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检索条件"机构=Computer Science and Control Engineering"

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Comparative Study of Optimal Nonlinear control Schemes for Hanging Mass Actuated by Uncertain Pneumatic Muscle

Comparative Study of Optimal Nonlinear Control Schemes for H...

引用

11th IEEE International Conference on System engineering and Technology, ICSET 2021

作者： Sadiq, Musaab Esam Humaidi, Amjad Jaleel Kadhim, Saleem Khalefa Mahdi, Abdulkareem Sh. Alkhayyat, Ahmed Ibraheem, Ibraheem Kasim General Company for Grain Processing Ministry of Trade Baghdad Iraq University of Technology Control and Systems Eng. Dept. Baghdad Iraq School of Computer Science and Eng. Taylor's University Malaysia College of Technical Engineering Islamic University Najaf Iraq College of Engineering University of Baghdad Baghdad Iraq

ISBN: (纸本)9781665437660

The systems actuated by Pneumatic Artificial Muscles (PAMs) are characterized by high nonlinearity and time-varying of their coefficients. Therefore, nonlinear and robust controllers are required to cope with these challenging control problems. This work presents the development of new control design for trajectory tracking of PAM-Actuated manipulator based on Sliding Mode control (SMC), Backstepping Sliding Mode control (BSMC). The control laws of controlled PAM hanging mass based on SMC and BSMC have been developed according to Lyapunov stability analysis. Additionally, the PSO technique is used to tune the design parameters of proposed controllers for further enhancement of controlled PAM system performance. A comparison study has been conducted among the proposed controllers via computer simulation using MATLAB/Simulink programming software. © 2021 IEEE.

关键词： Trajectory tracking System performance Muscles Programming Systems engineering and theory Software Nonlinear dynamical systems

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A modified fuzzy c-means algorithm for breast tissue density segmentation in mammograms

A modified fuzzy c-means algorithm for breast tissue density...

引用

IEEE EMBS International Conference on Information Technology Applications in Biomedicine (ITAB)

作者： Zhili Chen Reyer Zwiggelaar Department of Computer Science Aberystwyth University Aberystwyth UK Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China

The fuzzy c-means (FCM) algorithm has been applied in a variety of medical image segmentation applications. The conventional FCM algorithm uses the greylevel information at a single pixel as the feature space and this contains no spatial contextual information, which makes it very sensitive to noise and intensity inhomogeneities. Recently, some modified FCM algorithms with spatial constraints have been published. However, these have individual disadvantages and are not robust enough with different types of noise. In this paper, we propose a modified FCM algorithm incorporating local spatial and intensity information based on an adaptive local window filter whose weighting coefficients differentiate the neighbouring pixels within the local window. Fast clustering is afterwards performed on the intensity histogram of the filtered image. To demonstrate the robustness and insensitivity to noise of the proposed algorithm, it is extensively tested using synthetic images corrupted by a variety of noise. The experimental results are quantitatively evaluated and compared. This algorithm is then applied to mammographic images for breast tissue density segmentation. The segmentation results indicate its effectiveness to the presence of intensity inhomogeneities in mammograms from different density categories.

关键词： Image segmentation Variable speed drives Europe Nonhomogeneous media Robustness computers Pixel

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Skid to turn control of the APKWS missile using trajectory linearization technique

Skid to turn control of the APKWS missile using trajectory l...

引用

American control Conference (ACC)

作者： M.C. Mickle J.J. Zhu Guidance Navigationa and Control Department Ratheon Missile Systems USA School of Electrical Engineering and Computer Science Ohio University USA

