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arXiv 2022年

作者： Hajieghrary, Hadi Deisenroth, Marc Peter Bekiroglu, Yasemin Chalmers University of Technology Department of Electrical Engineering Automatic Control Research Group Sweden University College London Department of Computer Science Centre for Artificial Intelligence United Kingdom

In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing a conventional PID controller, one should make a trade-off between the performance and agility of the closed-loop system and its stability margins. The proposed nonlinear adaptive PID controller provides a mechanism to relax the need for such a compromise by adapting the gains according to the magnitude of the error without expert tuning. Therefore, we can achieve agile performance for the system while seeing damped overshoot in the output and track the reference as close as possible, even in the presence of external disturbances and uncertainties in the modeling of the system. We have employed a Bayesian optimization approach to choose the parameters of a nonlinear adaptive PID controller to achieve the best performance in tracking the reference input and rejecting disturbances. The results demonstrate that a well-designed nonlinear adaptive PID controller can effectively regulate a mobile manipulator's joint variables while carrying an unspecified heavy load and an abrupt base movement occurs. © 2022, CC BY-NC-ND.

关键词： Closed loop systems

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HierDAMap: Towards Universal Domain Adaptive BEV Mapping via Hierarchical Perspective Priors

arXiv

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arXiv 2025年

作者： Li, Siyu Cao, Yihong Shi, Hao Zang, Yongsheng He, Xuan Yang, Kailun Li, Zhiyong School of Robotics the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China College of Computer Science and Electronic Engineering Hunan University Changsha410082 China Hunan Vanguard Group Corporation Limited Changsha410100 China

The exploration of Bird’s-Eye View (BEV) mapping technology has driven significant innovation in visual perception technology for autonomous driving. BEV mapping models need to be applied to the unlabeled real world, making the study of unsupervised domain adaptation models an essential path. However, research on unsupervised domain adaptation for BEV mapping remains limited and cannot perfectly accommodate all BEV mapping tasks. To address this gap, this paper proposes HierDAMap, a universal and holistic BEV domain adaptation framework with hierarchical perspective priors. Unlike existing research that solely focuses on image-level learning using prior knowledge, this paper explores the guiding role of perspective prior knowledge across three distinct levels: global, sparse, and instance levels. With these priors, HierDA consists of three essential components, including Semantic-Guided Pseudo Supervision (SGPS), Dynamic-Aware Coherence Learning (DACL), and Cross-Domain Frustum Mixing (CDFM). SGPS constrains the cross-domain consistency of perspective feature distribution through pseudo labels generated by vision foundation models in 2D space. To mitigate feature distribution discrepancies caused by spatial variations, DACL employs uncertainty-aware predicted depth as an intermediary to derive dynamic BEV labels from perspective pseudo-labels, thereby constraining the coarse BEV features derived from corresponding perspective features. CDFM, on the other hand, leverages perspective masks of view frustum to mix multi-view perspective images from both domains, which guides cross-domain view transformation and encoding learning through mixed BEV labels. Furthermore, this paper introduces intra-domain feature exchange data augmentation to enhance the efficiency of domain adaptation learning. The proposed method is verified on multiple BEV mapping tasks, such as BEV semantic segmentation, high-definition semantic, and vectorized mapping. It demonstrates competitive perfo

关键词： Birds

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Design of Improved Linear Active Disturbance Rejection control for Non-Minimum Phase Systems 14

Design of Improved Linear Active Disturbance Rejection Contr...

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14th International Conference on Power and Energy Systems, ICPES 2024

作者： Lin, Xiang Wu, Maoqian Dong, Lijiang Liu, Wei Qian, Baiyun Yang, Chaojie Electric Power Research Institute State Grid Xinjiang Electric Power Co. Ltd. Xinjiang Uygur Autonomous Region Urumqi China State Grid Xinjiang Electric Power Co. Ltd. Xinjiang Uygur Autonomous Region Urumqi China Urumqi Electric Power Construction and Commissioning Institute Xinjiang Xinneng Group Co. Ltd. Xinjiang Uygur Autonomous Region Urumqi China School of Control and computer Engineering North China Electric Power University Beijing China

