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2009 10th European control Conference, ECC 2009

作者： Guzman, J.L. Astrom, K.J. Hagglund, T. Dormido, S. Berenguel, M. Piguet, Y. Automatics and Control Engineering Area Department of Computer Science University of Almería Almería04120 Spain Department of Automatic Control Lund University Box 118 LundSE-22100 Sweden Dep. Informática y Automática ETSI Informática UNED Madrid28040 Spain Calerga Sàrl 35 av. de la Chablière Lausanne1004 Switzerland

ISBN: (纸本)9783952417393

This paper describes an interactive tool focused on teaching and learning basic concepts on multivariable control systems. Most industrial processes are represented by multivariable systems and thus the teaching and learning of basic concepts on multivariable control is a key factor in control engineering education. In this sense, the interactive tool presented in this paper is aimed to introduce basic ideas on multivariable control systems mainly focused on interaction and pairing concepts. © 2009 EUCA.

关键词： Teaching

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How can the temperature affect the performance of a classical pipeline model when plastic pipes are used?

How can the temperature affect the performance of a classica...

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2011 8th International Conference on Electrical engineering, Computing Science and automatic control, CCE 2011

作者： Begovich, O. Pizano-Moreno, A. Garcia-Malacara, E. Besançon, G. Department of Electrical Engineering CINVESTAV Guadalajara Av. del Bosque 1145 Zapopan Jal. Mexico Control Systems Dep. Gipsa-Lab. Grenoble INP Institut Universitaire de France BP46 38402 Saint-Martin d'H'eres France

ISBN: (纸本)9781457710117

In this paper, it is shown that the time-invariant nonlinear model normally used to design algorithms to isolate leaks in pipes can introduce errors when the pipe in question is a plastic one exposed to temperature changes. Thus, this model must have a mechanism to compensate temperature variations, if it is desired that such model follows in a more accurate way the dynamics of a liquid. A comparison of the behavior of the model with and without temperature compensation is made using real data coming from a plastic pipeline prototype transporting water. © 2011 IEEE.

关键词： Temperature distribution

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Real Time Scheduling Methods Requirements in Distributed control systems

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IFAC Proceedings Volumes 2000年第7期33卷 95-102页

作者： Pau Martí Ricard Villà Josep M. Fuertes Gerhard Fohler Dep. of Automatic Control Universitat Politècnica de Catalunya Pau Gargallo 5 08028 Barcelona SPAIN Ph.: 34-3-4016971 Fax: 34-3-4017045 Dep. of Computer Engineering Mälardalen Högskola PO Box 883 SE-721 23 Västerås SWEDEN

Distributed control systems involve three main disciplines: control systems, real time systems, and communication systems. control systems, due their stringent timing constraints, demand real time computing technology. Distributed control systems need communication systems when distributing sensors, actuators, the control procedures and data messaging. In general, demands of distributed control systems and properties of real time scheduling algorithms differ, for example, for activation patterns of tasks. The aim of this paper is to provide a set of requirements to overcome current limitations of real time scheduling methods to their increase applicability for distributed control systems

关键词： Real-time systems Real-time tasks Scheduling algorithms Distributed computer control systems control applications Timing analysis

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Computer-Aided Evaluation of Protein Expression in Pathological Tissue Images

Computer-Aided Evaluation of Protein Expression in Pathologi...

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Annual IEEE Symposium on Computer-Based Medical systems

作者： E. Ficarra E. Macii G. De Micheli L. Benini Politecnico di Torino Dep. of Control and Computer Engineering Torino Italy Ecole Polythecnique Federale de Lausanne (EPFL) Integrated Systems Laboratory (LSI) Lausanne Switzerland Dep. of Electronics University of Bologna Bologna Italy

This work presents the first fully-automated computer-aided analysis approach to the quantification of the expression of receptors for the non-small cell lung carcinoma. This immunohistochemical analysis is usually performed by pathologists via visual inspection of tissue samples images. Our techniques streamlines this error-prone and time-consuming process, thereby facilitating analysis and diagnosis. Experimental results on several real-life datasets demonstrate the high quantitative precision of our approach

关键词： Pathology Lungs Immune system Protein engineering Performance analysis Genetics Biomembranes Image analysis Monitoring Medical treatment

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Towards autonomous reconfiguration in distribution networks: An approach based on finite state automaton models

Towards autonomous reconfiguration in distribution networks:...

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International Conference in Energy and Sustainability in Small Developing Economies (ES2DE)

作者： Alena Košťálová Pedro M. S. Carvalho Marek Kubalčík Dep. of Computer and Communication Systems Tomas Bata University in Zlin Czech Republic Electrical Engineering and Computer Dep. Instituto Superior Tecnico Lisbon Portugal Department of Process Control Tomas Bata University in Zlin Czech Republic

The demand on distribution network reconfiguration abilities is increasing. This paper proposes a Finite State Automaton model of a distribution network that deals with topologically safe reconfiguration. Autonomous operation of distribution networks can be designed, analysed and implemented in day-to-day operation with the aid of these automata: through supervisory control. Two approaches to supervisor design are proposed. One for the normal operating mode and the other for the contingency mode. Simple and comprehensive examples illustrate the approaches.

关键词： Switches Automata Power cables Substations Electronic mail Power system reliability

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Rational iterative feedforward tuning: Approaches, stable inversion, and experimental comparison

Rational iterative feedforward tuning: Approaches, stable in...

