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Unknown input observer based on discrete-time nonlinear descriptor model for understanding sitting control

IFAC-PapersOnLine 2017年第1期50卷 820-825页

作者： Blandeau M. Guerra T.M. Estrada-Manzo V. Pudlo P. Gabrielli F. Laboratory of Industrial and Human Automation control Mechanical engineering and Computer Science (LAMIH UMR CNRS 8201) Université de Valenciennes et du Hainaut-Cambrésis Valenciennes France Department of Electrical and Electronics Engineering Sonora Institute of Technology 5 de febrero 818 Sur CP Obregon Sonora 85000 Mexico

The present paper studies sitting control for persons with complete thoracic spinal cord injury by means of automatic control. The methodology begins by modeling sitting control, after a discretization of the nonlinear descriptor model is computed, then a Takagi-Sugeno model is obtained for further manipulations. The approach uses unknown input observers to estimate states and internal variable of the system. The design conditions are expressed as linear matrix inequalities, whose solvability depends on convex optimization techniques. Simulations are conducted to show the effectiveness of the proposed observer. © 2017

关键词： Discrete-Time systems Inverted pendulum Nonlinear descriptor systems Sitting movement Spinal Cord Injury Takagi-Sugeno models Unknown input observer

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Reliable Code Generation and Test Environment demonstrated on a PI-controller Design

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IFAC-PapersOnLine 2016年第3期49卷 465-470页

作者： Schwarz, M.H. Sheng, H. Üstoglu, I. Chabaan, W. Börcsök, J. Safety Computer Technology University of Kassel Germany Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Computer Architecture and System Programming University of Kassel Germany

This paper focuses on the latest version of a tool developed within the department to guide developer through the various steps of requirements, test-procedures and documentations to finally download the derived algorithm on a safety programmable logic controller (PLC). Requirements on how to develop and how to test software are steadily increasing due to international standards, which have to be obeyed in industries in general, and in the process- and automation industries in particular. A simple model is derived to be used to develop a PI controller that has to pass several steps to be qualified for execution on a PLC. The paper explains the different steps and describes the various problems that might occur. © 2016

关键词： controllers Accident prevention Reliability Software testing Automated code generation automation industry International standards P i controller designs PI control Programmable Logic controller (PLC) Simple modeling Test Environment

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Accuracy analysis for distributed weighted least-squares estimation in finite steps and loopy networks

arXiv

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arXiv 2018年

作者： Sui, Tianju Marelli, Damián Fu, Minyue Lu, Renquan Department of Control Science and Engineering Dalian University of Technology Liaoning China School of Automation Guandong University of Technology Guangzhou China French-Argentinean International Center for Information and Systems Sciences National Scientific and Technical Research Council Ocampo y Esmeralda Rosario2000 Argentina School of Electrical Engineering and Computer Science University of Newcastle University Drive CallaghanNSW2308 Australia

Distributed parameter estimation for large-scale systems is an active research problem. The goal is to derive a distributed algorithm in which each agent obtains a local estimate of its own subset of the global parameter vector, based on local measurements as well as information received from its neighbours. A recent algorithm has been proposed, which yields the optimal solution (i.e., the one that would be obtained using a centralized method) in finite time, provided the communication network forms an acyclic graph. If instead, the graph is cyclic, the only available alternative algorithm, which is based on iterative matrix inversion, achieving the optimal solution, does so asymptotically. However, it is also known that, in the cyclic case, the algorithm designed for acyclic graphs produces a solution which, although non optimal, is highly accurate. In this paper we do a theoretical study of the accuracy of this algorithm, in communication networks forming cyclic graphs. To this end, we provide bounds for the sub-optimality of the estimation error and the estimation error covariance, for a class of systems whose topological sparsity and signal-to-noise ratio satisfy certain condition. Our results show that, at each node, the accuracy improves exponentially with the so-called loop-free depth. Also, although the algorithm no longer converges in finite time in the case of cyclic graphs, simulation results show that the convergence is significantly faster than that of methods based on iterative matrix inversion. Our results suggest that, depending on the loop-free depth, the studied algorithm may be the preferred option even in applications with cyclic communication graphs. Copyright © 2018, The Authors. All rights reserved.