This paper presents the design and simulation results of an autopilot for the US Army's APKWS missile. The concept is to add on a guidance section to the existing Hydra 70 unguided rocket airframe. The guidance section is to be mounted onto existing hardware using a deroll bearing which permits the motor to roll freely while the guidance section is roll stabilized. The Hydra 70 has unusual dynamic and aerodynamic characteristics, which include a very large intentional induced roll moment which is heavily influenced by down wash effects on the rear spin inducing fins from large aerodynamic angles and the displacement of the control canards. Moreover, angle of attack tracking with control canards makes the problem nonminimum phase. The autopilot consists of a nonlinear inverse subsection which places the missile on the nominal commanded trajectory, and a linear time varying trajectory regulating controller. The regulating controller is formulated using a new parallel differential eigenvalue stability concept. An advantage of the proposed design method is that the controller gains are computed symbolically such that a full flight envelope autopilot can be designed without resorting to pointwise gain scheduling. Simulation results are shown to demonstrate the effectiveness of the trajectory linearization control technique.

关键词： Missiles Aerodynamics Rockets Hardware Displacement control Eigenvalues and eigenfunctions Stability Design methodology Processor scheduling Computational modeling

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Using 2D systems theory to design output signal based iterative learning control laws with experimental verification

Using 2D systems theory to design output signal based iterat...

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IEEE Conference on Decision and control

作者： Lukasz Hladowski Zhonglun Cai Krzysztof Galkowski Eric Rogers Chris T. Freeman Paul L. Lewin Institute of Control and Computation Engineering University of Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK

ISBN: (纸本)9781424431236

In this paper we use a 2D systems setting to develop new results on iterative learning control for linear plants, where it is well known in the subject area that a trade-off exists between speed of convergence and the response along the trials. Here we give new results by designing the control scheme using a strong form of stability for repetitive processes/2D linear systems known as stability along the pass (or trial). The resulting design computations are in terms of Linear Matrix Inequalities (LMIs) and they are also experimentally validated on a gantry robot. The control laws only use plant output information and hence the use of a state observer is avoided.

关键词： Signal design control systems Convergence Stability Linear matrix inequalities Linear systems Symmetric matrices Robot control Manipulators Chemical processes

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Iterative learning control for discrete time systems using optimal feedback and feedforward actions

Iterative learning control for discrete time systems using o...

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IEEE Conference on Decision and control

作者： N. Amann D.H. Owens E. Rogers Centre for Systems and Control Engineering University of Exeter Exeter UK Department of Electronics and Computer Science University of Southampton Southampton UK

An algorithm for iterative learning control is proposed based on an optimization principle used by other authors to derive gradient type algorithms. The new algorithm is a descent algorithm and has potential benefits which include realization in terms of Riccati feedback and feed-forward components. This realization also has the advantage of implicitly ensuring automatic step size selection and hence guaranteeing convergence without the need for empirical choice of parameters. The algorithm achieves a geometric rate of convergence for invertible plants which can be arbitrarily changed by design parameters.

关键词： Optimal control control systems Discrete time systems Iterative algorithms Convergence Automatic control Riccati equations Feedback Feedforward systems Algorithm design and analysis

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Spatiotemporal Analysis of an Agent-Based Model of a Colony of Keratinocytes: A First Approach for the Development of Validation Methods

Spatiotemporal Analysis of an Agent-Based Model of a Colony ...

引用

IEEE Symposium on Bioinformatics and Bioengineering (BIBE)

作者： Cesar Pichardo-Almarza Rod Smallwood S. A. Billings Department of Computer Science University of Sheffield Sheffield UK Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

Agent-based models are widely used for the simulation of systems from several domains (biology, economics, meteorology, etc). In biology agent-based models are very useful for predicting the social behaviour of systems; in particular they seem well adapted to model the behaviour of a cell population. In this paper an agent-based model, developed to study normal human keratinocytes (tissue cells), will be investigated. This kind of model exhibits probabilistic behaviour and the validation of simulation results is often done with a qualitative analysis by the experts (biologists). The main objective of this paper is to propose new variables and metrics that allow the comparison and a possible quantitative validation using numerical results from simulations.

关键词： Spatiotemporal phenomena Biological system modeling Cells (biology) Systems biology Computational biology Predictive models Economic forecasting Meteorology Humans Analytical models

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Real-time control of reactive ion etching: identification and disturbance rejection

Real-time control of reactive ion etching: identification an...

