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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Bae, Joonbum Kong, Kyoungchul Tomizuka, Masayoshi Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Sogang Univ Dept Mech Engn Seoul South Korea

ISBN: (纸本)9781457708398

Safety is one of the most important requirements in robotic rehabilitation systems. Vulnerable users may get injured or feel pain by a sudden impact, i.e. large assistive torque or fast change in the assistive torque from the rehabilitation systems. In automated rehabilitation systems, the desired torque is determined in real-time based on measurements that represent the patient's status. Abrupt changes of the desired torque command may cause the impact on the patient during the operation of the rehabilitation system. In this paper, a proxy is placed between the desired position and current position of the actuator as a safety buffer to prevent impacts from the rehabilitation system. The actuator tracks the proxy as accurate as possible with a sliding mode controller, which compensates for the modeling uncertainties and nonlinearities in the actuator. The performance of the proposed control algorithm has been verified by experiments with a compact series elastic actuator installed at the knee joint of an orthotic.

关键词： Actuators Humans Joints Safety Springs Torque Trajectory actuators assistive torque automated rehabilitation systems compact series elastic actuator control algorithms medical robotics nonlinearities modeling patient status robotic rehabilitation systems sliding mode controller uncertainties modeling variable structure systems

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control algorithms of infiltration water intake under uncertainty

Control algorithms of infiltration water intake under uncert...

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14th International Carpathian control Conference (ICCC)

作者： Urbaniak, Andrzej Poznan Univ Tech Inst Comp Sci Poznan Poland

ISBN: (纸本)9781467344906;9781467344883

First elements of water supply system are the processes of the fresh water intakes from the environment. The quality of the fresh water determines clearly technological processes of water treatment. The main goal of these processes to be obtained is the final product - water with the highest health values. Taking into account the various environmental pollutions, there are often analyzed solutions with the natural treatment processes. One of them is by using the artificial infiltration process based on pumping surface water (from a river or a lake) to the ground and next obtaining this ground water after primary filtration in the ground. Identification of hydro-geological processes in the ground is very difficult problem for control purposes. From the methodological point of view, control of infiltration water intakes creates tasks of control in the state of uncertainty. In the paper there is described the method of a complex infiltration intake's control using reduced hydrogeological models in chosen operational conditions. There is indicated a multilayer structure of a control system depending on different level of information about controlled objects and processes. The developed control algorithms are compared with the operation results collected for a real water intake.

关键词： infiltration intake control algorithms imprecise and uncertainty data

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control algorithms for Traction Drive with High Voltage Matrix Converters and Medium Frequency Transformer 20

Control Algorithms for Traction Drive with High Voltage Matr...

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International Conference on Applied Electronics (AE)

作者： Pittermann, Martin Drabek, Pavel Bednar, Bedrich Univ W Bohemia Dept Electromech & Power Elect Plzen Czech Republic

ISBN: (纸本)9788026103868

This paper describes the control algorithms for electric drive with single phase matrix converters supplied medium frequency converter for traction purpose. Described control algorithms realize the control of active and reactive power, output voltage, reduce harmonic disturbance in input current and oscillation of voltage on input filter etc. These control algorithms were implemented into multiprocessor control system with DSP for small-scale prototype as physical model in laboratory.

关键词： Single phase matrix converter control algorithms Traction drive Medium frequency transformer

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control algorithms Based on Load Angle and Phase Current Difference for Traction Switched Reluctance Motor 61

Control Algorithms Based on Load Angle and Phase Current Dif...

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61st IEEE Annual International Scientific Conference on Power and Electrical Engineering of Riga-Technical-University (RTUCON)

作者： Sejejs, Karlis Kamolins, Edmunds Gorobetz, Mikhail Potapovs, Andrejs JSC Riga Elect Machine Bldg Works 53 Ganibu Dambis LV-1005 Riga Latvia Riga Tech Univ 1 Kalku LV-1658 Riga Latvia

ISBN: (纸本)9781728195100

The goal of this research is to propose a simple and inexpensive solution to increase the reliability of the electric vehicle with traction switched reluctance motor (SRM) by the modification of control algorithm that is based not only on rotary encoder data but also on single-phase current. The paper presents the research of traction SRM, describes the developed control algorithms based on load angle detection by a rotary encoder and proposes a novel modified algorithm based on the difference of load-dependent variable phase current fragment. Test bench with SRM drive is developed and developed control algorithms are implemented in MCU software. Experimental results show the workability of the developed algorithms proving the opportunity to use single-phase current sensor for control of SRM with variable load.

