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18th European control Conference, ECC 2020

作者： Molaei, Amir Masoud Hossein Nikoofard, Amir Khaki-Sedigh, Ali Imsland, Lars K.N. Toosi University of Technology Department of Systems and Control Faculty of Electrical Engineering Tehran Iran Norwegian University of Science and Technology Department of Engineering Cybernetics Trondheim Norway

ISBN: (纸本)9783907144015

This paper studies state estimation in the presence of parametric uncertainties, with flow estimation in Managed Pressure Drilling as a case study. Downhole measurements in most MPD systems have low frequency due to communication with mud-pulse telemetry. Also, the drilling process has parametric uncertainties due to unknown friction and fluid density and unmodeled actuator dynamics and noise add to the system complexity. This paper proposes a bank of estimators for simultaneous estimation of the model states. A Multiple-Model Adaptive Estimation (MMAE) algorithm is presented that encompasses a bank of Kalman Filters (KFs). Each KF is designed to handle a specific segment of the parametric uncertainty. In this algorithm, a probabilistically weighted combination of the local state estimations is used. Simulation results reveal that the proposed method can satisfactory estimate the unmeasured states in the presence of a wide range of uncertainties. Finally, the MMAE method is compared with a supervisory estimation algorithm to further clarify technical issues in the MPD system state estimation problem. © 2020 EUCA.

关键词： State estimation

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Unexpected Role of Singlet Oxygen Generated in Urea-Modulated Lafeo3 Perovskite Heterogeneous Fenton System in Denitrification: Mechanism and Theoretical Calculations

SSRN

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SSRN 2023年

作者： Qian, Zhen Luo, Mengchao Feng, Xiaohe Yang, Xiaojie Guo, Yongxue Yang, Lijuan Yuan, Bo Zhao, Yi Hao, Runlong Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China

This study appears an unprecedented phenomenon that 1O2, generated in urea-modulated LaFeO3 (U-LaFeO3) perovskite heterogeneous Fenton system, is superior to OH• and O2•- in NO removal. The 2.5U-LaFeO3/H2O2 system can remove 82.9% of NO, with a low H2O2/NO molar ratio (4.7) and high GHSV (30,800 h-1), along with good environmental adaptability and reusability. Urea modulation induced the formations of abundant La defects, O vacancies and Fe(IV), also improved the pore structure and surface area. The contribution order of different free radicals to NO removal is 1O2 > O2•- > •OH. Characterization combined with theoretical calculation clarify that (i) H2O2 is inclined to derive HO2• on Fe sites;(ii) 1O2 is mainly generated from O2•- reaction with Fe(IV)/Fe(III);(iii) •OH is mainly produced by splitting of H2O2 on Fe site and decomposition of HO2• on OV site. The main denitrification paths are NO+1O2→NO2, NO2+•OH→NO3- and NO+•OH→NO2-. © 2023, The Authors. All rights reserved.

关键词： Urea

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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Analysis of Power and Power Spectral Density for Quaternary Random Pulse Position Modulation

Analysis of Power and Power Spectral Density for Quaternary ...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Hung-Chi Chen Hsiang-Kai Wu Chih-Chiang Wu Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University (NYCU) Hsinchu Taiwan R.O.C. Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University (NYCU) Hsinchu Taiwan R.O.C. Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute (ITRI) Hsinchu Taiwan R.O.C.

ISBN: (数字)9798331516116

ISBN: (纸本)9798331516123

In this paper, the quaternary random pulse position modulation (QRPPM) is proposed to further reduce the power of dominant harmonic clusters. From the analysis of the power and power spectral density, the minimum integer-harmonics power dispersion rate (HPDR) is increased from 50.0% of the conventional random center/edge alignment PWM (RCEA-PWM) to 75.0% of the proposed QRPPM. Some results are provided to validate the proposed method.

关键词： Time-frequency analysis Frequency modulation Voltage Switches Power system harmonics Pulse width modulation Harmonic analysis Frequency conversion Power electronics Dispersion

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Asymptotic Theory for Regularized System Identification Part I: Empirical Bayes Hyper-parameter Estimator

arXiv

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arXiv 2022年

作者： Ju, Yue Mu, Biqiang Ljung, Lennart Chen, Tianshi The School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing100190 China The Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden

