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Path Planning of Quadrotors in a Dynamic Environment Using a Multicriteria Multi-Verse Optimizer

Computers, Materials & Continua 2021年第11期69卷 2159-2180页

作者： Raja Jarray Mujahed Al-Dhaifallah Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis El ManarTunis1002Tunisia Department of Systems Engineering King Fahd University of Petroleum&MineralsDhahran31261Saudi Arabia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

Paths planning of Unmanned Aerial Vehicles(UAVs)in a dynamic environment is considered a challenging task in autonomous flight control *** this work,an efficient method based on a Multi-Objective MultiVerse Optimization(MOMVO)algorithm is proposed and successfully applied to solve the path planning problem of quadrotors with moving *** a path planning task is formulated as a multicriteria optimization problem under operational *** proposed MOMVO-based planning approach aims to lead the drone to traverse the shortest path from the starting point and the target without collision with moving *** vehicle moves to the next position from its current one such that the line joining minimizes the total path length and allows aligning its direction towards the *** choose the best compromise solution among all the non-dominated Pareto ones obtained for compromise objectives,the modified Technique for Order Preference by Similarity to Ideal Solution(TOPSIS)is investigated.A set of homologous metaheuristics such as Multiobjective Salp Swarm Algorithm(MSSA),Multi-Objective Grey Wolf Optimizer(MOGWO),Multi-Objective Particle Swarm Optimization(MOPSO),and Non-Dominated Genetic Algorithm II(NSGAII)is used as a basis for the performance *** results and statistical analyses show the superiority and effectiveness of the proposed MOMVO-based planning *** obtained results are satisfactory and encouraging for future practical implementation of the path planning strategy.

关键词： Quadrotors path planning dynamic obstacles multi-objective optimization global metaheuristics TOPSIS decision-making Friedman statistical tests

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Fatigue Life Analysis of Piezoelectric Actuating Mechanism with Micro-displacement Amplifier 18

Fatigue Life Analysis of Piezoelectric Actuating Mechanism w...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

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

ISBN: (纸本)9798350312201

Since piezoelectric actuating mechanism generally operate in high frequency response state, fatigue life has become an important factor influencing the performance and reliability of the entire drive mechanism. In order to investigate whether the designed piezoelectric ceramic actuator meets the active control requirements of the aero-engine, the paper analyzes the fatigue characteristics and fatigue life of the piezoelectric ceramic materials and the micro displacement amplification mechanism with finite element analysis software and the optimal spacing value is obtained by studying the effect of the flexible hinge spacing on the fatigue characteristics of the displacement amplifier. And then, the fatigue life of the displacement amplifier is analyzed based on the drive load spectrum of the aircraft during simulated flight, whose result is 340.93 hours. Finally, the fatigue life of the piezoelectric actuating mechanism is 32 minutes when loaded with full power, which meets the design target initially. © 2023 IEEE.

关键词： Piezoelectric actuators

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

Safe Motion Along Harmonic Potential Surfaces with Cardinal ...

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IEEE Conference on Decision and control

作者： Theodor-Gabriel Nicu Florin Stoican Daniel Ioan Ionela Prodan Department of Automatic Control and Systems Engineering Romania 313 Splaiul Independenţei 060042 Sector 6 “Politehnica” University of Bucharest (UNSTPB) Bucharest Romania Univ. Grenoble Alpes Grenoble INP(Institute of Engineering and Management Univ. Grenoble Alpes) LCIS Valence France

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

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.

关键词： Target tracking Costs Directed graphs Harmonic analysis Boundary conditions Partitioning algorithms Planning Computational efficiency Splines (mathematics) Collision avoidance

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Metamaterial two-sphere Newton's cradle

arXiv

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arXiv 2025年

作者： Pope, Simon A. Wright, Oliver B. Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom Hokkaido University Sapporo060-0808 Japan Graduate School of Engineering Osaka University 2-1 Yamadaoka Osaka Suita565-0871 Japan

Locally resonant metamaterials are among the most studied types of elastic/acoustic metamaterials, with significant research focused on wave propagation in a continuum of "meta-atoms." Here we investigate the collision dynamics of two identical pendulum-suspended mass-in-mass resonators, essentially a two-sphere Newton’s cradle, emphasizing the readily realizable scenario where the internal resonator frequency is much greater than the pendulum frequency. We first show that the dynamics of a collision can be described using effective parameters, similar to how previous metamaterials research has characterized wave propagation through effective material properties. Non-conventional collision dynamics—observed in two colliding mass-in-mass systems where one is initially at rest—include behaviors such as the moving sphere rebounding as if from a fixed wall while the other remains essentially stationary, the spheres coupling and moving forward in near-unison, and the spheres recoiling in opposite directions. These responses can be achieved by tuning the effective parameters. We demonstrate that these parameters can take on values that differ significantly from those in a conventional Newton’s cradle. Additionally, we investigate multiple collisions of the two spheres, revealing complex dynamics. This work paves the way for the development and study of new "collision-based metamaterial" structures. Copyright © 2025, The Authors. All rights reserved.

