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On Optimal control of Flat Hybrid Automata

IFAC-PapersOnLine 2020年第2期53卷 6800-6805页

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

Recently, Flat Hybrid Automata (FHA) were introduced as a new model class of hybrid systems. In order to answer the evident question of an optimal operation of the new class of FHA, a well-posed optimization problem definition for FHA is presented. This problem formulation also includes costs on discrete–state transitions and switching actions. We present a solution for a reduced problem: FHA with autonomous switching. For these, a new algorithm is introduced which solves the optimal control problem. The application of this optimization algorithm is shown with an electrical network example.

关键词： Flat hybrid automata differential flatness hybrid switched systems modeling optimal control of hybrid systems

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Model Transformation for Asset Administration Shells

Model Transformation for Asset Administration Shells

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Annual Conference of Industrial Electronics Society

作者： Torben Miny Michael Thies Ulrich Epple Christian Diedrich Chair of Process Control RWTH Aachen University Aachen Germany Institute for Automation Engineering (IFAT) Otto-von-Guericke Universitat Magdeburg Magdeburg Germany

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

In the scope of Industry 4.0 (I40), one goal is the standardized access to asset information and asset services using standardized submodels (submodel templates) in the Asset Administration Shell. Since submodel templates are modeled by different groups of people, the same asset information will be contained in several submodel templates. For automatic generation of new submodels based on existing information from other submodels, model transformation can be a solution. Therefore, in this contribution, we present a guideline on how to develop a new model transformation language for a given use case and apply this guideline to the concrete use case (model transformation for Asset Administration Shells). As a result, we define of the abstract syntax of a customized model transformation language called AASMTL.

关键词： Unified modeling language Object oriented modeling Syntactics Guidelines Semantics Tools Industries

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Distributed localization in wireless sensor networks under denial-of-service attacks

arXiv

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arXiv 2020年

作者： Shi, Lei Liu, Qingchen Shao, Jinliang Cheng, Yuhua School of Automation Engineering University of Electronic Science and Technology of China Sichuan611731 China Chair of Information-Oriented Control Technical University of Munich Munich80869 Germany

—In this paper, we study the problem of localizing the sensors’ positions in presence of denial-of-service (DoS) attacks. We consider a general attack model, in which the attacker action is only constrained through the frequency and duration of DoS attacks. We propose a distributed iterative localization algorithm with an abandonment strategy based on the barycentric coordinate of a sensor with respect to its neighbors, which is computed through relative distance measurements. In particular, if a sensor’s communication links for receiving its neighbors’ information lose packets due to DoS attacks, then the sensor abandons the location estimation. When the attacker launches DoS attacks, the AS-DILOC algorithm is proved theoretically to be able to accurately locate the sensors regardless of the attack strategy at each time. The effectiveness of the proposed algorithm is demonstrated through simulation examples. Copyright © 2020, The Authors. All rights reserved.

关键词： Denial-of-service attack

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Learning References with Gaussian Processes in Model Predictive control applied to Robot Assisted Surgery

Learning References with Gaussian Processes in Model Predict...

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European control Conference (ECC)

作者： Janine Matschek Tim Gonschorek Magnus Hanses Norbert Elkmann Frank Ortmeier Rolf Findeisen Laboratory for Systems Theory and Automatic Control Otto-von-Guericke Univ. Magdeburg Chair of Software Engineering Otto-von-Guericke Univ. Magdeburg Fraunhofer-Institute for Factory Operation and Automation Magdeburg

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

One of the key benefits of model predictive control is the capability of controlling a system proactively in the sense of taking the future system evolution into account. However, often external disturbances or references are not a priori known, which renders the predictive controllers shortsighted or uninformed. Adaptive and learning based prediction models can provide suitable predictions to the controller and therefor can be applied to overcome this issue. We propose to learn references for model predictive controllers via Gaussian processes. To illustrate the approach, we consider robot assisted surgery, where a robotic manipulator must follow a learned reference position based on optical tracking measurements.