ISBN: (数字)9798350391329

ISBN: (纸本)9798350391329

Non-minimum phase systems, which are common in power generation due to their inherent instability, pose significant control challenges. To address this, an Improved Linear Active Disturbance Rejection control (ILADRC) is proposed. This method involves decomposing the system model into minimum phase and non-minimum phase components, designing a feedforward compensator based on the minimum phase component, and developing a non-minimum phase Smith predictor compensator for the non-minimum phase part. Additionally, a rule for simplified parameter tuning of the ILADRC is introduced. The effectiveness of the proposed ILADRC was demonstrated through experiments using steam valve regulation in a turbine as a case study, compared with PID and LADRC. The results show that the proposed ILADRC outperforms existing methods in set-point tracking and disturbance rejection. Monte Carlo robustness tests further confirm the robustness advantage of the ILADRC, highlighting its significant potential for practical engineering applications. © 2024 IEEE.

关键词： Disturbance rejection

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Track Prediction Based on Spatio-Temporal Attention 10th

Track Prediction Based on Spatio-Temporal Attention

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10th China Conference on Command and control, C2 2022

作者： Wang, Peng Zhang, Junyi Zhang, Lu Jin, Jianglin Fan, Yuqi The 54th Research Institute of China Electronics Technology Group Corporation Hubei Shijiazhuang050080 China Hebei Key Laboratory of Electromagnetic Spectrum Cognition and Control Hubei Shijiazhuang050080 China Anhui Province Key Laboratory of Industry Safety and Emergency Technology School of Computer Science and Information Engineering Hefei University of Technology Anhui Hefei230601 China

ISBN: (纸本)9789811960512

With the rapid development of aviation, the air traffic flow is increasing exponentially, leading to increasingly serious route congestion and route conflicts. Accurate prediction of aircraft trajectories is essential to ensure the safety of airspace. Trajectory data is a time-series sequence, and most of the existing methods for trajectory prediction are based on recurrent neural networks and attention mechanisms. However, these methods fail to effectively accumulate the correlation between the attributes of trajectory points and the time varying attribute features, and suffer from slow model training. In this paper, we propose STA-STCN, a novel track prediction model based on spatio-temporal dual attention (STA) and stacked temporal convolutional network (STCN). STA extracts the spatial and temporal features in parallel based on self-attention. The spatial feature characterizes the relationships between attributes of a track point, and the temporal feature represents the time varying characteristics of an attribute in track points. STA then fuses the extracted features to describe the accumulated time varying attributes correlation. STCN takes the fused features as the input to predict target track point attributes. We conduct experiments on the flight data provided by global flight data services website VariFight. Experimental results show that the model can reduce the root mean square error, mean absolute error, and track prediction model training time, indicating that model STA-STCN can achieve effective track prediction. © 2022, Chinese Institute of Command and control.

关键词： Forecasting

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Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery

Constrained Visual-Inertial Localization With Application An...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Regine Hartwig Daniel Ostler Jean-Claude Rosenthal Hubertus Feuß ner Dirk Wilhelm Dirk Wollherr Surgical Department Research Group MITI Technical University of Munich (TUM) Germany Department of Electrical and Computer Engineering Chair of Automatic Control Engineering Technical University of Munich (TUM) Germany Fraunhofer HHI Berlin Germany

We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU measurements, stereoscopic feature points, and constraints on possible solutions in SE(3). In settings where dynamic disturbances are frequent, the residuals reduce the complexity of the problem and make localization feasible. We verify the advantages of our method in a suitable medical use case and produce a dataset capturing a minimally invasive surgery in the abdomen. Our novel clinical dataset MITI is comparable to state-of-the-art evaluation datasets, contains calibration and synchronization and is available at [1].

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A flexible analytic wavelet transform and ensemble bagged tree model for electroencephalogram-based meditative mind-wandering detection

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Healthcare Analytics 2024年 5卷 100286-100286页

作者： Dadhich, Ajay Patel, Jaideep Tiwari, Rovin Verma, Richa Mishra, Pratha Jain, Jay Kumar Department of Electronics Instrumentation and Control Engineering Engineering College Ajmer Rajasthan Ajmer India Department of Computer Science and Engineering Sagar Institute of Research & Technology MP Bhopal India Department of Electronics & Communication Engineering Amity University MP Gwalior India Department of Computer Science and Application Makhanlal Chaturvedi University of Journalism and Mass Communication MP Bhopal India Department of Electronics & Communication Engineering Technocrats TIT Group Madhya Pradesh Bhopal India Department of Computer Science & Engineering Indian Institute of Information Technology (IIIT) MP Bhopal India

