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28th IEEE International Conference on Emerging Technologies and Factory automation, ETFA 2023

作者： Ghinea, Liliana Maria Miron, Mihaela Ratnaweera, Harsha Electrical Engineering and Electronics Faculty of Automation Computers Department of Automatic Control and Electrical Engineering Department Galaţi Romania Computers Electrical Engineering and Electronics Faculty of Automation Department of Computer Science and Information Technology Galaţi Romania Norwegian University of Life Sciences Faculty of Science and Technology Oslo Norway

ISBN: (纸本)9798350339918

Fault diagnosis in wastewater treatment plants (WWTPs) is important to protect communities and ecosystems from toxic elements discharged into water. In this sense, fault identification of sensors plays an important role as they are the key components of the water plants control, especially because environmental legislation is very strict when referring to failures or anomalies in WWTPs. This paper analyzes the performances of two Deep Learning models, a Feedforward Neural Network (FFNN) and a 1D Convolution Neural Network (1DCNN) for identifying five operating states of the dissolved oxygen (DO) sensor: normal and faulty (bias, stuck, spike and precision degradation faults). The experiments were conducted on the Benchmark Simulator Model No 2 (BSM2) developed by the IWA Task Group. The performance of the Deep Learning (DL) classifiers was evaluated via accuracy, precision, recall, and F1-score metrics. The best overall classification accuracy was obtained by FFNN, 98.32% for training and 98.30% for testing. © 2023 IEEE.

关键词： Wastewater treatment

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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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Sharing and Collaborating When Teaching Automatic control: An Experience-Based Needs Analysis 32

Sharing and Collaborating When Teaching Automatic Control: A...

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32nd Mediterranean Conference on control and automation, MED 2024

作者： Knorn, Steffi Garone, Anja Varagnolo, Damiano Garone, Emanuele Technische Universität Department of Control Berlin Germany Brussels Institute for Advanced Studies Belgium Norwegian University of Science and Technology Department of Engineering Cybernetics Norway University of Padova Department of Information Engineering Italy Free University of Brussels Department of Automation and Systems Analysis Belgium

ISBN: (纸本)9798350395440

We discuss two specific issues that affected the workflows in our career as automatic control teachers and that are related to how teachers may establish teaching-oriented collaborations with colleagues from the same or different institutions. The first issue we identify is the systematic difficulty that one encounters when wanting to exchange instructional material with colleagues, while the second is the complexity of establishing students exchange programs across different institutions and nations. We discuss the nature and structure of the two problems, discuss why and how they are connected, and draw practical examples of how these problems may affect workflows. We then present a strategy that aims at solving these issues based on the introduction of an opportune indexing of instructional material in terms of contents and complexity of such contents, and how this information may be graphically displayed so to ease human and machine interpretability. We further discuss how this approach was used on a smaller scale to ease collaborations among close colleagues, and how it may be extended and adopted on a larger scale. © 2024 IEEE.

关键词： Process control

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Video-based Gait Analysis with IMU and Industrial Cameras: A Pilot Study

Video-based Gait Analysis with IMU and Industrial Cameras: A...

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2024 Medical Technologies Congress, TIPTEKNO 2024

作者： Turan, Fatma Maghsoudi, Sanaz İlikçi, Hakan Ayvaz, Bora Ergenç, Ali Fuat Bilgili, Fuat Boğazici University Biomedical Engineering Istanbul Turkey Istanbul University Istanbul Faculty of Medicine Department of Orthopedics and Traumatology Istanbul Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey İstanbul University Istanbul Turkey

ISBN: (纸本)9798331529819

In this study, we investigated the validity of using a two-dimensional gait analysis system, which employed industrial cameras and a custom-developed Inertial Measurement Unit system, compared to the gold standard three-dimensional Vicon gait analysis system. Four subjects with a mean age of 26.76 (SD: 0.71) were included in the study, and gait data was collected from their 8 limbs. Correlation analyses examined the relationship between the data obtained from the two-dimensional gait analysis system and the three-dimensional Vicon system. The study's results showed a high correlation for the hip and knee joints between the two systems, but a lower correlation for the ankle joint. This pilot study demonstrated the potential of using industrial cameras and IMU systems for practical gait analysis. © 2024 IEEE.

关键词： Joints (anatomy)

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Network system capacity:Towards integrating sensing,communication and control

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National Science Open 2024年第1期3卷 147-149页

作者： Xinping Guan Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Network systems refer to a new generation of systems with integrated information perception,transmission and utilization capabilities through communication networks,which are adopted to achieve desirable objectives under physical and information related uncertainties and/or adversary *** the information-rich era[1,2],one of the fundamental issues is to exploit the limit of feedback control on dissipating such uncertainties in the scenarios of networked sensing and communication[3].

关键词： communication integrating system

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Simplified control Strategies for Power Converters in a Grid-Connected Hybrid DC-AC Microgrid

Simplified Control Strategies for Power Converters in a Grid...

