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10th International Conference on automation, Robotics, and Applications, ICARA 2024

作者： Acosta, Renzo Tafur, Julio Canahuire, Ruth Pontificia Universidad Catolica del Peru Control and Automation Engineering Master Degree Program Enginnering Department Lima Peru Universidad de Ingenieria y Tecnologia - UTEC Department of Electrical and Mechatronics Engineering Lima Peru

ISBN: (纸本)9798350394245

This paper presents the dynamic modelling and end effector position control of a soft endoscope. Soft endoscope system under study consists mainly of a pneumatic driven soft actuator (PDSA) with four independently chambers. Recurrent neural network (RNN) and dynamic back propagation (DBP) training algorithm are used to obtain PDSA dynamic model. PDSA position controller is based on a feedforward neural network (FNN) and it is trained using PDSA closed loop system (CLS) and DBP training algorithm. CLS stability analysis concludes that it is not possible control PDSA end effector position using one position controller for different end effector initial and desired positions. Fuzzy logic methodology is used to integrate several positions controllers in a one controller valid for all operation range. The controller implementation and close loop system simulation are performed in MATLAB for different end effector desired position to validate system performance in all range of operation. © 2024 IEEE.

关键词： Pneumatics

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XSpace: Self-learning platform for implementation of digital control algorithms 14

XSpace: Self-learning platform for implementation of digital...

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14th IEEE Global engineering Education Conference, EDUCON 2023

作者： Caceres, Pablo Cardenas Cieza Huane, Leslie Y. Horna Vilcahuaman, Ingrid M. Pauyac Estrada, Claudia R. Casano, Celso De-La-Cruz Tafur Sotelo, Julio C. Pontificia Universidad Catolica Del Peru Department of Engineering Electronics Section Lima Peru Degree Program Pontificia Universidad Catolica Del Peru Department of Engineering Control and Automation Master Engineering Lima Peru

ISBN: (纸本)9798350399431

In the electronic engineering undergraduate program, Peruvian universities offer different theoretical courses of Automatic control that do not present enough practical approach to the algorithms that are studied during the progress of these courses;however, the approach to implementation is very important to achieve good performance in the industry and researching. In this work is presented XSpace, an innovative and friendly platform which consists of a robust hardware that allows the student to take it home;this way, the student is given the opportunity to implement digital control algorithms learned in the theoretical classes. The effectiveness of this platform is shown using a proposed methodology which evidences greater interest, efficiency and efficacy in students at the Automatic control area. This project was implemented in the 'control Systems' course at Pontificia Universidad Catolica del Peru (PUCP) from 2020 to 2022. Results are presented through a student survey and a history of average grades during the academic periods the platform was employed. © 2023 IEEE.

关键词： Students

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Adversarially Robust Reinforcement Learning for Urban Traffic Signal control 5

Adversarially Robust Reinforcement Learning for Urban Traffi...

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5th IEEE International Conference on Technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Hamzah, Muhammad Shafly Joelianto, Endra Sutarto, Herman Yoseph Putri, Adiyana Institut Teknologi Bandung Instrumentation and Control Master Program Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Bandung Indonesia PT. Pusat Riset Energi Department of Intelligent System Bandung Indonesia Institut Teknologi Bandung Doctoral Program of Engineering Physics Bandung Indonesia

ISBN: (纸本)9798350364743

Urban traffic congestion presents critical challenges, resulting in delays, environmental pollution, and significant economic costs. While traditional traffic control methods, such as fixed-time and adaptive systems, have been widely implemented, they often fail in unpredictable conditions, particularly when confronted with noisy or inaccurate data. This research proposes a robust reinforcement learning (RL) solution for traffic signal control using the RADIAL-DQN (Robust Adversarial Loss DQN) algorithm. Integrating adversarial training enhances the system's robustness to real-world uncertainties. Evaluations conducted using a SUMO traffic simulation show that the robust agent produced an increase of only 60.71% in queue length under a projected gradient descent (PGD) adversarial attack, outperforming standard RL agents, which experienced an 89% increase. These results demonstrate the potential of robust RL to improve both the reliability and scalability of urban traffic control systems. © 2024 IEEE.

