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作者： Antoni Grau Yolanda Bolea Alberto Sanfeliu Automatic Control Department Technical University of Catalonia Robotics Institute IRI UPC/CSIC

The paper presents an approach for the identification of the parameters of an Unmanned Aerial Vehicle(UAV), specifically a quadrotor using experiments in a CAD environment. A linearized control model is proposed to create a global model that operates in all operation range. Usually, in this type of systems a linear time invariant(LTI) controller is used, and then a lineal control model around each operating point is needed to the design of the controller. In this study, a linear control model suitable in each operating point is developed and identified. This serial of LTI control model can be combined and provides a global control model. Therefore, through this global control model can be designed a global controller suitable for all the operating range.

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Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints

Kinematics and Dynamics Model via Explicit Direct and Trigon...

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作者： Schappler, Moritz Lilge, Torsten Haddadin, Sami Institute for Mechatronic Systems Leibniz University Hannover Hannover Germany Institute for Automatic Control Leibniz University Hannover Hannover Germany Chair of Robotics Science and Systems Intelligence Technical University of Munich Hannover Germany

The efficient implementation of kinematics and dynamics models is a key to model based control of mechatronic systems such as robots and wearable assistive devices. This paper presents an approach for the derivation of these models in symbolic form for constrained systems based on the explicit elimination of the kinematic constraints using substitution variables with trigonometric expressions and the Lagrange equations of the second kind. This represents an alternative solution to using the implicit form of the constraints or using the explicit elimination at comparable computational effort. The method is applied to a novel exoskeleton designed for craftsmen force assistance, which consists of multiple planar closed kinematic loops and gear mechanisms. © 2019, Springer Nature Switzerland AG.

关键词： Dynamics

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Dynamics of opinions with bounded confidence in social cliques: Emergence of fluctuations

arXiv

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arXiv 2021年

作者： Zhang, Jiangbo Yuan, Deming Wang, Lei Altafini, Claudio Shi, Guodong School of Sciences Southwest Petroleum University Chengdu China Research School of Engineering The Australian National University CanberraACT Australia School of Automation Nanjing University of Science and Technology Nanjing China Australian Center for Field Robotics The University of Sydney SydneyNSW2008 Australia Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2008 Australia

In this paper, we study the evolution of opinions over social networks with bounded confidence in social cliques. Node initial opinions are independently and identically distributed;at each time step, nodes review the average opinions of a randomly selected local clique. The clique averages may represent local group pressures on peers. Then nodes update their opinions under bounded confidence: only when the difference between an agent individual opinion and the corresponding local clique pressure is below a threshold, this agent opinion is updated according to the DeGroot rule as a weighted average of the two values. As a result, this opinion dynamics is a generalization of the classical Deffuant-Weisbuch model in which only pairwise interactions take place. First of all, we prove conditions under which all node opinions converge to finite limits. We show that in the limits the event that all nodes achieve a consensus, and the event that all nodes achieve pairwise distinct limits, i.e., social disagreements, are both nontrivial events. Next, we show that opinion fluctuations may take place in the sense that at least one agent in the network fails to hold a converging opinion trajectory. In fact, we prove that this fluctuation event happens with a strictly positive probability, and also constructively present an initial value event under which the fluctuation event arises with probability one. These results add to the understanding of the role of bounded confidence in social opinion dynamics, and the possibility of fluctuation reveals that bringing in cliques in Deffuant-Weisbuch models have fundamentally changed the behavior of such opinion dynamical processes. © 2021, CC BY-NC-ND.

关键词： Dynamics

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Development of a Cloud- and Edge-Architecture for adaptive model weight optimization of a CNN exemplified by optical detection of hairpin welding

Development of a Cloud- and Edge-Architecture for adaptive m...

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International Electric Drives Production Conference (EDPC)

作者： Johannes Vater Maximilian Kirschning Dominik Scheurenberg Dirk Abel Alois Knoll Planning and Production of Electrified Powertrains BMW Group Munich Germany Chair of Robotics Artificial Intelligence and Real-time Systems Technical University Munich Munich Germany Institute of Automatic Control RWTH Aachen University Aachen Germany

