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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Nikolaos D. Kouvakas Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools.

关键词： Cloud computing Actuators Web services Computational modeling Supervisory control Data models Sensor systems Intelligent sensors Smart manufacturing Milling machines

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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent Systems

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

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Mediterranean Conference on control and Automation (MED)

作者： Michael G. Skarpetis Fotis N. Koumboulis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator.

关键词： State feedback Uncertain systems Sufficient conditions Uncertainty Automation Hydraulic actuators control systems

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A FIWARE based Input-Output Supervisor control Implementation

A FIWARE based Input-Output Supervisor Control Implementatio...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Michael G. Skarpetis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed.

关键词： Actuators Supervisory control Belts Motors Data models Discrete-event systems Manufacturing automation

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Pedestrian detection with high-resolution event camera

arXiv

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arXiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by traditional cameras is often prone to problems such as motion blur or degraded image quality due to challenging lighting conditions. In addition, the frame rate – typically 30 or 60 frames per second – can be a limiting factor in certain scenarios. Event cameras (DVS – Dynamic Vision Sensor) are a potentially interesting technology to address the above mentioned problems. In this paper, we compare two methods of processing event data by means of deep learning for the task of pedestrian detection. We used a representation in the form of video frames, convolutional neural networks and asynchronous sparse convolutional neural networks. The results obtained illustrate the potential of event cameras and allow the evaluation of the accuracy and efficiency of the methods used for high-resolution (1280 x 720 pixels) footage. © 2023, CC BY.

关键词： Cameras

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Concept of a data centralization system for a railway transportation and station management systems

Concept of a data centralization system for a railway transp...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Waldemar Bauer Katarzyna Grobler-Dębska Włodzimierz Woźniak Dep. of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland Łukasiewicz Research Network - PoznańInstitute of Technology Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This paper advocates for the digitization of transportation enterprises, focusing on the railway industry’s need for integrated ticketing and asset management systems. It introduces Data Lake technology as a solution for centralized data management, enabling railway companies to enhance operational efficiency and improve decision-making processes. By integrating diverse data sources within the Data Lake framework, the paper demonstrates the potential for achieving holistic insights and predictive analytics to optimize railway operations. Practical implementation of Data Lake in the MOTIONAL project exemplifies its efficacy in real-world applications, underscoring its pivotal role in modernizing railway transportation and station management systems.

关键词： Soft sensors Decision making Transportation Focusing Lakes Big Data applications Rail transportation

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Pedestrian detection with high-resolution event camera

TechRxiv

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TechRxiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

关键词： Cameras

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Robust Triangular Decoupling Velocity Varying controllers for Four Wheel Steering Autonomous Vehicles

Robust Triangular Decoupling Velocity Varying Controllers fo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

This study explores the challenges of achieving triangular decoupling in a specific group of linear parameter-dependent systems that have uncertain structures, with a particular emphasis on its relevance to four-wheel steering (4WS) vehicles. A new method is presented, combining a state feedback controller that includes static and time-varying elements. The main goal of this controller design is to guarantee triangular decoupling properties and Hurwitz invariability in the face of system uncertainties. The proposed method involves developing the controller and setting solvability criteria to transform the original Parameter Dependent Uncertain System into an uncertain Linear Time-Invariant (LTI) system and subsequently meeting LTI triangular decoupling characteristics. The practical significance of the results is shown by their effective use in controlling the motion of a velocity varying four-wheel steering (4WS) car model with uncertain virtual mass and cornering stiffnesses.

关键词： Linear systems Uncertain systems State feedback Uncertainty Wheels Transforms Reliability Automobiles Time-varying systems Manufacturing automation

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Input-Output Supervisor Design for Systems Analyzed in Cooperating Pairs of Subsystems

Input-Output Supervisor Design for Systems Analyzed in Coope...

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Mediterranean Conference on control and Automation (MED)

作者： Fotis N. Koumboulis Dimitrios G. Fragkoulis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application.

关键词： Actuators Automation control design Energy exchange Robot sensing systems Main-secondary Manufacturing

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Disturbance Observer-Based Data Driven Model Predictive Tracking control of Linear Systems

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IEEE Access 2023年 11卷 88597-88608页

作者： Farbood, Mohsen Echreshavi, Zeinab Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel Shiraz University of Technology Department of Electrical and Electronics Engineering Shiraz71557-13876 Iran University of Zanjan Department of Electrical Engineering Zanjan45371-38791 Iran National Yunlin University of Science and Technology Douliou Graduate School of Intelligent Data Science Yunlin640301 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces a new data-driven MPC structure based on two offline and online parts to achieve the robust and constrained performance in an optimal scheme. In the first step, according to the model matching condition, an offline data-driven controller is designed to reach the tracking performance. In addition, to reduce the effects of the external disturbance, a data-driven-based disturbance observer is presented to estimate the external disturbance. Therefore, the robustness against the external disturbances is achieved in an offline procedure. Then, a data-driven model predictive control (MPC) is structured based on a data-driven-based model of a stabilized system. In other words, the overall controller is configured such that the limitations of the system states and control input are considered in the control design process. Moreover, by employing the move blocking strategy, the online computational burden of the suggested controller is greatly reduced. To further improve of the feasibility problem, an ellipsoidal terminal (ET) constraint is considered. The rows number of the blocking matrix influences on the ET set which leads to feasibility enhancement. So, the main contributions of the presented data-driven controller are feasibility improvement and reducing online computational burden in an optimal and constrained scheme which are illustrated in the simulation section. © 2013 IEEE.

关键词： Linear systems

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Output Tracking control of a Nonlinear System Based on Takagi-Sugeno Fuzzy Model: Generalized Partial Eigenstructure Assignment Approach

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IEEE Access 2024年 12卷 18520-18535页

作者： Soltanian, Farzad Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2M9 Canada Shiraz University of Technology Electrical Engineering Faculty Shiraz71557-13876 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces an innovative optimal control approach to achieve output tracking while incorporating H2-performance specifications in a specific class of nonlinear dynamics modeled by the Takagi-Sugeno fuzzy model (TSFM). The primary innovation lies in extending partial eigenstructure assignment to TSFM-based nonlinear systems within the framework of sliding mode control (SMC). We propose a two-step methodology for designing optimal sliding surface gains. Initially, optimal state feedback gains are computed for each rule consequence containing a linear subsystem, adhering to predetermined eigenvalues and satisfying H2-performance criteria. Subsequently, using a convex combination, the overall state feedback gain is calculated and utilized to design sliding matrix gains. The sliding matrix gains are then determined by strategically combining previously calculated state-feedback gains in a convex optimization problem. We reframe the output tracking strategy as a stabilization problem using a virtual control input and reformulate the optimization task concerning tracking state errors. This process yields state feedback gains, sliding gains, and the formulation of the virtual control input. The effectiveness of our approach is verified through comprehensive simulations, emphasizing its capability in addressing output tracking challenges within nonlinear systems. © 2013 IEEE.

关键词： Transient analysis

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