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2025 International Russian Smart Industry Conference, SmartIndustryCon 2025

作者： Gao, Tianci Yang, Bo Rao, Shengren Bauman Moscow State Technical University Department IU-1 'Automatic Control Systems' Moscow Russia

ISBN: (纸本)9798331511241

This paper proposes a refined method to enhance the performance and adaptability of industrial robotic manipulators by integrating demonstration learning with reinforcement learning, specifically using Proximal Policy Optimization (PPO). The approach starts with generating an initial trajectory through demonstration-based learning, which provides a robust foundation. Subsequently, PPO is employed to fine-tune the policy, improving precision while minimizing the amount of data required. Experimental evaluations reveal that our method achieves a 15% reduction in training data needs compared to standard approaches, along with enhanced adaptability across different tasks. This makes the method well-suited for flexible manufacturing settings where rapid task transfer is crucial. © 2025 IEEE.

关键词： Industrial robots

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Approach for Task Transfer and Demonstration Learning Optimization in Industrial Robotic Manipulators

Approach for Task Transfer and Demonstration Learning Optimi...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Tianci Gao Bo Yang Shengren Rao Department IU-1 “Automatic control systems” Bauman Moscow State Technical University Moscow Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

关键词： Training Service robots Training data Reinforcement learning Manipulators Robot sensing systems Trajectory Computational efficiency Robots Optimization

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A Numerical Approach to the Problem of Optimal control of Vibrational Processes 5

A Numerical Approach to the Problem of Optimal Control of Vi...

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5th International Conference on Problems of Cybernetics and Informatics, PCI 2023

作者： Asadova, Jamila Institute of Control Systems Laboratory of Recognition Identification and Methods of Optimal Solutions Azerbaijan University of Architecture and Construction Department of Information Technology and Systems Baku Azerbaijan

ISBN: (纸本)9798350319064

This article presents a numerical approach to studying optimal control problems for vibrational processes. The focus is on control actions that are concentrated at the boundaries or at specific intermediate points. Analytical formulas for calculating the gradient of the target functional with respect to these control actions are derived, considering piecewise continuous functions. The study includes numerical experiments that solve model problems related to optimal control of vibrational processes. These experiments demonstrate how the minimum settling time of the oscillatory processes is affected by various factors, such as the number and locations of concentrated control actions, process parameters, the resistance coefficient of the medium (dissipation factor), and other relevant factors. © 2023 IEEE.

关键词： Optimal control systems

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Collaborative Robotics. Safety and Ethical Considerations 10th

Collaborative Robotics. Safety and Ethical Considerations

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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Różańska-Walczuk, Monika Department of Mechatronics Institute of Automatic Control and Robotics Warsaw University of Technology ul. Św. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

Every year, collaborative robots get closer to humans and cooperation with them takes place not only in industrial spaces, where specialized employees work with them, but also people who do not have knowledge in the field of engineering and robotics. Therefore, great attention is paid to safety in the cooperation of robots and humans. In addition, the aspect of ethics and their ethical behavior towards a human co-worker, companion or petitioner is more and more often taken into account. Knowledge of potential safety hazards is important to secure safety early in robots’ design and development process. Therefore security is one of main issues raised in the article. The most important safety standards from the point of view of collaborative robotics are presented. In the article described example of cobots acting increasingly role as members of our society. Access to them is becoming more and more common - they are household members, waiters or airport staff. Presented in the paper issue of ethics in reference to robots and AI are becoming increasingly significant impact on human. It deals with topics of physical and ethical safety in cooperation between humans and robots. Reference has been made to the safety standards. Due to proximity of technology in humans lives, access to them, and even dependence on them, that issue was particularly emphasized by the author. The paper is source of references to considerations of human safety in robotized environments and ethics in robotics applications. © 2023, The Author(s).

关键词： Collaborative robots

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Maximum Dynamic Errors of Elliptic Low-Pass and Band-Pass Filters in control and Monitoring systems 26

Maximum Dynamic Errors of Elliptic Low-Pass and Band-Pass Fi...

