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10th IFAC Symposium on Advances in control Education, ACE 2013

作者： Kalave, Eniko Kósáné Bézi, István Bars, Ruth Institute of Physics University of Debrecen Debrecen Hungary Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Department of Automation and Applied Informatics MTA-BME Control Engineering Research Group Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9783902823434

A basic control course is taught for electrical engineering students at the University of Debrecen, Hungary. Through two semesters the students get a basic knowledge on control concepts. Every week there are 2 hours of theoretical lectures immediately followed by 2 hours of MATLAB based interactive computer laboratories. In the curriculum besides the conventional material new aspects of control design such as Youla parametrization have also been included. Practical considerations as e.g. controller saturation are also dealt with. The paper reviews briefly the curriculum and the educational process of this program. © IFAC.

关键词： Curricula

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research on Influencing Factors of Power Grid Security Risk Based on "cognitive-Constraint" Model 2

Research on Influencing Factors of Power Grid Security Risk ...

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2nd International Conference on Artificial Intelligence and Cloud Computing, ICAICC 2020

作者： Yu, Lei Lv, Jin Peng, Qiwei Zhao, Linying Li, Gang Nari Group Corporation State Grid Electric Power Research Institute Nanjing Jiangsu China North China Electric Power University School of Control and Computer Engineering Baoding Hebei China

With the improvement of the intelligent level of the power grid, the operation safety of the power system has received extensive attention. The current accident analysis mostly relies on the experience of personnel, which is prone to omissions. Firstly, this article analyzes the safety risk factors of power grid accidents from four aspects: man factors, equipment factors, management factors, and environmental factors based on the accident causes theory. Secondly, the fault tree model is used to explore the mechanism of each failure factor and quantify the structural importance of each event. Finally, summarize the rules of accidents and make reasonable suggestions for scientifically and reasonably avoiding similar accidents and building a safe power grid. © 2021 Published under licence by IOP Publishing Ltd.

关键词： Electric power transmission networks

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Estimating the state of distributed dynamical systems based on limited measurements by means of cooperative filtering with application to ad-hoc vehicle networks

Estimating the state of distributed dynamical systems based ...

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7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09

作者： Edelmayer, A. Miranda, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Faculty of Engineering University of Los Andes Merida Venezuela

ISBN: (纸本)9783902661463

In this paper a decentralized approach to state estimation of distributed dynamical systems over unreliable communication network subject to uncertain and limited measurements is addressed. Specifically, a distributed filtering concept for enhancing the estimation accuracy of vehicles state from uncertain position data in ad-hoc vehicle networks is presented. The filter relies on a variety of position measurements obtained from the on-board vehicle positioning system, from other nearby cooperating vehicles, as well as from the immediate roadside environment via communication. Direct distance measurements between vehicles as well as between vehicles and the static elements of the roadside infrastructure can be used, if available, as highly accurate reference measurements. The paper demonstrates how successfully the idea of cooperative filtering in addressing the demands of both sensor fault tolerance and enhanced estimation accuracy in distributed systems over ad-hoc communication networks can be used. © 2009 IFAC.

关键词： State estimation

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AGV Path Planning Using Curiosity-Driven Deep Reinforcement Learning 19

AGV Path Planning Using Curiosity-Driven Deep Reinforcement ...

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19th IEEE International Conference on automation Science and engineering, CASE 2023

作者： Yin, Huilin Lin, Yinjia Yan, Jun Meng, Qian Festl, Karin Schichler, Lukas Watzenig, Daniel School of Electronic and Information Engineering Tongji University Shanghai China University of South-eastern Norway Mis Research Group Vestfold3603 Norway Virtual Vehicle Research GmbH Graz Austria Institute of Automation and Control Graz University of Technology Graz8010 Austria

