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International Workshop/Symposium on Distributed Simulation and Real-Time Applications (DS-RT)

作者： Agnieszka Chodorek Robert R. Chodorek Krzysztof Wajda Faculty of Electrical Engineering Automatic Control and Computer Science Kielce University of Technology Kielce Poland Department of Telecommunications The AGH University of Science and Technology Kraków Poland

In this paper we propose a flying IoT system designed to monitor parking lot. The system is composed of a flying mobile station and a terrestrial station. The mobile station consists of visual monitoring camera associated with air quality monitoring sensors, mounted on a Turnigy SK450 quad copter controlled with Pixhawk autopilot hardware. Data gathered from the monitoring system are transmitted to an IoT broker running on a Raspberry Pi 3+ microcontroller, also mounted on a drone, that aggregates data into a common flow and retransmits them to the terrestrial station. The transmission system was build according to WebRTC architecture. In order to assure separation of the production network (for transmission of application data) and the management network (for management and control purposes), two different transmission channels are used: one for the WebRTC transmission and the other for controlling the drone. The paper includes a description of the system and the results of field trials carried out on the parking lot of the AGH University of technology.

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Multi-agent deployment under the leader displacement measurement: A PDE-based approach

arXiv

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arXiv 2019年

作者： Wei, Jieqiang Fridman, Emilia Selivanov, Anton Johansson, Karl H. Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden School of Electrical Engineering Tel Aviv University Israel

We study the deployment of a first-order multiagent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest neighbors, whereas in addition a leader is able to measure his absolute displacement with respect to the desired curve. In this paper we consider the case that the desired curve is a closed C2 curve and we assume that the leader transmit his measurement to other agents through a communication network. We start the algorithm with displacement-based formation control protocol. Connections from this ODE model to a PDE model (heat equation), which can be seen as a reduced model, are then established. The resulting closed-loop system is modeled as a heat equation with delay (due to the communication). The boundary condition is periodic since the desired curve is closed. By choosing appropriate controller gains (the diffusion coefficient and the gain multiplying the leader state), we can achieve any desired decay rate provided the delay is small enough. The advantage of our approach is in the simplicity of the control law and the conditions. Numerical example illustrates the efficiency of the method. Copyright © 2019, The Authors. All rights reserved.

关键词： Partial differential equations

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Neuro-Adaptive Learning Approach for Predicting Production Performance and Pressure Dynamics of Gas Condensation Reservoir

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IFAC-PapersOnLine 2019年第29期52卷 122-127页

作者： Aliyuda Ali Lingzhong Guo Department of Automatic Control and Systems Engineering University of Sheffield Sheffield. S10 2TN UK Department of Mathematics and Computer Science Gombe State University P.M.B. 127 Gombe Nigeria

In Reservoir engineering, state-of-the-art data analysis enables engineers to characterize reservoirs and plan for developing fields. This allows production companies to save huge amounts that would otherwise be allocated to reservoir modelling and simulation and well testing. Numerical reservoir modelling and simulation is the standard use in industries today for comprehensive study of fields. However, the inflexible behaviour, development time and cost of numerical simulators are major challenges to production engineers, managers as well as modellers. On the other hand, Artificial Intelligence (AI) based reservoir models are characterised with low cost of development, short development time and fast tract analysis and flexibility to estimate the uncertainties normally found in numerical simulators. In this study, a strategy for controlling gas production and pressure drop in gas condensate reservoir is described. Numerical simulations of production rate and pressure drop were carried out first and their results were saved. An Adaptive Neuro-Fuzzy system was then developed and trained with some parts of the numerical simulation results. This AI-based system is checked and tested with part of the numerical simulation results that had not been used during the training. The developed system regenerates the numerical simulation results for both production rates and pressure drop at different Bottom Hole Pressures (BHPs) with very high accuracy (>98%). Results of this study showed that AI-based reservoir simulation can be considered a vital tool of help to production engineers, managers and modellers for a quick and more informed decision as regards field development plans that can meet operational targets.