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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Samoilov, Leonty Denisenko, Darya Titov, Alexei Ivanov, Yuriy Alferova, Irina Southern Federal University Rostovon-Don Department of Information Measurement Technologies and Systems Russia Don State Technical University Southern Federal University Rostov-on-Don Department of Scientific Research Department of Automatic Control Systems Russia Don State Technical University Department of Scientific Research Rostov-on-Don Russia

ISBN: (纸本)9798350361728

To eliminate the unwanted spectral components in the processed signals in the automatic control and monitoring systems, most often the low-pass (LPFs) and band-pass filters (BPFs) are used. They are performed on the basis of the analog (continuous) circuits, as well as on the analog-to-discrete (switched capacitors) and digital ones by means of the software or hardware implementation. In such filters the information delay causes a dynamic component of their error. The dynamic error is a part of the total error of the automatic control and monitoring system and it reduces the permissible velocity of its operation. The article considers the questions of the obtaining analytical dependences of the dynamic error values of the elliptic filters (Zolotarev-Cauer filters) to solve the on-line direct and inverse problems of the error distribution of the automatic control and monitoring system for justification of its operation velocity. An important advantage of Zolotarev-Cauer filters is that there are zeros in the transfer function, which can make possible to significantly weaken the parasitic noise with the known frequency components, by locating transfer function zeros at these frequencies when designing the filter and taking a correct solution of the approximation problem. It is shown that for the LPF the maximum dynamic error values can be obtained with high accuracy. For the BPF the approximation errors of dependence of the maximum dynamic errors on the filter parameters are determined by the units of per cent, but in some cases, they can reach 20%. © 2024 IEEE.

关键词： Bandpass filters

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Development of a Modular Sensor Battery Integrated with a Data Collection Platform for Alcohol Level Detection and Driver Geolocation 15

Development of a Modular Sensor Battery Integrated with a Da...

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15th International Conference on Communications, COMM 2024

作者： Gavrila, Mihaela Murariu, Madalina Giorgiana Barbuta, Delia Elena Tarniceriu, Daniela 'Gheorghe Asachi' Technical University Faculty of Electronics Telecommunications and Information Technology Department of Telecommunication and Information Technologies Iai Romania 'Gheorghe Asachi' Technical University Faculty of Automatic Control and Computers Department of Computers Iai Romania

ISBN: (纸本)9798350355956

This paper presents the development of a system designed to detect alcohol levels in drivers' exhaled breath, which includes a modular sensor battery (BSM) integrated with a data collection platform (CD Platform). The BSM comprises an alcohol sensor, a GPS sensor, a distance sensor, and a microcomputer. The experimental setup involves installing the sensor array within the cabin of a vehicle to gather real-time data on the driver's location and the concentration of alcohol particles in exhaled air during the physiological process of respiration. This approach aims to provide a comprehensive system for monitoring the impact of alcohol consumption on driving behavior, potentially contributing to enhanced road safety and informed policymaking. The data collected through this platform can be used to study the correlation between alcohol levels and driving patterns, offering valuable insights for the development of intervention strategies and technologies to prevent drunk driving incidents. © 2024 IEEE.

关键词： Physiological models

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SS-DBSCAN: Epsilon Estimation with Stratified Sampling for Density-Based Spatial Clustering of Applications with Noise

SS-DBSCAN: Epsilon Estimation with Stratified Sampling for D...