关键词： Diffraction

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Quick unsupervised hyperspectral dimensionality reduction for earth observation: A comparison

arXiv

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arXiv 2024年

作者： Lupu, Daniela Garrett, Joseph L. Johansen, Tor Arne Orlandic, Milica Necoara, Ion Automatic Control and System Engineering Department National University of Science and Technology Politehnica Bucharest Bucharest060042 Romania Center for Autonomous Marine Operations and Systems Norwegian University of Science and Technology Trondheim Norway Department of Engineering Cybernetics Norway Department of Electronic Systems Norway G. Mihoc-C. Iacob Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest050711 Romania

Dimensionality reduction can be applied to hyperspectral images so that the most useful data can be extracted and processed more quickly. This is critical in any situation in which data volume exceeds the capacity of the computational resources, particularly in the case of remote sensing platforms (e.g., drones, satellites), but also in the case of multi-year datasets. Moreover, the computational strategies of unsupervised dimensionality reduction often provide the basis for more complicated supervised techniques. Seven unsupervised dimensionality reduction algorithms are tested on hyperspectral data from the HYPSO-1 earth observation satellite. Each particular algorithm is chosen to be representative of a broader collection. The experiments probe the computational complexity, reconstruction accuracy, signal clarity, sensitivity to artifacts, and effects on target detection and classification of the different algorithms. No algorithm consistently outperformed the others across all tests, but some general trends regarding the characteristics of the algorithms did emerge. With half a million pixels, computational time requirements of the methods varied by 5 orders of magnitude, and the reconstruction error varied by about 3 orders of magnitude. A relationship between mutual information and artifact susceptibility was suggested by the tests. The relative performance of the algorithms differed significantly between the target detection and classification tests. Overall, these experiments both show the power of dimensionality reduction and give guidance regarding how to evaluate a technique prior to incorporating it into a processing pipeline. © 2024, CC BY.

关键词： Remote sensing

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An accelerated randomized Bregman-Kaczmarz method for strongly convex linearly constraint optimization

arXiv

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arXiv 2025年

作者： Tondji, Lionel Lorenz, Dirk A. Necoara, Ion Institute of Analysis and Algebra TU Braunschweig Braunschweig38092 Germany Automatic Control and Systems Engineering Department University Politehnica Bucharest Bucharest060042 Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest050711 Romania

In this paper, we propose a randomized accelerated method for the minimization of a strongly convex function under linear constraints. The method is of Kaczmarz-type, i.e. it only uses a single linear equation in each iteration. To obtain acceleration we build on the fact that the Kaczmarz method is dual to a coordinate descent method. We use a recently proposed acceleration method for the randomized coordinate descent and transfer it to the primal space. This method inherits many of the attractive features of the accelerated coordinate descent method, including its worst-case convergence rates. A theoretical analysis of the convergence of the proposed method is given. Numerical experiments show that the proposed method is more efficient and faster than the existing methods for solving the same *** Codes 65F10, 68W20, 90C25 © 2025, CC BY.

关键词： Convex optimization

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Real-time Pricing Mechanism for V2G Using Distributed Bilevel Optimization

Real-time Pricing Mechanism for V2G Using Distributed Bileve...

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IEEE Conference on Decision and control

作者： Jiawei You Xinliang Dai Yuning Jiang Haoyu Yin Yuanming Shi Colin N. Jones School of Information Science and Technology ShanghaiTech University China EPFL Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Germany Automatic Control Laboratory EPFL Switzerland Department of Electrical and Systems Engineering Washington University in St. Louis USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper explores the impact of the burgeoning electric vehicle (EV) presence on distribution grid operations, highlighting the challenges they present to conventional pricing strategies due to their dual role as power consumers and suppliers, coupled with their energy storage capabilities. We propose an advanced real-time pricing model for the electricity market, employing a novel distributed bilevel optimization framework. This framework distinguishes between the distribution system operator (DSO) at the upper level and the EVs at the lower level, each aiming to optimize profit margins. The optimization includes power flow constraints at the upper level to ensure efficient operation within safe system limits, while model predictive control (MPC) is used to optimize lower-level EV responses. Additionally, we provide a rigorous convergence analysis of the proposed bilevel optimization method. Detailed convergence studies and simulation results demonstrate the effectiveness and superiority of the proposed algorithm.