ISBN: (数字)9781728184586

ISBN: (纸本)9781728196145

The beginning of a global reorientation towards an increasingly conscientious approach to nature and the human habitat has been accompanied by changes in industry and society. The automotive industry, where a transition from combustion to electrically powered vehicles is currently underway, is also concerned with this change. In addition to increasing the capacity of the battery, improving the efficiency of the electric motor is essential. To achieve these goals, however, new technologies such as hairpins for the stator are needed. An important process step involves the welding of two pairs of hairpins, which often leads to welding defects. Nevertheless, expert knowledge in this field is limited. Optical monitoring of the welding process with the help of a convolutional neural network (CNN) is a good approach. This approach can compensate for the low level of expert knowledge and detects and classifies welding defects directly in the production line. However, the disadvantage of optical monitoring is that production conditions and the surrounding environment change over time. This has an impact on optical detection and can negatively affect the accuracy of a CNN. For example, the camera perspective can change, which has a negative effect on optical quality monitoring. Therefore, this paper presents an approach for monitoring and evaluating the quality of a CNN in a cloud instance online. If a deteriorating quality is detected, the CNN in the cloud is re-trained by continuously collected data and then automatically deployed to the production line. This allows the CNN to adapt to the changing environmental conditions. The present approach is demonstrated and validated with real data of the stator production process. Compared with the current state-of-the-art, this control loop is highly automated and requires a minimum of human intervention.

关键词： Industries Welding Production Optical computing Stators Monitoring Optimization

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Backstepping control of an autonomous catamaran sailboat 11

Backstepping control of an autonomous catamaran sailboat

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11th International Robotic Sailing Conference, IRSC 2018

作者： Abrougui, Helmi Nejim, Samir U.R Automatic Control and Marine Robotics Naval Academy Tunisia

automatic control of sailing boats has continuously evolved since it allows the increase of sailing safety and the improvement of cruise speed. Hence, the main problem with sailing resides in the large heel angle and important roll motion that can be caused by strong wind. In order to overtake these risks and to ameliorate the sailboat manoeuvrability and speed, a solution is to design sailboats with two or three hulls;referred, respectively, as catamaran and trimaran. This paper presents an autopilot design for an autonomous catamaran sailing vessel. A four degree of freedom dynamic model of the vehicle is firstly described using Newton's second law and kinematic equations. Due to high nonlinearity of the mathematical dynamic model of the catamaran sailboat, a nonlinear heading controller based on backstepping method is developed to stabilize the boat heading while tracking waypoints. Finally, simulation results are carried out to show the effectiveness of the proposed approach and the behaviour of the overall system. Copyright © by the paper's authors.

关键词： Degrees of freedom (mechanics)

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SPATIAL PLANNING TEXT INFORMATION PROCESSING with USE of MACHINE LEARNING METHODS 5

SPATIAL PLANNING TEXT INFORMATION PROCESSING with USE of MAC...

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5th International Conference on Smart Data and Smart Cities, SDSC 2020

作者： Kaczmarek, I. Iwaniak, A. Åšwietlicka, A. Piwowarczyk, M. Harvey, F. Institute of Spatial Economy Wroclaw University of Environmental and Life Sciences Poland Institute of Geodesy and Geoinformatics Wroclaw University of Environmental and Life Sciences Poland Institute of Automatic Control and Robotics Poznan University of Technology Poland Faculty of Computer Science and Management Wroclaw University of Science and Technology Poland Department of Cartography and Visual Communication Leibniz Institute for Regional Geography Leipzig Germany Wroclaw Institute of Spatial Information and Artificial Intelligence Poland

Spatial development plans provide an important information on future land development capabilities. Unfortunately, at the moment access to planning information in Poland is limited. Despite many initiatives taken to standardize planning documents, the standard for recording plans has not yet been developed. Each of the planning areas has a symbol and a category of land use, which is different in each of the plans. For this reason, it is very difficult to carry out an analysis enabling aggregation of all areas with a specific, the same development *** authors in the article conduct experiments aimed at using machine learning methods for the needs of processing the text part of plans and their classification. The main aim was to find the best method for grouping texts of zones with the same land use. The experiment consists in an attempt to automatically classify the texts of findings for individual areas into the 10 defined categories of land use. Thanks to this, it is possible to predict the future land use function for a specific zone text regulation and aggregate all zones with specific land use *** the proposed solution for the classification problem of heterogeneous planning information authors used k-means algorithm and artificial neural networks. The main challenge for this solution, however, was not the design of the classification tool but rather the preprocessing of the text. In this paper an approach for text preprocessing as well as selected methods of text classification is presented. The results of the work indicate greater use of CNN's usability to solve the problem presented. K-means clustering produces clusters, in which texts are not grouped according to land use function, which is not useful in the context of zones aggregation. © 2020 I. Kaczmarek et al.

