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arXiv 2020年

作者： Mehrjou, Arash Iannelli, Andrea Schölkopf, Bernhard Empirical Inference Department of Max Planck Institute for Intelligent Systems Tübingen Germany Department of Computer Science ETH Zürich Faculty of Electrical Engineering Zürich Switzerland Department of Electrical Engineering Automatic Control Lab ETH Zürich8092 Switzerland Empirical Inference Department of Max Planck Institute for Intelligent Systems Tübingen Germany

A coupled computational approach to simultaneously learn a vector field and the region of attraction of an equilibrium point from generated trajectories of the system is proposed. The nonlinear identification leverages the local stability information as a prior on the system, effectively endowing the estimate with this important structural property. In addition, the knowledge of the region of attraction plays an experiment design role by informing the selection of initial conditions from which trajectories are generated and by enabling the use of a Lyapunov function of the system as a regularization term. Numerical results show that the proposed method allows efficient sampling and provides an accurate estimate of the dynamics in an inner approximation of its region of attraction. Copyright © 2020, The Authors. All rights reserved.

关键词： Lyapunov functions

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Combining Lattice-Based Planning and Path Optimization in Autonomous Heavy Duty Vehicle Applications

Combining Lattice-Based Planning and Path Optimization in Au...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Oliveira, Rui Cirillo, Marcello Mårtensson, Jonas M. Wahlberg, Bo Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Scania Autonomous Transport Solutions Sodertalje Sweden

ISBN: (纸本)9781538644522

Lattice-based motion planners are an established method to generate feasible motions for car-like vehicles. However, the solution paths can only reach a discretized approximation of the intended goal pose. Moreover, they can be optimal only with respect to the actions available to the planner, which can result in paths with excessive steering. These drawbacks have a negative impact when used in real systems. In this paper we address both drawbacks by integrating a steering method into a state-of-the-art lattice-based motion planner. Un- like previous approaches, in which path optimization happens in an a posteriori step after the planner has found a solution, we propose an interleaved execution of path planning and path optimization. The proposed approach can run in real-time and is implemented in a full-size autonomous truck, and we show experimentally that it is able to greatly improve the quality of the solutions provided by a lattice planner. © 2018 IEEE.

关键词： Motion planning

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Passivity analysis of rational LPV systems using Finsler's lemma

Passivity analysis of rational LPV systems using Finsler's l...

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IEEE Annual Conference on Decision and control

作者： Peter Polcz Balazs Kulcsar Tamas Peni Gabor Szederkenyi Faculty of Information Technology and Bionics Pázmány Péter Catholic University Budapest Hungary Automatic Control group Chalmers University of Technology Gothenburg Sweden Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, we show and utilize new results on the relationship between passivity, zero dynamics and stable dynamic invertibility of linear parameter-varying (LPV) systems. Furthermore, an optimization-based systematic passivity analysis procedure and a passivating output projection are proposed for asymptotically stable rational LPV systems in the linear fractional representation (LFR) form having at least as many independent output signals as input signals. The storage function is searched in a quadratic form with a symmetric rational parameter-dependent matrix. In order to form a square system and then to satisfy the Kalman-Yakubovich- Popov (KYP) properties, a parameter-dependent output projection matrix is searched in the LFR form. The nonlinear parameter dependence from the linear matrix inequality (LMI) and equality (LME) conditions provided by the KYP lemma is factorized out using the linear fractional transformation (LFT). Then, Finsler's lemma and affine annihilators are used to relax the sufficient affine parameter-dependent LMI and LME conditions. As an application example, a stable system inversion is addressed and demonstrated on a benchmark rational LPV model.

关键词： Symmetric matrices Linear matrix inequalities Mathematical model Computational modeling Systematics Nonlinear dynamical systems Feeds

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Neuro-Adaptive Learning Approach for Predicting Production Performance and Pressure Dynamics of Gas Condensation Reservoir

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IFAC-PapersOnLine 2019年第29期52卷 122-127页

作者： Aliyuda Ali Lingzhong Guo Department of Automatic Control and Systems Engineering University of Sheffield Sheffield. S10 2TN UK Department of Mathematics and Computer Science Gombe State University P.M.B. 127 Gombe Nigeria

