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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent systems 32

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Skarpetis, Michael G. Koumboulis, Fotis N. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator. © 2024 IEEE.

关键词： controllers

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A Hybrid 1DCNN-SVM Model for Bearing Fault Recognition and Classification 27

A Hybrid 1DCNN-SVM Model for Bearing Fault Recognition and C...

引用

27th International Conference on Automation and Computing, ICAC 2022

作者： Wang, Guoliang Wei, Hua-Liang University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (数字)9781665498074

ISBN: (纸本)9781665498074

Rolling bearings play a significant role in the operation of rotating machinery. Finding bearing faults in the early stage can not only keep machinery running safely but also avoid economic loss. Traditional machine learning (ML) and deep learning (DL) are two important classes of fault diagnosis methods. The process of feature extraction is significant for ML based methods and many signal processing techniques have been used in this process. However, when dealing with massive and complex signals, features extracted by these techniques may not fully describe the characteristics of faults. Convolutional neural network (CNN) models are applied in many areas, including image identification and classification, pattern recognition, and speech processing. In this paper, a novel hybrid model by combining one dimensional CNN (1DCNN) and support vector machine (SVM) is proposed for bearing fault diagnosis and classification, which is called 1DCNN-SVM model or method. The first part of the model, 1DCNN, is used to extract features of raw data, whereas the second part, SVM, is employed to carry out the fault recognition and classification tasks. The evaluation of the proposed method is operated based on a real dataset. The experiment results show that the fault diagnosis accuracy of proposed method based on the hybrid model is highly improved compared to the traditional SVM based methods. © 2022 IEEE.

关键词： Failure analysis

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Efficient Mask Attention-Based NARMAX (MAB-NARMAX) Model Identification 27

Efficient Mask Attention-Based NARMAX (MAB-NARMAX) Model Ide...

引用

27th International Conference on Automation and Computing, ICAC 2022

作者： Sun, Yiming Wei, Hua-Liang University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (数字)9781665498074

ISBN: (纸本)9781665498074

Model structure selection is crucial in system identification and data-driven modelling. Many spurious candidate variables can influence the determination of model structures due to the lack of prior knowledge of the system of interest. The commonly used method is to test as many possible models as possible and select a set of best models. This study proposes a novel mask attention-based NARMRAX (MAB-NARMAX) modelling method for nonlinear dynamic system identification. The mask attention mechanism comes from the widely used neural network Transformer to reduce the dependency of the features and neurons. The performance of the proposed method is tested on three simulation datasets. Results show that the proposed MAB-NARMAX modelling framework has convincing multistep-ahead prediction performance for nonlinear system identification in that it can produce the precious model structure. Even when the data are polluted with high noise (resulting in low SNR), the proposed method can still generate reliable system models compared with the state-of-the-art machine learning methods, e.g., LASSO and LSTM. © 2022 IEEE.

关键词： Signal to noise ratio

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Machine Learning for Medical and Healthcare Data Analysis and Modelling: Case Studies and Performance Comparisons of Different Methods 27

Machine Learning for Medical and Healthcare Data Analysis an...

引用

27th International Conference on Automation and Computing, ICAC 2022

作者： Sun, Bo Wei, Hua-Liang University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (数字)9781665498074

ISBN: (纸本)9781665498074

In smart healthcare, binary classification is one of the most important tasks for disease or clinical outcome prediction. Machine learning (ML) methods have great potential to discover knowledge from data. While there are a wide range of ML methods that are potentially useful, the selection, design and implementation of an appropriate method from a variety of ML models for specific prediction tasks is still quite challenging in many medical and healthcare data modelling tasks. This paper investigates, evaluate and compares nine typical representative ML methods using four clinical and healthcare datasets. The main attention is paid to the strengths and weaknesses of these methods and provide suggestions to researchers in related fields. Results demonstrate that ensemble learning (such as Adaboost and random forest) outperform the other approaches in prediction accuracy and interpretability. © 2022 IEEE.

关键词： Adaptive boosting

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Safe Motion Along Harmonic Potential Surfaces with Cardinal Spline Dirichlet Boundary Conditions 63

Safe Motion Along Harmonic Potential Surfaces with Cardinal ...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Nicu, Theodor-Gabriel Stoican, Florin Ioan, Daniel Prodan, Ionela Department of Automatic Control and Systems Engineering Romania 313 Splaiul Independenţei Sector 6 Bucharest060042 Romania Lcis ValenceF-26000 France

ISBN: (纸本)9798350316339

This work pertains to the generation and use of harmonic functions for obstacle avoidance and target tracking. For each cell of a polyhedral complex, we generate a harmonic potential surface from a Dirichlet-type condition on its boundary. The condition is expressed as a smooth cardinal B-spline curve, thus allowing an efficient computation of the potential which avoids the large gradients characteristic to the piecewise constant boundary conditions usually employed in the literature. Enumerating all pairs of 'in' and 'out' facets for each feasible cell (one not part of the obstacles) and attaching a relevant cost to each such pair (e.g., proportional to the path length inside the cell), we arrive at a directed graph where, by construction, all possible paths linking the source and the target avoid the obstacles. The optimal path results from a variation of Dijkstra's algorithm. © 2024 IEEE.

