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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zahn, Frederik Kleinert, Tobias Hagenmeyer, Veit Karlsruhe Institute of Technology Institute for Automation and Applied Informatics Karlsruhe Germany Rwth Aachen University Chair of Process Control Engineering Aachen Germany

ISBN: (纸本)9798350316339

Differential flatness has been defined in the literature for continuous time dynamical systems and for discrete time systems. We define flatness of automata from the perspective of behavioral systems theory, and synthesize a flatness definition for hybrid automata. These new definitions allow for feedforward trajectory generation for flat hybrid automata. Additionally, we provide necessary and sufficient conditions of hybrid automaton flatness for different types of continuous state constraints and switching conditions, and how to compute whether a hybrid automaton is flat. We illustrate feedforward trajectory generation based on our findings for a robotic manipulator example. © 2024 IEEE.

关键词： Continuous time systems

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Testing Intelligence: Accelerating the Verification and Validation of Intelligent Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2023年 1-14页

作者： Wang, Fei-Yue Hu, Jia Lai, Jintao State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China ZhongTe Distinguished Chair in Cooperative Automation Professor Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China

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Integration of Hand Tracking and Process Mining to Improve Knowledge Transfer on the Shoopfloor

Integration of Hand Tracking and Process Mining to Improve K...

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International Conference on control, automation and Robotics (ICCAR)

作者： Yannick Dassen Yan Zhao Oliver Petrovic Werner Herfs Department Automation and Control Laboratory for Machine Tools and Production Engineering Aachen Germany Chair of Machine Tools Laboratory for Machine Tools and Production Engineering Aachen Germany

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

For many small and medium-sized companies in Germany, maintaining best practices on the shopfloor is essential for competitiveness. Due to the impending wave of retirements and the changing employment patterns of the younger generations, there is a risk that knowledge will be lost when employees leave. This calls for innovative solutions for the digital capture, storage and provision of knowledge. This article presents a method that uses machine learning to capture hand movements and thus generate event logs for evaluation based on process mining. Using an example from manual assembly, it is shown how this system can be used to record the actions of different employees and analyze them from an efficiency and ergonomic point of view in order to gain an insight into the individual strategies, routines and tricks of the employees during assembly and make them usable for everyone.

关键词： Ergonomics Employment Manuals Machine learning Companies Assembly Robots

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Feedforward control of flat hybrid automata: a behavioral systems theory approach

Feedforward control of flat hybrid automata: a behavioral sy...

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IEEE Conference on Decision and control

作者： Frederik Zahn Tobias Kleinert Veit Hagenmeyer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany Chair of Process Control Engineering RWTH Aachen University Aachen Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

关键词： Discrete-time systems Sufficient conditions Automata Switches Manipulators control systems Hybrid power systems Trajectory Feedforward systems Dynamical systems

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Toward Automating the Composition of Digital Twins Within System-of-Systems

Toward Automating the Composition of Digital Twins Within Sy...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Milapji Singh Gill Jingxi Zhang Andreas Wortmann Alexander Fay Institute of Automation Technology Helmut Schmidt University Hamburg Germany Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Chair of Automation Ruhr University Bochum Germany

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

Cyber-Physical Production Systems necessitate efficient configuration and continuous reconfiguration to adapt to evolving requirements and shifting goals. This process involves integrating various system structures to derive new functions and behaviors. The concept of the Digital Twin, which allows for effective integration and testing, is instrumental in facilitating this task. However, a fundamental prerequisite is that Digital Twins of individual system components must be composed efficiently and in accordance with dynamic System-of-Systems. We address this challenge by introducing an approach for the automated horizontal and vertical composition of Digital Twins, aimed at minimizing manual intervention and enhancing adaptability. Therefore, a pipeline specifically designed for this goal is proposed, which includes the generation of new functions and behaviors. This approach is intended to provide a foundation for future research.

关键词： Production systems Instruments Pipelines Digital twins Manufacturing automation Testing

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DMD-Based Model Predictive control for a Coupled PDE-ODE System

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IFAC-PapersOnLine 2023年第2期56卷 4258-4263页

作者： Dirk Wolfram Thomas Meurer Chair of Automation and Control Faculty of Engineering Kiel University 24143 Kiel Germany Digital Process Engineering Group Institute for Mechanical Process Engineering and Mechanics Karlsruhe Institute of Technology (KIT) 76187 Karlsruhe Germany

Models resulting from the application of the finite element method (FEM) are usually high dimensional, thus in general preventing the application of optimal control concepts under real-time conditions. In this work a system consisting of the heat equation defined on a 3-dimensional domain with local in-domain thermal actuators is considered, whose modeling results in a coupled PDE-ODE description. Based on simulation data, a data driven reduced order model is determined using the Dynamic Mode Decomposition with control (DMDc). Based on the DMDc model a model predictive control (MPC) approach with state estimator is developed to realize a desired temperture profile on the given domain. The concept is evaluated involving the high-dimensional finite element model as plant model.

关键词： Distributed parameter systems Reduced order model Data-driven control Model predictive control Heat conduction

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Neural Network Regression Analysis of Magnetic Sensor Data for Spatial Magnet Positioning

Neural Network Regression Analysis of Magnetic Sensor Data f...

