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作者： Alatorre, Armando Espinoza, Eduardo S. Sánchez, Bonifacio Ordaz, Patricio Muñoz, Filiberto García Carrillo, Luis Rodolfo French-Mexican Laboratory of Informatics and Automatics Center of Research and Advanced Studies of the National Polytechnic Institute México City Mexico Automatic Control Department Center of Research and Advanced Studies of the National Polytechnic Institute México City Mexico Research Center of Information Technologies and Systems Autonomous University of the State of Hidalgo Hidalgo Mexico Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM United States

This paper deals with the development of an adaptive robust controller for an Unmanned Aircraft System with variable mass. The goal is to improve trajectory tracking and energy performance while the aircraft mass is gradually reducing due to payload release. To improve the trajectory tracking performance, we propose an algorithm that merges the concepts of least squares method and sliding mode observer for the estimation of the vehicle mass. The nonlinear observer estimates the linear velocities and accelerations, which are further used to obtain the vehicle mass. A robust adaptive pole placement controller based on the Attractive Ellipsoid Method uses this estimation to update the controllers gains due to the mass variation. To validate the effectiveness of the proposed algorithm for performing aerial transportation and deployment of payloads, we present a numerical example comparing the performance of the proposed method with respect to using Proportional Derivative controllers as well as Robust controllers. © 2021 Chinese automatic control Society and John Wiley & Sons Australia, Ltd

关键词： controllers

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NARMAX model as a sparse, interpretable and transparent machine learning approach for big medical and healthcare data analysis 21

NARMAX model as a sparse, interpretable and transparent mach...

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21st IEEE International Conference on High Performance Computing and Communications, 17th IEEE International Conference on Smart City and 5th IEEE International Conference on Data Science and systems, HPCC/SmartCity/DSS 2019

作者： Billings, Stephen Wei, Hua-Liang Department of Automatic Control and Systems Engineering United Kingdom INSIGNEO Institute for in Silico Medicine University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781728120584

Influenza and influenza-like illnesses are one of the leading causes of death in the world, resulting in heavy losses to individual families and nations. Accurate and timely forecasts of seasonal influenza would therefore crucially important to inform and facilitate public health decision-making for presenting and intervening influenza epidemics. System identification and data-driven modelling approaches play an indispensable role in analyzing and understanding complex processes including medical, healthcare and environmental time series. This paper aims to present a type of sparse, interpretable and transparent (SIT) model, which cannot only be used for future behavior prediction but more importantly for understanding the dependent relationship between the response variables of a system on potential independent variables (also known as input variables or predictors). An ideal candidate for such a SIT representation is the well-known NARMAX (nonlinear autoregressive moving average with exogenous inputs) model, which can be established based on input and output data of the system of interest, and the final refined model is usually simple, parsimonious and easy to interpret. The general framework of the NARMAX model is presented, and the state-of-the-art algorithms for such a SIT model estimation are described. Two case studies are provided to illustrate how well the SIT-NARMAX model can work for medical, healthcare and related data. © 2019 IEEE.

关键词： Forecasting

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How to get a Parcel surfing

How to get a Parcel surfing

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Fabian Westbrink Andreas Schwung Steven X. Ding Department of Automation Technology South Westphalia University of Applied Sciences Soest Germany Institute of Automatic Control and Complex Systems (AKS) University of Duisburg-Essen Duisburg Germany

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

This paper analyzes the phenomenon of parcel transport using moving peristaltic waves. The proposed work describes suitable test scenarios and compares the results with a suitable simulation model. The comparison shows suitable peristaltic wave parameters to successfully transport parcels. Peristaltic movement is a well-known technique from nature for good transport and locomotion and can be adapted for singulation and sortation tasks of parcels. This work answers the question of how to adapt moving peristaltic waves to achieve a parcel surfing, or even how to transport them. Performing practical test scenarios with the Peristaltic Sortation Machine (PSM) and comparing them with a suitable simulation model gives an insight into this special phenomenon. The derived DEM simulation model represents very detailed the behavior of parcels manipulated with flexible film and its actuation. Also, the DEM simulation shows a correlation between the wave setting and the parcel properties. The contributed methodology of transporting goods with moving peristaltic waves enables a successful transportation as well as the derived DEM simulation shows realistic results and is adaptable for arbitrary goods.

