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Hierarchic Stabilization of Flying Convex-Path-Following Formations Part II: Underactuated Agents

IFAC-PapersOnLine 2019年第12期52卷 352-357页

作者： Mohamed I. El-Hawwary Department of Electrical Power Engineering Faculty of Engineering Cairo University Giza 12613 Egypt Division of Decision and Control Systems School of Electrical Engineering & Computer Science KTH Royal Institute of Technology SE-100 44 Stockholm Sweden

In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two thrusts and three torques. In the second, they have two degrees of underactuation with a single thrust. The solution builds on the one developed for fully-actuated agents in Part I of the paper. In addition, the way the solution is tailored for underactuation relies on further utilization of hierarchic set stabilization, and reduction. Additional remarks on the benefits of the approach, and simulation results of the proposed solutions are presented.

关键词： Formation control distributed stabilization underactuated systems hierarchical control reduction

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A note on the stability analysis of a class of nonlinear systems - AN LMI approach

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2018年第4期80卷 3-10页

作者： Olteanu, Mircea Ştefan, Radu Department of Mathematical Methods and Models Faculty of Applied Sciences University "Politehnica" of Bucharest Romania Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science University "Politehnica" of Bucharest Romania

The main goal of the paper is to study the equilibria of a nonlinear system, proving the existence and uniqueness of an equilibrium point in the positive ortant. We also provide numerically tractable conditions (by using Linear Matrix Inequalities techniques) to check the asymptotic stability of the equilibrium point. An illustrative numerical example is closing the paper along with some conclusions. © 2018, Politechnica University of Bucharest. All rights reserved.

关键词： Nonlinear systems

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Maize yield prediction based on artificial intelligence using spatio-temporal data 12

Maize yield prediction based on artificial intelligence usin...

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12th European Conference on Precision Agriculture, ECPA 2019

作者： Nyéki, A. Kerepesi, C. Daróczy, B. Benczúr, A. Milics, G. Kovács, A.J. Neményi, M. Széchenyi István University Faculty of Agricultural and Food Sciences Department of Biosystems and Food Engineering Vár square 2 Mosonmagyaróvár9200 Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Kende Str. 13-17 Budapest1111 Hungary

ISBN: (纸本)9789086863372

The aim of this study was to predict maize yield by artificial intelligence using spatio-temporal training data. Counter-propagation artificial neural networks (CP-ANNs), XY-fused networks (XY-Fs), supervised Kohonen networks (SKNs), extreme gradient boosting (XGBoost) and support-vector machine (SVM) were used for predicting maize yield in 5 vegetation periods. Input variables for modelling were: soil parameters (pH, P2O5, K2O, Zn, Clay content, ECa, draught force, Cone index), and micro-relief averages and meteorological parameters for the 63 treatment units. The best performing method (XGBoost) attained 92.1 and 95.3% of accuracy on the training and the test set. © Wageningen Academic Publishers 2019

关键词： Support vector machines

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A rule-based method of spike detection and suppression and its application in a control system for additive manufacturing

A rule-based method of spike detection and suppression and i...

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作者： Rafajlowicz, Wojciech Rafajlowicz, Ewaryst Faculty of Electronics Department of Computer Engineering Wroclaw University of Science and Technology Wroclaw Poland Faculty of Electronics Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Wroclaw Poland

We propose a rule-based method of spike detection and suppression method. This method is an extension of the jump detector that was proposed by the second author, M. Pawlak and A. Steland. Its elementary properties are established, and the example of application for a laser power control in a 3-dimensional additive manufacturing process is discussed. Copyright © 2017 John Wiley & Sons, Ltd.

关键词： 3D printers

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Time-Varying Convex Optimization: Time-Structured Algorithms and Applications

arXiv

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arXiv 2020年

作者： Simonetto, Andrea Dall’Anese, Emiliano Paternain, Santiago Leus, Geert Giannakis, Georgios B. Optimization and Control Group of IBM Research Ireland Dublin Ireland College of Engineering and Applied Science University of Colorado BoulderCO80309 United States Department of Electrical and Systems Engineering University of Pennsylvania Faculty of Electrical Mathematics and Computer Science Delft University of Technology Delft2628CD Netherlands Digital Technology Center University of Minnesota MinneapolisMN55455 United States

