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IEEE International Conference on Image Processing

作者： Sabeethan Kanagasingham Andrew R. Mills Visakan Kadirkamanathan Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350349399

ISBN: (纸本)9798350349405

This paper addresses the problem of reconstructing image sequences from a rolling shutter camera-based thermal image acquisition system that integrates the image field over an exposure time. It proposes a novel approach to extend the distributed Kalman filtering framework for intra-frame reconstruction. This accounts for the exposure effect through a state-augmentation model, while respecting the row-byrow image acquisition process. Additionally, two alternative rolling shutter scan strategies: interlaced-x and random, are explored to mitigate delays in observing abrupt changes inherent in sequential rolling shutter scans. Simulation results demonstrate that the proposed approach effectively accommodates exposure and achieves reliable intra-frame reconstruction quality. The interlaced-x scan strategy, with x equal to the size of the image partition block, emerges as the preferred choice, highlighting improved performance in recovering from sudden events. The augmented distributed Kalman filter offers a scalable solution to enhance temporal resolution and overall reliability of thermal imaging of dynamic thermal processes.

关键词： Image resolution Simulation Thermal variables measurement Three-dimensional printing Size measurement Time measurement Steady-state

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A new method for establishing ballistic range spatial benchmark system using total station 4

A new method for establishing ballistic range spatial benchm...

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4th International Conference on Sensors and Information Technology, ICSI 2024

作者： Yin, Yunhua Xie, Bing Wei, Fu Zheng, Qian School of Electronics and Control Engineering North University of China Taiyuan030051 China Department of Network Security Henan Police College Zhengzhou450046 China Science and Technology on Transient Impact Laboratory Beijing102202 China

ISBN: (数字)9781510678699

ISBN: (纸本)9781510678682

Several measuring instruments, including CCD photography stations and velocity-coordinate measuring equipment, were arranged at various distances in the ballistic range. To ensure consistency and accuracy, the coordinates of each instrument need to be unified into the ballistic range coordinate system. This paper presents a new method that utilizes a high-precision total station for measuring and positioning, establishing a spatial benchmark system for the ballistic range. The three-dimensional coordinate values of all the equipment's datum points were obtained through the total station and the measuring equipment. The transformation matrix, derived from the coordinates of three non-collinear points in the calibration system, is used to convert between the two coordinate systems. The 3D coordinate transformation process is implemented using the Rodrigues matrix, resulting in direct calculation formulas for the seven parameters. The calibration bracket was used to calibrate all the measuring equipment in the ballistic range, ultimately leading to the establishment of a 1, 000-meter benchmark system for light weapons. Experimental results indicate that the spatial benchmark system, based on the total station, effectively eliminates errors caused by human operation and achieves a spatial coordinate precision of less than 15mm. The method's simplicity and efficiency render it suitable for 3D coordinate transformation at any given angle. © 2024 SPIE.

关键词： Calibration

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Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints

arXiv

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arXiv 2025年

作者： Ito, Takumi Kawashima, Hayato Funada, Riku Sampei, Mitsuji Department of Systems and Control Engineering Institute of Science Tokyo Tokyo152-8550 Japan

This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs are connected to the payload through passively rotatable hinge joints. The joint angles are controlled by the differential thrust produced by the rotors, while the total force generated by all the rotors is responsible for controlling the payload. The shape of the set of the total force depends on the tilt angles of the UAVs, which allows us to shape the feasible force set by adjusting these tilt angles. This paper aims to ensure that the feasible force set encompasses the required shape, enabling the platform to generate force redundantly—meaning in various directions. We then propose a control law that takes advantage of this redundancy. Copyright © 2025, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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A Reinforcement Learning-Based Approach for Optimal Output Tracking in Uncertain Nonlinear systems with Mismatched Disturbances

A Reinforcement Learning-Based Approach for Optimal Output T...

