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Numerical Procedure for the Sensitivity Analysis of Hybrid Systems 1

15th International Conference on Dynamical Systems: Theory and Applications, DSTA 2019

作者： Pytlak, Radoslaw Suski, Damian Tarnawski, Tomasz Warsaw University of Technology Faculty of Mathematics and Information Science Warsaw Poland Warsaw University of Technology Institute of Automatic Control and Robotics Warsaw Poland Military Institute of Armament Technology Zielonka Poland

ISBN: (数字)9783030773106

ISBN: (纸本)9783030773090

The paper presents the numerical procedure for the evaluation of adjoint equations of hybrid systems for the purpose of gradients calculations of functions dependent on states of hybrid systems. It is assumed that hybrid systems can have a finite number of discrete states, in each discrete state the hybrid system is described by a set of ordinary differential equations. In particular, the proposed procedure can be used in optimization procedures for solving optimal control problems with hybrid systems. For this reasons the presented procedure is based on the implementation of a Runge–Kutta method which is advocated as the most suitable numerical procedures for integration of differential equations with controls represented by piecewise constant functions (Hager, Numer Math 87:247–282, 2000;Pytlak, Numerical Methods for Optimal control Problems with State Constraints. Lecture Notes in Mathematics, vol. 1707. Springer, Berlin, 1999;Schwartz and Polak, SIAM J control Optim 34:1235–1269, 1996). Since we are dealing with hybrid systems our numerical procedure is equipped with the procedure for locating switching points which determine the change of a discrete state. The evaluation of adjoint equations is consistent with the system equation discretization. We show the effectiveness of our procedure on the example of planning a haemodialysis process. © 2021, Springer Nature Switzerland AG.

关键词： Hybrid systems

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A Passive Mechanical Add-on for Treadmill Exercise (P-MATE) in Stroke Rehabilitation

arXiv

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arXiv 2025年

作者： Beck, Irene L.Y. Hopmans, Belle C. Haanen, Bram Kieft, Levi Vallery, Heike Marchal-Crespo, Laura Poggensee, Katherine L. Dept. of Cognitive Robotics TU Delft Delft Netherlands Dept. of Rehabilitation Medicine Erasmus MC Rotterdam Netherlands Dept. of Biomechanical Engineering TU Delft Delft Netherlands Institute of Automatic Control RWTH Aachen University Aachen Germany

Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive Mechanical Add-on for Treadmill Exercise (P-MATE), a low-cost passive end-effector add-on for treadmills that couples the movement of the paretic and non-paretic legs via a reciprocating system of elastic cables and pulleys. Two human-device mechanical interfaces were designed to attach the elastic cables to the user. The P-MATE and two interface prototypes were tested with a physical therapist and eight unimpaired participants. Biomechanical data, including kinematics and interaction forces, were collected alongside standardized questionnaires to assess usability and user experience. Both interfaces were quick and easy to attach, though user experience differed, highlighting the need for personalization. We also identified areas for future improvement, including pretension adjustments, tendon derailing prevention, and understanding long-term impacts on user gait. Our preliminary findings underline the potential of the P-MATE to provide effective, accessible, and sustainable stroke gait rehabilitation. © 2025, CC BY-NC-ND.

关键词： End effectors

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Traffic Sign Classification Using Deep and Quantum Neural Networks

arXiv

引用

arXiv 2022年

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

Quantum Neural Networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural Networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2022, CC BY.

关键词： Traffic signs

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Traffic Sign Classification Using Deep and Quantum Neural Networks

TechRxiv

引用

TechRxiv 2022年

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

关键词： Traffic signs

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Magnetorheological Axisymmetric Actuator with Permanent Magnet

arXiv

引用

arXiv 2022年

作者： Bernat, Jakub Superczynska, Paulina Gajewski, Piotr Marcinkowska, Agnieszka Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Institute of Chemical Technology and Engineering Poznan University of Technology Poznan Poland

This study examines the concept of axisymmetric actuator based on the magnetorheological membrane, electromagnet and permanent magnet. The construction of the actuator enables its application in wide range of practical devices like pumping, loudspeaker or varying-stiffness button. This work will highlight its working principle especially the influence of permanent magnet. Furthermore, the model of devices will be defined relaying on the Hammerstein model. To show the properties of the actuator and to perform the model identification, the set of experiments was run taking into account static and dynamic working conditions. Copyright © 2022, The Authors. All rights reserved.

关键词： Permanent magnets

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Event-Based Supervisor control for a Bascule Bridge

Event-Based Supervisor Control for a Bascule Bridge

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South Eastern European Design Automation, Computer Engineering, Computer Networks and Social Media Conference (SEEDA-CECNSM)

作者： Dimitrios G. Fragkoulis Fotis N. Koumboulis Maria P. Tzamtzi Georgios L. Giannaris Department of Digital Industry Technologies School of Science Robotics Automatic Control and Cyber-Physical Systems Laboratory National and Kapodistrian University of Athens Euripus Campus Euboea Greece Core Department National and Kapodistrian University of Athens Euripus Campus Euboea Greece

ISBN: (数字)9798331504489

ISBN: (纸本)9798331504496

The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired performance of the bridge is expressed in the form of rules, that will be translated to five groups of sets of regular languages. Next, new groups of sets of regular languages will be introduced by the injection of appropriate uncontrollable events, in order to guarantee the controllability of the languages. Finally, an event-based supervisor scheme will be developed and the nonblockingness of the controlled automaton is proved.

