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Argentine Conference on Automatic control (AADECA)

作者： Abel Gomez, Juan Capraro, Flavio Soria, Carlos Pena, Miguel UNSJ CONICET Inst Automat San Juan Argentina UNSJ Inst Automat San Juan Argentina

ISBN: (纸本)9789874685919

In modern agriculture, the efficient use of water for irrigation is essential for the development and sustainability of agricultural undertakings. In order to do so, this paper presents the design of an irrigation controller based on a water movement model in the soil that allows knowing the moisture value at different depths. A model-based predictive control strategy is proposed to determine the operation of the irrigation valves, taking into account the system constraints (maximum input flow, maximum and minimum water content levels, irrigation requirements);In this way, the controller determines the times to start the irrigation and the amount of water to be supplied through a drip irrigation system. At first instance, the functioning of the predictive control algorithm is evaluated without taking into account the extraction of water, either by evaporation or by the consumption of some type of crop.

关键词： precision irrigation model based predictive control soil moisture model drip irrigation

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Multi-objective Tuning of Generalized predictive controller: A Trade-off Between Performance and Robustness 8

Multi-objective Tuning of Generalized Predictive Controller:...

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8th Brazilian Symposium on Computing Systems Engineering (SBESC)

作者： de Oliveira Junior, Javan A. Assuncao, Wesley K. G. Jeronymo, Daniel C. Univ Tecnol Fed Parana Dept Elect Engn Toledo Brazil Univ Tecnol Fed Parana Dept Internet Syst Toledo Brazil Univ Tecnol Fed Parana Dept Comp Engn Toledo Brazil

ISBN: (纸本)9781728102405

This paper investigates the application of the Non-dominated Sorting Genetic Algorithm II (NSGA-II) to the Generalized predictive controller (GPC) parameter tuning. GPC stands out for using predictions of a future system behavior in order to evaluate an optimal control law according to certain performance criteria. GPC deals with multiple conflicting objectives such as minimizing set-point error, reducing variation of control actions and greater robustness. In this work, NSGA-II is applied to the problem of parameter tuning considering the trade-off between performance and robustness. A rule is deduced for choosing an adequate solution in the Pareto front which leads to overall best compromise between performance and robustness criteria. From the results we can observe that NSGA-II reaches satisfactory solutions that allows a better decision-making.

关键词： Process control model based predictive control Generalized predictive control NSGA-II

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Serial Comanipulation in Beating Heart Surgery Using a LWPR-model based predictive Force control Approach 11

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4th International Conference on Intelligent Robotics and Applications (ICIRA 2011)

作者： Florez, Juan Manuel Bellot, Delphine Szewczyk, Jerome Morel, Guillaume Univ Paris 06 Inst Syst Intelligents & Robot 4 Pl Jussieu F-75005 Paris France CNRS UMR 7222 Paris France

ISBN: (纸本)9783642254888

Compensation of cardiac motion during robot-assisted surgical procedures is needed to ensure better quality stabilization. Serial Comanipulation to actively compensate physiological motion is one alternative to common used Teleoperation techniques. In this paper, a l DOF hand-held force controlled prototype is presented. The active part of the instrument moves in synchronism with the heart motion in order to guarantee that the contact is maintained thanks to the application of a controlled force, while the surgeon's hand is in charge to perform the surgical task. It then focuses on a crucial control aspect: there is a lack of a parametric model describing the interaction between the surgical instrument and the heart that would provide enough precision for prediction. Namely, the robot low level controller and the beating heart are modeled thanks to a Locally Weighted Projection Regression (LWPR). The paper discusses how this technique can be used in the context of predictive force control and shows conclusive simulation results.