关键词： Predictive models Gaussian processes Robots Predictive control Task analysis control systems Tracking

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Assessment of Operational Risks of Electric Interlocking Systems

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Russian Electrical engineering 2018年第9期89卷 550-554页

作者： Gorelik, A.V. Gorelik, V. Yu. Shalyagin, D.V. Chair of Automation and Telemechanics on Railway Transport Institute of Transport Engineering and Control Systems Russian University of Transport Moscow127055 Russia

Abstract: This article proposes a technique for assessing risks related to operational reliability levels of systems of electric interlocking of track switches and signals at railroad stations. The assessment relies on the mathematical model of such random processes as failures and recoveries of the system of electric interlocking of track switches and signals and on using this system to fulfill train traffic control functions at a given station. The risk related to the operational safety of the electric interlocking system is calculated for the railroad station in general, not for a specific scenario of events. The statistics of safety violation events is based on a small sample. The risk related to the operational reliability of the electric interlocking system is assessed using risk matrices in the form of tables, where the likelihood of occurrence and the number of train delays at the station due to failures in the electric interlocking system are used together. The train delay likelihood found from the matrix is used as the frequency of events to assess operational reliability level risks. The number of trains delayed per calculated period and the average time of train delay at the considered station are used as event aftereffects. The assessment results can be used to make valid managerial decisions. © 2018, Allerton Press, Inc.

关键词： Reliability

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Wavelet packet transform-based feature extraction for acoustic emission pattern recognition 9

Wavelet packet transform-based feature extraction for acoust...

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9th European Workshop on Structural Health Monitoring, EWSHM 2018

作者： Sheng, Wenjuan Wirtz, Sebastian Felix Söffker, Dirk College of Automation Engineering Shanghai University of Electric Power China Chair of Dynamics and Control University of Duisburg Essen Germany

Signal processing and feature extracting are two of the most important issues for carbon fiber reinfored polymer (CFRP) when establishing a relationship between a specific damage mechanism and its acoustic signature. Non-stationary acoustic emission (AE) signals are still hard to be precisely characterized with simple and direct signal processing. Proper feature extraction can assist signal processing methods to get more suitable characteristics for complex non-stationary AE signals which include various damage modes. In this paper, a new energy-difference-based wavelet packet transform (WPT) feature extraction method is proposed to solve the deficiencies of the existing methods. For comparing the performance of the new feature proposed, WPT coefficients-based features and frequency-band-based features are also used for classification of four damage modes including delamination, debonding, fiber breakage, and void. Support vector machines (SVMs) are trained to analyze the effectiveness of these three features. Experimental results show that the energy-difference-based WPT feature over-performs the other two WPT-based features with higher average classification accuracy of the four kinds of AE signal. © 2018 ***. All rights reserved.

关键词： Feature extraction

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Improving the Absolute Accuracy by Online Interpolation Technique of Industrial Robots

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IOP Conference Series: Materials Science and engineering 2019年第1期575卷

作者： Darpan Patel Lars Lienenlüke Simon Storms Christian Brecher Johannes Wied Department Automation and Control Chair of Machine Tools Laboratory for Machine Tools and Production Engineering (WZL RWTH Aachen) Campus-Boulevard 30 52074 Aachen Germany Technology factory Press shop Mercedes-Benz Plant Sindelfingen 71059 Sindelfingen Germany

This paper describes a novel method to improve the accuracy of industrial robot by calibration technique. Robot calibration is broadly classified into model-based and modeless techniques. In this paper, a modeless technique capable of interpolating the deviation along the Z-axis is defined which doesn't consider any kinematic model, instead adapts interpolation method to compensate errors. The robot's deviation is measured with a laser tracker and the deviation controlling parameters are calculated. The controlling parameters interpolate the deviation and with an online compensation program this deviation is compensated in real time scenario. This modeless technique is experimentally tested and it demonstrates a substantial improvement in the accuracy of the robot.