关键词： Optimal systems

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Local open-loop manipulation of multi-agent networks

Local open-loop manipulation of multi-agent networks

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American control Conference

作者： Dinuka Sahabandu Rahul Dhal Jackeline Abad Torres Sandip Roy Department of Electrical Engineering and Computer Science Washington State University Market Research and Analysis EPIS Inc. Department of Automation and Industrial Control Escuela Politecnica Nacional

ISBN: (纸本)9781509045839

The energy required for manipulation of a double-integrator network model via local external actuation is examined. Some previous results on the controllability Gramian, which specifies the required energy, are briefly reviewed. Three new results are then developed. First, the energy required for manipulation along the synchronization manifold over an arbitrary horizon is characterized. Second, several scalar measures that give a global indication of a network's manipulability are analyzed. Based on these measures, we study design of the DIN to prevent or facilitate manipulation.

关键词： NETWORKING AGENT Energy sources maneuverability Network network model

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Machine discovery of partial differential equations from spatiotemporal data

arXiv

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arXiv 2019年

作者： Yuan, Ye Li, Junlin Li, Liang Jiang, Frank Tang, Xiuchuan Zhang, Fumin Liu, Sheng Goncalves, Jorge Voss, Henning U. Li, Xiuting Kurths, Jürgen Ding, Han School of Artificial Intelligence and Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta30332 United States School of Power and Mechanical Engineering Wuhan University Wuhan430074 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Luxembourg Centre for Systems Biomedicine University of Luxembourg BelvauxL-4367 Luxembourg Citigroup Biomedical Imaging Center Weill Cornell Medical College New York10021 United States Research Domain IV - Transdisciplinary Concepts & Methods Potsdam Institute for Climate Impact Research Potsdam14473 Germany School of Mechanical Science and Engineering State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China

The study presents a general framework for discovering underlying Partial Differential Equations (PDEs) using measured spatiotemporal data. The method, called Sparse Spatiotemporal System Discovery (S3d), decides which physical terms are necessary and which can be removed (because they are physically negligible in the sense that they do not affect the dynamics too much) from a pool of candidate functions. The method is built on the recent development of Sparse Bayesian Learning;which enforces the sparsity in the to-be-identified PDEs, and therefore can balance the model complexity and fitting error with theoretical guarantees. Without leveraging prior knowledge or assumptions in the discovery process, we use an automated approach to discover ten types of PDEs, including the famous Navier-Stokes and sine-Gordon equations, from simulation data alone. Moreover, we demonstrate our data-driven discovery process with the Complex Ginzburg-Landau Equation (CGLE) using data measured from a traveling-wave convection experiment. Our machine discovery approach presents solutions that has the potential to inspire, support and assist physicists for the establishment of physical laws from measured spatiotemporal data, especially in notorious fields that are often too complex to allow a straightforward establishment of physical law, such as biophysics, fluid dynamics, neuroscience or nonlinear optics. Copyright © 2019, The Authors. All rights reserved.

关键词： Nonlinear optics

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Visual Navigation Method for Indoor Mobile Robot Based on Extended BoW Model

Visual Navigation Method for Indoor Mobile Robot Based on Ex...

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第十二届中国智能机器人大会

作者： Xianghui Li Xinde Li Mohammad Omar Khyam Chaomin Luo Yingzi Tan Key Laboratory of Measurement and Control of CSE (Ministry of Education) School of Automation Sout Department of Electrical and Computer Engineering Faculty of Engineering National University of Si Department of Electrical and Computer Engineering University of Detroit Mercy Michigan USA

This paper proposes a new navigation method for mobile robots based on an extended BoW (Bag of Words) model for general object recognition in indoor *** SIFT (Scale-invariant Feature Transform) detection algorithm with the GPU (Graphic Processing Unit) acceleration technology is used to describe feature vectors in this ***,in order to add some redundant image information,statistical information of the spatial relationships of all the feature points in an image,i.e.,relative distances and angles,is used to extend the feature vectors in the original BoW ***,the unsupervised SVM (Support Vector Machine) classifier is used to classify ***,in order to navigate conveniently in unknown and dynamic indoor environments,a type of human-robot interaction method based on a hand-drawn semantic map is *** experimental results show that this new navigation technology for indoor mobile robots is very robust and highly effective.