关键词： Non Parametric model Identification model based predictive control Force control Beating Heart Surgery LWPR

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LWPR-model based predictive Force control for Serial Comanipulation in Beating Heart Surgery

LWPR-Model Based Predictive Force Control for Serial Comanip...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Florez, Juan Manuel Bellot, Delphine Morel, Guillaume Univ Paris 06 CNRS Inst Syst Intelligents & Robot Paris France

ISBN: (纸本)9781457708398

Robotic assistance to beating heart surgery requires high performance cardiac motion compensation in order to provide the surgeon with enhanced precision capacity. In this paper, serial comanipulation is considered, where a surgeon handles an active instrument which is in contact with the beating heart. The surgeon's hand is in charge of low frequency motions that correspond to the surgical task while the active part of the instrument moves in synchronism with the heart motion in order to guarantee that the contact is maintained thanks to the application of a controlled force. The paper introduces a 1 DOF hand-held prototype designed for active compensation of cardiac motion by the mean of force control. It then focuses on control aspects. Here, a crucial problem occurs: there is a lack of a parametric model describing the interaction between the surgical instrument and the heart that would provide enough precision for prediction. To cope with this problem, a "black box" algorithm is used as a model. Namely, the robot low level controller and the beating heart are modeled thanks to a Locally Weighted Projection Regression (LWPR). The paper discusses how this technique can be used in the context of predictive force control and shows conclusive simulation results.

关键词： Non Parametric model Identification model based predictive control Force control Beating Heart Surgery LWPR

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Motion compensation for robotic lung tumour radiotherapy in remote locations: A personalised medicine approach

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ACTA ASTRONAUTICA 2017年 132卷 59-66页

作者： Ionescu, Clara M. Copot, Cosmin Verellen, Dirk Univ Ghent Res Grp Dynam Syst & Control DySC Fac Engn & Architecture Technol Pk 914 B-9052 Ghent Belgium Univ Antwerp Dept Electromech Op3Mech Groenenborgerlaan 171 B-2020 Antwerp Belgium Vrije Univ Brussel Fac Med & Pharm Translat Radiat Oncol & Phys & Support Care TROP Laarbeeklaan 101 B-1090 Brussels Belgium

The purpose of this work is to integrate the concept of patient-in-the-closed-loop application with tumour treatment of cancer-diagnosed patients in remote areas. The generic closed loop control objective is effective synchronisation of the radiation focus to the movement of a lung tissue tumour during actual breathing of the patient. This is facilitated by accurate repositioning of a robotic arm manipulator, i.e. we emulate the Cyberknife Robotic Radiosurgery system. predictive control with disturbance filter is used in this application in a minimalistic model design. Performance of the control structure is validated by means of simulation using real recorded breathing patterns from patients measured in 3D space. Latency in communication protocol is taken into account, given telerobotics involve autonomous operation of a robot interacting with a human being in different location. Our results suggest that the proposed closed loop control structure has practical potential to individualise the treatment and improves accuracy by at least 15%.

关键词： Cyberknife robotic radiosurgery system model based predictive control Real-time tumour tracking Stereotactic body radiosurgery Telerobotics

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ENERGY MANAGEMENT STRATEGIES FOR COMBINED HEAT AND ELECTRIC POWER MICRO-GRID

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THERMAL SCIENCE 2016年第4期20卷 1091-1103页

作者： Barbaric, Marina Loncar, Drazen Univ Zagreb Dept Energy Power Engn & Environm Fac Mech Engn & Naval Architecture Zagreb Croatia

The increasing energy production from variable renewable energy sources such as wind and solar has resulted in several challenges related to the system reliability and efficiency. In order to ensure the supply-demand balance under the conditions of higher variability the micro-grid concept of active distribution networks arising as a promising one. However, to achieve all the potential benefits that micro-grid concept offer, it is important to determine optimal operating strategies for micro-grids. The present paper compares three energy management strategies, aimed at ensuring economical micro-grid operation, to find a compromise between the complexity of strategy and its efficiency. The first strategy combines optimization technique and an additional rule while the second strategy is based on the pure optimization approach. The third strategy uses model based predictive control scheme to take into account uncertainties in renewable generation and energy consumption. In order to compare the strategies with respect to cost effectiveness, a residential micro-grid comprising photovoltaic modules, thermal energy storage system, thermal loads, electrical loads as well as combined heat and power plant, is considered.