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State-based control of process services within modular process plants

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Procedia CIRP 2018年 72卷 1088-1093页

作者： Henry Bloch Stephan Hensel Mario Hoernicke Katharina Stark Anna Menschner (neé Hahn) Alexander Fay Leon Urbas Torsten Knohl Jens Bernshausen Institute of Automation Technology Helmut-Schmidt-University Holstenhofweg 85 22043 Hamburg Germany Chair of Process Control Systems and Process Systems Engineering Group Technische Universität Dresden 01062 Dresden Germany ABB Corporate Research Opertions Management Wallstadter Straße 59 68526 Bayer AG 51386 Leverkusen Germany INVITE GmbH 51386 Leverkusen Germany

The modularization of process plants is an approach to cope with the changing requirements of the process industry, such as highly volatile markets and shorter product lifecycles. Each module offers services as encapsulated process functions to the superior control system for the orchestration. These services are controlled in a state-based way. The encapsulation of these services in a reasonable way is a difficult task, because aspects of process and automation engineering must be considered. This contribution introduces an approach for the encapsulation of process functions in services from an automation point of view. Furthermore, the operation modes of modules, services and field devices are discussed. Additionally, possible solutions for the orchestration based on recipe models are introduced. The developed concepts have been tested within a simulation environment.

关键词： Modular process automation Microservices Orchestration State-based control Operating modes Service-oriented architectures

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Modeling and Iterative Learning control of a Circular Deformable Mirror

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IFAC-PapersOnLine 2017年第1期50卷 3117-3122页

作者： Cichy B. Augusta P. Gałkowski K. Rauh A. Aschemann H. Rogers E. Rehák B. Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra 65-516 Poland Institute of Information Theory and Automation The Czech Academy of Sciences Pod Vod´arenskou věží 4 Prague CZ-182 08 Czech Republic Chair of Mechatronics University of Rostock Justus-von-Liebig-Weg 6 Rostock D-18059 Germany Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

An unconditionally stable finite difference scheme for systems whose dynamics are described by a fourth-order partial differential equation is developed using a regular hexagonal grid. The scheme is motivated by the well-known Crank-Nicolson discretization that was originally developed for second-order systems and it is used in this paper to develop a discrete in time and space model of a deformable mirror as a basis for control law design. As one example, the resulting model is used for iterative learning control law design and supporting numerical simulations are given. © 2017

关键词： control of partial differential equations Iterative learning control Linear systems N-dimensional systems Stability of distributed parameter systems

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Learning of FCMs with Causal Links Represented via Fuzzy Triangular Numbers

Learning of FCMs with Causal Links Represented via Fuzzy Tri...

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IEEE International Conference on Fuzzy Systems

作者： M. Furkan Dodurka Atakan Sahin Engin Yesil Leon Urbas Istanbul Technical University Control and Automation Engineering Department Chair of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology

ISBN: (纸本)9781467374293

In this paper, learning of the FCMs represented using triangular fuzzy numbers (TFNs) in their weight matrices is studied. For this aim a population based novel learning approach is proposed. In the proposed algorithm, BB-BC optimization method is preferred because of its fast convergence capability. Moreover, this proposed approach involves concept by concept (CbC) learning to increase the accuracy of the learning of FCMs. Two different tests are realized as case studies for investigating the performance of the learning approach. For the first test, the learning capability of the algorithm is examined and for the second test the performance of generalization capability is investigated. The tests, which are presented via tables and figures, show that learning approach is successful for learning of FCMs with TFNs. Furthermore, from the case study it can be seen that the uncertain information can be represented and interpreted by the proposed FCM design methodology in a more efficient way.

关键词： Fuzzy Cognitive Maps Triangular Fuzzy Numbers Causal Links Reasoning Weight Matrix. Learning Learning Fuzzy cognitive maps Reasoning fuzzy number Fuzzy

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