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2023 Seminar on Electrical Engineering, Automation and control systems: Theory and Practical Applications, EEACS 2023

作者： Truong, Dinh Dang Van Lanh, Nguyen Khanh, Nguyen Dinh Naval Academy Department of Automatic Control Systems Nha Trang Viet Nam Saint Petersburg Electrotechnical University "LETI" Department of Robotics and Industrial Automation Saint Petersburg Russia Saint Petersburg Electrotechnical University "LETI" Department of Automatic Control Systems Saint Petersburg Russia

ISBN: (纸本)9798350358537

The paper presents a method of sliding control for nonlinear electrical drive system to eliminate the influence of nonlinear factors and external disturbances on stability and position tracking of movement of the lower limb exoskeleton. Sliding control solves a powerful non-linear problem of a moving exoskeleton object with uncertain dynamic model parameters, friction elements, and external disturbance to ensure convergence and stability of the joint angle position tracking error. Modelling the dynamic movement of the lower limb exoskeleton by the mathematical method is established, which includes five links with the consideration of nonlinear elements of friction, elasticity and external disturbance to evaluate the effectiveness of the recommended control method. The stability of the recommended controller and the tracking efficiency of the control system are demonstrated by applying the theorem of Lyapunov stability and simulation in the Matlab/Simulink environment. © 2023 IEEE.

关键词： controllers

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An intelligent assistant for power plants based on factored MDPs

An intelligent assistant for power plants based on factored ...

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2009 15th International Conference on Intelligent System Applications to Power systems, ISAP '09

作者： Reyes, Alberto Spaan, Matthijs T. J. Sucar, L. Enrique Instrumentation and Control Department Instituto de Investigaciones Eléctricas Cuernavaca Mexico Institute for Systems and Robotics Lisbon Portugal Computer Science Department INAOE Puebla Mexico

ISBN: (纸本)9781424450985

Making good operation decisions during abnormal power plant conditions represents in many cases the possibility to avoid a unit trip or having economical losses. This paper introduces AsistO, an intelligent assistant for the decision support based on decision theoretic planning techniques. It provides power plant operators with useful recommendations to (i) maintain a plant running under safe conditions, or (ii) deal with process transients when an unexpected event occurs. We present the formalism of Markov decision processes as the core of the intelligent assistant which uses a factored representation of plant states. We also show a very intutive algorithm to approximate decision models based on training data collected through random exploration routines in a simulated environment. We have tested our system in the steam generation system of a combined power plant to deal with load disturbances. © 2009 IEEE.

关键词： Markov processes

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Signal Processing for Acoustic Emission Signature Analysis and Defect Detection 26

Signal Processing for Acoustic Emission Signature Analysis a...

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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Altay, Yeldos A. Kuzivanov, Dmitry O. Altay, Dinara A. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Military Engineering Institute of Radio Electronics and Communications Department of Natural Sciences Almaty Kazakhstan

ISBN: (纸本)9798350361728

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation. © 2024 IEEE.

关键词： High pass filters

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Learning a cost-to-goal estimate for fast Model Predictive Optimization based on graph search

Learning a cost-to-goal estimate for fast Model Predictive O...

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2017 American control Conference, ACC 2017

作者： Reese, Brandon M. Collins, Emmanuel G. Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A and M University Florida State University TallahasseeFL32310 United States

ISBN: (纸本)9781509059928

Model Predictive planning and control algorithms based on A∗-type graph search techniques achieve computationally fast and nearly optimal solutions when they use a cost-to-goal (or 'heuristic') function, i.e. an estimate of the cost from the current state to the goal state, that correlates well with the actual optimal cost-to-goal values. Compared to search methods without a cost-to-goal estimate, these algorithms achieve a low computational cost because they exploit structure in the optimization problem. The cost-to-goal estimate is problem-specific and is typically derived analytically from a relaxed version of the problem. There are, however, many planning and control applications for which a proper cost-to-goal is difficult to obtain analytically. The trivial heuristic, H = 0, is often used when a more suitable problem-specific cost-to-goal is unavailable, but this leads to computationally slow searches. This paper presents a graph-based search algorithm coupled with a learned cost-to-goal estimate that leverages experience through extensive offline simulations to provide online computational speed even when a suitable cost-to-goal cannot be derived analytically. © 2017 American Automatic control Council (AACC).