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IEEE Conference on Decision and control

作者： B.A. Rashap P.P. Khargonekar J.W. Grizzle M.E. Elta J.S. Freudenberg F.L. Terry Electronics Manufacturing and Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

The main processes involved in the manufacture of integrated circuits are deposition, lithography, etching, and implantation. This paper describes results on identification and real-time control of reactive ion etchers. Experimental results show that significant disturbances to the etch rate can be attenuated with real-time feedback control.< >

关键词： Etching Feedback control Plasma applications Manufacturing processes Laboratories Pressure control Weight control Open loop systems PD control Pi control

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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Reliable Task Offloading for Vehicular Fog Computing under Information Asymmetry and Information Uncertainty

Reliable Task Offloading for Vehicular Fog Computing under I...

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作者： Zhou, Zhenyu Liao, Haijun Zhao, Xiongwen Ai, Bo Guizani, Mohsen State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Electrical and Electronic Engineering North China Electric Power University Beijing China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China Department of Computer Science and Engineering Qatar University Doha Qatar

Vehicular fog computing has emerged as a cost-efficient solution for task processing in vehicular networks. However, how to realize effective server recruitment and reliable task offloading under information asymmetry and uncertainty remains a critical challenge. In this paper, we adopt a two-stage task offloading framework to address this challenge. First, we propose a convex-concave-procedure-based contract optimization algorithm for server recruitment, which aims to maximize the expected utility of the operator with asymmetric information. Then, a low-complexity and stable task offloading mechanism is proposed to minimize the total network delay based on the pricing-based matching. Furthermore, we extend the work to the scenario of information uncertainty and develop a matching-learning-based task offloading mechanism, which takes both occurrence awareness and conflict awareness into consideration. Simulation results demonstrate that the proposed algorithm can effectively motivate resource sharing and guarantee bounded deviation from the optimal performance without the global information. © 2019 IEEE.

关键词： Fog computing

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OPC UA Implementation for Industrial Automation - Part 2: Integrating PubSub Model with TSN 1

OPC UA Implementation for Industrial Automation - Part 2: In...

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1st International Conference on Circuits, Power, and Intelligent Systems, CCPIS 2023

作者： Reddy, G. Pradeep Kumar, Y. V. Pavan Reddy, Y. Jaganmohan Maddireddy, Sudheer Reddy Prabhudesai, Saurabh Reddy, Ch. Pradeep School of Electronics Engineering VIT-AP University Andhra Pradesh Amaravati India Instrumentation and Control Air Company Holdings Inc. BrooklynNY United States CDB-IoT Unit Cognizant Technology Solutions Telangana Hyderabad India Computer Science and Engineering VIT-AP University Andhra Pradesh Amaravati India

ISBN: (纸本)9798350315769

The advent of Industry 4.0 has brought out a new era of automation, highlighting the importance of seamless integration and interoperability across diverse systems in industrial environments. To facilitate efficient and secure data exchange, the OPC UA (Open Platform Communications Unified Architecture) has emerged as a standardized communication framework in industrial automation. However, the traditional Ethernet-based infrastructure utilized for OPC UA cannot meet the stringent real-time requirements of time-critical applications. In industries relying on motion control applications like robotics or automated manufacturing, fast machine-to-machine communication is crucial. These applications demand precise and rapid data exchange to ensure the smooth and coordinated movement of machines. To address this challenge, it is crucial to assess the performance of the newly introduced Time-Sensitive Networking (TSN) implementation and verify its ability to meet the requirements for critical industry applications. In this view, this paper implements OPC UA by integrating the OPC UA PubSub (Publisher-Subscriber) model with TSN. TSN represents a set of standards developed to enable deterministic and low-latency communication over Ethernet networks. Experimental results provide clear evidence that the combination of OPC UA with TSN improves performance, making it well-suited for demanding real-time applications. © 2023 IEEE.

关键词： Interoperability

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