关键词： Traffic signals

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Design of Image-Based Autonomous Landing Instrumentation and control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information Technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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Enhanced Feature Matching in Image Stitching Using ORB for Image-Based Mapping Using UAV 1

Enhanced Feature Matching in Image Stitching Using ORB for I...

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1st engineering and Science International Conference 2024, ESIC 2024

作者： Anoraga, Muhammad Imron Catur Ekawati, Estiyanti Mukhlish, Faqihza Instrumentation and Control Master Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Bandung Indonesia

Image-based region mapping requires an image-stitching process to produce a complete map while preserving the details of the mapped objects. Image acquisition can be done using UAVs such as drones, and image stitching can be performed using the Oriented FAST and Rotated BRIEF (ORB) techniques. However, this algorithm has a drawback: There are many mismatches during feature matching. In this study, a maximum pixel displacement constraint between images was applied during the feature-matching process. Applying this constraint improved the feature-matching results due to a significant reduction of the mismatch rate from 84.28% to 25.17%. This reduction positively impacted subsequent stages, including map stitching. The mismatch removal process and the acquisition of transformation models during image registration became faster, reducing the processing time from 17m 36.8s to 1m 17.2s. Additionally, there was an improvement in the SSIM metric score, indicating that the stitched image results had a higher similarity to the reference image captured by a digital camera, increasing from 0.8423 to 0.8489. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Comparison between FLL and PLL in frequency estimation to supply distributed virtual inertia

Renewable Energy and Power Quality Journal

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Renewable Energy and Power Quality Journal 2024年第1期22卷 111-116页

作者： Novoa, Erland Tafur, Julio C. Rosas, Damian Sal Y. Department of Engineering-Mechatronic Engineering Master Degree Program Pontificia Universidad Católica del Perú Peru Department of Engineering-Control and Automation Engineering Master Degree Program Pontificia Universidad Católica del Perú Peru LAAS-CNRS University of Toulouse Toulouse31031 France

To connect renewable energy sources (e.g. solar or wind) on the grid, an inverter or electronic converter is used. However, a traditional inverter has no inertia in the face of frequency changes. Unlike the inertia of the rotor of a synchronous generator. Frequency variations are a product of the imbalance between the energy generated and the grid loads. If the frequency is too far from its nominal value or if the rate of change of frequency (RoCoF) is high, it can affect the synchronism of the generators that feed the grid. Therefore, power cuts are made in sectors on the grid, thus preventing instability from spreading to other sectors on the grid, which translates into large economic losses. Solutions such as inverters with virtual inertia (or emulated inertia) are a good alternative due to their structural simplicity and low cost, compared to other solutions such as synchronous condensers, for example. For the virtual inertial control strategy, the grid frequency needs to be measured. This article compares the use of a phase-locked loop (PLL) or a frequency-locked loop (FLL) for frequency estimation and its effect on inertia emulation. The proposed control designs are validated through simulations. © 2024, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved.

关键词： Phase locked loops

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automation System Architecture of pH Neutralization Process in Batik Wastewater Treatment Plant 4

Automation System Architecture of pH Neutralization Process ...

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4th engineering Physics International Conference 2023, EPIC 2023

作者： Diyah, Nazuwatussya Ekawati, E. Pradipta, J. Yulia, E. Master Program of Instrumentation and Control Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Doctoral Program of Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Indonesia

Batik production in home industries needs support wastewater treatment in a limited space. Therefore, a modular-type, lab-scale wastewater treatment plant (WWTP) with a capacity of 87.75 liters and a dimension of 1.5 m × 0.75 m × 1 m has been constructed. The WWTP combines three significant processes: equalization, neutralization, and adsorption. This study focuses on the monitoring systems for the pH neutralization process. The system uses four microprocessors in a master/Slave architecture and the I2C protocols for data communication between processors. The measuring instruments include pH, temperature, turbidity, and flow rate sensors. The actuators consist of submersible and peristaltic pumps. The operating range of pH, temperature, turbidity, and flow rate sensors are 0-14, 25-81.44℃, 0-3000 NTU, and 6.49-20.84 ml/s respectively. The pumps work in Pulse Width Modulation (PWM) mode with an operating range of 125-225 PWM. All sensors and actuators operate linearly within the operating range with a correlation coefficient of 0.97-1. © 2023 Institute of Physics Publishing. All rights reserved.

