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

作者： Anna Stief James R. Ottewill Jerzy Baranowski ABB Corporate Research Center Krakow Poland Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

A feature is a measured property of a monitored system. Feature extraction in condition monitoring requires domain knowledge about a system and its possible fault cases. To find the most sensitive features for fault patterns, one has to evaluate the relevancy of features. In this paper the authors use ReliefF, which is a K-nearest neighbors-based feature selection algorithm, to evaluate the features extracted from an induction motor dataset. The dataset contains data from eight different health states of an induction motor. Feature relevancy is calculated for each health state. The selected features are fed into a simple Bayesian binary classifier to calculate the most likely health state. The method provides insight into the relevance of features by sensor type and also by signal processing type. The evaluation of similarity among the selected features can help identify similar faults. The results obtained emphasize the importance of domain knowledge in the proper design of features. Furthermore, by considering experimental data obtained for multiple loading and noise conditions, the feature selection method indicates features which are best suited for diagnosing specific faults, regardless of external conditions. Such information can support the creation of robust monitoring systems.

关键词： Feature extraction Induction motors Training Monitoring Classification algorithms Bayes methods Condition monitoring

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Active disturbance rejection control for UAV pose regulation 14

Active disturbance rejection control for UAV pose regulation

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14th International Conference on Electrical Engineering, Computing Science and automatic control, CCE 2017

作者： Orozco-Soto, Santos M. Ibarra-Zannatha, Juan M. Malo-Tamayo, Alejandro J. Cureno-Ramirez, Andres Robotics and Artificial Vision Laboratory Automatic Control Department CINVESTAV Mexico City Mexico

ISBN: (纸本)9781538634059

This paper presents an alternative control strategy for 4 degree-of-freedom pose regulation of a quadrotor using the Active Disturbance Rejection approach. The proposed controller was designed using a kind of Lyapunov energy function to ensure asymptotic stability for regulation, in addition to the active disturbance rejection feature which is based in sliding mode extended state observer. This control scheme was real-time implemented in a Bebop 2 quadrotor using robotics Operative System, showing successful results for pose control in presence of lateral, vertical and rotational disturbances. © 2017 IEEE.

关键词： Asymptotic stability

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Optimal output regulation for square, over-actuated and under-actuated linear systems

arXiv

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arXiv 2018年

作者： Bernhard, Sebastian Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universität Darmstadt Landgraf-Georg Str. 4 Darmstadt64283 Germany

This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most accurately. These are typical challenges for over-actuated systems and for under-actuated systems, respectively. We formulate both goals as optimal output regulation problems. Then we contribute two new sets of regulator equations to output regulation theory that provide the desired solutions. A thorough study indicates solvability and uniqueness under weak assumptions. E.g., we can always determine the solution of the classical regulator equations that is most input energy efficient. This is of great value if there are infinitely many solutions. We derive our results by a linear quadratic tracking approach and establish a useful link to output regulation theory. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear systems

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Heat Transfer Optimization of end Winding Rotor Generator by the Use of Modified Axial Spacer: A Case Study

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Journal of Physics: Conference Series 2021年第1期1845卷

作者： Y Baskoro I Jaya A Glowacz M Sulowicz W Caesarendra PT Indonesia Power Indonesia Department of Automatic Control and Robotics AGH University of Science and Technology 30-059 Kraków Poland Institute of Electromechanical Energy Conversion Faculty of Electrical and Computer Engineering Cracow University of Technology Warszawska 24 31-155 Cracow Poland Faculty of Integrated Technologies Universiti Brunei Darussalam Jalan Tungku Link Gadong BE1410 Brunei Darussalam

This paper presents a case study of a rotor fault occurring in the rotor generator of a steam power plant located in Lontar, Banten Province, Indonesia. The steam power plant has 3 x 315 MV capacity and uses hydrogen in the cooling system. The issue arising during the operation was caused by heat transfer exceeding the normal level. The grounding of the rotor occurred through rising vibration and temperature, tripping the generator unit. During repairs, the axial spacer was replaced with a new model, where it is longer than the original, adding a bar spacer at a previously unavailable position and creating a cooling track profile. This is a case study on the replacement of the axial spacer model aimed at preventing the expansion of the winding, so as not to touch with each other, through the installation of a longer axial spacer and the addition of the spacer bar, and lastly adding the track profile to the cooling hydrogen gas flow thereby maximizing the cooling process from the end winding rotor generator. Heat transfer is an analysed parameter related to the model change of the axial spacer. The addition of a track cooling gas flow has been able to maximize the heat transfer process, which is simulated in this paper. The performance of the rotor generator increased through several parameters after the replacement of the axial spacer model.