关键词： Gas condensate reservoirs Neuro-Adaptive Learning System Bottom-Hole Pressure

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A framework for synchronizing a team of aerial robots in communication-limited environments

arXiv

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arXiv 2019年

作者： Díaz-Báñez, J.M. Caraballo, L.E. Lopez, M.A. Bereg, S. Maza, I. Ollero, A. Department of Applied Mathematics II University of Seville Spain Department of Computer Science University of Denver United States Department of Computer Science University of Texas Dallas United States Department of Systems Engineering and Automatic Control University of Seville Spain

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a previously assigned closed trajectory. When two robots are close enough, a communication link may be established, allowing the robots to exchange information. The goal is to schedule the flights such that the entire system can be synchronized for maximum information exchange, that is, every pair of neighbors always visit the feasible communication link at the same time. We propose an algorithm for scheduling a team of robots in this scenario and propose a robust framework in which the synchronization of a large team of robots is assured. The approach allows us to design a fault-tolerant system that can be used for multiple tasks such as surveillance, area exploration, searching for targets in a hazardous environment, and assembly and structure construction, to name a few. Copyright © 2019, The Authors. All rights reserved.

关键词： Synchronization

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Semi-Parametric Kernel-Based Identification of Wiener Systems 57

Semi-Parametric Kernel-Based Identification of Wiener System...

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57th IEEE Conference on Decision and control, CDC 2018

作者： Sven Risuleo, Riccardo Lindsten, Fredrik Hjalmarsson, Hakan Department of Automatic Control School of Electrical Engineering and Computer Science KTH - Royal Institute of Technology Stockholm Sweden Department of Information Technology Division of Systems and Control Uppsala University Uppsala Sweden

ISBN: (纸本)9781538613955

We present a technique for kernel-based identification of Wiener systems. We model the impulse response of the linear block with a Gaussian process. The static nonlinearity is modeled with a combination of basis functions. The coefficients of the static nonlinearity are estimated, together with the hyperparameters of the covariance function of the Gaussian process model, using an iterative algorithm based on the expectation-maximization method combined with elliptical slice sampling to sample from the posterior distribution of the impulse response given the data. The same sampling method is then used to find the posterior-mean estimate of the impulse response. We test the proposed algorithm on a benchmark of randomly-generated Wiener systems. © 2018 IEEE.

关键词： Impulse response

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Fault-tolerant Individual Pitch control using Adaptive Sliding Mode Observer

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IFAC-PapersOnLine 2018年第24期51卷 1127-1132页

作者： Liu, Yanhua Patton, Ron J. Lan, Jianglin School of Engineering and Computer Science University of Hull Cottingham Road HullHUG 7RX United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Portobello Street SheffieldS1 3JD United Kingdom

Due to the increasing size of wind turbines, the unbalanced loads caused by the uneven spatial distribution of wind speed and turbulence are becoming larger and larger. As has been proved, individual pitch control (IPC) can mitigate the blade asymmetric loads greatly in region 3. On the other hand, the pitch actuator faults can affect the pitching performance with slow dynamics, resulting in generator power instability and even deteriorating the unbalanced loads of blades. However, the effects of unbalanced blade loads deterioration caused by pitch actuator faults have not been taken into account by the traditional IPC design. In the present paper, a fault-tolerant control (FTC) strategy using adaptive sliding mode estimation is combined with a traditional IPC system based on two different control methods (Proportional-Integral and H∞ loop-shaping). It maintains the nominal pitch performance and removes the negative effects of pitch actuator faults on generator power and unbalanced blade loads perfectly. The effectiveness of the proposed strategy is verified on the 5MW NREL wind turbine system. © 2018

关键词： Adaptive control systems Actuators Deterioration Fault tolerance Sliding mode control Two term control systems Wind Wind turbines Actuator fault Adaptive sliding mode Adaptive sliding mode observer Fault tolerant control Individual pitch control Load reduction Proportional integral Sliding mode observers

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A convex approach to Frisch-Kalman problem

arXiv

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arXiv 2019年

作者： Zhao, Di Rantzer, Anders Qiu, Li Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Department of Automatic Control Excellence Center Elliit Lund University Lund Sweden

This paper proposes a convex approach to the Frisch-Kalman problem that identifies the linear relations among variables from noisy observations. The problem was proposed by Ragnar Frisch in 1930s, and was promoted and further developed by Rudolf Kalman later in 1980s. It is essentially a rank minimization problem with convex constraints. Regarding this problem, analytical results and heuristic methods have been pursued over a half century. The proposed convex method in this paper is shown to be accurate and demonstrated to outperform several commonly adopted heuristics when the noise components are relatively small compared with the underlying data. Copyright © 2019, The Authors. All rights reserved.

