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Securing isosceles triangular formations under heterogeneous sensing and mixed constraints

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arXiv 2021年

作者： Chan, Nelson P.K. Jayawardhana, Bayu de Marina, Hector Garcia Engineering and Technology Institute Groningen University of Groningen Nijenborgh 4 Groningen9747AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based control law to attain the assigned individual task(s). In the current work, robots are assigned either distance and signed area task(s) or bearing task(s). We provide a sufficient condition on the gain ratio RAd between the signed area and the distance control term such that the desired formation shape, an isosceles triangle, is reached from all feasible starting positions. Numerical simulations are provided to support the theoretical *** Codes 93D99 © 2021, CC BY-NC-SA.

关键词： Robots

Power Quality Management of Interconnected Microgrids using Model Predictive control ⁎

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IFAC-PapersOnLine 2020年第2期53卷 12918-12923页

作者： F. Garcia-Torres S. Vazquez C. Bordons I. Moreno-Garcia A. Gil P. Roncero-Sanchez Centro Nacional del Hidrogeno Puertollano (Ciudad Real) Spain Electronic Engineering Department Universidad de Sevilla Sevilla Spain Systems Engineering and Automatic Control Department Universidad de Sevilla Sevilla Spain Department of Electronic and Computer Engineering Universidad de Cordoba Cordoba Spain Systems Engineering and Automatic Control Department University of Castilla-La Mancha Ciudad Real Spain

In this paper, the power quality of interconnected microgrids is managed using a Model Predictive control (MPC) methodology which manipulates the power converters of the microgrids in order to achieve the requirements. The control algorithm is developed for the microgrids working modes: grid-connected, islanded and interconnected. The results and simulations are also applied to the transition between the different working modes. In order to show the potential of the control algorithm a comparison study is carried out with classical Proportional-Integral Pulse Width Modulation (PI-PWM) based controllers. The proposed control algorithm not only improves the transient response in comparison with classical methods but also shows an optimal behavior in all the working modes, minimizing the harmonics content in current and voltage even with the presence of non-balanced and non-harmonic-free three-phase voltage and current systems.

关键词： Interconnected systems Harmonics Predictive control Power System control

Intelligent Technologies for Ecomonitoring Data Processing in Conditions of Technogenic Emergencies

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Intelligent Technologies for Ecomonitoring Data Processing i...

International Conference on Modern Electrical and Energy Systems (MEES)

作者： Volodymyr Bakharev Andrii Perekrest Volodymyr Chenchevoi Olga Chencheva Svitlana Malyk Domanetskyi Andrii Department of Civil and Labour Safety Geodesy and Land Management Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Computer Engineering and Electronics Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Kremenchug Medical College named after V.I. Lytvynenko Kremenchuk Ukraine

ISBN: (纸本)9798350346848

The paper considers the importance of expanding the possibilities of environmental monitoring of environmental air parameters in the event of man-made emergencies. Software and hardware solutions have been developed for visualization and analysis of data from public environmental monitoring systems in normal and emergency situations using Power BI and Vaisala devices. The integration of various subsystems for measuring atmospheric air and microclimate indicators in a single computer system with a single software interface was carried out.

关键词： Atmospheric measurements Surface contamination Hydrogen Software Pollution measurement Environmental monitoring Sulfur

Individualized closed-loop anesthesia through patient model partitioning

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Individualized closed-loop anesthesia through patient model ...

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Ylva Wahlquist Klaske van Heusden Guy A. Dumont Kristian Soltesz Department of Automatic Control Lund University Lund Sweden Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Closed-loop controlled drug dosing has the potential of revolutionizing clinical anesthesia. However, inter-patient variability in drug sensitivity poses a central challenge to the synthesis of safe controllers. Identifying a full individual pharmacokinetic-pharmacodynamic (PKPD) model for this synthesis is clinically infeasible due to limited excitation of PKPD dynamics and presence of unmodeled disturbances. This work presents a novel method to mitigate inter-patient variability. It is based on: 1) partitioning an a priori known model set into subsets; 2) synthesizing an optimal robust controller for each subset; 3) classifying patients into one of the subsets online based on demographic or induction phase data; 4) applying the associated closed-loop controller. The method is investigated in a simulation study, utilizing a set of 47 clinically obtained patient models. Results are presented and *** relevance-The proposed method is easy to implement in clinical practice, and has potential to reduce the impact from surgical stimulation disturbances, and to result in safer closed-loop anesthesia with less risk of under- and over dosing.

关键词： Brain modeling Robustness Data models Delays Anesthesia Optimization Drugs

Network Realization Functions for Optimal Distributed control

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arXiv 2021年

作者： Sabau, Şerban Sperila, Andrei Oara, Cristian Jadbabaie, Ali Electrical and Computer Engineering Department Stevens Institute of Technology HobokenNJ07030 United States Faculty of Automatic Control and Computers "Politehnica" University of Bucharest Sector 6 060042 Romania CambridgeMA02139 United States

In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale systems, since the resulting feedback schemes completely avoid the exchange of internal states, i.e., plant or controller states, among sub-controllers. Additionally, we provide state-space formulas for these sub-controllers, able to be implemented in a distributed manner. © 2021, CC BY.