关键词： Turbidity

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Intelligent and Optimal System for Monitoring Environmental Variables and Solar Luminosity, with solar path tracker and telemetry

Renewable Energy and Power Quality Journal

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Renewable Energy and Power Quality Journal 2024年第5期22卷 43-48页

作者： Alan Calderón Ch, J. Gamarra, Benjamín Barriga Tafur Sotelo, Julio C. Ugarte, Fernando Jiménez Applied Nanophysics Institute for Physics Technical University of Ilmenau Ilmenau98693 Germany Control Engineering and Automation Master Program Mechatronic Engineering Master Program Energy laboratory Engineering Department Pontificia Universidad Católica del Perú Peru Aplicaciones Avanzadas en Sistema Mecatrónicos JACH S. A. C

In this proposed research are analyzed general solutions and techniques to optimize the solar luminosity measurement by a designed smart system, as well as its usability by the solar energy conversion and its storing. However, many times, this kind of systems have not an optimal solar path tracker and as a consequence it can not be measured the full solar luminosity during all the day, therefore, in this work are designed optimal mathematical models and algorithms to enhance the solar path tracker according to measure solar luminosity and getting optimal solar energy conversion/storing, which is useful to study geographical conditions before to build solar energy conversion centers. As well as, in this research also is studied and suggested some techniques to get wireless data communication regarding the measured environmental variables, measured solar luminosity and stored electrical energy as a consequence of the solar energy conversion, which can be transmitted, so far away, to a central monitoring center by Radio Frequency (RF) waves. © 2024, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved.

关键词： energy-saving Modulating Function (MF) nanostructures smart sensors Solar path tracker transducers wireless data transmission

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Self-Tuning Neural Network controller Based on Fuzzy Logic for Multiple Positions Tracking of a Pneumatic Driven Soft Endoscope Actuator

Self-Tuning Neural Network Controller Based on Fuzzy Logic f...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Renzo Acosta Julio Tafur Ruth Canahuire Enginnering Department Control and Automation Engineering Master Degree Program Pontificia Universidad Catolica del Peru Lima Peru Department of Electrical and Mechatronics Engineering Universidad de Ingenieria y Tecnologia - UTEC Lima Peru

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

关键词： Training Fuzzy logic Backpropagation Recurrent neural networks Endoscopes Heuristic algorithms Artificial neural networks

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Integrating GPS and Reference Point Data for Localization: A Study on Probabilistic Observation and Transmission in Locational Context

Integrating GPS and Reference Point Data for Localization: A...

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Asian control Conference

作者： Aulia Rahma Jumardi Nadana Ayzah Azis Yul Yunazwin Nazaruddin Vebi Nadhira Faculty of Industrial Technology Instrumentation and Control Master Program Institut Teknologi Bandung Bandung Indonesia Faculty of Industrial Technology Engineering Physics Doctoral Program Institut Teknologi Bandung Bandung Indonesia Department of Engineering Physics Instrumentation Control and Automation Research Group Institut Teknologi Bandung Bandung Indonesia

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

To enhance the accuracy of vehicle localization, this research proposes a map matching system with a distinct architecture involving four key stages. Each GPS point creates a local map, and the system detects reference points within that map, subsequently calculating Euclidean distances and determining observation and transmission probabilities. The matching results yield the actual position of the vehicle on the map. The localization algorithm incorporates distance computation using a sliding window technique, observation probability based on proximity between GPS and reference points, and transmission probability to minimize errors. The study employs real-world tests in Bandung, Indonesia, demonstrating successful correction of GPS positions using the proposed method. In conclusion, this research provides a significant contribution in enhancing the accuracy of autonomous vehicle localization. By employing a probabilistic approach to observation and transmission, the method effectively corrects the vehicle's position, compensating for potential inaccuracies introduced by GPS. The utilization of a local map also proves impactful by including reference point positions, resulting in more precise outcomes. From the conducted field tests, all GPS points are accurately detected in their actual positions where there are seven GPS points do not match to vehicle trajectory, after the matching process, all point positions are successfully corrected, ensuring accurate localization by the system.

关键词： Location awareness Accuracy Computer architecture Probability Probabilistic logic Trajectory Autonomous vehicles

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