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arXiv 2024年

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Mårtensson, Jonas Hamel, Tarek Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Mechanical and Mechatronics Engineering Department University of Waterloo ON Canada France

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024, CC BY-NC-ND.

关键词： Acceleration measurement

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Normal and Antenna Mode Coupling Due to Mode Impedance Mismatch in Two-Conductor Transmission Line

Normal and Antenna Mode Coupling Due to Mode Impedance Misma...

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Asia-Pacific Symposium on Electromagnetic Compatibility (APEMC)

作者： Souma Jinno Shuji Kitora Hiroshi Toki Masayuki Abe Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology Osaka Japan Health and Counseling Center Osaka University Osaka Japan Graduate School of Engineering Science Osaka University Osaka Japan

ISBN: (数字)9784885523472

ISBN: (纸本)9798350349498

This paper examines the generation of electromagnetic noise caused by coupling between normal mode (NM) and antenna mode (AM) in a two-conductor transmission line (TL). We derive the telegraph equations for NM and AM using electromagnetic potentials and quantity the coupling effect at the connection of TLs with different mode impedances based on experimental and numerical observations. This study demonstrates that impedance matching of TLs requires the consideration of not only NM impedance but also coupling impedance.

关键词： Couplings Electric potential Power transmission lines Impedance matching Noise Electromagnetic compatibility Transmission line theory

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Stress Matrix-Based Formation control of Multi-Agent systems with Discrete-Time Communication

Stress Matrix-Based Formation Control of Multi-Agent Systems...

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International Conference on systems and control (ICSC)

作者： Okechi Onuoha Brendan Chijioke Ubochi Suleiman Kurawa Zezhi Tang Changshun Wu Yi Dong School of Physics Engineering and Computer Science (SPECS) University of Hertfordshire UK The Department of Electrical and Electronic Engineering Federal University of Technology Akure Nigeria The Department of Electrical Engineering University of Manchester UK The Department of Automatic Control and Systems Engineering University of Sheffield UK University Grenoble Alpes Grenoble France The School of Electronics & Computer Science University of Southampton UK

ISBN: (数字)9798331531812

ISBN: (纸本)9798331531829

This study addresses the affine formation maneuver control of cooperative multi-agent systems (MAS) having periodic inter-agent communication for both static and dynamic leader cases. Here, we focus on the leader-follower MASs. The primary aim of the control system is to steer the entire collection of agents to produce required patterns (geometric) along with any required maneuver through the direct control of only few a selected agents referred to as leaders. Most of the existing works are constrained to either the individual agents communicate with each other in continuous-time or the sample-data scenario where the leaders are stationary or have constant acceleration or velocities. Here, we consider the scenarios where the velocities of the leaders can be time-varying or constant. Here, different cases are addressed and some control laws are proposed. Conditions are established to help guarantee the overall stability of the systems. A simulation study is employed for the illustration of our proposed laws.

关键词： Target tracking Simulation Accelerated aging control systems Formation control Stability analysis Stress Time-varying systems Multi-agent systems

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Conflict-Based Search and Improvement Strategies for Solving a New Lexicographic Bi-Objective Multi-Agent Path Finding Problem

Conflict-Based Search and Improvement Strategies for Solving...

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Li, Siyi Li, Xingyang Zhou, Mengchu Zhao, Ziyan Liu, Shixin Northeastern University College of Information Science and Engineering Shenyang110819 China Northeastern University Foshan Graduate School of Innovation Foshan528311 China Northeastern University Faculty of Robot Science and Engineering Shenyang110819 China New Jersey Institute of Technology Department of Electrical and Computer Engineering NewarkNJ07102 United States Macao Inst. of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems Macau University of Science and Technology 999078 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Multi-Agent Path Finding (MAPF) is an important problem with a variety of applications. Its aim is to find collision-free paths for agents having separate start and goal positions. This work proposes a new lexicographic bi-objective MAPF considering different task types, where agents are divided into two kinds to perform critical and acritical tasks. This is common in practical intelligent warehousing scenarios where a critical/acritical-task-performing agent (called c-agent and a-agent, respectively) may represent a full-load/no-load one or the one conducting urgent/non-urgent tasks. The primary objective is to minimize the sum-of-costs of c-agents, while the secondary objective is to minimize the sum-of-costs of a-agents. Two MAPF algorithms are modified to fit and solve the concerned problem for the first time. Moreover, four improvement strategies are embedded to the proposed algorithms and proved to be effective in solving MAPF problems with different task types. © 2022 IEEE.