关键词： Solid modeling Computational modeling Adaptation models Transportation Friction Shape Analytical models

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Improving the Pyramid Solar Distiller Performance by Using Pyramidal Absorber, Mirrors, Condenser, and Thermal Storing Material

SSRN

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SSRN 2022年

作者： Abdullah, A.S. Essa, Fadl A. Omara, Z.M. Alawee, Wissam H. Mohammed, Suha A. Dhahad, Hayder A. Mechanical Engineering Department Faculty of Engineering Kafrelsheikh University Kafrelsheikh33516 Egypt Control and Systems Engineering Department University of Technology Baghdad Iraq Mechanical Engineering Department University of Technology Baghdad Iraq Department of Mechanical Engineering College of Engineering Prince Sattam bin Abdulaziz University Alkharj16273 Saudi Arabia Mechanical Power Engineering Department Faculty of Engineering Tanta University Tanta31521 Egypt

The countries suffer from the freshwater shortage. One of the overcoming methods is the solar still, but it has low distillate yield. The present work introduces a different arrangement of modifying the pyramid solar still (PSS). This was conducted by changing the flat absorber to a pyramidal absorber to increase the vaporization surface area of distiller. In addition, various wick materials of cotton wick and jute cloth were placed over the pyramidal absorber to be investigated. Besides, the performance of the modified pyramid solar still (MPSS) was studied when using external mirrors to increase the input solar energy and utilizing external condenser. Finally, a paraffin wax mixed with silver nanoparticles was used as a phase change material (PCM) under the pyramidal absorber of MPSS to be tested. The results revealed that using the modified absorber increased the evaporative surface area of MPSS by around 40%. Also, using the jute cloth material is suggested to be used instead of cotton cloth as a wick material for the MPSS due to its better operation. Additionally, the best performance of MPSS was obtained with mirrors and condenser, where the productivity improvement and distiller efficiency were 142% and 52.5%. © 2022, The Authors. All rights reserved.

关键词： Solar heating

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Effects of process parameters on the replica shape in glass hot embossing 20

Effects of process parameters on the replica shape in glass ...

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20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

作者： Yang, Gao Cheung, Chi Fai Ng, Man Cheung Gong, Feng State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems Engineering Hong Kong Polytechnic University Kowloon Hong Kong School of Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9780995775176

Hot embossing is a promising replication technology for precision manufacture of glass micro optical components. However, the optical performance of thermally imprinted micro optical components is significantly deteriorated due to the warpage formed on their global surfaces. The control of surface roughness and replica thickness are also vital in practical applications. This study attempts to experimentally evaluate the effects of different process parameters (i.e., embossing temperature, embossing force, isothermal pressing time, annealing rate, maintenance force and fast cooling point) on the shape parameters (i.e., curvature radius, surface roughness and thickness) of glass replica. The results provide an important means for minimizing the warpage, reducing surface roughness and controlling replica thickness in hot embossing. In this study, a series of glass hot embossing experiments were conducted by a commercially available precision glass molding machine. The surface topography was measured on both the top and the bottom surfaces of embossed glass replicas. The thickness and diameter of the replicas were also measured. The experimental results were then analyzed for quantifying the effects of different process parameters on the shape parameters. The results of this study provide optimal process parameters for practical hot embossing applications. Copyright © Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Surface roughness

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Multi-objective trajectory design for overtaking maneuvers of automated vehicles

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IFAC-PapersOnLine 2020年第2期53卷 15566-15571页

作者： Tamás Hegedüs Balázs Németh Péter Gáspár Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2H-1111 Budapest Hungary. Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 H-1111 Budapest Hungary.

The paper proposes a trajectory design method for overtaking maneuvers, in which several performances are incorporated. Thus, it leads to a multi-objective optimization task. It is based on a simple mathematical representation of feasible trajectories by using a potential field approach. The solution of the complex computations in the optimization is approximated by neural networks. The proposed solution is based on the idea that there are a large number of collision free feasible trajectories. The goal of the method is to find the trajectory, which is suitable for the specified objectives. The result of the paper is an integrated decision for both longitudinal and lateral directions, such as longitudinal acceleration command and the values of the defined path. The effectiveness of the method is presented through CarMaker simulation environment.

关键词： automated vehicles overtaking strategy potential field neural network

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Filtered Output Feedback Tracking control of a Quadrotor UAV

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IFAC-PapersOnLine 2020年第2期53卷 5764-5770页

作者： Erjen Lefeber Marcus Greiff Anders Robertsson Department of Mechanical Engineering Eindhoven University of Technology PO Box 513 5600MB Eindhoven The Netherlands Department of Automatic Control Lund University Lund Sweden

We present a tracking controller for quadrotor UAVs which uses partial state information and filters the measurements to attenuate noise. We show uniform almost global asymptotic and local exponential stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex looping maneuver.