Mind-wandering (MW) is when an individual's concentration drifts away from the task or activity. researchers found a greater variability in electroencephalogram (EEG) signals due to MW. Collecting more nuanced information from raw EEG data to examine the harmful effects of MW is time-consuming. This study proposes a multi-resolution assessment of EEG signals using the flexible analytic wavelet transform (FAWT). The FAWT algorithm decomposes raw EEG data into more representative sub-bands (SBs). Several statistical characteristics are derived from the obtained SBs, and the effects of MW during meditation on the EEG signals are investigated. A set of significant characteristics is chosen and fed into the machine learning modules using a 10-fold validation approach to detect MW subjects automatically. Our proposed framework attained the highest classification accuracy of 92.41%, the highest sensitivity of 93.56%, and the highest specificity of 91.97%. The proposed framework can be used to design a suitable brain-computer interface (BCI) system to reduce MW and increase meditation depth for holistic and long-term health in society. © 2023 The Author(s)

关键词： Brain–computer interface Classification Electroencephalogram signals Flexible analytic wavelet transform Machine learning Mind-wandering

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A Backstepping Integral Sliding Mode controller Design for Partial Feedback Linearized Models of Synchronous Generators in Simple Power Systems to Improve the Transient Stability 2

A Backstepping Integral Sliding Mode Controller Design for P...

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2nd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2021

作者： Pramanik, M.A.H. Roy, T.K. Anower, M.S. Ghosh, S.K. Mahmud, M.A. Rajshahi University of Engineering Technology Department of Electrical Computer Engineering Rajshahi6204 Bangladesh Rajshahi University of Engineering Technology Department of Electronics Telecommunication Engineering Rajshahi Bangladesh Rajshahi University of Engineering Technology Department of Electrical Electronic Engineering Rajshahi6204 Bangladesh Northumbria University Electrical Power Control Systems Research Group Faculty of Engineering and Environment Newcastle United Kingdom

ISBN: (纸本)9781665443197

This paper proposes a backstepping integral sliding mode controller (BISMC) based on the partial feedback linearization (PFBL) of the detailed model of synchronous generators (SGs) in simple power networks. The proposed scheme is designed to obtain the excitation control input using the detailed model of SGs in a simple power system where the PFBL is used to simplify the model. The BISMC is employed on this simplified model to ensure the transient stability during large disturbances. The inherent property of the BISMC tackles the chattering and overcomes the parameter sensitivity problem of the PFBL scheme. Simulation studies are conducted under different operating situations to justify the effectiveness of the proposed PFBL-BISMC over a partial feedback linearizing controller (PFBLC). © 2021 IEEE.

关键词： Synchronous generators

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Pinching Antennas: Principles, Applications and Challenges

arXiv

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arXiv 2025年

作者： Yang, Zheng Wang, Ning Sun, Yanshi Ding, Zhiguo Schober, Robert Karagiannidis, George K. Wong, Vincent W.S. Dobre, Octavia A. Fujian Provincial Engineering Technology Research Center of Photoelectric Sensing Application Fujian Normal University Fuzhou350117 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China School of Computer Science and Information Engineering Hefei University of Technology Hefei230009 China Khalifa University Abu Dhabi United Arab Emirates University of Manchester ManchesterM1 9BB United Kingdom Germany Group Electrical & Computer Engineering Dept. Aristotle University of Thessaloniki Thessaloniki54 124 Greece Department of Electrical and Computer Engineering The University of British Columbia Vancouver Canada Department of Electrical and Computer Engineering Memorial University St. John’sNL Canada

Flexible-antenna systems, such as fluid antennas and movable antennas, have been recognized as key enabling technologies for sixth-generation (6G) wireless networks, as they can intelligently reconfigure the effective channel gains of the users and hence significantly improve their data transmission capabilities. However, existing flexible-antenna systems have been designed to combat small-scale fading in non-line-of-sight (NLoS) conditions. As a result, they lack the ability to establish line-of-sight links, which are typically 100 times stronger than NLoS links. In addition, existing flexible-antenna systems have limited flexibility, where adding/removing an antenna is not straightforward. This article introduces an innovative flexible-antenna system called pinching antennas, which are realized by applying small dielectric particles to waveguides. We first describe the basics of pinching-antenna systems and their ability to provide strong LoS links by deploying pinching antennas close to the users as well as their capability to scale up/down the antenna system. We then focus on communication scenarios with different numbers of waveguides and pinching antennas, where innovative approaches to implement multiple-input multiple-output and non-orthogonal multiple access are discussed. In addition, promising 6G-related applications of pinching antennas, including integrated sensing and communication and next-generation multiple access, are presented. Finally, important directions for future research, such as waveguide deployment and channel estimation, are highlighted. Copyright © 2025, The Authors. All rights reserved.

