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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Georgios P. Kladis Lefteris Doitsidis Nikos C. Tsourveloudis Department of Aeronautical Science Automatic Control Aerospace Technology Defence Systems and Operations Academic Section Hellenic Air Force Academy Dekeleia Greece School of Production Engineering and Management Technical University of Crete Chania Crete Greece

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In all applications involving swarms, it's crucial for the group to achieve its objectives safely and with efficient energy utilisation, while adhering to constraints and meeting mission requirements. This article focuses on addressing the offline path planning problem for Unmanned Aerial Vehicles (UAVs), with a specific emphasis on enhancing energy efficiency. Each UAV in the swarm is guided along a candidate path represented by a Bézier curve, which evolves through a two-step procedure. Firstly, a genetic algorithm (GA) normalises the fitness function to ensure fair comparison of traits. Secondly, a multi-objective swarm-based path planning approach is employed to find the most energy-efficient and safe route for the swarm, meeting predefined criteria. The designed solution paths accommodate the functional and physical limitations of aerial vehicles, while also considering factors such as vessel traffic and weather conditions in the operational area. Simulation examples demonstrate the effectiveness of this approach.

关键词： Autonomous aerial vehicles Energy efficiency Path planning Air traffic control Aircraft Genetic algorithms Meteorology

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Carbon-Aware Computing in a Network of Data Centers: A Hierarchical Game-Theoretic Approach

arXiv

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arXiv 2024年

作者： Breukelman, Enno Hall, Sophie Belgioioso, Giuseppe Dörfler, Florian The KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Division of Decision and Control Systems Malvinas väg 10 StockholmSE-100 44 Sweden The Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zürich8092 Switzerland

Over the past decade, the continuous surge in cloud computing demand has intensified data center workloads, leading to significant carbon emissions and driving the need for improving their efficiency and sustainability. This paper focuses on the optimal allocation problem of batch compute loads with temporal and spatial flexibility across a global network of data centers. We propose a bilevel game-theoretic solution approach that captures the inherent hierarchical relationship between supervisory control objectives, such as carbon reduction and peak shaving, and operational objectives, such as priority-aware scheduling. Numerical simulations with real carbon intensity data demonstrate that the proposed approach successfully reduces carbon emissions while simultaneously ensuring operational reliability and priority-aware scheduling. © 2024, CC BY-NC-ND.

关键词： Carbon

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Modeling, Analysis and Simulation of the Effect of Temperature on Magnetostrictive Actuators 9

Modeling, Analysis and Simulation of the Effect of Temperatu...

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9th International Conference on Fluid Power and Mechatronics, FPM 2023

作者： Zhang, Xinyuan Wang, Shaoping Niu, Yu Wu, Xiao Wang, Xingjian Gavrilov, Alex I. School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Tianmushan Laboratory Hangzhou310023 China Ningbo Institute of Technology Beihang University Ningbo315800 China Research Institute of Aero-Engine Beihang University Beijing100191 China Bauman Moscow State Technical University Department of Automatic Control Systems Moscow105005 Russia

ISBN: (纸本)9798350304947

The increased demand for active control of engines has made the study of high-frequency response actuators increasingly important, and actuators based on magnetostrictive materials are promising for a wide range of applications. In this paper, the magnetic field distribution and various thermal losses including Joule heat loss, eddy current loss and hysteresis loss inside the giant magnetostrictive actuator (GMA) are analyzed, and the mathematical model of the current-driven GMA operation is derived, where the new J-A model considering the temperature effect is used to describe the hysteresis nonlinearity of the material. This paper simulates the actuator model under the action of multiple physical fields in COMSOL, focusing on the variation of the output displacement of the actuator when the thermal field and thermal expansion are integrated, and provides the theoretical basis for the design of the GMA control algorithm in the future. © 2023 IEEE.

关键词： Temperature

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Ensemble Learning Model for Prediction of Natural Gas Spot Price Based on Least Squares Boosting Algorithm

Ensemble Learning Model for Prediction of Natural Gas Spot P...

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2020 International Conference on Data Analytics for Business and Industry: Way Towards a Sustainable Economy, ICDABI 2020

作者： Ali, Aliyuda University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (数字)9781728196756

ISBN: (纸本)9781728196756

Among fossil fuels, natural gas has been considered a fuel of choice for increasing the supply of energy and reducing environmental contamination worldwide. Given that the supply chain of natural gas is characterized by imbalances between demand and supply on a timely basis, effective and fast models for accurate spot price prediction for natural gas would not only inform but also help various stakeholders to make wise decisions in the competitive natural gas marketplace. Proposed in this paper is a regression ensemble learning model based on least squares boosting algorithm for improving the prediction of natural gas spot price on a monthly basis. Ensemble learning models are becoming more preferred predictive tools due to their capability to train multiple weak learning models, and aggregate their outputs to produce a strong learning model with better overall accuracy. A broad scope of time series data from January 1997 to May 2020 from Henry Hub natural gas spot prices were employed in developing and testing the proposed model. Coefficient of determination (R2), mean square error (MSE) and root mean square error (RMSE) are employed as performance metrics to evaluate the performance of the proposed model. Compared to four existing state-of-the-art approaches, overall results show that the proposed model exhibits better performance over the state-of-the-art methods with R2, MSE and RMSE scores of 0.9668, 0.3248, and 0.5699, respectively. © 2020 IEEE.