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UKACC International Conference on control (control)

作者： Zezhi Tang J Anthony Rossiter George Panoutsos Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350374261

ISBN: (纸本)9798350374278

In this paper, the optimal control problem of uncertain nonlinear systems is considered. A nonlinear disturbance observer (NDO) is proposed to measure the lumped uncertainties present in the system. Disturbances that do not enter the same channel as the control signal, so-called mismatched disturbances, are difficult to reject directly within the control channel. To overcome the challenge, a generalized disturbance observer-based compensator is implemented to address the uncertainty compensation problem by attenuating its influence on the output channel. In real time, by augmenting the system states with the output tracking error, we develop a composite actor-critic reinforcement learning (RL) scheme for approximating the optimal control policy as well as the ideal value function pertaining to the compensated system by solving the Hamilton-Jacobi-Bellman (HJB) equation. Concurrent learning is applied in this article by using the recorded data of the known model of the system, in order to enhance the robustness of the system by canceling the influence of the probing signal. Simulation results demonstrate the effectiveness of the proposed scheme, offering an optimal solution for the output tracking problem in a second-order model with mismatched disturbances.

关键词： Uncertainty Simulation Measurement uncertainty Optimal control Reinforcement learning Mathematical models Robustness

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Photoacoustic Sensing for Differentiating Breast Cancer Sizes - A Numerical Simulation Study 3

Photoacoustic Sensing for Differentiating Breast Cancer Size...

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3rd IEEE International Conference on Electronic engineering, ICEEM 2023

作者： GadAllah, Mohammed Tarek Mohamed, Abd El-Naser A. Hefnawy, Alaa A. Zidan, Hassan E. El-Banby, Ghada M. Mohamed Badawy, Samir Computers and Systems Department El Nozha Cairo Egypt Menoufia University Faculty of Electronic Engineering Electronics and Electrical Communications Engineering Department Menoufia Egypt Menoufia University Faculty of Electronic Engineering Industrial Electronics and Control Engineering Department Menoufia Egypt

ISBN: (纸本)9798350323511

Photoacoustic (PA) sensing is a crossbred technique relied on light-produced ultrasonic signals due to a phenomenon called the PA effect. PA imaging (PAI), which is based originally on PA sensing, has been utilized efficiently in breast cancer identification and characterization over the last few years. In this paper, a numerical simulation study in silico has been applied, utilizing COMSOL Multiphysics platform basing on the Finite Element Method (FEM), for breast cancer sizes' differentiating by PA sensing. A time-dependent study has been applied on COMSOL resulting in different measured PA signals from different tumor sizes measured at a constant measuring point on the surface of the simulated breast, showing the different shape for each PA signal and its frequency spectrum for the different tumor sizes. Statistical analysis for some resulting simulated PA signals has been performed by MATLAB software, deducing that the produced standard deviation values may be considered as a quantitative indication mark of the breast cancer's size and hence its dangerous degree. The study's results help in numerical modeling for more PA sensing and imaging applications. © 2023 IEEE.

关键词： Multiphysics

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Stochastic MPC for Finite Gaussian Mixture Disturbances with Guarantees

arXiv

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arXiv 2024年

作者： Engelaar, Maico H.W. Swaanen, M.P.P. Lazar, M. Haesaert, S. Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands

This paper presents a stochastic model predictive control (SMPC) algorithm for linear systems subject to additive Gaussian mixture disturbances, with the goal of satisfying chance constraints. To synthesize a control strategy, the stochastic control problem is reformulated into an MPC problem. The reformulation begins by decoupling the mixture distribution and decomposing the system dynamics. Using stochastic simulation relations, we then redefine the stochastic control problem onto the resultant abstract system. Next, constraint tightening forms an MPC problem subject to finite disturbances. A branching control is introduced to solve the MPC problem. Finally, a controller refinement procedure determines a valid control strategy. Our contribution is an extension of the SMPC literature to accommodate Gaussian mixture disturbances while retaining recursive feasibility and closed-loop guarantees. We illustrate the retention of guarantees with a case study of vehicle control on an ill-maintained road. © 2024, CC BY-NC-ND.

关键词： Predictive control systems

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Distributed Generalized Nash Equilibrium Seeking for Constrained N-Cluster Games with Second-Order Dynamics 63

Distributed Generalized Nash Equilibrium Seeking for Constra...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zhao, Yan Meng, Min Li, Xiuxian Xu, Jia Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology Tongji University College of Electronics and Information Engineering Department of Control Science and Engineering Shanghai China

ISBN: (纸本)9798350316339

This paper studies N-cluster games with secondorder dynamics, wherein the players' decisions are restricted by local set constraints and nonlinear coupled inequality constraints. The presence of second-order dynamics coupled with constraints leads to difficulties in the design and analysis of generalized Nash equilibrium (GNE) seeking algorithms, since it may be impossible to directly determine the decisions of players based on their control inputs. To facilitate the autonomous execution of N-cluster game tasks through secondorder players, by employing state feedback, projection, primaldual, dynamic average consensus, and passivity methods, a distributed algorithm is proposed to find the variational GNE of the studied games, under which the players' decisions can satisfy the set constraints all the time. Additionally, the algorithm's convergence is rigorously analyzed, and its efficacy is validated by a simulation example. © 2024 IEEE.