关键词： Multi agent systems

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Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous Intelligent systems 2021年第1期1卷 81-90页

作者： Xiuxian Li Housheng Su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

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Recent advances and perspectives on prelithiation strategies for lithium-ion capacitors

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Rare Metals 2022年第10期41卷 3322-3335页

作者： Jiang-Min Jiang Zhi-Wei Li Zhao-Ting Zhang Shi-Jing Wang Hai Xu Xin-Ran Zheng Ya-Xin Chen Zhi-Cheng Ju Hui Dou Xiao-Gang Zhang Jiangsu Key Laboratory of Electrochemical Energy Storage Technology College of Material Science and EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Jiangsu Key Laboratory of Coal-Based Greenhouse Gas Control and Utilization School of Materials Science and PhysicsChina University of Mining and TechnologyXuzhou221116China Department of Physics National University of SingaporeSingapore117574Singapore Tsinghua Shenzhen International Graduate School Tsinghua UniversityShenzhen518055China

Lithium-ion capacitors(LICs),consisting of a capacitor-type material and a battery-type material together with organic electrolytes,are the state-of-the-art electrochemical energy storage devices compared with supercapacitors and *** to their unique characteristics,LICs received a lot of attentions,and great progresses have been achieved,especially in the exploration of cathode and anode *** techniques are regarded as indispensable procedures for LICs systems,which can compensate for the initial irreversible capacity loss,increase the Li^(+)concentration in the electrolyte,raise the working voltage and resolve the safety and cycle stability issues;however,its research progress is slow,and there is not enough attention until *** this overview,we look into the ongoing processes on the recent development of prelithiation technologies,especially in organic electrolyte consumption-type *** particular,some prelithiation strategies for LICs are summarized and discussed in detail,including the ex situ electrochemical method,in situ electrochemical method,and cathode prelithiation additives ***,we propose some unresolved challenges and prospects for prelithiation technologies from the basic research ideas and future key research *** work aims to bring up new insights to reassess the significance of premetallation strategies for advanced hybrid-ion capacitors based on the currently proposed prelithiation strategies.

关键词： Lithium-ion capacitors(LICs) Prelithiation Initial irreversible capacity Stabilized lithium metal powder Self-sacrificial additives

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Software-defined event-based camera and vision algorithms for digitizing highly dynamic manufacturing tasks

Software-defined event-based camera and vision algorithms fo...

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2024 Low-Cost Digital Solutions for Industrial Automation, LoDiSA 2024

作者： Walker, Emily Turner, Christopher J. Oyekan, John Department of Automatic Control & Systems Engineering The University of Sheffield SheffieldS1 3JD United Kingdom Surrey Business School The University of Surrey Surrey GuildfordGU2 7XH United Kingdom Real Time & Distributed Systems Group Department of Computer Science University of York Heslington YorkYO10 5GH United Kingdom

ISBN: (纸本)9781837242672

Event-based cameras are inspired by the way the retina in the eye process information. Rather than capturing image frames at a constant rate, event cameras generate data asynchronously, based on changes in pixel value between frames. As a result, these cameras have a high spatiotemporal accuracy, low power constraints and reduced artefacts from motion blur. Hence, they represent favourable properties for digitizing highly dynamic manufacturing tasks such as machine vibrations and rapid human assembly actions. However, the costs of event-based cameras are prohibitively high for small to medium sized enterprises (SMEs). In this research, we present the development of a rig that combines low-cost visual sensors with low-cost algorithms to perform action recognition for highly dynamic manual manufacturing tasks. We applied our algorithms to achieve an action classification system via a novel threshold-based approach and in parallel use a neural network to perform classification of objects in the video feed. The results achieved demonstrated that our approach was able to successfully identify various rapid manual tasks being performed on identified objects. In addition to SMEs, our approach would be suited for providing low-cost digitization on legacy machines. © This is an open access article published by the IET under the Creative Commons Attribution License (http://***/licenses/by/3.0/).