ISBN: (纸本)9798350320695

In the field of intelligent manufacturing, automated guided vehicles (AGV s) are required to plan an optimal path to a destination quickly and safely in complex environments. Several research papers have shown that Deep Reinforcement Learning (DRL) can plan a reasonable path for AGVs. However, almost all studies do not consider the influence of sparse external rewards. In addition, most research still uses an unrealistic 2D grid for their path planning environments. To alleviate these problems, we propose a novel AGV path planning method and provide the virtual environments of AGV s that approximate the real physical world. Moreover, the curiosity mechanism helps to enhance the Proximal Policy Optimization (PPO) method to provide additional intrinsic rewards to AGV agents in the sparse reward scenario. As for the environments, we no longer divide them into a 2D grid. Thus, the AGV has a continuous position in our environments. In addition, dynamic obstacles are added to make our environments more realistic. Based on our experiments, we make qualitative and quantitative analyses of the performance of the proposed method and the baseline DRL method. The empirical results show that our proposed method can make AGVs plan a reasonable and safe path with considerable speed during the training process in our virtual environments. © 2023 IEEE.

关键词： Reinforcement learning

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Robust and Fault-Tolerant control of In-Wheel Vehicles with Cornering Resistance Minimization

Robust and Fault-Tolerant Control of In-Wheel Vehicles with ...

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European control Conference

作者： András Mihály Péter Gáspár Institute for Computer Science and Control Hungarian Academy of Sciences and MTA- BME Control Engineering Research Group Hungary Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Hungary

ISBN: (纸本)9781509025923

The paper proposes a robust fault-tolerant trajectory and velocity tracking control for a four-wheel independently-actuated (4WIA) vehicle operated by in-wheel electric motors and a steer-by-wire steering system. The vehicle is basically operated with in-wheel motors using torque vectoring during cornering, thus steering is only applied when the vehicle is skidding, an electric motor has failed or the cornering maneuver is more efficiently realizable with applying a given amount of steering angle. A reconfigurable method is applied, which is capable of reallocating the actuator inputs in order to minimize cornering resistance and the consequent power loss of the in-wheel motors. In case of skidding or in-wheel motor failure, the energy optimal control allocation is substituted for by a fault-tolerant actuator intervention. The high-level reconfiguration control of the 4WIA is based on the LPV (Linear Parameter Varying) method, while the cornering resistance minimization and wheel torque allocation are based on constrained optimization techniques. The operation of the energy optimal and fault-tolerant control is demonstrated in the CarSim simulation environment.

关键词： Robust Fault-Tolerant control In-Wheel Vehicles

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Cyber-attack-tolerant Frequency control of Power Systems

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Journal of Modern Power Systems and Clean Energy 2021年第2期9卷 307-315页

作者： Chunyu Chen Kaifeng Zhang Ming Ni Ying Wang the School of Electrical and Power Engineering China University of Mining and TechnologyXuzhou 221116China the School of Automation Southeast UniversityNanjing 210096China NARI Group Corporation(State Grid Electric Power Research Institute) Nanjing 211106China NARI Technology Co. Ltd.Nanjing 211106China State Key Laboratory of Smart Grid Protection and Control Nanjing 211106China

Cyber attacks are emerging threats in the Internet of Things applications,and power systems are typical cyber attack *** one of the most essential operation functions,frequency control is threatened by cyber intrusions,and the existing centralized control mode cannot effectively address cyber *** this study,a new distributed cyber-attack-tolerant frequency control scheme is *** distributed control mode also serves as a convenient tool for attack *** designed cyber-attack-tolerant frequency controller adopts the idea of passive fault attenuation,thus simplifying the design *** the aid of graph theory and consensus techniques,distributed integral based and model predictive control(MPC)based controllers are *** with the integral type,the MPC-based controller can simultaneously improve the dynamic responses and the tolerance ability under *** proposed controller is validated via an IEEE benchmark system,and the effectiveness of its application in actual power systems is verified.

关键词： Frequency control cyber attack distributed control passive fault attenuation cyber-attack-tolerant frequency control

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Human Following Robot Based on Object Detection for Aerospace Application 1

Human Following Robot Based on Object Detection for Aerospac...