关键词： Nash equilibrium

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Practical Implementation of Multiple Faults in a Coupled-Tank System: Verified by Model-Based Fault Detection Methods 11

Practical Implementation of Multiple Faults in a Coupled-Tan...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Chavoshi, Hamid Reza Sedgh, Ali Khoshlahjeh Shoorehdeli, Mahdi Aliyari Khaloozadeh, Hamid K.N. Toosi University of Technology Tehran Iran K.N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Engineering Tehran Iran K.N. Toosi University of Technology Industrial Control Center of Excellence Systems and Control Engineering Tehran Iran

ISBN: (纸本)9798350308105

In order to prevent system failures, fault detection and performance assessment are always essential factors. This article investigates the practical implementation of common faults in a two-tank networked control system, one of the most widely utilized liquid-level control systems in the food industries, petrochemicals, and many more. The system was modeled and controlled, and then, faults were conducted on the system, including leakage, sedimentation, sensor bias, and pump stuck, which covered a wide range of fault types. After that, model-based fault detection methods, such as unknown input observer (UIO), parity, and factorization methods, were employed to evaluate fault implementation. By thresholding residuals of fault detection methods, the factorization method shows the most effective performance concerning false alarm rates (FAR), missed alarm rates (MAR), and detection delays (DD). Using the UIO is a suitable substitute, and parity is only appropriate for announcing the fault start time. © 2023 IEEE.

关键词： Factorization

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Synthesizing of a sliding control law for a hydraulic automatic stabilization system 17

Synthesizing of a sliding control law for a hydraulic automa...

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17th International Conference on Electronic Devices and control systems 2021, EDCS 2021

作者： Tran, V.T. Korikov, A.M. Nguyen, T.T. Department of Automated Control Systems Tomsk State University of Control Systems and Radio-Electronics Tomsk Russia Le Quy Don Technical University Military Institute of Mechanical Engineering Hanoi Viet Nam

The sliding mode control has the property of control independence from the characteristics of the unchangeable part of the automatic stabilization system (ASS). In the article, this mode is proposed to be applied to ASS to stabilize the horizontal working plane using two hydraulic cylinders. A model of this ASS has been developed. The paper synthesizes a sliding control law for ASS and simulates ASS operation on MATLAB-SIMULINK. The simulation results indicate that ASS is a stable system and works quite efficiently. © Published under licence by IOP Publishing Ltd.

关键词： Sliding mode control

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Constrained Synchronization of Multi-Agent systems Using Distributed MPC and Invariant Families of Terminal Sets

Constrained Synchronization of Multi-Agent Systems Using Dis...

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European control Conference (ECC)

作者： Shiqi Duan Victor Daniel Reyes Dreke Mircea Lazar Department of Electrical Engineering Control Systems Group Eindhoven University of Technology The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, we present a synchronizing DMPC scheme that employs two ingredients: (i) a cost function that penalizes the deviation of the MPC control input from an unconstrained synchronization control law based on algebraic graph theory and (ii) an invariant family of constraints admissible terminal sets for MASs in closed-loop with an unconstrained synchronization control law. We prove that the developed DMPC scheme with a shrinking prediction horizon guarantees finite-time controllability to a family of invariant terminal sets and recursive feasibility. Compared to existing LMI methods for computing a family of constraints admissible invariant sets, we reduce conservatism by exploiting specific graph properties common to MASs. The developed DMPC algorithm for achieving constrained synchronization is tested in different benchmark examples, including balancing capacitor voltages for modular multilevel converters and harmonic oscillators, yielding faster synchronization.

关键词： Multilevel converters Laplace equations Prediction algorithms Harmonic analysis Graph theory Synchronization Communication networks

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