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Autonomous navigation of a tracked unmanned ground vehicle*

IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

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Investigating Optimal Tracking Intervals for Solar Tracking systems to Enhance Efficiency and Performance

Investigating Optimal Tracking Intervals for Solar Tracking ...

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Artificial Intelligence & Green Energy (ICAIGE), IEEE International Conference on

作者： Khadidja Dahli Adrian Ilinca Abdellah Benallal Nawel Cheggaga Electrical and Remote Control Systems Laboratory LabSET Faculty of Technology University of Blida 1 Blida Algeria Department of Mechanical Engineering Ecole de Technologie Superieure Montreal Quebec Canada Wind Energy Laboratory University of Quebec at Rimouski Rimouski QC Canada

ISBN: (数字)9798350389838

ISBN: (纸本)9798350389845

Conventional solar trackers continuously adjust solar panels to optimize energy production, a process that can consume significant energy, potentially surpassing the energy gained. This research examines the most effective tracking interval for solar tracking systems to mitigate this issue. Through testing with intervals ranging from 5 minutes to 5 hours, it was determined that setting tracking intervals no shorter than 1 hour and no longer than 2 hours and 30 minutes is recommended to achieve a balance between energy efficiency and production. Additionally, this study suggests that elevation and azimuth angles should not be tracked using the same time periods; instead, a 2-hour interval for elevation tracking and a 3-hour interval for azimuth angle tracking are advised for optimal performance. The proposed discrete tracking method consumes less than 0.15% of the energy produced, thereby enhancing energy efficiency, reducing unnecessary energy consumption, and improving the overall reliability and lifespan of solar tracking systems. This approach has the potential to significantly impact the future of solar power by enhancing the efficiency and reliability of solar tracking systems, thereby increasing the viability and appeal of solar energy as a primary renewable resource.

关键词： Energy consumption Accuracy Azimuth Production Solar energy Energy efficiency Real-time systems Robustness Solar panels Testing

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Robust Frequency Regulation for Dual-Area Interconnected Grids Using Hybrid controller: A Comparative Study

Robust Frequency Regulation for Dual-Area Interconnected Gri...

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Smart Technologies for Power, Energy and control (STPEC), IEEE International Conference on

作者： Awadh Ba Wazir Abdullah A. Alhussainy Abdulraheem H. Alobaidi Aatif Altaf Anil Kumar Mahendra Kumar Sultan Alghamdi Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah Saudi Arabia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia Instrumentation and Control Engineering Department Dr. B R Ambedkar National Institute of Technology Jalandhar Jalandhar Punjab India

This paper introduces a robust controller designed for load frequency control in a dual-area integrated power grid. Here, the suggested controller is a blend of a fuzzy logic controller with an integral controller. The parameters of the integral controller and frequency bias settings are optimized to enhance the dynamic response of the proposed controller. To attain this, three distinct optimization algorithms are employed, i.e., genetic algorithm, simulated annealing, and pattern search. A new objective function using settling time, settling-max, and settling-min with a suitable weight factor is used to improve the parameters estimation process. A comparative analysis is performed using the proposed approach and classical-I controller under two cases considering several load disturbance scenarios. Furthermore, the suggested hybrid controller is evaluated and compared with similar models in the literature. As expected, the proposed controller exhibits superior performance.

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GPU-Accelerated Policy Optimization via Batch Automatic Differentiation of Gaussian Processes for Real-World control

arXiv

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arXiv 2022年

作者： Taheri, Abdolreza Pajarinen, Joni Ghabcheloo, Reza Faculty of Engineering and Natural Sciences Tampere University Finland Department of Electrical Engineering and Automation Aalto University Finland Intelligent Autonomous Systems TU Darmstadt Germany Control Systems R&D HIAB Sweden

The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robotics research. However, the computational complexity of GPs has made policy search a highly time and memory consuming process that has not been able to scale to larger problems. In this work, we develop a policy optimization method by leveraging fast predictive sampling methods to process batches of trajectories in every forward pass, and compute gradient updates over policy parameters by automatic differentiation of Monte Carlo evaluations, all on GPU. We demonstrate the effectiveness of our approach in training policies on a set of reference-tracking control experiments with a heavy-duty machine. Benchmark results show a significant speedup over exact methods and showcase the scalability of our method to larger policy networks, longer horizons, and up to thousands of trajectories with a sublinear drop in speed. © 2022, CC BY-NC-ND.