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2023 International Conference on Future Energy Solutions, FES 2023

作者： Busarello, Tiago Davi Curi Simões, Marcelo Godoy Laaksonen, Hannu Kauhaniemi, Kimmo Federal University of Santa Catarina Department of Control Automation and Computing Engineering Blumenau Brazil University of Vaasa School of Technology and Innovations Vaasa Finland

ISBN: (纸本)9798350332308

Many typical converter control strategies used in microgrids are complex or require modifications in the power structure. The complexities are due coupling effects among controllers and time-delay caused in exchanging information in the system. This paper proposes simplified control strategies for power converters in a grid-connected hybrid DC-AC microgrid, aiming to ensure precise voltage and current regulation. The used controllers are proportional-resonant, integral-double-lead, proportional-integral and single integral controller. In this paper, the methodology for tuning each controller is carefully described in detail and recommendation for choosing their bandwidth is given. Then, the designed controllers are discretized through the Backward-Euler approximation. The power converters of the microgrid are an inverter, a Buck, a Boost and a bidirectional DC-DC. A case study is conducted through simulations with Matlab/Simulink. Results show that the controlled variables follow their reference signals with negligible steady-state error, proving the efficacy of the simplified control strategies and allowing an stable operation of the microgrid. © 2023 IEEE.

关键词： controllers

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Sign consensus of heterogeneous linear multi-agent systems without an explicit leader 41

Sign consensus of heterogeneous linear multi-agent systems w...

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第41届中国控制会议

作者： Yihan Meng Shimin Wang Shuai Liu Hongwei Zhang School of Mechanical Engineering and Automation Harbin Institute of Technology Department of Chemical Engineering Queen's University School of Control Science and Engineering Shandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates leaderless output sign consensus of heterogeneous linear multi-agent systems over fixed directed signed *** multi-agent system can synchronize in the same sign concurrently with time-varying values without an explicit *** on the assumption that the adjacency matrix of the signed graph is eventually positive,a virtual leader is constructed by utilizing a distributed sign *** virtual leader is not pre-specified but arises from the graph topology and the initial states of the *** light of this distributed sign observer,we propose a state feedback controller that drives the outputs of such multi-agent systems to reach sign consensus.

关键词： Distributed observer Multi-agent system Sign consensus Signed graph

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Research of line-of-sight angle on aero-optic imaging deviation for vehicles flying at 40—60 km

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Optoelectronics Letters 2023年第4期19卷 242-247页

作者： XU Liang ZHAO Shiwei WANG Tao Tianjin Key Laboratory of Complex Control Theory and Application School of Electronic Engineering and AutomationTianjin University of TechnologyTianjin 300384China Foreign Cooperation Projects Department PetroChina Dagang Oilfield CompanyTianjin 300280China

Aero-optical imaging deviation is a kind of optical effect,aiming at a conical *** paper analyzes the influence of the aircraft on the imaging deviation with the change of altitude and line-of-sight *** this paper,the relationships between imaging deviation and altitude as well as line-of-sight angle are analyzed,and the coupling relationship between altitude and line-of-sight angle is *** give the imaging deviation results of 5°—75°line-of-sight *** analysis shows that when the line-of-sight angle is in the range of 5°—35°,the imaging deviation is more sensitive,while the line-of-sight angle is in the range of 35°—75°,the imaging deviation is relatively flat,and the imaging deviation does not gradually decrease with the increase of line-of-sight angle,but there is a turning point in the middle of 5°—75°.The imaging deviation decreases first and then increases,and the turning point of line-of-sight angle is closely related to height.

关键词： deviation angle turning

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Graph convolutional network soft sensor for process quality prediction

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Journal of Process control 2023年第1期123卷 12-25页

作者： Jia, Mingwei Xu, Danya Yang, Tao Liu, Yi Yao, Yuan Institute of Process Equipment and Control Engineering Zhejiang University of Technology Hangzhou310023 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Chemical Engineering National Tsing Hua University Hsinchu30013 Taiwan

The nonlinear time-varying characteristics of the process industry can be modeled using numerous data-driven soft sensor methods. However, the intrinsic relationships among the variables, especially the localized spatial–temporal correlations that shed light on model behavior, have received little attention. In this study, a soft sensor based on a graph convolutional network is constructed by introducing the concept of graph to process modeling. The focus is on obtaining localized spatial–temporal correlations that aid in comprehending the intricate interactions among the variables included in the soft sensor. The model is trained by considering the regularization terms and it learns distinctive localized spatial–temporal correlations in an end-to-end manner. Furthermore, long-term dependence is established via temporal convolution. Thus, both the localized spatial–temporal correlations and time-series properties are captured. The feasibility of the proposed soft sensor is illustrated using two fermentation processes. The localized spatial–temporal correlations of this case study are visualized, and they demonstrate that the soft sensor is not a black-box model;instead, it is consistent with process knowledge. © 2023 Elsevier Ltd

关键词： Convolution

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