In Reservoir Engineering, state-of-the-art data analysis enables engineers to characterize reservoirs and plan for developing fields. This allows production companies to save huge amounts that would otherwise be allocated to reservoir modelling and simulation and well testing. Numerical reservoir modelling and simulation is the standard use in industries today for comprehensive study of fields. However, the inflexible behaviour, development time and cost of numerical simulators are major challenges to production engineers, managers as well as modellers. On the other hand, Artificial Intelligence (AI) based reservoir models are characterised with low cost of development, short development time and fast tract analysis and flexibility to estimate the uncertainties normally found in numerical simulators. In this study, a strategy for controlling gas production and pressure drop in gas condensate reservoir is described. Numerical simulations of production rate and pressure drop were carried out first and their results were saved. An Adaptive Neuro-Fuzzy system was then developed and trained with some parts of the numerical simulation results. This AI-based system is checked and tested with part of the numerical simulation results that had not been used during the training. The developed system regenerates the numerical simulation results for both production rates and pressure drop at different Bottom Hole Pressures (BHPs) with very high accuracy (>98%). Results of this study showed that AI-based reservoir simulation can be considered a vital tool of help to production engineers, managers and modellers for a quick and more informed decision as regards field development plans that can meet operational targets.

关键词： Gas condensate reservoirs Neuro-Adaptive Learning System Bottom-Hole Pressure

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Conceptual Foundations of the Use of Formal Models and Methods for the Rapid Creation of Web Applications

Conceptual Foundations of the Use of Formal Models and Metho...

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IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems

作者： Sergii Telenyk Grzegorz Nowakowski Eduard Zharikov Jewhenii Vovk Department of Theoretical Electrical Engineering and Computer Science Faculty of Electrical and Computer Engineering Cracow University of Technology Department of Automatic Control and Information Technology Faculty of Electrical and Computer Engineering Cracow University of Technology Department of Automation and Control in Technical Systems National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute"

ISBN: (纸本)9781728140704

The problem of the rapid creation of effective web applications of one class using formal means is considered. A conceptual approach to its solution is offered based on an analysis of the peculiarities of the construction of web applications. Our approach is based on defining the standard web application architecture and selecting its components using formal methods in accordance with user requirements. A formal logical system is proposed that uses the design of web applications as a process of outputting a formula specified according to the needs of the user, which defines the schemes of execution of the modules of the system. An important feature of this approach is the ability to visualise the process of designing the system in 3D, which creates the conditions for effective interaction between developers and machine development tools.

关键词： Web-applications Application construction Business processes Mathematical logic web applications Mathematical logic conceptual User needs Developers

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Multi-agent deployment under the leader displacement measurement: A PDE-based approach

arXiv

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arXiv 2019年

作者： Wei, Jieqiang Fridman, Emilia Selivanov, Anton Johansson, Karl H. Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden School of Electrical Engineering Tel Aviv University Israel

We study the deployment of a first-order multiagent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest neighbors, whereas in addition a leader is able to measure his absolute displacement with respect to the desired curve. In this paper we consider the case that the desired curve is a closed C2 curve and we assume that the leader transmit his measurement to other agents through a communication network. We start the algorithm with displacement-based formation control protocol. Connections from this ODE model to a PDE model (heat equation), which can be seen as a reduced model, are then established. The resulting closed-loop system is modeled as a heat equation with delay (due to the communication). The boundary condition is periodic since the desired curve is closed. By choosing appropriate controller gains (the diffusion coefficient and the gain multiplying the leader state), we can achieve any desired decay rate provided the delay is small enough. The advantage of our approach is in the simplicity of the control law and the conditions. Numerical example illustrates the efficiency of the method. Copyright © 2019, The Authors. All rights reserved.

关键词： Partial differential equations

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Impedance Matching for an Inductive Harvesting Transducer

Impedance Matching for an Inductive Harvesting Transducer

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International Conference on Electrical Machines, Drives and Power Systems (ELMA)

作者： Juan A. GARRIGA Hugo VALDERRAMA-BLAVI David GARCÍA-ELVIRA J.A. BARRADO Àngel CID-PASTOR Department of Computer Science and Industrial Engineering Universitat de Lleida (UDL) Lleida Spain Automatic Control and Industrial Electronics Group (GAEI) Universitat Rovira i Virgili (URV) Tarragona Spain

ISBN: (纸本)9781728114149

This paper presents an inductive transducer coupled to an articulated device for harvesting applications. This device, taking advantage of the sway of the waves of the sea, produces a linear oscillating motion in a solenoid-magnet. Using some magnetic fundamentals, a model of the transducer is deduced. This model is then extended to a harvesting device made with three transducers. Different transducer prototypes, with different number of coil turns, wire gauge, and magnets, have been developed to optimize it. The energy harvested form the final transducer array is processed electronically to charge an autonomous system battery. To maximize the energy collected the principle of impedance matching is used. Thus, the output impedance of the transducer array must match the converter input impedance. A buck-boost hybrid converter (HBB) controlled to behave as a Loss Free Resistor is proposed as impedance adaptor circuit. After the theoretical analysis, several simulation and experimental results are given.