关键词： general object recognition Bag of Words model mobile robot visual navigation

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Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

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Iterative Learning control Applied to a Deformable Mirror

Iterative Learning Control Applied to a Deformable Mirror

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第36届中国控制会议

作者： Blazej Cichy Petr Augusta Krzysztof Galkowski Eric Rogers Institute of Control and Computation Engineering University of Zielona Góra Institute of Information Theory and Automation The Czech Academy of Sciences Department of Electronics and Computer Science University of Southampton

An unconditionally stable finite difference discretization motivated by the well-known Crank-Nicolson method is used to develop an iterative learning control design for systems whose dynamics are described by a fourth-order partial differential equation.A discrete in time and space model of a deformable rectangular mirror is derived in this setting and forms the basi s for the new design,where a model for the actuator dynamics is also included.A numerical case study is given to demonstrate the properties of the new design.

关键词： Crank-Nicolson Discretization Method Iterative Learning control Thin Plates

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Soil stabilization with modern TM MAPEI materials in reconstruction of buildings and structures

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IOP Conference Series: Materials Science and Engineering 2019年第1期708卷

作者： S V Panchenko G L Vatulia O V Lobiak M V Pavliuchenkov O S Herasymenko S M Bohdan Department of Automation and Computer Train Operation Remote Control Ukrainian State University of Railway Transport Feuerbach sq. 7 Kharkiv Ukraine Department of Structural Mechanics and Hydraulics Ukrainian State University of Railway Transport Feuerbach sq. 7 Kharkiv Ukraine Department of Building Materials and Structures Ukrainian State University of Railway Transport Feuerbach sq. 7 Kharkiv Ukraine LLC 'Mapei' 13 E. Sverstiuka St. Kyiv Ukraine

The article deals with the findings of experimental and theoretic research into the efficiency of applying prepared substances TM MAPEI for chemical soil stabilization for foundations of buildings in reconstruction. The objects of the study were soils of rapid, average and slow permeability. Determination of physical and mechanical characteristics of soils before and after stabilization was conducted in laboratory environment. The results were obtained on the basic of the project into stabilization of foundations under complex reconstruction of a four-storied building. The chemical stabilization technology for foundations purported uniform mixing of soil with a special mixing screw, supplying needed components, and further consolidation. A design diagram for the building was made in software package Lira-SAPR 2018. Calculations of carrying capacity of the foundation were made for six design patters which differed in characteristics of the stabilized soil according to the materials applied. The first design pattern considered the application of non-stabilized soil. Results of the calculations are presented as isofields, soil reaction coefficients C1 and C2 , loads (pressure) on the foundation Pz , and vertical deformations. On the basis of the research the authors state that application of TM MAPEI for chemical stabilization of collapsible soils under reconstruction allows increasing the foundation rigidity by three times and more, the carrying capacity by 10 times and more, depending on the formulations accepted.

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On the nonexistence of event-based triggers that preserve Gaussian state in presence of package-drop

On the nonexistence of event-based triggers that preserve Ga...

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American control Conference

作者： Enoch Kung Junfeng Wu Dawei Shi Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Department of Automatic Control The Royal Institute of Technology (KTH) State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781509045839

State estimation is a core objective in cyber-physical systems. In the state estimation problem over linear systems, the Kalman filter is the standard solution. The filter is the format on which the solutions to subsequent estimation problems are based. Among these problems are the estimation problem in the presence of packet drops and estimation problem involving event-based triggers. We study in this paper both phenomena simultaneously. In an attempt to find the Kalman-like filter, which proves the Gaussianity of the state and offers a set of update equations, our paper shows that no such filter exists. More precisely, one cannot find an event-based trigger such that under possible packet drops, the state variable remains a Gaussian variable. This conclusion can be reasonably extended to a more general setting.

关键词： State estimation Packet drops Event-based triggers State estimation Event-based Filters State variable TRIGGERS Gauss

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