关键词： digital control rotary encoder position detection pulse-width modulation switched reluctance machine control algorithms

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control algorithms and applications of the wavefront sensorless adaptive optics

Control algorithms and applications of the wavefront sensorl...

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Annual Conference of the Chinese-Society-for-Optical-Engineering (CSOE) on Applied Optics and Photonics China (AOPC) - Laser Components, Systems, and Applications

作者： Ma, Liang Wang, Bin Zhou, Yuanshen Yang, Huizhen China Univ Min & Technol Daxue Rd Xuzhou 221116 Peoples R China Huaihai Inst Technol Cangwu Rd Lianyungang 222000 Peoples R China

ISBN: (纸本)9781510613966;9781510613959

Compared with the conventional adaptive optics (AO) system, the wavefront sensorless (WFSless) AO system need not to measure the wavefront and reconstruct it. It is simpler than the conventional AO in system architecture and can be applied to the complex conditions. Based on the analysis of principle and system model of the WFSless AO system, wavefront correction methods of the WFSless AO system were divided into two categories: model-free-based and model-based control algorithms. The WFSless AO system based on model-free-based control algorithms commonly considers the performance metric as a function of the control parameters and then uses certain control algorithm to improve the performance metric. The model-based control algorithms include modal control algorithms, nonlinear control algorithms and control algorithms based on geometrical optics. Based on the brief description of above typical control algorithms, hybrid methods combining the model-free-based control algorithm with the model-based control algorithm were generalized. Additionally, characteristics of various control algorithms were compared and analyzed. We also discussed the extensive applications of WFSless AO system in free space optical communication (FSO), retinal imaging in the human eye, confocal microscope, coherent beam combination (CBC) techniques and extended objects.

关键词： adaptive optics system wavefront sensorless control algorithms applications

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Deep learning and control algorithms of direct perception for autonomous driving

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APPLIED INTELLIGENCE 2021年第1期51卷 237-247页

作者： Lee, Der-Hau Chen, Kuan-Lin Liou, Kuan-Han Liu, Chang-Lun Liu, Jinn-Liang Natl Chiao Tung Univ Dept Electrophys Hsinchu Taiwan Natl Tsing Hau Univ Inst Computat & Modeling Sci Hsinchu Taiwan

We propose an end-to-end machine learning model that integrates multi-task (MT) learning, convolutional neural networks (CNNs), and control algorithms to achieve efficient inference and stable driving for self-driving cars. The CNN-MT model can simultaneously perform regression and classification tasks for estimating perception indicators and driving decisions, respectively, based on the direct perception paradigm of autonomous driving. The model can also be used to evaluate the inference efficiency and driving stability of different CNNs on the metrics of CNN's size, complexity, accuracy, processing speed, and collision number, respectively, in a dynamic traffic. We also propose new algorithms for controllers to drive a car using the indicators and its short-range sensory data to avoid collisions in real-time testing. We collect a set of images from a camera of The Open Racing Car Simulator in various driving scenarios, train the model using this dataset, test it in unseen traffics, and find that it outperforms earlier models in highway traffic. The stability of end-to-end learning and self driving depends crucially on the dynamic interplay between CNN and control algorithms. The source code and data of this work are available on our website, which can be used as a simulation platform to evaluate different learning models on equal footing and quantify collisions precisely for further studies on autonomous driving.

关键词： Self-driving cars Autonomous driving Deep learning Image perception control algorithms

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Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons

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MEDICAL ENGINEERING & PHYSICS 2012年第4期34卷 397-408页

作者： Jimenez-Fabian, R. Verlinden, O. Univ Mons Serv Mecan Rat Dynam & Vibrat Fac Polytech B-7000 Mons Belgium

This review focuses on control strategies for robotic ankle systems in active and semiactive lower-limb orthoses, prostheses, and exoskeletons. Special attention is paid to algorithms for gait phase identification, adaptation to different walking conditions, and motion intention recognition. The relevant aspects of hardware configuration and hardware-level controllers are discussed as well. control algorithms proposed for other actuated lower-limb joints (knee and/or hip), with potential applicability to the development of ankle devices, are also included. (C) 2011 IPEM. Published by Elsevier Ltd. All rights reserved.

