliding Mode control (SMC) is one of the effective robust control techniques against external disturbances, parameter uncertainties and unmodelled dynamics. However, there is no certain way to design the sliding surface (SS) for nonlinear systems, which has a key role in satisfying the stability and performance criteria. Thus, an optimal method can be useful in the design process of SS to deal with these weaknesses. In this study, State Dependent Riccati Equation (SDRE) based SMC is used to control the motion of a laboratory helicopter in two axes, namely travel and elevation axes. Experimental evaluation is performed using this 3-DOF helicopter platform and results are compared against a SMC with linear time-invariant SS to establish the efficacy of the approach. Therefore, this study presents experimental investigation for establishing the feasibility of the proposed optimal robust control architecture.

关键词： Helicopters Nonlinear systems Sliding mode control Stability criteria Robust control Uncertainty Cost function

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Facilitated Exclusion process

Facilitated Exclusion Process

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Abel symposium on Computation and Combinatorics in dynamics, Stochastics and control

作者： Baik, Jinho Barraquand, Guillaume Corwin, Ivan Suidan, Toufic Univ Michigan Dept Math Ann Arbor MI 48109 USA Columbia Univ Dept Math New York NY 10027 USA

ISBN: (纸本)9783030015930;9783030015923

We study the Facilitated TASEP, an interacting particle system on the one dimensional integer lattice. We prove that starting from step initial condition, the position of the rightmost particle has Tracy Widom GSE statistics on a cube root time scale, while the statistics in the bulk of the rarefaction fan are GUE. This uses a mapping with last-passage percolation in a half-quadrant which is exactly solvable through Pfaffian Schur processes. Our results further probe the question of how first particles fluctuate for exclusion processes with downward jump discontinuities in their limiting density profiles. Through the Facilitated TASEP and a previously studied MADM exclusion process we deduce that cube-root time fluctuations seem to be a common feature of such systems. However, the statistics which arise are shown to bemodel dependent (here they are GSE, whereas for the MADM exclusion process they are GUE). We also discuss a two-dimensional crossover between GUE, GOE and GSE distribution by studying the multipoint distribution of the first particles when the rate of the first one varies. In terms of half-space last passage percolation, this corresponds to last passage times close to the boundary when the size of the boundary weights is simultaneously scaled close to the critical point.

关键词： Solvents

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Identification and an Inverse Filtering Problem

Identification and an Inverse Filtering Problem

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18th IFAC symposium on System Identification (SYSID)

作者： Chernodarov, Alexander V. NaukaSoft Expt Lab Ltd Moscow Russia

This paper is devoted to the problem of compensating for errors of nonlinear dynamical systems (DSs) between observation sessions. Such a problem is connected with the coordination of solutions of the nonlinear differential equations for the DSs and the linearized equations for their errors. The stochastic nature of such equations leads to the necessity of controlling the process of compensation for error estimates to stabilize the DS parameters with respect to the reference phase path. The proposed solution to the above problem is based on the application of the method of inverse problems of dynamics to the synthesis of a loop intended to compensate for the estimates being formed by a filter. When implementing the method mentioned, the need arises for identification of the coefficients of estimate damping. Procedures for such identification are discussed. The results of experimental studies are given. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear system Kalman filter error damping inverse problem of dynamics identification of coefficients

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