关键词： thermal storage system flexible operation micro-grid mixed integer linear programming grid-connected mode model based predictive control

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Towards Understanding the Value of Decentralized Heat Pumps for Network Services in Germany: Insights Concerning Self-Consumption and Secondary Reserve Power 2

Towards Understanding the Value of Decentralized Heat Pumps ...

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2nd IEEE International Smart Cities Conference (ISC2)

作者： Brennenstuhl, Marcus Pietruschka, Dirk Eicker, Ursula Yadack, Malcolm Stuttgart Univ Appl Sci Ctr Sustainable Energy Technol D-70174 Stuttgart Germany Univ Hohenheim Dept Innovat Econ D-72599 Stuttgart Germany

ISBN: (纸本)9781509018451

Heat pumps in households have emerged as potentially important actors in future energy systems characterized by large shares of intermittent renewable energy generation from wind and PV systems. The flexible electricity demand from heat pump systems combined with thermal storage allows load balancing and even participation in reserve and ancillary services markets. The effects of such micro scale DR systems on both the national grid and on local grid conditions have not been sufficiently studied. In this paper, we expand on previous work by combining simulations of a model neighborhood's participation in DR with household heat pumps with an estimation of requirements and potential revenue in the secondary reserve market in Germany. Combining simulations of control strategies for household heat pumps with the electricity grids demand function for secondary reserve power, sheds light on the complexity of providing DR services at this scale and opens up new avenues of research on business models and control strategies for aggregators and other utility companies operating virtual power plants.

关键词： demand side management demand response smart grid virtual power plant model based predictive control secondary reserve german power market

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LWPR-model based predictive Force control for Serial Comanipulation in Beating Heart Surgery

LWPR-Model Based Predictive Force Control for Serial Comanip...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Juan Manuel Florez Delphine Bellot Guillaume Morel Institut de Systemes Intelligents et de Robotique - Universite Pierre et Marie Curie - Paris 6 - CNRS Paris France

ISBN: (纸本)9781457708381

关键词： Non Parametric model Identification model based predictive control Force control Beating Heart Surgery LWPR

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Non-linear predictive control for the Energy Management of an Air Conditioning Centralized System in a Hotel Installation

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REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL 2015年第4期12卷 376-384页

作者： Acosta, Adriana Gonzalez, Ana I. Zamarreno, Jesu M. Alvarez, Victor Inst Super Politecn Jose Antonio Echeverria Dept Automat & Computac Havana Cuba Univ Valladolid EII Dept Ingn Sistemas & Automat E-47011 Valladolid Spain Hotel Melia Habana Havana Cuba

In this work we show the results obtained from the tuning of a non-linear model based predictive controller, for the energy management of an air conditioning centralized system in a hotel installation. With the aim of reaching economic efficiency, the controller design employs a prediction model of the energy consumption behaviour of the rooms based on the historic data of the hotel. Prediction of the thermal load of the rooms is obtained using the Radiant Time Series (RTS) method. The application was developed in Matlab (R) programming language.

关键词： model based predictive control RTS method thermal load electrical consumption hotel

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An explicit optimal input design for first order systems identification

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IFAC-PapersOnLine 2015年第28期48卷 344-349页

作者： Dufour, Pascal Nadri, Madiha Qian, Jun Université de Lyon LyonF-69622 France Company Acsystème 4 rue René Dumont Rennes35000 France

This paper focuses on the problem of closed loop online identification of the time constant in the single input single output (SISO) first order linear model. A new explicit approach for the simultaneous online optimal experiment design (OED) and model parameter identification is presented. based on the observation theory and a model based predictive control (MPC) algorithm, this approach aims to solve an optimal control problem where input and output constraints may be specified. This constrained control objective aims to maximize the sensitivity of the model output with respect to the unknown model parameter (the time constant). The control law is derived explicitly offline and simple to be implemented: the input may be computed fast online while the unknown model time constant is estimated at the same time. © 2015

关键词： model predictive control Identification (control systems) Linear systems Optimal control systems predictive control systems Input and output constraints Input design model based predictive control model parameter identifications observers Optimal experiment design predictive control Single input single output

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