关键词： Channel estimation

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A Composite Nonlinear controller Design to Enhance the Large-Signal Stability of a DC Distribution System with Constant Power Loads 2

A Composite Nonlinear Controller Design to Enhance the Large...

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2nd IEEE International Conference on Smart Technologies for Power, Energy and control, STPEC 2021

作者： Ghosh, S.K. Roy, T.K. Pramanik, M.A.H. Mahmud, M.A. Rajshahi University of Engineering Technology Department of Electrical Electronic Engineering Rajshahi6204 Bangladesh Rajshahi University of Engineering Technology Department of Electronics Telecommunication Engineering Rajshahi6204 Bangladesh Rajshahi University of Engineering Technology Department of Electrical Computer Engineering Rajshahi6204 Bangladesh Northumbria University Newcastle Electrical Power Control Systems Research Group Faculty of Engineering and Environment United Kingdom

ISBN: (纸本)9781665443197

A composite backstepping integral sliding mode controller (BISMC) is proposed in this work for a DC-DC boost converter feeding a constant power load (CPL) in a simple DC distribution system. Here, the main objective is to ensure the large-signal stability with wide variations in operating regions. The proposed BISMC is designed based on the feedback linearized model of the DC-DC boost converter with a CPL where the average state-space model is exactly linearized. The use of exact feedback linearization overcomes the non-minimum phase problem of a DC-DC boost converter due to the presence of the CPL that exhibits negative impedance characteristics. The control law is obtained using the combination of backstepping and integral sliding mode control schemes where both approaches ensure the faster convergence of errors for all states and the integral action on the sliding surface is designed in such a fashion that will ensure the constant frequency operation of the power converter feeding the CPL while eliminating the variable frequency associated problem of the existing controllers. In addition, the stability of the whole system is analyzed through the Lyapunov stability theory. Numerical simulations are conducted to verify the performance of the designed composite nonlinear controller whose performance is also compared with a double-loop proportional integral (PI) controller to verify the superiority of the designed controller. © 2021 IEEE.

关键词： Backstepping

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A fast and effective maximum power point tracking method under various weather conditions for grid-connected photovoltaic systems

A fast and effective maximum power point tracking method und...

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IEEE Conference on Power Electronics and Renewable Energy (CPERE)

作者： Karam Khairullah Mohammed Saad Mekhilef Muhyaddin Rawa Control and Mechatronics Engineering Department School of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Hawthorn VIC Australia Smart Grids Research Group Center of Research Excellence in Renewable Energy and power Systems King Abdulaziz University Jeddah Saudi Arabia Department Of Electrical and computer Engineering Faculty of engineering K. A Care Energy Research and Innovation Center King Abdulaziz University Jeddah Saudi Arabia

Photovoltaic systems (PV) are exposed to various weather conditions during the day and getting the maximum power of a PV system is one of its major challenges. While the conventional methods take time to track the maximum power accompanying the fluctuation around the maximum power. Consequently, several metaheuristic algorithms have been presented to overcome the fluctuating around the maximum power. On the other hand optimization methods will search into entire the PV curve to extract the maximum power. This leads to unnecessary search points during the uniform shading conditions which decrease the convergence speed towards the maximum power. In overcoming the tracking time issues as well as the capacity to distinguish between uniform and partial shading conditions, a quick and efficient tracking technique connected to the grid system was presented in this paper. The proposed system, has been tested using MATLAB/SIMULINK, which includes a boost converter to track the maximum power with a sampling time of 0.05 seconds, While a voltage source converter (VSC) is used to transfer the power generated by solar panels to the grid. The simulation results demonstrated that the proposed method was successfully implemented, with an average tracking time of 0.412 s for different weather conditions. Moreover, the comparison with the conventional method of perturb and observe (P& O) has been presented to evaluate the proposed method’s efficiency.

关键词： Maximum power point trackers Renewable energy sources Fluctuations Simulation Optimization methods Power electronics Solar panels

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