关键词： Large scale systems

The forgotten document-oriented database management systems: An overview and benchmark of native XML DODBMSes in comparison with JSON DODBMSes

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arXiv 2021年

作者： Truică, Ciprian-Octavian Apostol, Elena-Simona Darmont, Jérôme Pedersen, Torben Bach Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Romania Department of Computer Science Aarhus University Aarhus Denmark Université de Lyon ERIC UR 3083 Lyon 2 France Center for Data Intensive Systems Aalborg University Aalborg Denmark

In the current context of Big Data, a multitude of new NoSQL solutions for storing, managing, and extracting information and patterns from semi-structured data have been proposed and implemented. These solutions were developed to relieve the issue of rigid data structures present in relational databases, by introducing semi-structured and flexible schema design. As current data generated by different sources and devices, especially from IoT sensors and actuators, use either XML or JSON format, depending on the application, database technologies that store and query semi-structured data in XML format are needed. Thus, Native XML Databases, which were initially designed to manipulate XML data using standardized querying languages, i.e., XQuery and XPath, were rebranded as NoSQL Document-Oriented Databases Systems. Currently, the majority of these solutions have been replaced with the more modern JSON based Database Management Systems. However, we believe that XML-based solutions can still deliver performance in executing complex queries on heterogeneous collections. Unfortunately nowadays, research lacks a clear comparison of the scalability and performance for database technologies that store and query documents in XML versus the more modern JSON format. Moreover, to the best of our knowledge, there are no Big Data-compliant benchmarks for such database technologies. In this paper, we present a comparison for selected Document-Oriented Database Systems that either use the XML format to encode documents, i.e., BaseX, eXist-db, and Sedna, or the JSON format, i.e., MongoDB, CouchDB, and Couchbase. To underline the performance differences we also propose a benchmark that uses a heterogeneous complex schema on a large DBLP corpus. © 2021, CC BY.

关键词： XML

Risk Bounded Nonlinear Robot Motion Planning With Integrated Perception & control

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arXiv 2022年

作者： Renganathan, Venkatraman Safaoui, Sleiman Kothari, Aadi Gravell, Benjamin Shames, Iman Summers, Tyler Department of Automatic Control Lund University Naturvetarvägen 18 SE Lund221 00 Sweden Eric Jonsson School of Engineering & Computer Science The University of Texas at Dallas 800 W Campbell Rd RichardsonTX75080 United States School of Engineering Massachusetts Institute of Technology CambridgeMA02139 United States CIICADA Lab School of Engineering Australian National University ActonACT0200 Australia

Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making questionable assumptions of Gaussianity. Robots with nonlinear dynamics and complex sensing modalities operating in an uncertain environment demand more careful consideration of how uncertainties propagate across stack layers. We propose a framework to integrate perception, motion planning, and control by explicitly incorporating perception and prediction uncertainties into planning so that risks of constraint violation can be mitigated. Specifically, we use a nonlinear model predictive control based steering law coupled with a decorrelation scheme based Unscented Kalman Filter for state and environment estimation to propagate the robot state and environment uncertainties. Subsequently, we use distributionally robust risk Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

Covariance estimation from compressive data partitions using a projected gradient-based algorithm

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arXiv 2021年

作者： Monsalve, Jonathan Ramirez, Juan Esnaola, Iñaki Arguello, Henry Department of Electrical Engineering Universidad Industrial de Santander Bucaramanga680002 Colombia Department of Computer Science Universidad Rey Juan Carlos Madrid28933 Spain Department of Automatic Control and Systems Engineering The University of Sheffield Western Bank Sheffield United Kingdom Department Systems Engineering and Informatics Universidad Industrial de Santander Bucaramanga680002 Colombia

Covariance matrix estimation techniques require high acquisition costs that challenge the sampling systems’ storing and transmission capabilities. For this reason, various acquisition approaches have been developed to simultaneously sense and compress the relevant information of the signal using random projections. However, estimating the covariance matrix from the random projections is an ill-posed problem that requires further information about the data, such as sparsity, low rank, or stationary behavior. Furthermore, this approach fails using high compression ratios. Therefore, this paper proposes an algorithm based on the projected gradient method to recover a low-rank or Toeplitz approximation of the covariance matrix. The proposed algorithm divides the data into subsets projected onto different subspaces, assuming that each subset contains an approximation of the signal statistics, improving the inverse problem’s condition. The error induced by this assumption is analytically derived along with the convergence guarantees of the proposed method. Extensive simulations show that the proposed algorithm can effectively recover the covariance matrix of hyperspectral images with high compression ratios (8 − 15% approx) in noisy scenarios. Additionally, simulations and theoretical results show that filtering the gradient reduces the estimator’s error recovering up to twice the number of eigenvectors. © 2021, CC BY-NC-ND.

关键词： Covariance matrix

Data-Driven Reachability Analysis for Piecewise Affine System

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arXiv 2025年

作者： Xie, Peng Betz, Johannes Raimondo, Davide M. Alanwar, Amr TUM School of Computation Information and Technology Department of Computer Engineering Technical University of Munich Heilbronn74076 Germany TUM School of Engineering and Design Department of Autonomous Vehicles Systems Technical University of Munich Garching85748 Germany School of Automatic Control Department of Engineering and Architecture University of Trieste Via Valerio 10 Trieste34127 Italy

Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires determining whether system states can enter unsafe regions under given initial conditions and uncertainties—a question directly addressed by reachability analysis. However, hybrid systems present unique difficulties because their state space is divided into multiple regions with distinct dynamic models, causing traditional data-driven methods to produce inadequate over-approximations of reachable sets at region boundaries where dynamics change abruptly. This paper introduces a novel approach using hybrid zonotopes for data-driven reachability analysis of piecewise affine systems. Our method addresses the boundary transition problem by developing computational algorithms that calculate the family of set models guaranteed to contain the true system trajectories. Additionally, we extend and evaluate three methods for set-based estimation that account for input-output data with measurement noise. © 2025, CC BY.

关键词： Convergence of numerical methods