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Anti-Windup for Internal Model Control With Asymmetric Input Saturation

IEEE Control Systems Letters 2025年 9卷 126-131页

作者： Adegbege, Ambrose A. Owolabi, Opeyemi S. Ogunba, Kolawole S. Jubril, Abimbola M. The College of New Jersey Laboratory for Embedded Control and Optimization Department of Electrical and Computer Engineering EwingNJ08628 United States Obafemi Awolowo University Department of Electronic and Electrical Engineering Ife220282 Nigeria

In this letter, we introduce a novel anti-windup design approach for internal model control (IMC) that addresses the issue of asymmetric input saturation. To enhance closed-loop performance during periods of saturation, we utilize information about the asymmetrical limits of input saturation in the anti-windup design. This is achieved through a combination of static matrix scaling, a constant offset term, and a generalized sector condition that guarantees both global and regional stability of the closed loop. Our approach generalizes existing techniques for incorporating directionality compensation into anti-windup designs and can be interpreted as a search over a class of left-coprime factorization of the linear internal model controller. We demonstrate the effectiveness of this design approach on a well-known and widely used anti-windup example. © 2017 IEEE.

关键词： Matrix factorization

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Multifaceted progress in high-field superconducting magnet mechanics

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Acta Mechanica Sinica 2024年第4期40卷 1-3页

作者： Xingzhe Wang Seungyong Hahn Key Laboratory of Mechanics on Western Disaster and Environment Ministry of EducationCollege of Civil Engineering and MechanicsLanzhou UniversityLanzhou 730000China Department of Electrical and Computer Engineering Seoul National UniversitySeoul 08826Republic of Korea

High-field superconducting magnets are poised to revolutionize technologies,including particle accelerators,magnetic resonance imaging(MRI)machines,and fusion *** stand at the frontier of superconductor ***_(3)Sn wires,which operate at cold temperatures,along with rare-earth barium copper oxide(REBCO)coated conductors that include rare earth elements like Y,Gd,and Dy,are gaining *** high electrical efficiency in strong magnetic fields makes them particularly attractive for such advanced applications.

关键词： Nb_(3)Sn field earth

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Application of Non-Gapped Line Arresters to 150 kV and 400 kV Overhead Lines: Effects of AC Voltage at the Instant of Direct Lightning Strike 24

Application of Non-Gapped Line Arresters to 150 kV and 400 k...

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24th EEEIC International Conference on Environment and electrical engineering and 8th I and CPS Industrial and Commercial Power Systems Europe, EEEIC/I and CPS Europe 2024

作者： Datsios, Zacharias G. Patsalis, Diamantis G. Mikropoulos, Pantelis N. Tsovilis, Thomas E. School of Electrical & Computer Engineering Aristotle University of Thessaloniki High Voltage Laboratory Thessaloniki Greece

ISBN: (纸本)9798350355185

This study investigates the effects of the AC power-frequency operating voltage instantaneous value when lightning strikes to an overhead transmission line (OHTL) on the computed fast-front overvoltages across insulation, the current flowing through line surge arresters (LSAs), and the energy absorbed by LSAs. The investigation is performed via ATP-EMTP simulations of two typical 150 kV and 400 kV OHTLs with two circuits per tower, equipped with non-gapped line surge arresters (NGLAs). Two NGLA configurations are studied: 3 and 6 NGLAs installed at all towers. Simulation of lightning strikes to phase conductors (shielding failure) and to towers are carried out for negative first return strokes. The tower ground resistance at low current and low frequency is a parameter in simulations;ground resistance values are selected among those commonly encountered in practice. It is found that there is a significant variation of NGLA absorbed energy depending on the power-frequency voltage value at lightning strike time instant. An enhanced variation is observed for the 400 kV OHTL. Hence, the worst-case conditions in terms of power-frequency voltage should be considered for NGLA energy withstand capability selection. © 2024 IEEE.

关键词： Overhead lines

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From Bricks to Bots: Automated Collision-Aware Sequence Planning for LEGO Reconstruction with a Two-Finger Gripper 10

From Bricks to Bots: Automated Collision-Aware Sequence Plan...

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10th International Conference on Control, Instrumentation and Automation, ICCIA 2024

作者： Barghi, Arman Pasiar, Navid Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798331509972

An automated, vision-guided assembly method is proposed for reconstructing LEGO arrangements using a 3 DOF Delta Parallel Robot with a two-finger gripper. Assembly sequence planning, an NP-complete problem, focuses on determining the optimal sequence of bricks for constructing a target structure. The complexity increases when robotic con-straints-such as avoiding collisions between the gripper and the partially constructed structure-Are integrated into the planning. To address this, the Arrangement Planning Process is introduced, combining target arrangement identification with collision-Aware sequence planning. This process includes precise detection techniques that merge instance segmentation with stud detection. Notable innovations include an assembly-by-disassembly algorithm for efficient planning and experimental techniques such as the Safe Approach and the Wiggling Technique for accurate brick placement. By implementing a homing method, positioning accuracy improved approximately twofold compared to previous work. The results demonstrate the feasibility and precision of the proposed method in automated LEGO reconstruction. © 2024 IEEE.