关键词： Harmonic analysis

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Input-Output Supervisor Design for systems Analyzed in Cooperating Pairs of Subsystems 32

Input-Output Supervisor Design for Systems Analyzed in Coope...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. School of Science National & Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application. © 2024 IEEE.

关键词： Supervisory personnel

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Supervisory control for Smart Manufacturing Using FIWARE 3

Supervisory Control for Smart Manufacturing Using FIWARE

引用

3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Menexis, Antonios N. Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Kouvakas, Nikolaos D. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea 34400 Greece

ISBN: (纸本)9798331540319

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools. © 2024 IEEE.

关键词： Smart manufacturing

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A Fault Feature Learning Model for Zero-shot Intelligent Diagnosis of Compound Faults in Rotating Machinery 14

A Fault Feature Learning Model for Zero-shot Intelligent Dia...

引用

14th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Hangzhou 2023

作者： Yin, Shuangyan Yang, Jingli Tang, Qing Department of Automatic Test and Control Harbin Institute of Technology Harbin China China Institute of Marine Technology & Economy Beijing China

ISBN: (纸本)9798350301359

Due to the intricacy of rotating machinery and the interconnections among its systems, diagnosing compound faults in equipment poses a major challenge in this research area. Existing intelligent compound fault diagnosis methods rely on having sufficient compound fault data for training. However, obtaining complete compound fault data in industrial scenarios is an arduous task, and compound faults are often considered as unknown faults. This paper introduces a zero-shot intelligent diagnosis model that focuses on discriminating unknown compound faults. The method comprises four stages: data acquisition and preparation, fault features learning, fault semantics construction, and feature semantics mapping. Our primary focus is on the feature learning stage. The fault feature learning model of the zero-shot intelligent diagnosis method (FFL-ZID) incorporates a feature-level contraction block and a decision-level contraction block. The former filters valid information to extract essential features from the raw data, while the latter promotes feature decoupling to ensure independence among selected features and reduce redundancy. Experimental results on the mechanical comprehensive diagnostic simulation platform (MCDSP) demonstrate the effectiveness of the proposed method for identifying unknown compound faults in rotating machinery. © 2023 IEEE.

关键词： compound fault diagnosis fault feature learning rotating machinery zero-shot learning

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Analysing and Modelling Human Trust to a Navigation Robot 2

Analysing and Modelling Human Trust to a Navigation Robot

引用

2nd Edition IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering, MetroXRAINE 2023

作者： Onyeoru, Happy Chidi Wirth, Christopher Giles, Joshua Arvaneh, Mahnaz University of Sheffield Department of Automatic Control and Systems Engineering United Kingdom School of Medical Sciences University of Manchester United Kingdom

ISBN: (纸本)9798350300802

Human trust plays a crucial role in Human-Machine Interactions (HMIs) within autonomous systems. This paper delves into the factors that influence human trust in machines, including varying error rates and types made by the machine, as well as the human's ability to intervene and rectify errors. To explore these factors, we conducted three scenarios involving a simulated claw robot navigating through multiple objects to detect and locate a target object. The first scenario examined the effect of changing error rates on human trust in the machine. In the second scenario, we investigated how variability in speed and accuracy of reaching the target impacted human trust. Lastly, we explored whether human trust in the machine changed when individuals had the capability to intervene and correct severe errors made by the machine. We then proposed a regression model to estimate human trust. Our results showed that human trust is significantly affected by changes in error rates. Our participants reported a higher trust on robot with low speed but higher accuracy in performing the task than the robot with high speed but lower accuracy. Interestingly, the ability to intervene and correct the robot's errors improved the participants' trust in the robot. Our regression result showed that we can estimate trust using different type of errors committed by machine which can be applied in real world scenarios. © 2023 IEEE.

关键词： computational modelling error rates human-machine interactions (HMIs) machine or robot action perceptions target identification trust

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Nested Sliding Mode control Based Impact Angle Guidance with Bounded Input

Nested Sliding Mode Control Based Impact Angle Guidance with...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Surve, Prajakta Kumar, Shashi Ranjan Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this paper, a nonlinear guidance law for impact angle-constrained interception of nonmaneuvering targets, respecting the bounds on the control input - the commanded interceptor lateral acceleration, is proposed. By modeling the required interceptor lateral acceleration as a first-order dynamics, which is a function of the maximum permissible value of control input and guidance command, the control input is maintained within the predefined bounds. The dynamics is chosen in such a way that the resulting input will never violate the prescribed bounds. To design the guidance command, also known as commanded lateral acceleration, we employ a sliding surface based on the error between actual and desired line-of-sight (LOS) angles and the LOS rate, facilitating a collision course with zero miss distance. A secondary sliding surface is designed as a function of the primary sliding surface and its rate. This sliding surface enables the control over the required interceptor lateral acceleration. An effective guidance command for precise interception at given impact angle, considering the bounds on control input, is then derived using the sliding mode control technique. Numerical simulations validate the merits and claims of the presented guidance approach. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Sliding mode control

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