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作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic control Society.

关键词： Trucks

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Online Learning of Safety function for Markov Decision Processes

Online Learning of Safety function for Markov Decision Proce...

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European control Conference (ECC)

作者： Abhijit Mazumdar Rafal Wisniewski Manuela L. Bujorianu Section of Automation & Control Aalborg University Aalborg East Denmark Department of Computer Science University College London UK

In this paper, we aim to study safety specifications for a Markov decision process with stochastic stopping time in an almost model-free setting. Our approach involves characterizing a proxy set of the states that are near in a probabilistic sense to the set of unsafe states - forbidden set. We also provide results that relate safety function with reinforcement learning. Consequently, we develop an online algorithm based on the temporal difference method to compute the safety function. Finally, we provide simulation results that demonstrate our work in a simple example.

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From MDP to POMDP and Back: Safety and Compositionality

From MDP to POMDP and Back: Safety and Compositionality

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European control Conference (ECC)

作者： Manuela L. Bujorianu Tristan Caulfield David Pym Rafael Wisniewski Department of Computer Science University College London UK Section of Automation & Control Aalborg University Aalborg East Denmark

We propose a compositional framework for the stochastic safety of distributed Markov Decision Processes (MDPs) and Partially Observable Markov Decision Processes (POMDPs). We use MDP and POMDPs and their distributed versions as an appropriate modelling paradigm for computational ecosystems, understood in the context of distributed systems. We extend our work on stochastic safety from MDPs to POMDPs, and then to networked MDP/POMDPs. We propose a unifying mathematical framework for stochastic safety for MDPs, their partially observable version and their composition.

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Variable Gain Based Predictive Output Tracking control of Networked Systems

Variable Gain Based Predictive Output Tracking Control of Ne...

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Asian control Conference

作者： Yingying Pang Zhenyi Liu Haibin Guo Yong Zheng Zhonghua Pang Shengnan Gao Department of Automation North China University of Technology Beijing China School of Control and Computer Engineering Noth China Electric Power University Beijing China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper addresses the output tracking problem of network control systems (NCSs) with random communication constraints, especially when the lower bound of the time delay induced by random communication constraints is relatively large. Firstly, the output tracking problem is converted into the stabilization problem of an augmented system. Then, a networked predictive output tracking control scheme with time-varying control gains is proposed to compensate for the impact of the communication constraints so as to complete the desired output tracking performance under the large time delays. And, a set of control gains are calculated for each different time delay, which improves the adaptability of NCSs to time delays. Next, a sufficient condition is derived to keep the system stability. Finally, the effectiveness of the proposed method is verified by numerical simulations.

关键词： Sufficient conditions Networked control systems Delay effects Numerical simulation Stability analysis Real-time systems Delays

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Development of a UAV-based System for Technical Diagnostics of Overhead Power Lines 24

Development of a UAV-based System for Technical Diagnostics ...

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24th International Conference on Computational Problems of Electrical Engineering, CPEE 2023

作者： Kozlovskyi, Oleksandr Trushakov, Dmitro Rendzinyak, Serhiy Korud, Vasyl Central Ukrainian National Technical University Department of Electrical Systems and Energy Management Kropyvnytskyi Ukraine Central Ukrainian National Technical University Department of Automation and Control in Technical Systems Kropyvnytskyi Ukraine Ivan Franko National University of Lviv Faculty of Electronics and Computer Technologies Lviv Ukraine Lviv Polytechnic National University Institute of Power Engineering and Control System Lviv Ukraine

ISBN: (纸本)9798350330342

The problems associated with the operation of overhead power lines and ways of improving control over their condition with the help of UAVs are considered. A structural diagram of the system of technical diagnostics of overhead lines based on UAVs was developed, for which the necessary diagnostic parameters were selected according to informative criteria. An analysis of types of UAVs was carried out in order to determine their suitability and efficiency of use for diagnosing the condition of overhead lines. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Research and Analysis of the Method for Measuring the Moisture Content of Cottonmaterials at Ultrahigh Frequencies

Research and Analysis of the Method for Measuring the Moistu...