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Electrical, Electronic and Computing engineering (IcETRAN), International Conference on

作者： Vladimir Sibinović Mirko Raković Department of Automatic Control Faculty of Electronic Engineering University of Niš Niš Serbia Chair of Mechatronics Robotics and Automation Faculty of Technical Science Novi Sad Serbia

ISBN: (数字)9798350386998

ISBN: (纸本)9798350387001

This paper deals with the magnet position estimation based on the measurements from multiple Hall sensors. Estimation of the position is obtained from trained artificial neural networks. Data are gathered using a custom sensor board that has eight three-axis Hall sensors on it, and correlation between magnetic field and position was determined to be able to estimate position in X and Y directions. First measurements were made to determine the optimal height of the magnet for later data gathering. The outcome of the research was evaluated by comparing the ground truth with the estimated values of the best-trained network to determine the error of estimation. Precise measurement of the position of the magnet is intended to be used for the development of a tactile sensor that estimates the contact force through the displacement of the magnet in the deformable layer.

关键词： Magnetic field measurement Systematics Magnetic sensors Layout Estimation Tactile sensors Artificial neural networks

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Flatness-based analysis and control design for 2 × 2 hyperbolic PDEs with nonlinear boundary dynamics

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IFAC-PapersOnLine 2022年第26期55卷 13-19页

作者： F. Woittennek A. Irscheid N. Gehring Institute of Automation and Control Engineering UMIT Tirol Hall in Tirol Austria Chair of Systems Theory and Control Engineering Saarland University Saarbrücken Germany Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Linz Austria

Distributed-parameter systems represented by linear one-dimensional 2 × 2 hyperbolic PDEs with nonlinear finite-dimensional differentially flat dynamics at one boundary and control acting linearly via the opposite boundary are considered. Flatness of the overall system, deduced from the flatness of the boundary system, allows for the parametrization of the systems solutions by the trajectory of a flat output. The state associated with this parametrization corresponds to the restriction of the flat-output trajectory to a compact interval. This state is intrinsically linked to a nonlinear hyperbolic controller form and associated with the original system variables by an invertible transformation. Moreover, it allows for immediate and constructive reachability analysis. State feedback for tracking a desired reference trajectory is achieved by choosing arbitrary stable closed-loop dynamics. A numerical example illustrates the control performance for different choices of the closed-loop dynamics.

关键词： hyperbolic system flatness reachability nonlinear controller form state feedback

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Batch constrained multi-objective Bayesian optimization using the example of ultrasonic wire bonding

Batch constrained multi-objective Bayesian optimization usin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Fabian Reiling Christian Henke Matthias Hunstig Stefan Gröger Ansgar Trächtler department Scientific Automation Fraunhofer Institute for Mechatronic Systems Design Paderborn Germany Deputy Head of Research at Hesse GmbH Paderborn Germany Head of Chair of Control Engineering and Mechatronics Paderborn Germany

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Setting optimum process parameters for complex manufacturing processes such as ultrasonic wire bonding is already challenging for one target variable. Due to numerous influencing physical factors, such processes often lack the necessary detailed physical models. Due to the lack of these models, such processes cannot be adjusted to an optimum using classic optimization methods. In manufacturing processes in particular, the process must be optimized with regard to several objectives such as process time or quality. A popular method for optimizing such processes without models is multi-objective Bayesian optimization. For this purpose, surrogate models in the form of Gaussian processes are used in combination with a multi-objective acquisition function. In real processes, parallel function evaluation offers advantages in terms of trial efficiency and scalability. In this paper, we present a new algorithm for batch-constrained Bayesian multi-objective optimization. With this algorithm, an arbitrary number of function evaluations per iteration can be specified, whereby a more efficient determination of the Pareto front approximation can be achieved in real applications. For this purpose, the Expected Hypervolume Improvement is extended by a term to consider a quality criterion. Using the ultrasonic wire bonding process as an example, we experimentally prove that the proposed framework is able to approximate the Pareto front of the system with only a few function evaluations. For this purpose, the process capability index should be maximized and the process time minimized.

关键词： Manufacturing processes Mechatronics Scalability Optimization methods Predictive models Approximation algorithms Acoustics

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Novel Cascaded Incremental Nonlinear Dynamic Inversion controller Approach for a Tiltrotor VTOL

Novel Cascaded Incremental Nonlinear Dynamic Inversion Contr...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Mark Henkenjohann Udo Nolte Christian Henke Ansgar Trächtler Scientific Automation Fraunhofer Institute for Mechatronic Systems Design Paderborn Germany Chair for Control Engineering and Mechatronics Paderborn University Heinz Nixdorf Institute Paderborn Germany

This paper presents a novel cascaded incremental nonlinear dynamic inversion (INDI) flight controller approach for a tiltrotor VTOL. The main focus is the adaption of INDI to a specific tiltrotor VTOL configuration aiming for optimal exploitation of the actuator capabilities combined with the advantages of a cascaded INDI. For this purpose the tilt angle of the overall thrust vector with respect to the aircraft is introduced as important connection between two cascaded INDIs: For the outer INDI linearizing translational dynamics this serves as virtual control variable. For the inner INDI linearizing rotational dynamics this variable is a pseudo control input. Thus, the tilt mechanisms of the aircraft can be utilized creating rotational and translational dynamics in a cascaded INDI approach linearizing translational and rotational dynamics separately. The approach is evaluated in simulation studies focusing on functionality, linearization and decoupling.

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