关键词： Heuristic methods

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Automated Hydrogel Porosity Analysis based on Scanning Electron Microscopy Image Processing

Automated Hydrogel Porosity Analysis based on Scanning Elect...

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E-Health and Bioengineering Conference (EHB)

作者： Tiberius Dumitriu Raluca Petronela Dumitriu Vasile-Ion Manta Faculty of Automatic Control and Computer Engineering "Gheorghe Asachi" Technical University of Iasi Iasi Romania Physical Chemistry of Polymers Department "Petru Poni" Institute of Macromolecular Chemistry Iasi Romania

In this paper an automated image analysis approach is proposed in order to investigate thoroughly the porosity, a morphological feature specific for hydrogel polymeric systems. The structure and morphology of the porous mixed interpenetrated networks based on poly (N-isopropylacryl amide) and alginate prepared with different mixing ratios and various crosslinking agent concentrations were evidenced by scanning electron microscopy (SEM). Automated characterization of porosity was accomplished using image acquisition, features extraction, and classification over the images acquired. Two different image processing methods were used in order to analyze the size and distribution of the pores within studied hydrogels. One method is based on the Gaussian model and for the second method a new technique is proposed, which uses a J criterion inspired by the JSEG color image segmentation algorithm. The results obtained showed the efficiency of these methods to determine hydrogels porosity in a fast and accurate manner.

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Combining Lattice-Based Planning and Path Optimization in Autonomous Heavy Duty Vehicle Applications

Combining Lattice-Based Planning and Path Optimization in Au...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Oliveira, Rui Cirillo, Marcello Mårtensson, Jonas M. Wahlberg, Bo Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Scania Autonomous Transport Solutions Sodertalje Sweden

ISBN: (纸本)9781538644522

Lattice-based motion planners are an established method to generate feasible motions for car-like vehicles. However, the solution paths can only reach a discretized approximation of the intended goal pose. Moreover, they can be optimal only with respect to the actions available to the planner, which can result in paths with excessive steering. These drawbacks have a negative impact when used in real systems. In this paper we address both drawbacks by integrating a steering method into a state-of-the-art lattice-based motion planner. Un- like previous approaches, in which path optimization happens in an a posteriori step after the planner has found a solution, we propose an interleaved execution of path planning and path optimization. The proposed approach can run in real-time and is implemented in a full-size autonomous truck, and we show experimentally that it is able to greatly improve the quality of the solutions provided by a lattice planner. © 2018 IEEE.

关键词： Motion planning

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Nonlinear control structure design using grammatical evolution and lyapunov equation based optimization 15

Nonlinear control structure design using grammatical evoluti...

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15th International Conference on Informatics in control, Automation and Robotics, ICINCO 2018

作者： Reichensdörfer, Elias Odenthal, Dirk Wollherr, Dirk BMW Group Knorrstr. 147 Munich80788 Germany Department of Electrical and Computer Engineering Depart of Automatic Control Engineering Technical University of Munich Theresienstr. 90 Munich80333 Germany BMW M GmbH Daimlerstr. 19 Garching near Munich85748 Germany Department of Electrical and Computer Engineering Depart of Automatic Control Engineering Technical University of Munich Theresienstr. 90 Munich80333 Germany

ISBN: (纸本)9789897583216

A new method for the automated synthesis of nonlinear control laws for nonlinear control systems using grammatical evolution is presented. The controller structure, its parameterization and a quadratic Lyapunov function are the result of a nonlinear, nonconvex optimization process. Evolutionary algorithms based on grammatical evolution are used to find candidates for the control law. These are evaluated using a fitness function incorporating eigenvalue specifications on the linearized closed loop system and bounds on the control input signals. The guaranteed domain of attraction subject to the closed loop performance and stability specifications is maximized by evaluating the solution of the Lyapunov equation on the nonlinear system. The method is tested on two different control systems that contain different types of nonlinearities. The results show that the proposed approach is capable of outperforming state of the art methods by providing stronger stability guarantees and/or better closed loop performance while making less restrictive assumptions. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Nonlinear equations

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