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American control Conference

作者： Lennart Blanken Frank Boeren Dennis Bruijnen Tom Oomen Eindhoven University of Technology Dep. of Mechanical Engineering Control Systems Technology Group The Netherlands Philips Innovation Services Mechatronics Technologies group Eindhoven The Netherlands

ISBN: (纸本)9781467386838

Feedforward control plays a key role in achieving high performance for industrial motion systems that perform non-repeating motion tasks. Recently, learning techniques have been proposed to further improve both performance and robustness to non-repeating tasks by using a rational feedforward basis. The aim of this paper is to propose a unifying framework which connects these approaches. Experimental results on an industrial motion system validate the approaches and illustrate benefits of rational feedforward tuning in motion systems, including pre- and post-actuation through stable inversion.

关键词： Feedforward neural networks Extrapolation Iterative methods Tuning Convolution Optimization Parametric statistics feedforward neural nets tuning iterative methods Convolution extrapolation method Parametric statistics FEEDFORWARD Rational number FEEDFORWARD control

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A ROBUST OBSERVER WITH GYROSCOPIC BIAS CORRECTION FOR ROTATIONAL DYNAMICS

arXiv

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arXiv 2023年

作者： Lefeber, Erjen Greiff, Marcus Robertsson, Anders Dep. of Mech. Engineering Eindhoven University of Technology Eindhoven Netherlands Mitsubishi Electric Research Laboratories CambridgeMA United States Department of Automatic Control Lund University Lund Sweden

We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential stability of the resulting error dynamics, implying robustness against bounded disturbances. This robustness is quantified with respect to a popular nonlinear complementary filter in quantitative simulation studies, and we explore how the measurement noise propagates to the asymptotic errors as a function of tuning. This is an extended version of a paper with the same title (to appear at IFAC WC 2023). Additional mathematical details are provided in this extended version. Copyright © 2023, The Authors. All rights reserved.

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Learning Based Model Predictive control for Quadcopters with Dual Gaussian Process

arXiv

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arXiv 2021年

作者： Liu, Yuhan Tóth, Roland The Harbin Institute of Technology Department of Control Science and Engineering Harbin China The Eindhoven University of Tech. Dep. of Electrical Eng. Control Systems Group Eindhoven Netherlands The Institute for Computer Science and Control Budapest Hungary

An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation is an effective tool to learn unknown dynamics from input/output data. However, conventional GP-based control methods often ignore the computational cost associated with accumulating data during the operation of the system and how to handle forgetting in continuous adaption. In this paper, we present a novel Dual Gaussian Process (DGP) based model predictive control strategy that improves the performance of a quadcopter during trajectory tracking. The bio-inspired DGP structure is a combination of a long-term GP and a short-term GP, where the long-term GP is used to keep the learned knowledge in memory and the short-term GP is employed to rapidly compensate unknown dynamics during online operation. Furthermore, a novel recursive online update strategy for the short-term GP is proposed to successively improve the learnt model during online operation in an efficient way. Numerical simulations are used to demonstrate the effectiveness of the proposed strategy. © 2021, CC BY-NC-SA.

关键词： Model predictive control

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Neuromorphic Sensors with Visible Light Communications 4

Neuromorphic Sensors with Visible Light Communications

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4th West Asian Symposium on Optical and Millimeter-Wave Wireless Communications, WASOWC 2022

作者： Hulea, Mircea Uleru, George-Iulian Younus, Othman Isam Rajbhandari, Sujan Ghassemlooy, Zabih Fac. of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Iasi Romania Optical Communications Research Group Northumbria University Dep. of Physics and Electrical Eng. Newcastle upon Tyne United Kingdom Dsp Centre of Excellence Bangor University Bangor United Kingdom Optical Communications Research Group Northumbria University Newcastle upon Tyne United Kingdom

ISBN: (纸本)9781665409131

Spiking neural networks (SNN) can control single-joint robotic arms' precise rotation and force when shape memory alloy (SMA) actuators are used. SNN receives feedback from neuromorphic sensors for controlling anthropomorphic fingers, which typically respond to the flexion angle and the force applied to the fingertips. The robotic fingers and hands are in relative motion with the robot's body, which typically includes the main unit for the limb's motion control. An elegant method to implement the connection between the main control unit and the neuromorphic sensors on limbs is to use visible light communication technology. This work presents a system that uses the recently introduced optical axons to connect the neuromorphic force sensors placed on fingers and the main electronic SNN that controls the finger's motion. The SNN behaviour is evaluated comparatively with and without optical axons when the hand moves relatively to the neural control unit (NCU), which regulates the finger's force. The expected results show that despite small oscillations of the finger force during steady-state, the robotic hand can hold on to an object while moving in the vicinity of NCU. © 2022 IEEE.

关键词： Robotic arms

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Workspace deformation based teleoperation for the increase of movement precision

Workspace deformation based teleoperation for the increase o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals L. Munoz J. Amat Dep. Automatic Control and Computer Engineering Robotics Institute UPC-Universitat Politicnica de Catalunya Spain Robotics Institute. (IRI) UPC / CSIC UPC-Universitat Politècnica de Catalunya Spain

Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possible as well, to program the task so as to be performed autonomously, due to its complexity. Nevertheless, manipulation tasks require certain ability from the human operator due to the difficulties that produce the need to operate through control devices that does not fit with the structure of the slave arms. With the aim of increasing the precision capabilities provided by such control interfaces, a vision based procedure designed to deform the space around the working point has been developed. The vision system operates from the detection of the relevant scene elements. This space deformation produces automatically a progressive increase in precision when the robot arm approaches the relevant detected elements.

关键词： Robot kinematics Humans Orbital robotics automatic control Service robots Medical robotics Intelligent robots Arm Robotics and automation Force feedback

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