关键词： Transducers Impedance Impedance matching Surface impedance Windings Magnetic flux Generators

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Active Battery Balancing Via a Switched DC/DC Converter: Description and Performance Analysis

Active Battery Balancing Via a Switched DC/DC Converter: Des...

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International Conference on Electrical Machines, Drives and Power Systems (ELMA)

作者： David GARCÍA ELVIRA Hugo VALDERRAMA BLAVÍ Josep María BOSQUE MONCUSÍ Àngel CID PASTOR Juan Antonio GARRIGA CASTILLO Luis MARTÍNEZ SALAMERO Automatic Control and Industrial Electronics Group (GAEI) Universitat Rovira i Virgili (URV) Tarragona Spain Department of Computer Science and Industrial Engineering Universitat de Lleida (UDL) Lleida Spain

ISBN: (纸本)9781728114149

This paper presents a new converter-based active balancing topology. This equalizer topology consists of a single non-isolated DC/DC converter and cell-to-cell power routing via controlled switches, which are operated as power multiplexers. The design and control strategy of the equalizer are explained. Its performance is assessed in simulation. The equalizer balances an imbalanced battery pack of five monobloc batteries, compensating the initial SOC deviations and keeping the pack balanced from then on. The influence of four battery parameters in SOC divergence is analyzed.

关键词： Batteries State of charge Equalizers Topology control systems Integrated circuit modeling Load modeling

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Development of a Decision Support Tool for Intelligent Manufacturing using Classification and Correlation Analysis

Development of a Decision Support Tool for Intelligent Manuf...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Dariusz Król Jan Skowroński Maciej Zareba Krzysztof Bartecki Department of Information Systems Faculty of Computer Science and Management Wrocław University of Science and Technology Poland Legnicka 55F 53–203 Wrocław Wrocław University of Science and Technology Poland DSR Legnicka 55F 53—203 Wrocław Poland Institute of Automatic Control Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Poland

The development of the Production Unit Performance Management Tool (PUPMT), a monitoring and diagnostic tool to select basic signals that have a significant impact on output KPIs, is based on a hierarchical analysis of key performance indicators presented in the ISO 22400 standard. The growing number of quantified signals, such as ambient temperature or even the frequency of vibrations makes decision support tools more intelligent. Moreover, they also include predictive analysis in addition to online presentation of the current state of resources. PUPMT tool allows identifying key events that have a significant impact on current or future benefit in production output. It also allows what-if type analysis, running the simulation of the impact of the proposed changes, and the results of this simulation depend on the effects of similar changes that occurred in the past in a given smart manufacturing environment. Thanks to the automatic identification of potential dependencies, the proposed solution adapts to the specifics of a given environment or even a selected production unit. The paper describes the most important methods featured in the tool. Specifically, it considers a signal classification method, a signal correlation analysis and selection of key factors affecting the efficiency of the production process. In order to verify the methods various tests were carried out to calculate and control of OEE index on 20 production units. Finally, we conclude current results and future research directions.

关键词： Conferences Cybernetics

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Colour histogram analysis for skin lesions discrimination 19

Colour histogram analysis for skin lesions discrimination

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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Damian, Felicia Anisoara Moldovanu, Simona Moraru, Luminita Faculty of Sciences and Environment Dunarea de Jos University of Galati Galati Romania Department of Computer Science and Information Technology Technical College Dumitru Motoc Galati Galati Romania Faculty of Automatic Control Computers Electrical Engineering and Electronics Dunarea de Jos University of Galati Galati Romania Modelling and Simulation Laboratory Dunarea de Jos University of Galati Galati Romania

One of the risk factors in skin cancer is unprotected exposure to UV radiation. Melanoma is the deadliest form of skin cancer but also curable if it is diagnosed in the early stages. This study uses a histogram analysis technique to investigate and classify two common skin lesions, nevi and melanoma. The colour feature investigated is the optimal threshold values in RGB space. Also, a boundary limit of the skin lesions is performed using a colour histogram analysis and the optimal threshold determination. A statistical analysis of the relevant threshold values for R, G and B histograms to establish a sound colour separation between benign and malignant lesions is performed. Monochromatic channel threshold values are clustered using K-means and the validity of clustering is assessed by silhouette method. The proposed method technique is evaluated using 120 colour digital images (60 melanomas and 60 nevi) from the Digital Archive of the Department of Dermatology of the University Medical Center in Groningen (UMCG)1. The reported results suggest red as the lesion representative colour in dermoscopic images. The pixel values for red channel are strongly related to the skin lesion type. © SGEM 2019.

关键词： Dermatology

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