Optimization underpins many of the challenges that science and technology face on a daily basis. Recent years have witnessed a major shift from traditional optimization paradigms grounded on batch algorithms for medium-scale problems to challenging dynamic, time-varying, and even huge-size settings. This is driven by technological transformations that converted infrastructural and social platforms into complex and dynamic networked systems with even pervasive sensing and computing capabilities. The present paper reviews a broad class of state-of-the-art algorithms for time-varying optimization, with an eye to both algorithmic development and performance analysis. It offers a comprehensive overview of available tools and methods, and unveils open challenges in application domains of broad interest. The real-world examples presented include smart power systems, robotics, machine learning, and data analytics, highlighting domain-specific issues and solutions. The ultimate goal is to exempify wide engineering relevance of analytical tools and pertinent theoretical foundations. Copyright © 2020, The Authors. All rights reserved.

关键词： Data Analytics

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On asymptotic properties of discrete Volterra equations of convolution type

On asymptotic properties of discrete Volterra equations of c...

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

作者： Pham The Anh Artur Babiarz Adam Czornik Michał Niezabitowski Stefan Siegmund Department of Mathematics Le Quy Don Technical University Ha noi Vietnam Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Faculty of Mathematics Technische Universität Dresden Dresden Germany

This paper discusses dynamic properties of discrete Volterra equations of convolution type. The asymptotic separation of solutions is studied. More precisely, a polynomial lower bound for the norm of differences between two different solutions of discrete Volterra equations of convolution type is presented. We apply this result to the theory of fractional difference equations.

关键词： Mathematical model Convolution Difference equations Stability analysis Asymptotic stability computer science

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Impedance Matching for an Inductive Harvesting Transducer

Impedance Matching for an Inductive Harvesting Transducer

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International Conference on Electrical Machines, Drives and Power Systems (ELMA)

作者： Juan A. GARRIGA Hugo VALDERRAMA-BLAVI David GARCÍA-ELVIRA J.A. BARRADO Àngel CID-PASTOR Department of Computer Science and Industrial Engineering Universitat de Lleida (UDL) Lleida Spain Automatic Control and Industrial Electronics Group (GAEI) Universitat Rovira i Virgili (URV) Tarragona Spain

ISBN: (纸本)9781728114149

This paper presents an inductive transducer coupled to an articulated device for harvesting applications. This device, taking advantage of the sway of the waves of the sea, produces a linear oscillating motion in a solenoid-magnet. Using some magnetic fundamentals, a model of the transducer is deduced. This model is then extended to a harvesting device made with three transducers. Different transducer prototypes, with different number of coil turns, wire gauge, and magnets, have been developed to optimize it. The energy harvested form the final transducer array is processed electronically to charge an autonomous system battery. To maximize the energy collected the principle of impedance matching is used. Thus, the output impedance of the transducer array must match the converter input impedance. A buck-boost hybrid converter (HBB) controlled to behave as a Loss Free Resistor is proposed as impedance adaptor circuit. After the theoretical analysis, several simulation and experimental results are given.

关键词： Transducers Impedance Impedance matching Surface impedance Windings Magnetic flux Generators

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Active Battery Balancing Via a Switched DC/DC Converter: Description and Performance Analysis

Active Battery Balancing Via a Switched DC/DC Converter: Des...

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International Conference on Electrical Machines, Drives and Power Systems (ELMA)

作者： David GARCÍA ELVIRA Hugo VALDERRAMA BLAVÍ Josep María BOSQUE MONCUSÍ Àngel CID PASTOR Juan Antonio GARRIGA CASTILLO Luis MARTÍNEZ SALAMERO Automatic Control and Industrial Electronics Group (GAEI) Universitat Rovira i Virgili (URV) Tarragona Spain Department of Computer Science and Industrial Engineering Universitat de Lleida (UDL) Lleida Spain

ISBN: (纸本)9781728114149

This paper presents a new converter-based active balancing topology. This equalizer topology consists of a single non-isolated DC/DC converter and cell-to-cell power routing via controlled switches, which are operated as power multiplexers. The design and control strategy of the equalizer are explained. Its performance is assessed in simulation. The equalizer balances an imbalanced battery pack of five monobloc batteries, compensating the initial SOC deviations and keeping the pack balanced from then on. The influence of four battery parameters in SOC divergence is analyzed.