关键词： UAVs tracking output feedback control nonlinear observers Lyapunov methods

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Gaussian Belief Space Path Planning for Minimum Sensing Navigation

arXiv

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arXiv 2021年

作者： Pedram, Ali Reza Funada, Riku Tanaka, Takashi Walker Department of Mechanical Engineering University of Texas at Austin United States Department of Systems and Control Tokyo Institute of Technology Japan Department of Aerospace Engineering and Engineering Mechanics University of Texas at Austin United States

We propose a path planning methodology for a mobile robot navigating through an obstacle-filled environment to generate a reference path that is traceable with moderate sensing efforts. The desired reference path is characterized as the shortest path in an obstacle-filled Gaussian belief manifold equipped with a novel information-geometric distance function. The distance function we introduce is shown to be an asymmetric quasi-pseudometric and can be interpreted as the minimum information gain required to steer the Gaussian belief. An RRT*-based numerical solution algorithm is presented to solve the formulated shortest-path problem. To gain insight into the asymptotic optimality of the proposed algorithm, we show that the considered path length function is continuous with respect to the topology of total variation. Simulation results demonstrate that the proposed method is effective in various robot navigation scenarios to reduce sensing costs, such as the required frequency of sensor measurements and the number of sensors that must be operated simultaneously. Copyright © 2021, The Authors. All rights reserved.

关键词： Motion planning

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Maximum Power Point Tracking Using Cross-Correlation Algorithm for Pv System

SSRN

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SSRN 2022年

作者： Abulanwar, Sayed Shahin, Ahmed Gad, Hesham H. Rizk, Mohammad E.M. Hu, Weihao Electrical Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Computer and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China Faculty of Engineering Horus University Egypt

This paper suggests an online, rapid, dynamic, and pragmatic cross-correlation (CC) technique to eﬀectively realize maximum power point tracking (MPPT) of the photovoltaic (PV) array. The PV voltage and current are extracted, averaged, and rate of change of the power and terminal voltage dynamics are integrally cross-correlated to regulate the duty ratio of the converter. According to this approach, the maximum power point (MPP) is defned in terms of the polarity of the CC coefcient (rcc). If the CC coefcient is positive, the operating point is at left of the MPP, while a negative CC coefcient indicates that the operating point is located at right of the MPP, otherwise the MPP is attained zero CC coefcient with lower steady-state ﬂuctuations. In this regard, a tracking optimization can be realized with confned drift either under gradual or step solar irradiance changes. The proposed CC technique quickly converges to the MPP without identifcation of PV array parameters. Besides, the proposed CC tracking algorithm tracks MPP with wide-range small step-size iterations since the search area is restricted to the vicinity of the MPP rather than the entire PV curve. Moreover, the proposed technique is featured by robustness against system parameters and load variations with simple hardware implementation as compared to several existing techniques. The eﬀectiveness of the proposed technique is thoroughly explored via time-domain, experimental, and hardware-in-loop investigations and meanwhile compared to the two most popular techniques: P&O INC methods, for both gradual and step irradiance changes and also shadow eﬀects. © 2022, The Authors. All rights reserved.

关键词： Time domain analysis

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automatic leaf segmentation and overlapping leaf separation using stereo vision

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Array 2021年 12卷

作者： Mohammed Amean, Zainab Low, Tobias Hancock, Nigel University of Southern Queensland Toowoomba Queensland Australia Control and Systems Engineering Department University of Technology Iraq Centre for Agriculture Engineering University of Southern Queensland Toowoomba Queensland Australia

Farm management and crop quality assessment is becoming increasingly automated to keep up with demand. The physical examination of the plant leaves, stems and fruit can provide valuable information about a plant's health. Automating the visual inspection through machine vision spawns challenges such as occlusions, irregular lightning and varying environmental conditions. In this paper, a plant leaf extraction algorithm utilising depth from a stereo vision sensor is presented. The algorithm tackles multiple leaf segmentation and overlapping leaf separation through synergising features such as colour, shape and depth. Depth is particularly used to measure discontinuities along its gradient in the disparity maps. The algorithm has a segmentation rate of 78% for individual plant leaves, over a range of complex backgrounds and changing plant canopies. The proposed algorithm was evaluated using 272 cotton and hibiscus plant images with results demonstrating that depth properties were effective in separating occluded and overlapping leaves, with a high separation rate of 84%. Leaf occlusion could be detected automatically without adding any artificial tags on the leaf boundaries. Furthermore, the results show a nearly identical performance for both types of plants (cotton and hibiscus) under various lighting and environmental conditions. The developed algorithm could be potentially applied to other types of plants that have similar structures to cotton and hibiscus. © 2021 The Authors

关键词： Computer vision

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