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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Kloetzer, Marius Burlacu, Adrian Panescu, Doru Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Blvd. Prof. Dimitrie Mangeron 27 Iasi 700050 Romania

ISBN: (纸本)9783902661982

A solution for a class of multi-robot task allocation problems is presented in this work. The basic problem requires that the robots from a team gather randomly spread samples from an environment and deposit them to a storage facility. We focus on a finite-state (discrete) formulation, where the environment is abstracted to a weighted graph, and clusters of samples randomly appear in the nodes of this graph. Under the assumption that a central unit that communicate with all robots exists, we derive algorithmic solutions that simultaneously run on (and exchange information between) the central unit and individual robots. Although these algorithms are derived for a problem with specific assumptions, we include ideas for adjusting the solution for related problems belonging to the same class. © 2012 IFAC.

关键词： Multipurpose robots

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Real-time Networked Predictive control of a Vehicle Drivetrain with Backlash

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IFAC Proceedings Volumes 2012年第17期45卷 484-489页

作者： Constantin F. Caruntu Corneliu Lazar Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

The goal of this paper is to provide a control design methodology that can assure the closed-loop performances of a vehicle drivetrain with backlash, while compensating the network-induced time-varying delays. Firstly, a piecewise linear model of a two inertias drivetrain, which takes into consideration the backlash nonlinearity together with the driveshaft flexibility is derived. Then, the error caused by the time-varying delays is modeled as a disturbance and a method of bounding the disturbances is presented. Thirdly, a robust predictive controller based on flexible control Lyapunov functions is designed, which explicitly takes into account the bounds of the disturbances caused by time-varying delays and guarantees also the input-to-state stability of the system in a non-conservative way. The control strategy was experimentally tested on a vehicle drivetrain emulator controlled through controller Area Network, with the aims of minimizing the backlash effects and damping driveline oscillations.

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An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

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作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

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Identification of a gas furnace process using WSDP model

Identification of a gas furnace process using WSDP model

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2nd International Conference on control, Automation and Information Sciences, ICCAIS 2013

作者： Truong, Nguyen-Vu Hiep, Nguyen Tran Institute of Applied Mechanics and Informatics Vietnam Academy of Science and Technology Viet Nam Department of Automatic Control Le Qui Don Technical University Hanoi Viet Nam

ISBN: (纸本)9781479905720

This paper presents the identification of a gas furnace process using the so called wavelet based State Dependent Parameter (WSDP) models. Here, each of the process' dominant dynamics are characterized by a state dependent parameter in form of wavelet which is able to provide valuable insight, and effective means to measure the system's degree of nonlinearity. To illustrate the advantages of the proposed modeling approach, the identified model is benchmarked with a few welknown reported results, i.e. fuzzy logic, generalised kernel and linear ARX models. © 2013 IEEE.

关键词： Gas furnaces

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Dynamic simulation model for a steam drum boiler system 10

Dynamic simulation model for a steam drum boiler system

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2009 10th European control Conference, ECC 2009

作者： Halauca, Cristina Lazar, Corneliu Gh. Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics D. Mangeron str no. 53A Iasi700044 Romania

ISBN: (纸本)9783952417393

Dynamic modeling of a steam generation system is necessary for analyzing the power plant and for control design studies. The paper presents a nonlinear dynamic simulation model based on the physical properties of water and steam with their different mass and energy balance equations. The developed dynamic model was used to build up a drum boiler simulator for the typical Romanian steam boilers from a power plant being in use in the Iasi area. The model has been validated in open loop system, using data from tests carried out on the actual plant. Open-loop studies include comparisons between simulation results and real plant data. The work also shows the application problems that arise when implementing three types of control strategies to an actual steam drum boiler. © 2009 EUCA.

关键词： Engines

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Nonlinear system identification by means of genetic programming 10

Nonlinear system identification by means of genetic programm...

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2009 10th European control Conference, ECC 2009

作者： Patelli, A. Ferariu, L. 'Gh. Asachi' Technical University of Iasi Romania Department of Automatic Control and Applied Informatics Bd. D. Mangeron 53 A Iasi700050 Romania

ISBN: (纸本)9783952417393

The paper presents a novel nonlinear identification procedure, able to select the structure and parameters of a model according to a data - driven approach. The methodology is based on genetic programming techniques. The tree-like encryption of potential models guarantees a good spread of possible solutions within the problem search-space. During the evolutionary loop, various nonlinear models, linear in parameters are generated. To increase the convergence speed, the algorithm makes use of customized genetic operators and a local optimization procedure, based on QR decomposition. The experimental trials have proven that the approach is able to provide compact and accurate models, even when poor a priori information about the model structure is available. © 2009 EUCA.

关键词： Genetic programming

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Digital Twin and Virtual Reality: A Co-simulation Environment for an Educational Hydraulic Workstation 17

Digital Twin and Virtual Reality: A Co-simulation Environmen...