关键词： Heuristic algorithms

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Chidori - A bio-inspired cognitive architecture for collective robotics applications

Chidori - A bio-inspired cognitive architecture for collecti...

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作者： Vasile, Cristian Pavel, Ana Buiu, CǍtǍlin Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

ISBN: (纸本)9783902661890

A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting its emergent intelligence. The architecture is designed as a multi-agent system developed using JADE Framework. Three types of agents were defined: local behaviour agent, social behaviour agent and graphical user interface (GUI) agent. Each robot is associated with a pair of a local and a social behaviour agents which implement the reactive component and the interaction between the robots. The swarm forms a hierarchical structure composed of subswarms and neighbourhoods based on tasks and goals defined by the user or the swarm itself. The GUI agent is used as a link between the human expert and the swarm. The architecture was tested on a swarm of e-puck robots.

关键词： Multi agent systems

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Supervisors for Gas Compressor Stations with Compression and Valve Faults 8

Supervisors for Gas Compressor Stations with Compression and...

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8th South-East Europe Design Automation, Computer Engineering, Computer Networks and Social Media Conference, SEEDA-CECNSM 2023

作者： Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Kouvakas, Nikolas D. Menexis, Antonis N. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies 34400 Greece

ISBN: (纸本)9798350383676

A Discrete Event System (DES) based approach is developed for the derivation of the model and safe performance of a gas compressor station (GCS), in the presence of all possible actuator faults. The safe performance goal is surge avoidance, despite the presence of actuator faults, and is modelled as four rules, being translated to four regular languages. The respective supervisor automata are developed to realize the four regular languages. The physical realizability and nonblocking of the synchronous product of the supervisor automata and the automaton of the system is proved. Implementation of the supervisors in the Structured Text language for PLCs is provided. © 2023 IEEE.

关键词： Discrete event simulation

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Frenet Frame Based Local Motion Planning in Racing Environment 23

Frenet Frame Based Local Motion Planning in Racing Environme...

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23rd International Conference on control, Automation and systems, ICCAS 2023

作者： Kim, Min Seong Lee, Jeon Hyeok Kim, Taek Lim Park, Tae-Hyoung Chungbuk National University Department of Control and Robot Engineering Cheongju28644 Korea Republic of Chungbuk National University Department of Intelligent Systems and Robotics Cheongju28644 Korea Republic of

ISBN: (纸本)9788993215274

Local Trajectory Planning plays a pivotal role in reducing lap times during a race. It must take into account not only obstacles but also the hardware limitations of the vehicle and the performance of the controller. Moreover, in a high-speed racing competition like F1, surrounding vehicles exhibit highly dynamic movements, necessitating motion prediction for safety. However, existing studies have demonstrated good performance in environments with static objects or when avoiding racing vehicles in straight-line sections, but accidents occur in environments with large numbers of vehicles and high curvature. To address these issues, this paper proposes an algorithm that ensures stability even in complex environments by considering the uncertainty of motion prediction for multiple vehicles. By considering the uncertainty of vehicle motion, we design the cost and generate an optimized path based on sampling. The CarMaker simulator is utilized to verify the proposed algorithm. © 2023 ICROS.

关键词： Motion planning

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

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Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics 27

Comparison of Synchronous Reluctance Machine and Permanent M...

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Heidari, Hamidreza Andriushchenko, Ekaterina Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-Assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor. © 2020 IEEE.

关键词： Permanent magnets

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