关键词： Machine vibrations

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Parameter Design of Model Predictive control for the Displacement control of an Axial Piston Pump

Parameter Design of Model Predictive Control for the Displac...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Tsuyoshi Yamada Kazuhisa Ito Ryo Inada Shibaura Institute of Technology Graduate School of Engineering and Science Saitama Japan Department of Machinery and Control Systems Shibaura Institute of Technology Saitama Japan Hitachi Construction Machinery Co. Ltd. Advanced Development Center Tsuchiura Japan

ISBN: (数字)9798350304947

ISBN: (纸本)9798350304954

The tilt angle control of variable displacement hydraulic pumps is susceptible to changes in dynamic characteristics that depend on operating points and load pressure, and hence high control performance is hard to achieve. In this study, a variable displacement pump without a mechanical feedback mechanism is focused on and its displacement control system is designed using a model predictive control (MPC) method that can consider various design constraints. In particular, the adaptive MPC is introduced for accepting dynamic characteristics change and load pressure. The results clarified that the difference due to the variations in the model order was negligible for the steady-state deviation and settling time; however, the overshoot variation and the average of absolute tracking error could be attenuated using a higher order model for load pressure changes. Furthermore, the settling time and tracking error were considerably reduced by increasing the prediction and control horizons properly.

关键词： Pistons Adaptation models Target tracking Displacement control Pumps Hydraulic systems Trajectory

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A Distributed Constant Equivalent Circuit Model and a Method for Estimating Parameters for Paper-Based Lactate Biofuel Cells

SSRN

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SSRN 2024年

作者： Yokoi, Yukiya Ito, Daiki Yoshihara, Yuko Ishigoori, Kazuhiro Shitanda, Isao Katayama, Noboru Department of Electrical Engineering Graduate School of Science and Engineering Tokyo University of Science 2641 Yamazaki Chiba Noda278-8510 Japan Department of Advanced Science Graduate School of Science and Engineering Tokyo University of Science 2641 Yamazaki Chiba Noda278-8510 Japan Department of Pure and Applied Chemistry Faculty of Science and Technology Tokyo University of Science 2641 Yamazaki Chiba Noda278-8510 Japan Department of Electrical and Electronic Engineering Faculty of Science and Technology Tokyo University of Science 2641 Yamazaki Chiba Noda278-8510 Japan

In this study, a distributed constant-type equivalent circuit model for BFCs in which the anode and cathode are formed on the same plane was constructed, and a method of determining parameter values in the equivalent circuit model was proposed. When paper-based lactate biofuel cells (PBFC) were prepared and the electrochemical impedance of the entire cell was measured, the Nyquist diagram produced a spectrum due to the current line distribution. Parameters, such as charge transfer and solution resistances were calculated from the obtained spectrum using theoretical impedance equations derived from the proposed equivalent circuit model proposed. In addition, the behavior of the current distribution in the battery was evaluated in detail by moving the reference electrode on and performing local electrochemical impedance spectroscopy at multiple points on the electrode. The models and methods proposed in this study are good for evaluating systems affected by distributed current lines, such as flat batteries, and for determining cell design, electrode areas, and arrangements. © 2024, The Authors. All rights reserved.

关键词： Electrochemical impedance spectroscopy

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Development of a digital twin environment for smart collision avoidance algorithms for mobile robots using reinforcement learning

Development of a digital twin environment for smart collisio...

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SICE Annual Conference

作者： Natsumi Matsumoto Kazuyuki Kobayashi Tomoyuki Ohkubo Kaiqiao Tian Nashwan J Sebi Ka C Cheok Cai Changqing Graduate School of Science and Engineering Hosei University Tokyo Japan Faculty of Advanced Engineering Nippon Institute of Technology Saitama Japan Electrical & Computer Engineering Department School of Engineering & Computer Science Oakland University Rochester USA School of Electrical Engineering and Information Technology Changchun Institute of Technology China

This paper describes a study on building a digital twin environment using point cloud data for mobile robots. A digital twin environment for mobile robots is a method to reproduce almost the same environment in a simulation space as if it were a twin, using data from an actual natural environment. In fact, in the development of mobile robots, experiments on public urban area are conducted, however, they are incredibly time-consuming and labor-intensive, so it would be helpful if a realistic simulation environment could be created. This study focuses on building a digital twin environment using point-cloud-data for mobile robots. In order to verify the effectiveness of this approach, we constructed the environment using data from a real mobile robot that has been driven. The navigation of the mobile robot was performed in the constructed simulation environment, and it was possible to realize a navigation run in the driving environment that was almost the same as the run of the real mobile robot.

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