关键词： Bridges Automation Design automation Event detection Social networking (online) Smart cities Programmable logic devices Automata SCADA systems Europe

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LQR and SMC control design of a DC-DC converter based on Kalman filter observer for a nanosatellite's EPS: A comparative study 48

LQR and SMC control design of a DC-DC converter based on Kal...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Daghouri, Amina El Wafi, Ilyas Elhani, Soumia Haloua, Mohamed Guennoun, Zouhair Ensam University Center for Research in Space Technologies Emi Mohammed v University in Rabat Energy Optimization Diagnosis and Control Team Morocco Emi University Center for Research in Space Technologies Emi Mohammed v University in Rabat Smart Communications Research Team Morocco Emi Mohammed v University in Rabat Power Electronics Smart Control Techniques Automatic and Robotics Team Morocco

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Until now, only the PID has been used to control DC/DC converters for a Nanosatellite's Electrical Power System (EPS), thus, the goal of this work is to investigate the feasibility of other methods. This paper focuses on a comparative study of SMC and LQR for the regulation of a Buck converter used in EPS. A study is done to evaluate their efficiency, using MATLAB/Simulink, in response to various fluctuations in voltage source, reference voltage and resistive load. To estimate the system's states and filter the noise in the measurements, a Kalman filter is utilized. In terms of recovery time, settling time and under/overshoots, SMC outperforms the other controllers, however, the control input suffers from the chattering effect and high magnitude peaks. The SMC recovery time to a change in the load is 0.677ms, while LQR takes 1.583ms to recover. PID, on the other hand, is slower with a recovery time of 3.068ms. SMC also presents the lowest steady state error which is less than 0.01%, whereas LQR and PID have an error less than 0.36% and 0.56%, respectively. © 2022 IEEE.

关键词： Electric loads

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MUP-LIO: Mapping Uncertainty-aware Point-wise Lidar Inertial Odometry

MUP-LIO: Mapping Uncertainty-aware Point-wise Lidar Inertial...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Hekai Yao Xuetao Zhang Gang Sun Yisha Liu Xuebo Zhang Yan Zhuang Intelligent Robotic Laboratory School of Artificial Intelligence School of Control Science and Engineering Dalian University of Technology Dalian China School of Information Science and Technology Dalian Maritime University Dalian China College of Artificial Intelligence The Institute of Robotics and Automatic Information System (IRAIS) Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper proposes a mapping uncertainty-aware point-wise Lidar Inertial Odometry (LIO), which synthesizes the point-wise point-to-plane match and map refreshment into a probabilistic model. As a result, it can address the issue of mismatching during point registration and remove in-frame motion distortion of Lidar sensors. Specifically, the uncertainty-aware map is designed to embody the uncertainty of map geometric features (points and planes), which comes from the Lidar point measurement and pose estimation. Then the map can be modeled in a probabilistic form. In addition, the proposed framework refreshes map at each Lidar point measurement to timely revise geometric features and provide non-delayed map. On the basis, the probabilistic point-to-plane match method is designed to seek a corresponding plane for each Lidar point in point registration, which can enhance the effectiveness of match and provide adaptive observation noises for more accurate state estimation. Comparative experiments on various public datasets are conducted to demonstrate the superior performance of the proposed framework in terms of higher accuracy and better robustness.

关键词： Laser radar Accuracy Uncertainty Probabilistic logic Distortion Robustness Sensors Odometry Distortion measurement State estimation

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Resonance Situation in the Gyro Suspension When Changing the Acoustic Beam Angle

Resonance Situation in the Gyro Suspension When Changing the...

引用

International Conference on Automation, AUTOMATION 2021

作者： Korobiichuk, Igor Mel’nick, Viktorij Fesenko, Serhii Institute of Automatic Control and Robotics Warsaw University of Technology Boboli 8 Warsaw02-525 Poland National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" Kyiv Ukraine

ISBN: (纸本)9783030748920

An analysis of the features of the resonant type for both the computational models – the approximate model (which has the appearance of an elementary plate) and the refined model (which has the appearance of a shell of considerable length), revealed some discrepancies in the results. The results obtained have been confirmed in experimental modeling of shell behavior. The reasons for the discrepancy of the results are thoroughly considered, and the values of the most dangerous angles of incidence of sound rays in relation to the surface of the shell are calculated. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Gyroscopes

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Attitude Dynamics Modelling: Fractional Consensus Approach

Attitude Dynamics Modelling: Fractional Consensus Approach

引用

IEEE Conference on Decision and control

作者： Jerzy Baranowski Waldemar Bauer Karolina Dukała Dorota Mozyrska Małgorzata Wyrwas Department of Automatic Control and Robotics AGH University of Science & Technology Kraków Poland SWPS University of Social Sciences and Humanities Katowice Poland Faculty of Computer Science Bialystok University of Technology Bialystok Poland

In this paper we propose a consensus model using fractional calculus, which is an emerging topic in multi-agent modeling. Fractional models have infinite memory and can be understood as a relatively simple extension of traditional calculus. We propose a model structure motivating it by psychological research. For such model we also provide a stability analysis allowing results on possibilities of consensus arising in the modelled group of agents. To achieve this, we use fractional difference equations, which illustrate our considerations for agent groups of increasing complexity.

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