关键词： Gaussian distribution

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Distributed formation control of networked mechanical systems

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IFAC-PapersOnLine 2022年第13期55卷 294-299页

作者： N. Javanmardi P. Borja M.J. Yazdanpanah J.M.A. Scherpen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen The Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

关键词： Autonomous systems Cooperative control Networked control systems Large-scale systems Port-Hamiltonian systems Scalability

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Optimizing machine learning algorithms to enhance blood donation for liver patients: a case study

Optimizing machine learning algorithms to enhance blood dona...

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7th IET Smart Cities Symposium (SCS 2023)

作者： Maad M. Mijwil El-Sayed M. El-kenawy Indu Bala Mohammad Aljanabi Mostafa Abotaleb Abdelhameed Ibrahim Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt School of Electrical and Electronics Engineering Lovely Professional University Punjab India Department of Computer Aliraqia University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

Blood is vital for transporting oxygen, nutrients, and hormones to all body parts as it circulates through arteries and veins. It removes carbon dioxide, regulates body temperature, and maintains the body's immune system. Individuals constantly need blood and its derivatives to save their lives and improve their health through medical treatments and surgical operations. Liver diseases are one of the diseases that affects the health of individuals and requires blood to continue living. These diseases cause significant damage to people's health, and early diagnosis plays a crucial role in saving lives. In this paper, machine learning algorithms (support vector machine and random forest) are involved in detecting liver diseases and determining whether donors are suitable to donate blood from blood values. This paper is applied research that found that the performance measures of the random forest algorithm achieved excellent performance in identifying suitable people to donate blood.

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Feasibility of Utilizing Passive BCI for Assistance Evaluation: A Case Study on a Knee Exoskeleton

Feasibility of Utilizing Passive BCI for Assistance Evaluati...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Asghar Mahmoudi Morteza Khosrotabar Jannis Kuhmann Martin Grimmer Stephan Rinderknecht Maziar A. Sharbafi Faculty of Mechanical Engineering Institute for Mechatronic Systems Technical University Darmstadt Germany Lauflabor Locomotion Lab. Institute of Sports Science Technical Uni-versity Darmstadt Darmstadt Germany Department of Electrical En-gineering and Information Technology Control and Cyber-Physical Systems Technical University Darmstadt Darmstadt Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This study explored the feasibility of incorpo-rating a passive Brain-Computer Interface (BCI) into the individualization process of wearable assistive devices, with a specific focus on lower-limb exoskeletons. These devices can greatly improve mobility and quality of life for those with lower limb impairments. However, their optimal performance relies on personalized adjustments. This study offered a unique approach to user feedback without intentional control. A one-degree-of-freedom knee exoskeleton was utilized, introducing different levels of impedance to create distinct assistance levels. The analysis identified specific brain clusters, notably the right premotor and supplementary motor cortex, exhibiting significant differences in activity between the easiest and the most challenging conditions. This critical proof-of-concept step demonstrated that through decoding the user's brain activity, passive BCI could support the individualization of assistive technology. This approach indicated the potential to enhance the performance and user experience of wearable assistive devices.