关键词： Grippers

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Multi-satellite image alignment over large areas with featureless regions

Multi-satellite image alignment over large areas with featur...

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2023 Annual Conference, ASPRS 2023

作者： Roros, C.J. Deshmukh, R. Kak, A.C. Robot Vision Lab Purdue University School of Electrical and Computer Engineering West LafayetteIN United States

There is a great deal of interest in fusing together the information provided by different satellites for real-Time change detection on the surface of the earth. For detecting important types of changes on the ground, it is necessary to inject geometry into the data provided by low-res satellites using multi-view imaging satellites that record each point on the ground from multiple perspectives. Combining these perspectives and generating a DSM (Digital Surface Model) gives us the geometry needed for a more meaningful analysis of satellite data. Before such an analysis can be carried out, it is necessary to align the images from all available satellites. Automatic image alignment, however, requires features on the ground that can be identified and correctly matched across different images using computer vision algorithms. While such features are common in urban areas, that is not always the case in predominantly rural areas that present a more-or-less uniform texture to the sensors. In this paper we present methods for automatic identification and alignment of featureless regions. Featureless regions are identified using point spread maps, which are a byproduct of DSM generation. The subsequent strategy for aligning featureless regions depends on the proportion of featureless regions to feature-rich regions. If most of the AOI (Area of Interest) is feature-rich, we ignore featureless regions when estimating inter-satellite image alignment parameters and apply those parameters to the entire AOI. Finally, we present a technique to propagate and fuse parameters from feature-rich regions to featureless regions. © 2023 International Society for Photogrammetry and Remote Sensing. All rights reserved.

关键词： Satellites

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Stochastic Unit Commitment with High-Penetration Offshore Wind Power Generation in Typhoon Scenarios

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 535-546页

作者： Yanqi Liu Dundun Liu Hongcai Zhang State Key Laboratory of Internet of Things for Smart City and Department of Electrical and Computer Engineering University of MacaoMacao 999078China University of Macao Zhuhai UM Science and Technology Research Institute ZhuhaiChina

To tackle the energy crisis and climate change,wind farms are being heavily invested in across the *** China's coastal areas,there are abundant wind resources and numerous offshore wind farms are being *** secure operation of these wind farms may suffer from typhoons,and researchers have studied power system operation and resilience enhancement in typhoon ***,the intricate movement of a typhoon makes it challenging to evaluate its spatial-temporal *** published papers only consider predefined typhoon trajectories neglecting *** address this challenge,this study proposes a stochastic unit commitment model that incorporates high-penetration offshore wind power generation in typhoon *** adopts a data-driven method to describe the uncertainties of typhoon trajectories and considers the realistic anti-typhoon mode in offshore wind farms.A two-stage stochastic unit commitment model is designed to enhance power system resilience in typhoon *** formulate the model into a mixed-integer linear programming problem and then solve it based on the computationally-efficient progressive hedging algorithm(PHA).Finally,numerical experiments validate the effectiveness of the proposed method.

关键词： Unit commitment two-stage stochastic programming offshore wind farm typhoon

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Design of a Remote Controlled Puppet Robot Imitating a Manual Driven Puppet Using Deep Learning Pose Detection 12

Design of a Remote Controlled Puppet Robot Imitating a Manua...

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12th RSI International Conference on Robotics and Mechatronics, ICRoM 2024

作者： Hamzeh, Hamed Shahroozi, Kiarash Nabipour, Ahmad Kazemi, Parham Malek-Zahedi, Mohammad Hallajian, Mehdi Moradia, Hadi School of Electrical and Computer Engineering College of Engineering University of Tehran Advanced Robotics and Intelligent Systems Laboratory Iran

ISBN: (纸本)9798331529734

Traditional puppet manipulation systems often require human operators to be physically present in tight and cramped locations. This leads to challenges in the positioning and effective operation of puppets, particularly in the presence of children in educational settings. In this paper, we present the design, development, and integration of a cost-effective robotic system for remotely manipulating puppets in real-time. Additionally, the system integrates a YOLOv8 Pose Detection model, trained on a custom dataset with an accuracy of 91.4%, enabling real-time gesture recognition and allowing the robot to be controlled by imitating the motions of a manually operated puppet. The system demonstrates the potential for many applications, including interactive entertainment, teleoperation, and education. © 2024 IEEE.