关键词： Learning systems

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control systems for the Temperature Field During Drawing, Taking into Account the Dynamic Modes of the Technological Installation 4

Control Systems for the Temperature Field During Drawing, Ta...

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4th IEEE International Conference on Modern Electrical and Energy System, MEES 2022

作者： Khrebtova, Oksana Shapoval, Oleksandr Markov, Oleg Kukhar, Volodymyr Hrudkina, Natalia Rudych, Mykhailo Mykhailo Ostrohradskyi National University Department of Systems of Automatic Control and Electric Drive Kremenchuk Kremenchuk Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department of Mechanical Engineering Kremenchuk Ukraine Donbass State Engineering Academy Kremenchuk Ukraine Technical University 'Metinvest Polytechnic' Llc Zaporizhzhya Ukraine Central Ukrainian National Technical University Kropyvnytskyi Ukraine

ISBN: (纸本)9798350346831

Taking into account the modern realities of industrial production, today the task of improving the quality of welding wire in the drawing process using the electroplastic effect is relevant. The advantage of direct electric contact heating is substantiated by the possibility of obtaining the implementation and construction of a controlled process for the formation of the heating temperature during drawing. The control system is based on a proportional-integral-differential controller (PID controller), a power controller, a current source and an Apir-S measuring pyrometric complex, consisting of a primary pyrometric and secondary converter. By setting the appropriate coefficients of the PID controller, it is possible to form a stable operation mode with the formation of a controlled temperature regime during electric contact heating of the wire. It was experimentally established that, using the formation of a controlled temperature regime of annealing, due to the control of the heating temperature by a pyrometer, the control error did not exceed 1.3%. Compliance with the temperature of the annealing mode in the specified range provides the mechanical parameters of the products, namely wire, specified by the technological process. The methods adopted by the formation of a controlled temperature regime and the system of elements during its implementation are characterized by ease of use, reliability and ensuring the quality indicators of the technological process being performed. A further line of research is to substantiate the need to use the controlled cooling process to obtain the specified physical and mechanical parameters of the annealed wire. © 2022 IEEE.

关键词： Heating temperature

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Accurate TCP Position and Orientation Trajectory Generation in 6DOF Robotic Manipulators and CNC Machine Tools using FIR Filtering and Haversine Synchronisation

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Procedia CIRP 2023年 120卷 27-32页

作者： Rob Ward Burak Sencer Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK Advanced Manufacturing Research Centre University of Sheffield Rotherham S60 5TZ UK Mechanical Engineering Department Oregon State University Corvallis OR USA

The use of robotics in manufacturing is rapidly growing. One promising application in particular is the use of robots as machining platforms. Robotic machining offers many advantages such as large operating envelopes, flexibility in operations and low installation and running costs. Robotic machining platforms much like computer numerically controlled (CNC) machine tools are commanded by numerical controllers (NCs) using the well established G-code part programming language (ISO-6983). Toolpaths are defined in the work piece coordinate system (WCS) as a series of discrete tool centre point (TCP) positions and tool orientations. The role of the NC is to generate smooth feed drive or robot joint commands such that the tool or end effector travels along the commanded toolpath whilst satisfying TCP position and orientation tolerances and robot/machine tool kinematic constraints. Interpolating tool orientations directly in the WCS requires complex real-time spherical interpolation computations. Overcoming this challenge, this paper introduces a C 4 continuous tool path trajectory generation method for 6DOF motion. The tool centre point position is smoothed in the WCS, however, the tool orientation is smoothed directly in the rotary coordinate system without the requirement for spherical interpolation. The interpolated tool orientation trajectory follows the path of the great circle arc using the modified Haversine method eliminating non-linear interpolation errors present in linear interpolation of rotary axis positions (machine coordinate system interpolation). The proposed method is validated by simulation of a 6DOF robotic manipulator.

关键词： Robotic Machining interpolation Trajectory Generation Pose control Motion control

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Transmissibility function analysis for the detection and localization of damage with nonlinear features in MDOF structural systems

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Structural Health Monitoring 2025年

作者： Cheng, Liangliang Lang, Ziqiang Cigada, Alfredo Zhu, Yunpeng Faculty of Science and Engineering University of Groningen Groningen Netherlands Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom Department of Mechanical Engineering Politecnico di Milano Milano Italy School of Engineering and Material Science Queen Mary University of London London United Kingdom

Transmissibility function analysis refers to the evaluation of the ratio between the spectra of two different outputs of a system and has been widely used for the detection and localization of damage in linear structural systems. In this article, a new transmissibility function analysis methodology is proposed to detect and localize damage with nonlinear features in multidegree-of-freedom (MDOF) structural systems. The methodology assumes the MDOF systems are subject to a general input with only the frequency range known a priori so is applicable to address damage detection and location issues for a wide range of engineering structures and systems. This methodology is derived based on the concept of nonlinear output frequency response functions (NOFRFs) and the concept of transmissibility of nonlinear systems introduced based on the NOFRFs. The transmissibility function analysis over output frequencies contributed by system nonlinearities is exploited to detect and localize damage with nonlinear features in MDOF structural systems. Both numerical simulations and experimental studies on a cracked beam structure in the laboratory have been conducted. The results verify the effectiveness and demonstrate the potential applications of the proposed methodology in the detection and localization of damage in practical engineering structures. © The Author(s) 2025.

