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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Nejadfard, A. Moradi, H. Ahmadabadi, M. Nili School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781457721373

In this paper a novel approach based on multi-robot cooperation is introduced for inspection and repair of dome structures. In this application, three robots which can be extended to more, connect to each other by three strings and cooperate such that all the robots are stable and at least one robot have access to all parts of the dome. The mathematical model of the system is derived and a systematic methodology is developed to find an optimal configuration, based on minimizing the strings' tensions or maximizing the stability, using Particle Swarm Optimization (PSO) algorithm and quadratic programming. The simulation results prove that there exists a stable path to fully sweep the surface of a dome. The experimental results on a small scale prototype validate these findings. © 2011 IEEE.

关键词： Multipurpose robots

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Intelligent Predetermination of Generator Tripping Scheme: Knowledge Fusion-based Deep Reinforcement Learning Framework

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 66-75页

作者： Lingkang Zeng Wei Yao Ze Hu Hang Shuai Zhouping Li Jinyu Wen Shijie Cheng State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronics EngineeringHuazhong University of Science and TechnologyWuhan 430074China Dispatching and Control Center Central China Branch of State Grid Corporation of ChinaWuhan 430077China. Department of Electrical Engineering and Computer Science University of TennesseeKnoxvilleTN 37996USA

Generator tripping scheme(GTS)is the most commonly used scheme to prevent power systems from losing safety and ***,GTS is composed of offline predetermination and real-time scenario ***,it is extremely time-consuming and labor-intensive for manual predetermination for a large-scale modern power *** improve efficiency of predetermination,this paper proposes a framework of knowledge fusion-based deep reinforcement learning(KF-DRL)for intelligent predetermination of ***,the Markov Decision Process(MDP)for GTS problem is formulated based on transient instability ***,linear action space is developed to reduce dimensionality of action space for multiple controllable ***,KF-DRL leverages domain knowledge about GTS to mask invalid actions during the decision-making *** can enhance the efficiency and learning ***,the graph convolutional network(GCN)is introduced to the policy network for enhanced learning *** simulation results obtained on New England power system demonstrate superiority of the proposed KF-DRL framework for GTS over the purely data-driven DRL method.

关键词： Deep reinforcement learning generator tripping scheme graph convolutional network invalid action masking knowledgefusion

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Robust global asymptotic attitude synchronization by hybrid control

Robust global asymptotic attitude synchronization by hybrid ...

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作者： Mayhew, Christopher G. Sanfelice, Ricardo G. Arcak, Murat Teel, Andrew R. Electrical and Computer Engineering Department Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 United States Department of Aerospace and Mechanical Engineering University of Arizona Tucson AZ 85721 United States Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 United States

ISBN: (纸本)9781424474264

We apply recent results on robust global asymptotic stabilization of the attitude of a single rigid body to the problem of synchronizing the attitude of a network of rigid bodies using graph-local information. The proposed synchronization scheme relies on a hysteretic hybrid feedback based on the unit quaternion representation of rigid body attitude to achieve a global synchronization result that is robust to measurement noise. While the hysteretic feedback manages a trade-off between robustness to measurement noise and unwinding, the scheme necessitates the communication of a single binary logic variable between neighboring rigid bodies. © 2010 AACC.

关键词： Feedback

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Variable selection in identification of a high dimensional nonlinear non-parametric system

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control Theory and Technology 2015年第1期13卷 1-16页

作者： Er-Wei BAI Wenxiao ZHAO Weixing ZHENG Department of Electrical and Computer Engineering University of Iowa School of Electronics Electrical Engineering and Computer Science Queen's UniversityBelfast U.K. Key Laboratory of Systems and Control Academy of Mathematics and Systems Science National Center for Mathematics and Interdisciplinary Sciences Chinese Academy of Sciences School of Computing Engineering and Mathematics University of Western Sydney

The problem of variable selection in system identification of a high dimensional nonlinear non-parametric system is described. The inherent difficulty, the curse of dimensionality, is introduced. Then its connections to various topics and research areas are briefly discussed, including order determination, pattern recognition, data mining, machine learning, statistical regression and manifold embedding. Finally, some results of variable selection in system identification in the recent literature are presented.

关键词： System identification variable selection nonlinear non-parametric system curse of dimensionality

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A centralized potential field method for stable operation of a multi-robot dome inspection, repair, and maintenance system

A centralized potential field method for stable operation of...

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2013 1st RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2013

作者： Naderi, K. Nejadfard, A. Moradi, H. Nili Ahmadabadi, M. School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781467358118

In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for processing and receiving commands. The leader robot uses the friction model, the slope of the dome detected by the two robots' tilt sensors and the mass of the robots to calculate the stability ranges and determines the proper action to make the whole system stable. The leader robot moves toward its target pose while adjusting the tension of its string using potential field method to combine the attractive and repulsive potentials. The follower robot executes the commands sent by the leader robot to create the most stable configuration for the whole system. It is shown that the algorithm can guarantee stable operation all over a typical dome. The algorithm has been implemented and shown its effectiveness in simulation. Furthermore, the effect of each parameter has been discussed and it is shown that the multi-robot system is capable of completely covering a typical dome using the proposed potential field algorithm. © 2013 IEEE.