Regularized techniques, also named as kernel-based techniques, are the major advances in system identification in the last decade. Although many promising results have been achieved, their theoretical analysis is far from complete and there are still many key problems to be solved. One of them is the asymptotic theory, which is about convergence properties of the model estimators as the sample size goes to infinity. The existing related results for regularized system identification are about the almost sure convergence of various hyper-parameter estimators. A common problem of those results is that they do not contain information on the factors that affect the convergence properties of those hyper-parameter estimators, e.g., the regression matrix. In this paper, we tackle problems of this kind for the regularized finite impulse response model estimation with the empirical Bayes (EB) hyper-parameter estimator and filtered white noise input. In order to expose and find those factors, we study the convergence in distribution of the EB hyper-parameter estimator, and the asymptotic distribution of its corresponding model estimator. For illustration, we run Monte Carlo simulations to show the efficacy of our obtained theoretical results. Copyright © 2022, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Numerical discrimination of the generalisation model from learnt weights in neural networks

Annals of Emerging Technologies in Computing

引用

Annals of Emerging Technologies in Computing 2019年第4期3卷 1-14页

作者： Rudd-Ortner, Richard N. M. Milhaylova, Lyudmilla Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom Riyadh Saudi Arabia

This research demonstrates a method of discriminating the numerical relationships of neural network layer inputs to the layer outputs established from the learnt weights and biases of a neural network's generalisation model. It is demonstrated with a mathematical form of a neural network rather than an image, speech or textual translation application as this provides clarity in the understanding gained from the generalisation model. It is also reliant on the input format but that format is not unlike an image pixel input format and as such the research is applicable to other applications too. The research results have shown that weight and biases can be used to discriminate the mathematical relationships between inputs and make discriminations of what mathematical operators are used between them in the learnt generalisation model. This may be a step towards gaining definitions and understanding for intractable problems that a Neural Network has generalised in a solution. For validating them, or as a mechanism for creating a model used as an alternative to traditional approaches, but derived from a neural network approach as a development tool for solving those problems. The demonstrated method was optimised using learning rate and the number of nodes and in this example achieves a low loss at 7.6e-6, a low Mean Absolute Error at 1e-3 with a high accuracy score of 1.0. But during the experiments a sensitivity to the number of epochs and the use of the random shuffle was discovered, and a comparison with an alternative shuffle using a non-random reordering demonstrated a lower but comparable performance, and is a subject for further research but demonstrated in this "decomposition" class architecture. © 2019 by the author(s).

关键词： Mathematical operators

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Identification of Social-Media Platform of Videos through the Use of Shared Features

arXiv

引用

arXiv 2021年

作者： Maiano, Luca Amerini, Irene Celsi, Lorenzo Ricciardi Anagnostopoulos, Aris Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Elis Innovation Hub Rome Italy

Videos have become a powerful tool for spreading illegal content such as military propaganda, revenge porn, or bullying through social networks. To counter these illegal activities, it has become essential to try new methods to verify the origin of videos from these platforms. However, collecting datasets large enough to train neural networks for this task has become difficult because of the privacy regulations that have been enacted in recent years. To mitigate this limitation, in this work we propose two different solutions based on transfer learning and multitask learning to determine whether a video has been uploaded from or downloaded to a specific social platform through the use of shared features with images trained on the same task. By transferring features from the shallowest to the deepest levels of the network from the image task to videos, we measure the amount of information shared between these two tasks. Then, we introduce a model based on multitask learning, which learns from both tasks simultaneously. The promising experimental results show, in particular, the effectiveness of the multitask approach. According to our knowledge, this is the first work that addresses the problem of social media platform identification of videos through the use of shared features. © 2021, CC BY-SA.

关键词： Learning systems

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

关键词：

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HOW LEARNING control SUPPORTS INDUSTRY 4.0 IN SEMICONDUCTOR MANUFACTURING 6

HOW LEARNING CONTROL SUPPORTS INDUSTRY 4.0 IN SEMICONDUCTOR ...

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6th ASPE Spring Topical Meeting on Design and control of Precision Mechatronic systems

作者： Veen, Gijs Van Der Stokkermans, Joep Mooren, Noud Oomen, Tom Equipment & Automation Technologies Nexperia Nijmegen Netherlands Department Of Mechanical Engineering Control Systems Technology Group Eindhoven University Of Technology Eindhoven Netherlands

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Do We Run Large-scale Multi-Robot systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

Do We Run Large-scale Multi-Robot Systems on the Edge? More ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Jonas Kuckling Robin Luckey Viktor Avrutin Andrew Vardy Andreagiovanni Reina Heiko Hamann Department of Computer and Information Science University of Konstanz Konstanz Germany Centre for the Advanced Study of Collective Behaviour University of Konstanz Germany Institute of Computer Engineering University of Lübeck Lübeck Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Computer Science and the Department of Electrical and Computer Engineering Memorial University of Newfoundland St. John’s Canada IRIDIA Université Libre de Bruxelles Brussels Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning.

关键词： Limiting System performance Space communications Scalability Sociology Swarm robotics Mobile robots

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