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2023 International Conference on Automation, control and Electronics Engineering, CACEE 2023

作者： Monko, Gloriana Joseph Kimura, Masaomi Shibaura Institute of Technology Graduate School Department of Functional Control Systems Tokyo Japan Shibaura Institute of Technology Department of Computer Science and Engineering Tokyo Japan

ISBN: (纸本)9798350309201

Clustering algorithms are crucial in uncovering hidden patterns and structures within datasets. Among the density-based clustering algorithms, DBSCAN (Density-Based Spatial Clustering of Applications with Noise) has gained considerable attention for its effectiveness in various applications. However, determining appropriate parameter values for this algorithm remains a challenging task. This paper presents a novel methodology for eps parameter estimation for an improved DBSCAN, namely SS-DBSCAN. The experimental results across nine datasets demonstrate the efficacy of our proposed method in accurately determining clusters with eps value from SS-DBSCAN algorithm. The clusters identified using estimated eps values by SS-DBSCAN align well with the inherent structure of the datasets, yielding better cluster results than the manually set parameters and other methods used for automatic estimations of the eps for DBSCAN. Our approach adapted well to the peculiarities of each dataset, whether dealing with different scales, dimensions, or densities;it proved the versatility and robustness across various datasets, thereby emphasizing its generalizability and potential for broader applications. © 2023 IEEE.

关键词： Parameter estimation

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Equilibrium-Independent control of Continuous-Time Nonlinear systems Via the LPV Framework

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IEEE Transactions on automatic control 2025年

作者： Koelewijn, Patrick J. W. Weiland, Siep Toth, Roland Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Eindhoven Netherlands Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This "equilibrium-free"concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this paper, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of Linear Parameter-Varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified experimentally on a real system. Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach. © 1963-2012 IEEE.

关键词： control system synthesis

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Position Regulation of Industrial Robots via Bounded Integral Terminal Sliding Mode control Algorithm

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IEEE Transactions on Industrial Electronics 2024年第7期71卷 7403-7412页

作者： Cong, Yongzheng Du, Haibo Zhu, Wenwu Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

For the position regulation problem of six degrees of freedom (6-DOF) industrial robots, a novel bounded finite-time position regulate algorithm is developed and employed to improve the dynamic performance of the industrial robots. First, based on the model feature, a bounded finite-time position regulate law is proposed to overcome input saturation constraints for the considered systems. Rigorous analysis guarantees the finite-time stability of the closed-loop system in the absence of disturbance. Then, to improve the disturbance rejection property of the robot systems in the presence of disturbance, an improved bounded finite-time control law based on the integral terminal sliding mode is constructed. Finally, simulations and experimental results are provided to show the effectiveness of the proposed bounded control law. © 1982-2012 IEEE.

关键词： Asymptotic stability

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ReACT: Reinforcement Learning for controller Parametrization Using B-Spline Geometries

ReACT: Reinforcement Learning for Controller Parametrization...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Rudolf, Thomas Flögel, Daniel Schürmann, Tobias Süß, Simon Schwab, Stefan Hohmann, Sören FZI Research Center for Information Technology Embedded Systems and Sensors Engineering Department Karlsruhe76131 Germany Institute of Control Systems The Karlsruhe Institute of Technology Karlsruhe76131 Germany

ISBN: (纸本)9798350337020

Robust and performant controllers are essential for industrial applications. However, deriving controller parameters for complex and nonlinear systems is challenging and time-consuming. To facilitate automatic controller parametrization, this work presents a novel approach using deep reinforcement learning (DRL) with N-dimensional B-spline geometries (BSGs). We focus on the control of parameter-variant systems, a class of systems with complex behavior which depends on the operating conditions. For this system class, gain-scheduling control structures are widely used in applications across industries due to well-known design principles. Facilitating the expensive controller parametrization task regarding these control structures, we deploy an DRL agent. Based on control system observations, the agent autonomously decides how to adapt the controller parameters. We make the adaptation process more efficient by introducing BSGs to map the controller parameters which may depend on numerous operating conditions. To preprocess time-series data and extract a fixed-length feature vector, we use a long short-term memory (LSTM) neural networks. Furthermore, this work contributes actor regularizations that are relevant to real-world environments which differ from training. Accordingly, we apply dropout layer normalization to the actor and critic networks of the truncated quantile critic (TQC) algorithm. To show our approach's working principle and effectiveness, we train and evaluate the DRL agent on the parametrization task of an industrial control structure with parameter lookup tables. © 2023 IEEE.

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