关键词： Multipurpose robots

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A non-rigid registration algorithm for compatible skeletonization

A non-rigid registration algorithm for compatible skeletoniz...

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International Conference on computer Science and Education

作者： Wei, Li Yu, Wuyi Li, Maoqing Li, Xin Department of Automation Xiamen University China Department of Electrical and Computer Engineering Center for Computation and Technology Louisiana State University United States

ISBN: (纸本)9781424460052

This paper presents a registration framework for curve skeleton of 3D models. The algorithm matches two skeletons and deforms a source skeleton to the other target skeleton, so that each node aligns with its closest point on the target skeleton in a non-rigid manner. Transformations defined on each individual skeletal node is optimized to minimize a weighted combination of three errors: the Data Error, Smoothness error, and Length-Preserving Error. The registration can apply to a set of non-isomorphic skeletons robustly and generate a compatible deforming sequence, desirable for many geometric processing tasks. We demonstrate effectiveness of our skeleton matching framework on various 3D models. ©2010 IEEE.

关键词： Errors

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Modeling and control of washing machine based on approximate solution of HJB equation

Modeling and control of washing machine based on approximate...

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5th International Conference on control and Automation, ICCA'05

作者： Mohammadi-Milasi, Rasoul Yazdanpanah, Mohammad-Javad Lucas, Caro Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran Department of Electrical and Computer Engineering School of Cognitive Sciences University of Tehran Iran

ISBN: (纸本)0780391381

The paper elaborates the design of an optimal feedback control system for a washing machine. It is sought to save on the water and energy consumption and the associated wear and tear and detergent consumption through monitoring the washing process via feedback sensors rather than following a fixed cycle. A lumped nonlinear model is first fitted to empirical data. After choosing an appropriate objective function, the optimal control law is found via approximate solution of Hamiltonian-Jacobi-Bellman (H-J-B) equation. The results show the high performance of proposed controller. © 2005 IEEE.

关键词： Washing machines

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Asymptotic optimality for consensus-type stochastic approximation algorithms using iterate averaging

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控制理论与应用（英文版） 2013年第1期11卷 1-9页

作者： Gang YIN Le Yi WANG Yu SUN David CASBEER Raymond HOLSAPPLE Derek KINGSTON Department of Mathematics Wayne State University Department of Electrical and Computer Engineering Wayne State University Quantitative Business Analysis Department Siena College Control Science Center of Excellence Air Force Research Laboratory

This paper introduces a post-iteration averaging algorithm to achieve asymptotic optimality in convergence rates of stochastic approximation algorithms for consensus control with structural constraints. The algorithm involves two stages. The first stage is a coarse approximation obtained using a sequence of large stepsizes. Then, the second stage provides a refinement by averaging the iterates from the first stage. We show that the new algorithm is asymptotically efficient and gives the optimal convergence rates in the sense of the best scaling factor and ＇smallest＇ possible asymptotic variance.

关键词： Stochastic approximation algorithm Consensus Iterate averaging Asymptotic optimality

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Improvement of low frequency oscillation damping in power systems via an adaptive critic based neurofuzzy controller 8th

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8th International Conference on Knowledge-Based Intelligent Information and engineering Systems, KES 2004

作者： Rashidi, Farzan Moshiri, Behzad Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)9783540232056

This paper proposes an Adaptive Critic Based Neuro-Fuzzy controller (ACBNFC) to Thyristor controlled Series Capacitor (TCSC), which might have a significant impact on power system dynamics. The function of the ACBNFC is to control a firing angle of the TCSC. The proposed method is used for damping the low frequency oscillations caused by disturbances such as a sudden change of small or large loads or an outage in the generators or transmission lines. To evaluate the usefulness of the proposed method, the computer simulation for single machine infinite system is performed and compared with fuzzy PD controller. Obtained results show the proposed control strategy is very robust, flexible and could be used to get the desired performance levels. The response time is also very fast. Simulation results that have been compared with fuzzy PD controller show that our method has the better control performance than fuzzy PD controller. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Damping

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Intelligent modeling and control of washing machine using LLNF modeling and modified BELBIC

Intelligent modeling and control of washing machine using LL...

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5th International Conference on control and Automation, ICCA'05

作者： Mohammadi-Milasi, Rasoul Lucas, Caro Araabi, Babak Nadjar Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran Department of Electrical and Computer Engineering School of Cognitive Sciences University of Tehran Iran

ISBN: (纸本)0780391381

Intelligent control of home appliances, have in recent years, attracted much theoretical attention, as well as becoming a major factor for industrial and economic success and rapid market penetration. Washing machines represent an important market. Intelligent control techniques are capable of providing useful means for both easier use and energy and water conservation. In this paper, we use two techniques that we have successfully used in other intelligent modeling and control applications. Firstly, we use a neurofuzzy locally linear model system for data driven modeling of the machine. Secondly, we use a neural computing technique, based on a mathematical model of amygdala and the limbic system, for emotional control of the washing machine. The obtained results indicate the applicability of the proposed techniques in this important business sector. © 2005 IEEE.

关键词： Washing machines

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