关键词： Gesture recognition

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Autonomous Rearrangement Planning Using Object Similarity Learning 12

Autonomous Rearrangement Planning Using Object Similarity Le...

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12th RSI International Conference on Robotics and Mechatronics, ICRoM 2024

作者： Jabari, Parmida Babi, Zeynab Ezzati Ghasemi, Hamed Masouleh, Mehdi Tale Kalhor, Ahmad School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798331529734

This study investigates the integration of artificial intelligence in robotics assembly systems, focusing on enhancing flexibility and adaptability in dynamic environments where the robot might not be given the precise objects of the intended construction. To this end, a developed approach is presented which is based on object detection, similarity assessment, and sequence planning for autonomous construction tasks. The system utilizes a YOLOv8 model for object detection and a Siamese network architecture, which facilitates object replacement. It processes two input images, one representing the target structure and another showing the available objects, extracting attributes such as bounding boxes, centers, and orientations. An exact object-matching step is performed before a two-stage similarity assessment. The two-stage similarity assessment prioritizes single-object matches and employs a multi-object similarity network only when necessary. This multi-stage approach is designed to maintain high similarity to the intended design while minimizing possible object shortcomings. During the construction phase, motion planning is performed using a 3-degrees-of-freedom Delta parallel robot, and a 2-finger gripper is utilized for robotics grasping. The results of this study, conducted on wooden bricks of varying shapes and sizes, demonstrate the effectiveness of the YOLOv8 model for object detection, achieving over 80% accuracy across 18 classes with a classification loss of approximately 0.25. Additionally, the Siamese network performed robustly, with a loss of less than 0.01 for both single and multiple object comparisons. © 2024 IEEE.

关键词： Robotic assembly

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Lightning impulse flashover modelling of a typical MV porcelain insulator using ATP-EMTP: Application to a MV overhead distribution line 14

Lightning impulse flashover modelling of a typical MV porcel...

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14th Mediterranean Conference on Power Generation Transmission, Distribution and Energy Conversion, MEDPOWER 2024

作者： Mikropoulos, Pantelis N. Tsouris, Petros P. High Voltage Laboratory School of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

ISBN: (纸本)9781837242689

Flashover prediction of medium voltage overhead line insulators is of great importance in insulation coordination studies. In electromagnetic transient simulations insulator flashover is modelled using experimentally obtained flashover volt-time curves, or the integration method with parameters appropriately adjusted based on experimental flashover results. However, these modelling approaches, being specifically related to the reference experimental results, cannot be easily generalised to apply to the great variety of utilized distribution line insulators, differing in geometry and material, as well as to the variability in the waveshape and polarity of the lightning surge overvoltages. In this study a modelling approach for lightning impulse flashover of typical MV overhead line insulators is introduced, based on the CIGRE leader progression model however with its model parameters appropriately adjusted. An excellent agreement between experimental and modelling flashover results has been achieved by expressing model parameters as a function of the average steepness of the applied voltage at leader inception. The developed model is implemented in ATP-EMTP environment to evaluate insulation flashover of an overhead line of the Hellenic distribution system due to direct positive lightning strikes. The main advantage of developed leader progression model is its ability to accurately describe the dynamics of discharge growth over insulators, starting from leader inception up to flashover. © The Institution of engineering & Technology 2024.

关键词： Overhead lines

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Model-Free Dynamic Control of Five-bar Mechanism via Subchain Assembly and Reinforcement Learning 12

Model-Free Dynamic Control of Five-bar Mechanism via Subchai...

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12th RSI International Conference on Robotics and Mechatronics, ICRoM 2024

作者： Sedghi, Soheil Tale Masouleh, Mehdi Kalhor, Ahmad School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798331529734

Parallel robots are versatile but challenging to control due to their complex dynamics and the need for precise modeling. This research presents a novel approach to modular control of parallel robots, utilizing reinforcement learning to dynamically assemble and control complex arbitrary systems. By treating each sub chain of a parallel robot as an individual agent, the proposed method offers a flexible and adaptable framework for various control tasks. The study compares the learning performance of different RL algorithms and proposed decision modeling on the tracking control of a five-bar robot with a 55 cm link length, aiming to achieve an error of less than 5 cm in the PyBullet simulator. In single-agent reinforcement learning, three algorithms (DDPG, PPO, and SAC) were employed, with PPO and SAC effectively solving the problem. In multi-agent reinforcement learning, two algorithms (FACMAC and MAPPO) were utilized. While MAPPO successfully learned the problem, FACMAC exhibited difficulties in grasping the problem. The results obtained from comparing the proposed RL algorithms indicated that single-agent RL learns the control problem better and faster than multi-agent reinforcement learning. In short, the paper focuses on formulating an RL solution which can effectively control parallel robots and can potentially be used for pre-training subchains. © 2024 IEEE.

关键词： Reinforcement learning

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