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Sequential Linear Quadratic Optimal control for Nonlinear Switched Systems

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IFAC-PapersOnLine 2017年第1期50卷 1463-1469页

作者： Farshidian F. Kamgarpour M. Pardo D. Buchli J. Agile and Dexterous Robotics Lab ETH Zürich Switzerland Automatic Control Laboratory ETH Zürich Switzerland

In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We assume that the sequence of the switching modes are given but the switching time in between consecutive modes remains to be optimized. The proposed method uses a two-stage approach as introduced by Xu and Antsaklis (2004) where the original optimal control problem is transcribed into an equivalent problem parametrized by the switching times and the optimal control policy is obtained based on the solution of a two-point boundary value differential equation. The main contribution of this paper is to use a Sequential Linear Quadratic approach to synthesize the optimal controller instead of solving a boundary value problem. The proposed method is numerically more efficient and scales very well to the high dimensional problems. In order to evaluate its performance, we use two numerical examples as benchmarks to compare against the baseline algorithm. In the third numerical example, we apply the proposed algorithm to the Center of Mass control problem in a quadruped robot locomotion task. © 2017

关键词： control control design for hybrid systems Mobile robots Optimal control of hybrid systems Optimal control theory Real-time control Riccati equations Switching stability

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Efficient trajectory reshaping in a dynamic environment

Efficient trajectory reshaping in a dynamic environment

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International Workshop on Advanced Motion control (AMC)

作者： Martin Biel Mikael Norrlöf Dept. of Automatic Control Royal Institute of Technology Stockholm Sweden Robotics and Motion Division ABB AB Västerås Sweden

A general trajectory planner for optimal control problems is presented and applied to a robot system. The approach is based on timed elastic bands and nonlinear model predictive control. By exploiting the sparsity in the underlying optimization problems the computational effort can be significantly reduced, resulting in a real-time capable planner. In addition, a localization based switching strategy is employed to enforce convergence and stability. The planning procedure is illustrated in a robotics application using a realistic SCARA type robot.

关键词： Trajectory Planning Optimization Robots Real-time systems Convergence System dynamics

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Reinforcement Learning for 4-Finger-Gripper Manipulation

Reinforcement Learning for 4-Finger-Gripper Manipulation

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IEEE International Conference on robotics and Automation

作者： Marco Ojer de Andres M. Mahdi Ghazaei Ardakani Anders Robertsson Mahdi Ghazaei is with the Department of Advanced Robotics (ADVR) Italian Institute of Technology (IIT) Anders Robertsson is with the Department of Automatic Control Lund University Lund Sweden

In the framework of robotics, Reinforcement Learning (RL) deals with the learning of a task by the robot itself. This paper presents a hierarchical-planning approach in which the robot learns the optimal behavior for different levels in a decoupled way. For high-level discrete actions, Q-learning was chosen, whereas for the low level we utilize Policy Improvement with Path Integrals (PI~2) algorithm to learn the parameters of policies, represented by rhythmic Dynamic Movement Primitives (DMPs). The paper studies the case of a 4-finger-gripper manipulator, which performs the task of continuously spinning a ball around a desired axis. The results demonstrate the efficacy of the hierarchical planning and the increased performance of the task when PI~2 is used in conjunction with rhythmic DMPs in a real environment.