关键词： Performance evaluation Brain Exoskeletons Motors User experience Brain-computer interfaces Decoding Assistive devices Impedance Robots

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Validating a Chaos Based PRBG Under Different Chaotic Maps

Validating a Chaos Based PRBG Under Different Chaotic Maps

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Panhellenic Conference on Electronics and Telecommunications (PACET)

作者： Lazaros Moysis Marcin Lawnik Christos Volos Murilo S. Baptista George F. Fragulis Sotirios K. Goudos Department of Electrical and Computer Engineering University of Western Macedonia Kozani Greece Physics Department Laboratory of Nonlinear Systems - Circuits & Complexity Aristotle University of Thessaloniki Thessaloniki Greece Department of Mechanical Engineering University of Western Macedonia Kozani Greece Department of Mathematics Applications and Methods for Artificial Intelligence Faculty of Applied Mathematics Silesian University of Technology Gliwice Poland Department of Physics Institute for Complex Systems and Mathematical Biology SUPA University of Aberdeen Aberdeen UK Physics Department ELEDIA@AUTH Aristotle University of Thessaloniki Thessaloniki Greece

Chaos-based random bit generators are abundantly used in chaos-based encryption and security applications, as a fast, deterministic source of randomness, to perform actions like permutation and substitution. The chaotic map used as a source of randomness though may heavily affect the bit generator’s statistical randomness, key space, and speed. Thus, any given bit generator may not be equally efficient for all the chaotic maps used as a seed. Motivated by this, the present work considers a bit generator that utilizes a common modulo-based hashing technique, and studies its performance under a plethora of different chaotic maps. For each map, the generator is evaluated with respect to randomness, key space, and operations per bit ratio. This analysis can serve as a guideline for random bit generator usage in future chaos-based encryption designs.

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A Coverage control-based Idle Vehicle Rebalancing Approach for Autonomous Mobility-on-Demand systems

arXiv

引用

arXiv 2023年

作者： Zhu, Pengbo Sirmatel, Isik Ilber Ferrari-Trecate, Giancarlo Geroliminis, Nikolas Urban Transport Systems Laboratory École Polytechnique Fédérale de Lausanne Lausanne1015 Switzerland Control Section Department of Electrical and Electronics Engineering Faculty of Engineering Trakya University Edirne22030 Turkey Dependable Control and Decision Group École Polytechnique Fédérale de Lausanne Lausanne1015 Switzerland

As an emerging mode of urban transportation, Autonomous Mobility-on-Demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility demand and supply may lead to inefficiencies and a low quality of service. Vehicle rebalancing (i.e., dispatching idle vehicles to high-demand areas), is a potential solution for efficient AMoD fleet management. In this paper, we formulate the vehicle rebalancing problem as a coverage control problem for the deployment of a fleet of mobile agents for AMoD operation in urban areas. Performance is demonstrated via microscopic simulations representing a large urban road network of Shenzhen, China. Results reveal the potential of the proposed method in improving service rates and decreasing passenger waiting times. Copyright © 2023, The Authors. All rights reserved.

关键词： Urban transportation

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Extended Observer Form for Nonlinear System with Disturbances: Algorithm and Application

Extended Observer Form for Nonlinear System with Disturbance...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Vadim Kaparin Ashutosh Simha Nilanjan Roy Chowdhury Ülle Kotta Yoash Levron Juri Belikov Department of Software Science Tallinn University of Technology Tallinn Estonia Flight Dynamics and Control Kadet Defence Systems Bangalore India Tata Consultancy Services Research Pune India Andrew and Erna Viterbi Faculty of Electrical Engineering Technion—Israel Institute of Technology Haifa Israel

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

The paper addresses the problem of transforming single-output nonlinear state equations affine in disturbance into an extended observer form whose nonlinear injection part depends additionally on the derivatives of the output up to a finite order. Moreover, the considered form is affine in disturbance. Based on the earlier results a detailed algorithm is given and applied to the model of a synchronous machine connected to an infinite bus. For the system in the extended observer form a reduced-order Kalman-filter based observer can be designed such that its error dynamics is exponentially attractive and it is stable in the input-to-state sense with respect to the disturbance.

关键词： Heuristic algorithms Partial differential equations Transforms Observers Nonlinear control systems Mathematical models Real-time systems Nonlinear dynamical systems Synchronous machines Robots

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