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17th International Conference on Development and Application Systems, DAS 2024

作者： Hrib, Fanica-Valeriu Iancu, Andrei-Iulian Dosoftei, Constantin-Catalin Department of Machine Manufacturing Technology "Gheorghe Asachi" Technical University of Iasi Iasi Romania Department of Automatic Control and Applied Informatics Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (纸本)9798350349290

Hydraulic system comprehension forms the pillar ofnumerous engineering fields;however, its academic assimilation remains intricate. Addressing this, our research introduces a digital twin-enabled virtual hydraulic workstation simulator developed in Automation Studio™. This simulator mirrorsa tangible hydraulic workstation, including its multifaceted components, to enhance the pedagogical paradigm of hydraulic education. We ensure the symbiosis of theoretical understanding and practical application by meticulously modeling 3D hydraulic components and executing analogous simulations. Our key findings spotlight the utility of time-dependent system behavior graphs in bolstering educational insights. The paper underscores the significance of digital twin solutions in university programs, mainly when physical resources are scarce, reinforcing educational technology’s potential to facilitate studentengagement in technically dense arenas. ©2024 IEEE.

关键词： Three dimensional computer graphics

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Analysis of message flow transmissions for an inter-vehicle communication scenario 14

Analysis of message flow transmissions for an inter-vehicle ...

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14th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2022

作者： Militaru, Andreea V. Lazar, Razvan G. Caruntu, Constantin F. Comsa, Ciprian R. Bogdan, Ion Gheorghe Asachi Technical University of Iasi Department of Telecommunications and Information Technologies Iasi Romania Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania

ISBN: (数字)9781665495356

ISBN: (纸本)9781665495356

Mobility in urban areas evolved massively in recent decades, leading in a continuous manner to traffic difficulties and significantly increasing the number of accidents, especially in crowded intersections. While much attention has been paid to controlling individual vehicles, recently the wireless communication networks were integrated as main ingredients for cooperation between vehicles with the other traffic participants and smart infrastructure. Thus, the fifth-generation (5G) communication technology promises an increase of the capacity for the existent cellular network, a faster connection, an ultra-low latency, and higher reliability. Moreover, device-to-device (D2D) communication is an essential feature when a large amount of devices have to be connected. The main advantage of D2D communication is the direct exchange of information between devices, without having to send the signal through the base station. Hence, this paper uses the Simu5G simulator to explore the D2D communication in a vehicle communication scenario by analysing the quality of the network. For this, the network performance was evaluated by monitoring the Channel Quality Indicator (CQI) and the message flow during the movement of the cars. The obtained results are in accordance with the real-time operation of the 5G technology. © 2022 IEEE.

关键词： 5G mobile communication systems

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Impact of Data Packet Loss for DSRC Vehicular Safety Communication in Connected Vehicle Platoons 28

Impact of Data Packet Loss for DSRC Vehicular Safety Communi...

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28th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Lazar, Razvan-Gabriel Militaru, Andreea-Valentina Caruntu, Constantin-Florin Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania Gheorghe Asachi Technical University of Iasi Department of Telecommunications and Information Technologies Iasi Romania

ISBN: (纸本)9798350339918

In the context of the development of wireless networks in the field of connected vehicles, platooning becomes more common on the road, and vehicular safety communication is crucial to ensure driver and passenger safety. Communication between vehicles within platoons relies on Dedicated Short-Range Communication (DSRC) and Cooperative Adaptive Cruise control (CACC). The DSRC allows vehicles to communicate by exchanging safety information like location, speed, and acceleration. As a result, the CACC control solution maintains a speed-independent inter-vehicle distance of the followers' vehicles based on this information. The platoon systems are susceptible to data packet loss that determine delayed and incomplete responses which can lead to collisions or other safety issues. This paper analyzes indicators such as the distance between platoon members, the front delay, and the relative speed of vehicles that have an impact on vehicular safety communication. © 2023 IEEE.

关键词： Cooperative communication

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Modeling of a pressure reducing valve actuator for automotive applications

Modeling of a pressure reducing valve actuator for automotiv...

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. E. Balau C. F. Caruntu D. I. Patrascu C. Lazar M. H. Matcovschi O. Pastravanu Automatic Control and Applied Informatics Department Technical University Romania

Significant research effort has been directed towards developing vehicle systems that reduce the energy consumption of an automobile and because pressure control valves are used as actuators in many control applications for automotive systems, a proper dynamic model is necessary. Starting from equations found in literature, where a single stage pressure reducing valve is modelled, in this paper, the concept of modeling a real three land three way solenoid valve actuator for the clutch system in the automatic transmission is presented. Two simulators for an input-output model and a state-space model were developed and these were validated with data provided from experiments with the real valve actuator on a test bench.

关键词： Valves Actuators Automotive applications Pressure control Energy consumption Automobiles automatic control Automotive engineering Vehicle dynamics Equations

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