关键词： Robots Trajectory Task analysis Planning Heuristic algorithms Learning (artificial intelligence) Approximation algorithms

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On-body non-invasive glucose monitoring sensor based on high figure of merit (FoM) surface plasmonic microwave resonator

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Scientific reports 2023年第1期13卷 17527页

作者： Farzad Soltanian Mehdi Nosrati Saleh Mobayen Chuan-Chun Li Telung Pan Ming-Ta Ke Paweł Skruch Department of Electrical Engineering University of Alberta Edmonton Canada. Department of Electrical Engineering Manhattan College New York USA. Department of Electrical Engineering University of Zanjan Zanjan Iran. mobayens@yuntech.edu.tw. Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Douliou 640301 Yunlin Taiwan. mobayens@yuntech.edu.tw. National Taiwan University Hospital Yunlin Branch Yunlin Taiwan. a***@***. Bachelor Program in Interdisciplinary Studies College of Future National Yunlin University of Science and Technology Yunlin 64002 Taiwan. Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Douliou 640301 Yunlin Taiwan. Department of Automatic Control and Robotics AGH University of Science and Technology 30-059 Kraków Poland.

High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabetic patients. The resonance frequencies of the proposed sensor are measured to be around [Formula: see text] GHz and [Formula: see text] GHz over the frequency band of DC to 6GHz which are suitable for monitoring interstitial fluid (ISF) changing rate. The [Formula: see text] sensor is experimentally wrapped on the human body arm to monitor the blood glucose changing rate via amplitude and frequency variations of the sensor. Amplitude variation and frequency shift are measured to be around 7 dB and 30 MHz, respectively. The measured results demonstrate the high precision of the proposed approach to depict a valid diagram for glucose changing rate due to good impedance matching of the designed microwave sensor and human body. The sensor is shown to enhance the sensitivity by a factor of 5 compared to the conventional ones.

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Distributed online linear regression

arXiv

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arXiv 2019年

作者： Yuan, Deming Proutiere, Alexandre Shi, Guodong Research School of Engineering Australian National University CanberraACT0200 Australia School of Automation Nanjing University of Science and Technology Nanjing210094 China Department of Automatic Control KTH Royal Institute of Technology Stockholm100-44 Sweden Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney SydneyNSW2006 Australia

We study online linear regression problems in a distributed setting, where the data is spread over a network. In each round, each network node proposes a linear predictor, with the objective of fitting the network-wide data. It then updates its predictor for the next round according to the received local feedback and information received from neighboring nodes. The predictions made at a given node are assessed through the notion of regret, defined as the difference between their cumulative networkwide square errors and those of the best off-line network-wide linear predictor. Various scenarios are investigated, depending on the nature of the local feedback (full information or bandit feedback), on the set of available predictors (the decision set), and the way data is generated (by an oblivious or adaptive adversary). We propose simple and natural distributed regression algorithms, involving, at each node and in each round, a local gradient descent step and a communication and averaging step where nodes aim at aligning their predictors to those of their neighbors. We establish regret upper bounds typically in O(T 3/4) when the decision set is unbounded and in O(√T) in case of bounded decision set. Copyright © 2019, The Authors. All rights reserved.

关键词： Gradient methods

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Economic scheduling of a hybrid microgrid based on weather forecasts

Economic scheduling of a hybrid microgrid based on weather f...

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2017 International Conference on Advanced Systems and Electric Technologies, IC_ASET 2017

作者： Bouaicha, Hamadi Dallagi, Habib Craparo, Emily Nejim, Samir Automatic Control and Marine Robotics Naval Academy Tunisia Department of Operations Research Naval Postgraduate School United States

ISBN: (纸本)9781509066346

Intermittency of renewable resources represents a major impediment that restricts their integration in microgrids. This paper presents an approach that can contribute to solve this issue by the prediction of near-Term future renewable power production, mainly wind power and photovoltaic power, based on weather forecasts. After knowing the future renewable power production, the electric grid manager needs to find the optimal operating plan in order to efficiently integrate the predicted renewable production and to optimally operate other controllable components of the microgrid such as fuel-based generators, energy storage units and connectors to the commercial electric grid. We formulate this optimization problem as an integer linear program and exercise the model to study a number of practical issues surrounding microgrids. © 2017 IEEE.

关键词： Scheduling

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