关键词： Batteries State of charge Equalizers Topology control systems Integrated circuit modeling Load modeling

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Single trial ERP amplitudes reveal the time course of acquiring representations of novel faces in individual participants

arXiv

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arXiv 2020年

作者： Sommer, Werner Stapor, Katarzyna Kończak, Grzegorz Kotowski, Krzysztof Fabian, Piotr Ochab, Jeremi Bereś, Anna Ślusarczyk, Grażyna Humboldt-University at Berlin Department of Psychology Germany Silesian University of Technology Institute of Computer Science Gliwice Poland University of Economics in Katowice Department of Statistics Econometrics and Mathematics Poland Silesian University of Technology Department of Applied Informatics Gliwice Poland Silesian University of Technology Department of Algorithmics and Software Gliwice Poland Jagiellonian University Department of Theory of Complex Systems Krakow Poland Jagiellonian University Department of Cognitive Neuroscience and Neuroergonomics Krakow Poland Jagiellonian University Department of Design and Computer Graphics Krakow Poland Institut für Psychologie Humboldt-Universität zu Berlin Rudower Chaussee 18 Berlin12489 Germany Faculty of Automatic Control Electronics and Computer Science Department of Applied Informatics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

The neural correlates of face individuation – the acquisition of memory representations for novel faces – have been studied only in coarse detail and disregarding individual differences between learners. In their seminal study, (Tanaka, Curran, Porterfield, & Collins, 2006) required the identification of a particular novel face across 70 trials and found that the N250 component in the ERP became more negative from the first to the second half of the experiment, where it reached a similar amplitude as a well-known face. We were unable to directly replicate this finding in our study when we used the original spilt of trials. However, when we applied a different split of trials we observed very similar changes in N250 amplitude. Then, we developed and applied a new two-step explorative-confirmative non-parametric method based on permutation testing to determine the time course of face individuation in individual participants based on single trial N250 amplitudes. We show that the assumption of a steep initial increase of N250 amplitude across multiple presentations of the target face, followed by a plateau, yields plausible results in fitting linear trends for most participants. The transition point from initial acquisition to the plateau phase differed strongly between participants and tended to be earlier when performance in target face recognition was better. Hence, face individuation may be accounted for by a biphasic process of early, fast acquisition, followed by a slower, asymptotic consolidation or maintenance phase. The current approach might be fruitfully applied to further investigations into face individuation and their neural correlates. © 2020, CC BY-NC-ND.

关键词： Face recognition

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Applicability of magnetic hysteresis models for predicting the behaviour of MR dampers 9

Applicability of magnetic hysteresis models for predicting t...

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9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019

作者： Goldasz, J. Sapinski, B. Jastrzebski, L. Kubik, M. Faculty of Electrical Engineering and Computer Science Cracow University of Technology ul. Warszawska 24 Krakow31-155 Poland BWI Technical Center BWI Group ul. Podgorki Tynieckie 2 Krakow30-399 Poland Department of Process Control AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland Faculty of Mechanical Engineering Brno University of Technology Technicka 2869/2 Brno616 69 Czech Republic

ISBN: (纸本)9788494919466

This study concerns modeling the magnetic hysteretic behaviour of magnetorheological (MR) dampers. Magnetic hysteresis is one of factors influencing the output of such actuators. The origin of magnetic hysteresis in the actuator’s output is obvious - it is the inherent property of ferromagnetic materials which form the electromagnet’s assembly of the actuator. Prior work on solenoid actuators indicates that hysteresis plays a major role in the flux generation mechanism, and it should be accounted for in the controls development process. So far less attention has been paid to studying the contribution of magnetic hysteresis on the output of MR dampers. Majority of studies on the hysteretic behaviour of MR dampers have virtually neglected that specific contributor. Instead, the hysteretic behaviour of MR actuators was studied by observing the relationships between the output (force/torque) and the inputs (current, velocity, position). Instead, in the present study we separate the magnetic hysteresis from the mechanical/hydraulic one by investigating the magnetic flux vs exciting current relationship of an exemplary MR damper subjected to sinusoidal current (voltage) loading. The resulting behaviour of the electromagnets is then examined using the nonlinear inductor approach with hysteresis. The performance of several hysteretic operators is then evaluated based on their ability to reproduce the magnetic flux output of the MR actuator. © 2019 9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019. All rights reserved.

关键词： Damping

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