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Automatics and Informatics (ICAI), International Conference

作者： Palvan I. Kalandarov Khasan E. Turkmenov Shakhnoza R. Ubaydullayeva Nikola N. Nikolov Mariela I. Alexandrova Department “Automation and control of technology process in production” «Tashkent institute of irrigation and agricultural mechanization engineers» National Research University Tashkent Uzbekistan Department of Automation Faculty of Computer Science and Automation Technical University of Varna Varna Bulgaria

The article provides a theoretical analysis of the ultrahigh frequency (microwave) method of humidity measurement, discusses the problems of instrumentation of the method in question, and proposes a scheme of an experimental installation. Bulk cotton materials were selected as the objects of research. The electromagnetic wave radiation is analyzed during measurement and the evaluation of electrophysical characteristics requires the study of the functional dependence of the amplitude and phase shift on the mass ratio of humidity, mathematical models for various bulk cotton materials describing the joint effect of humidity, material density on the attenuation and phase shift of the passing wave are obtained.

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Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

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Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

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automation of Technological Processes for controlling Grain Moisture in the Flowu

Automation of Technological Processes for Controlling Grain ...

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Automatics and Informatics (ICAI), International Conference

作者： Palvan I. Kalandarov Shakhnoza R. Ubaydullayeva Rano T. Gaziyeva Nikola N. Nikolov Mariela I. Alexandrova Department “Automation and control of technology process in production” «Tashkent institute of irrigation and agricultural mechanization engineers» National Research University Tashkent Uzbekistan Department of Automation Faculty of Computer Science and Automation Technical University of Varna Varna Bulgaria

The paper deals with the problems of grain wounding requires large energy costs, requiring a multi-stage process of grain processing, installation and perfect and reliable automation systems for the storage and processing of raw materials, theoretical and experimental studies and the results of the use of the microwave method in measuring the moisture content of grain and grain materials. The method under consideration is based on the principle of selective absorption of microwave radiation energy by water in materials and its derivatives. By the degree of absorption of radiation, the concentration of moisture is judged. The paper investigates the amplitude and phase methods of the passing wave in free space. The influence of the elastic properties of the material under study on the electrical characteristics of the microwave wave, suggesting fundamentally new ways of measuring the attenuation and phase shift of the electromagnetic wave, including discrete conversion of the signal of the primary converter, which does not require rigid metrological support and the use of a phase shift, is substantiated. Information on the values of the thickness of the material is analyzed in order to correct the influence of this value, consisting of two parameters: the signal of the passing wave, the attenuation and phase shift which characterizes the humidity and the additional signal - the phase wave reflected from the front surface of the materials and carrying information about its thickness.

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Online Model-free Safety Verification for Markov Decision Processes Without Safety Violation

arXiv

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arXiv 2023年

作者： Mazumdar, Abhijit Wisniewski, Rafal Bujorianu, Manuela L. The Section of Automation & Control Aalborg University Aalborg9220 Denmark The Department of Computer Science University College London United Kingdom

In this paper, we consider the problem of safety assessment for Markov decision processes without explicit knowledge of the model. We aim to learn probabilistic safety specifications associated with a given policy without compromising the safety of the process. To accomplish our goal, we characterize a subset of the state-space called proxy set, which contains the states that are near in a probabilistic sense to the forbidden set consisting of all unsafe states. We compute the safety function using the single-step temporal difference method. To this end, we relate the safety function computation to that of the value function estimation using temporal difference learning. Since the given control policy could be unsafe, we use a safe baseline sub-policy to generate data for learning. We then use an off-policy temporal difference learning method with importance sampling to learn the safety function corresponding to the given policy. Finally, we demonstrate our results using a numerical example. © 2023, CC BY-NC-ND.

关键词： Markov processes

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