关键词： Land use

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Microprocessor means for technical diagnostics of complex systems 2

Microprocessor means for technical diagnostics of complex sy...

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2nd International Workshop on Computer Modeling and Intelligent Systems, CMIS 2019

作者： Korobiichuk, Igor Hryshchuk, Ruslan Horoshko, Vladimir Khokhlacheva, Yulia Warsaw University of Technology Institute of Automatic Control and Robotics Warsaw02-525 Poland Sergey Korolyov Zhytomyr Military Institute Cybersecurity Department of the Research Center Zhytomyr10004 Ukraine National Aviation University Kyiv03058 Ukraine

The construction of algorithms for assessing the operability and the recognition of technical states of complex technical systems can be carried out by preliminary modeling of these problems on large computers. This work is considering the expediency of using multi-level modern microprocessor means technical diagnostics for these purposes. © 2019 CEUR-WS. All rights reserved.

关键词： Algorithm Complex technical systems Management of object maintenance Technical diagnostics Technical states

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Learning Nash Equilibria in Monotone Games

arXiv

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arXiv 2019年

作者： Tatarenko, Tatiana Kamgarpour, Maryam Control Methods and Robotics Lab Technical University Darmstadt Darmstadt64283 Germany Automatic Control Laboratory ETH Zürich Switzerland

—We consider multi-agent decision making where each agent’s cost function depends on all agents’ strategies. We propose a distributed algorithm to learn a Nash equilibrium, whereby each agent uses only obtained values of her cost function at each joint played action, lacking any information of the functional form of her cost or other agents’ costs or strategy sets. In contrast to past work where convergent algorithms required strong monotonicity, we prove algorithm convergence under mere monotonicity assumption. This significantly widens algorithm’s applicability, such as to games with linear coupling constraints. Copyright © 2019, The Authors. All rights reserved.

关键词： Cost functions

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Preface

Lecture Notes in Networks and Systems

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Lecture Notes in Networks and Systems 2024年 1076 LNNS卷 v-vii页

作者： Biele, Cezary Kacprzyk, Janusz Kopeć, Wieslaw Możaryn, Jakub Owsiński, Jan W. Romanowski, Andrzej Sikorski, Marcin National Information Processing Institute Warszaw Poland Polish Academy of Sciences Systems Research Institute Warsaw Poland Polish-Japanese Academy of Information Technology Warsaw Poland Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Institute of Applied Computer Science Faculty of Electrical Electronic Computer and Control Engineering Lódż University of Technology LODZ Poland Department of Applied Informatics in Management Faculty of Management and Economics Gdańsk University of Technology Gdańsk Poland

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Unknown Input Based Observer Design for Wind Energy Conversion System with Time-Delay 5

Unknown Input Based Observer Design for Wind Energy Conversi...

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5th International Conference on Green Technology and Sustainable Development, GTSD 2020

作者： Vu, Van-Phong Wang, Wen-June Ngo, Van-Thuyen Truong, Dinh-Nhon Lee, Pei-Jun Do, Ton Duc Tong, Van-Ngoc Ho Chi Minh City University of Technology and Education Department of Automatic Control Ho Chi Minh City Viet Nam National Central University Department of Electrical Engineering Zhongli Taiwan National Chi-Nan University Department of Electrical Engineering Nantou Taiwan Nazarbayev University Department of Robotics and Mechatronics AstanaZ05H0P9 Kazakhstan Faculty of Electrical and Electronics Engineering Vietnam-Singapore Vocational College Binh Duong Viet Nam

ISBN: (纸本)9781728199825

A new approach to design a nonlinear observer for the Wind Energy Conversion System (WECSs) with the existence of a delay time state variable is proposed in this paper. The WECSs are modeled under a polynomial framework that allows us to apply the powerful methodology of the linear system to synthesize the observer. Unlike the previous paper, the delay time in this paper is arbitrary and unnecessary to satisfy the bound constraints or the time delay must be constant. Additionally, during operating the WECSs, the wind is taken into account the unknown disturbance that affects to the performance of WECSs. In this paper, the unknown input method is employed to design the observer which can eliminate the influences of the delay time parts and disturbance;as well as estimate the unknown states asymptotically. Based on the Lyapunov theory and Sum-Of-Square (SOS) technique, the conditions to synthesize the nonlinear observer are obtained in the main theorems. The simulation results are also provided to show the merit of the proposed method. © 2020 IEEE.

关键词： Linear systems

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