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1st International Conference of Adisutjipto on Aerospace Electrical engineering and Informatics, ICAAEEI 2024

作者： Sumari, Arwin Datumava Wahvudi Aryandika, Ahnaf Bagus Purnami, Ndaru Atmi Dermawan, Denny Syamsiana, Ika Noer State Polytechnic of Malang Cognitive Artificial Intelligence Research Group Department of Electrical Engineering Malang Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Aerosp. Digit. Syst. Microprocessor Microcontroller and Programmable Logic Devices Research Group Yogyakarta Indonesia

ISBN: (纸本)9798331507930

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications. © 2024 IEEE.

关键词： Travel time

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Computing reaction kinetic realizations of positive nonlinear systems using mixed integer programming

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IFAC Proceedings Volumes 2010年第14期43卷 981-986页

作者： Gábor Szederkényi Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute (MTA-SZTAKI) Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

The reaction kinetic realizations of nonnegative polynomial systems are studied in this paper. It is briefly reviewed that a wide class of positive systems can be written in or simply transformed to kinetic form. Based on the structure of kinetic realizations, valuable information can be obtained about the dynamical properties of the investigated systems using the results of chemical reaction network theory (CRNT). Since the realizations of a given system can have many different structures, mixed integer linear programming is used to generate the ones with required properties (i.e. the minimal/maximal number of reactions or complexes).

关键词： nonlinear systems positive systems chemical reaction networks mixed integer optimization

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Integrated robust control design for in-wheel-motor vehicles 35th

Integrated robust control design for in-wheel-motor vehicles

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35th FISITA World Automotive Congress, 2014

作者： Gáspár, Péter Bokor, József Szabó, Zoltán Fülep, Tímea Szauter, Ferenc András, Mihály Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary Systems and Control Laboratory MTA SZTAKI MTA-BME Control Engineering Research Group Budapest Hungary Research Center of Vehicle Industry Széchenyi István University Győr Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary

The paper proposes a multi-layer supervisory architecture for integrated control systems in road vehicles. The role of the supervisor is to coordinate active control components and provide priority among them. The supervisor has information about the current operational mode of the vehicle and it is able to make decisions about the necessary interventions into the vehicle components and guarantee the reconfigurable operation of the vehicle. The decisions of the supervisor are propagated to the lower layers through predefined interfaces encoded as suitable scheduling signals. The contribution of the paper is the application of the LPV methodology in a design case study in which an integrated control of four wheel independently-actuated electric vehicle with active steering system is developed. © 2014, FISITA. All rights reserved.

关键词： Robust control

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A self-learning TLBO based dynamic economic/environmental dispatch considering multiple plug-in electric vehicle loads

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Journal of Modern Power Systems and Clean Energy 2014年第4期2卷 298-307页

作者： Zhile YANG Kang LI Qun NIU Yusheng XUE Aoife FOLEY School of Electrical Electronics and Computer ScienceQueen’s University BelfastBelfast BT95AHUK Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200072China NARI Group Corporation(State Grid Electric Power Research Institute) Nanjing 211106China School of Mechanical and Aerospace Engineering Queen’s UniversityBelfast BT95AHUK

Economic and environmental load dispatch aims to determine the amount of electricity generated from power plants to meet load demand while minimizing fossil fuel costs and air pollution emissions subject to operational and licensing *** two scheduling problems are commonly formulated with non-smooth cost functions respectively considering various effects and constraints,such as the valve point effect,power balance and ramprate *** expected increase in plug-in electric vehicles is likely to see a significant impact on the power system due to high charging power consumption and significant uncertainty in charging *** this paper,multiple electric vehicle charging profiles are comparatively integrated into a 24-hour load demand in an economic and environment dispatch ***-learning teaching-learning based optimization(TLBO)is employed to solve the non-convex non-linear dispatch *** results onwell-known benchmark functions,as well as test systems with different scales of generation units show the significance of the new scheduling method.

关键词： Economic dispatch Environmental dispatch Plug-in electric vehicle Self-learning Teaching learning based optimization Peak charging Off-peak charging Stochastic charging

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