关键词： Robotic ankle systems Active and semiactive orthoses/prostheses Exoskeletons control algorithms

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Techno-economic analysis of control algorithms for an exhaust air heat pump system for detached houses coupled to a photovoltaic system

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APPLIED ENERGY 2019年 249卷 355-367页

作者： Psimopoulos, Emmanouil Bee, Elena Widen, Joakim Bales, Chris Dalarna Univ Energy Technol Borlange Sweden Uppsala Univ Dept Engn Sci Uppsala Sweden Univ Trento Dept Civil Environm & Mech Engn Trento Italy

Operational control strategies for the heating system and "smart" utilization of energy storage were developed and analyzed in a simulation based case study of a single-family house with exhaust air heat pump and photovoltaic system. Rule based control algorithms that can easily be implemented into modern heat pump controllers were developed with the aim to minimize final energy and maximize self-consumption by the use of the thermal storage of the building, the hot water tank and electrical storage. Short-term weather and electricity price forecasts are used in some of the algorithms. Heat supply from an exhaust air heat pump is limited by the ventilation flow rate fixed by building codes, and compact systems employ an electric heater as backup for both space heating and hot water. This heater plays an important role in the energy balance of the system. A typical system designed for new detached houses in Sweden was chosen for the study. This system, together with an independent photovoltaic system, was used as a base case and all results are compared to those for this base case system. TRNSYS 17 was used to model the building and system as well as the control algorithms, and special care was taken to model the use of the backup electric heater as this impacts significantly on final energy use. Results show that the developed algorithms can reduce final energy by 5-31% and the annual net cost for the end user by 3-26%, with the larger values being for systems with a battery storage. Moreover, the annual use of the backup electric heater can be decreased by 13-30% using the carefully designed algorithms.

关键词： Photovoltaics Heat pump Forecast services Thermal storage Electrical storage control algorithms

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Characteristics of closed loop power control algorithms for a cellular DS/CDMA system.

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IEE PROCEEDINGS-COMMUNICATIONS 1998年第5期145卷 355-362页

作者： Sim, ML Gunawan, E Soh, CB Soong, BH Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

The authors consider the performance of a reverse link DS/CDMA system with fast closed loop power control algorithms. For power control purposes, the received signal-to-interference ratio (SIR) must be measured. A simple procedure is proposed for estimating received SIR which does not need much calibration. The result shows that the BER performance is sensitive to the feedback delay or the inverse of the power control updating frequency. The power control mechanism is effective provided that the power control command updating frequency is ten times higher than the Doppler frequency. A step-size of 2 dB for the single step-size power control algorithm is found to be optimal for the mobile unit's velocity, which is uniformly distributed in the range 0-100 km/h. It was also found that the BER performance is very sensitive to the power control command channel error rate in the range 10(-1)-10(-2) This suggests that the system designer should concentrate on minimising this error to improve the overall performance. Lastly, if a multiple step-size power control algorithm is to be implemented, two power control command bits would perform better than one, three, or more bits in a mobile channel environment.

关键词： power control control algorithms cellular DS/CDMA systems

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Specifying and Model Checking Distributed control algorithms at Meta-level

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COMPUTER JOURNAL 2022年第12期65卷 2998-3019页

作者： Ha Thi Thu Doan Ogata, Kazuhiro Univ Freiburg Programming Languages Dept Georges Kohler Allee Geb 079 D-79110 Freiburg Germany Japan Adv Inst Sci & Technol Sch Informat Sci 1-1 Asahidai Nomi Ishikawa 9231292 Japan

This paper proposes an approach to the specification and model checking of a large, important class of distributed algorithms called control algorithms (CAs), which are superimposed on underlying distributed systems (UDSs). The approach is based on rewriting logic by moving from its object level to the meta-level. We introduce the idea of specifying CAs as meta-programs that take the specifications of UDSs and automatically generate the specifications of the UDSs on which the CAs are superimposed (UDS-CAs). Due to many options, such as network topologies, even fixing the number of each kind of entities, such as mobile support stations (MSSs) and mobile hosts (MHs) in a mobile checkpointing algorithm, there are many instances of a UDS. To address the problem, we generate all possible initial states of a UDS for a fixed number of each kind of entities such that some constraints, such as MSSs strongly connected with a wired network, are fulfilled and conduct model checking for each of the initial states. We demonstrate the usefulness by reporting on a case study where a counterexample is found for some specific initial states but not for the other initial states, detecting a subtle flaw lurking in a mobile checkpointing algorithm.

关键词： distributed algorithms control algorithms meta-programming formal specification model checking

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