关键词： damage detection dynamic system finite element method MDOF system Nonlinear output frequency response functions nonlinearity transmissibility

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Remote Microcontroller Scanner Design for STM32 Microcontrollers Used to Distance Education Form 20

Remote Microcontroller Scanner Design for STM32 Microcontrol...

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20th IEEE International Conference on Modern Electrical and Energy systems, MEES 2021

作者： Jacko, Patrik Guzan, Milan Kalinov, Andrii Technical University of Kosice FEI Department of Theoretical and Industrial Electrical Engineering Kosice Slovakia Kremenchuk Mykhailo Ostrohradskyi National University Systems of Automatic Control and Electric Drive Department Kremenchuk Ukraine

ISBN: (纸本)9781665423663

The novel coronavirus disease (Covid-19) is a global problem that has caused many changes in people's lives. One of the problems is distance education, that has caused a difficulty form of study. Students often do not have required study components, because they are in the home and teacher does not have complete control over them. This paper described remote control and monitor system for the microcontroller technique subject, where the teacher gets possibilities for monitoring each student's microcontroller program. The subject is focused to the basic peripherals and functionalities of STM32 microcontrollers and internet communication based on the ESP8266 chip. Therefore, the article contains of monitoring module design, remote control application and simple test of the remote-control scanner for STM32 microcontrollers focused to the distance form of study. © 2021 IEEE.

关键词： Remote control

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Adaptive Fuzzy Fault-Tolerant control Using Nussbaum Gain for a Class of SISO Nonlinear systems with Unknown Directions 4th

Adaptive Fuzzy Fault-Tolerant Control Using Nussbaum Gain fo...

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4th International Conference on Electrical engineering and control Applications, ICEECA 2019

作者： Bounemeur, Abdelhamid chemachema, Mohamed Zahaf, Abdelmalek Bououden, Sofiane Laboratory of Automatic Robotic and Control Systems Faculty of Engineering Department of Electronics University of Constantine 1 Constantine Algeria Faculty of Sciences and Technology University Abbes Laghrour Khenchela Algeria

ISBN: (纸本)9789811564024

This paper treatsan indirect adaptive fuzzy fault-tolerant control using fuzzy systems for a class of uncertain SISO systems with unknown control gain sign and actuator faults. The uncertain nonlinearities of the systems and the actuator faults are approximated by fuzzy systems that have been proven to be universal approximators and the Nussbaum-type function is used to deal with the unknown control gain sign. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive feedback linearizing control. Projection in the estimate parameters is not required and the stability analysis of the closed-loop system is performed using Lyapunov approach. Simulation results are provided to verify the effectiveness of the proposed design. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Nonlinear systems

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Algorithm for Path Planning of Mobile Robot 24

Algorithm for Path Planning of Mobile Robot

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24th International Conference on Soft Computing and Measurements, SCM 2021

作者： Das, Nimai Chandra Uddin, Raihan Haque Zim, Md. Ziaul Skakun, Anastasiia D. Department of Automatic Control Systems Saint-Petersburg Electrotechnical University Leti Saint Petersburg Russia Daffodil International University Department of Software Engineering Dhaka Bangladesh Daffodil International University Department of Computer Science and Engineering Dhaka Bangladesh

ISBN: (纸本)9781665439749

Research in Unmanned Surface Vehicles (USVs) and Autonomous Mobile Robots navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. But in common resilience to unsafe conditions, unmanned surface vehicles (USVs) and autonomous mobile robots have wide applications in security reconnaissance, investigation of an obscure domain, and crisis reaction. Various examinations have been directed on the driving mechanism, motion planning, and trajectory tracking strategies for robots, yet restricted investigations have been led with respect to the obstacle detection and avoiding ability of robots. However, for little scale robots that contain sensitive surveillance sensors and can't afford to utilize heavy defensive shells, the nonappearance of obstacle avoidance solutions arrangements would leave the robot helpless before possibly risky hindrances. In this paper, we present an algorithm for obstacle detection and avoidance system has been developed for miniature Unmanned Surface Vehicles (USVs) and autonomous mobile robots. We show an investigation differentiating heading build rules and relative course directions dodging distinctive operators in multi-specialist conditions, estimating separation between the two robots. The integration of distance measurement and avoiding other robots or obstacles is our observation in a multi-robot environment, where obstacles are also available. In this paper, we have discussed two algorithms, one will try to avoid other robot or obstacles and another will try to measure the distance between main agents to another agent. It utilizes an algorithm so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle. Therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance

关键词： Multi agent systems

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