关键词： Vehicle-to-grid Simulation Pricing Prediction algorithms Real-time systems Robustness Convergence Load flow Energy storage Predictive control

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Fractional-Order control of a Wind Turbine Using Manta Ray Foraging Optimization

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Computers, Materials & Continua 2021年第7期68卷 185-199页

作者： Hegazy Rezk Mohammed Mazen Alhato Mohemmed Alhaider Soufiene Bouallègue College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia University61517MiniaEgypt Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of TunisTunis1002Tunisia High Institute of Industrial Systems of Gabès University of GabèsGabès6011Tunisia

In this research paper,an improved strategy to enhance the performance of the DC-link voltage loop regulation in a Doubly Fed Induction Generator(DFIG)based wind energy system has been *** proposed strategy used the robust Fractional-Order(FO)Proportional-Integral(PI)control *** FOPI control contains a non-integer order which is preferred over the integer-order control owing to its *** offers extra flexibility in design and demonstrates superior outcomes such as high robustness and *** optimal gains of the FOPI controller have been determined using a recent Manta Ray Foraging Optimization(MRFO)*** the optimization process,the FOPI controller’s parameters are assigned to be the decision variables whereas the objective function is the error racking that to be *** prove the superiority of the MRFO algorithm,an empirical comparison study with the homologous particle swarm optimization and genetic algorithm is *** obtained results proved the superiority of the introduced strategy in tracking and control performances against various conditions such as voltage dips and wind speed variation.

关键词： Renewable energy modeling wind turbine doubly fed induction generator fractional order control manta ray foraging optimization

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Identification of Thermal Failure Profiles in Stator Winding Insulation by Impedance Spectroscopy

Identification of Thermal Failure Profiles in Stator Winding...

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International Conference on Electrical Machines, ICEM

作者： Edward J. W. Stone Panagiotis A. Panagiotou Johannes Mühlthaler Andrew R. Mills Alexis Lambourne Geraint W. Jewell Department of Electronic and Electrical Engineering The University of Sheffield Sheffield UK Rolls-Royce Electrical Rolls-Royce Deutschland Ltd & Co KG Munich Germany Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield UK Rolls-Royce Central Services Rolls-Royce Plc. UK Derby UK

ISBN: (数字)9798350370607

ISBN: (纸本)9798350370614

This paper presents a novel application of impedance spectroscopy as a means of inspection for stator winding insulation. It proposes, for the first time, a means for health monitoring and failure identification during thermal degradation effects in the insulation systems of stator coils from a concentrated stator winding. By periodical ex-situ inspection of these coils, the thermal ageing data of the insulation are profiled up to the point of failure. The study maps this evolution of thermal degradation patterns via novel interpretation of the impedance frequency responses, using well known techniques such as the Bode and Nyquist plots. This grants further insight into the characteristics shown in the ageing profiles over time and frequency. These new profiles enable the identification of critical points that can act as pre-emptive indicators of coil health and failure inception. This is a key finding as it renders the capability to provide an adequate lifing tool for electrical machine windings and coil assemblies within industrial settings. The insulation system examined in this study is taken from the coils of a concentrated stator winding in a 2MW permanent magnet generator used in an aerospace application.

关键词： Coils Degradation Insulation Spectroscopy Time-frequency analysis Stator windings Inspection Aging Impedance Thermal degradation

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Data-driven Model Based Online Fault Detection Using OMP-ERR 4

Data-driven Model Based Online Fault Detection Using OMP-ERR

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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Zhou, Guangze Luo, Zhong Zhu, Yunpeng Gao, Yi Wang, Zhiao Northeastern University School of Mechanical Engineering and Automation Shenyang110819 China Northeastern University Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Shenyang110819 China Dalian University of Technology State Key Laboratory of Structural Analysis for Industrial Equipment Dalian116024 China University of Sheffield Department of Automatic Control and System Engineering SheffieldS13JD United Kingdom

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

Model based online fault detection often conducted by extracting features from models driven by system input and output data under various working conditions. The efficiency of online system modelling is therefore significant to improve the performance of online fault detections. In this study, a novel fast data-driven modelling approach, known as the OMP (Orthogonal Matching Pursuit)- ERR (Error Reduction Ratio) method is proposed to improve the efficiency of online fault detections. The new system identification method is motivated by noticing that the traditional OMP algorithm is much faster but usually less accurate than the OLS (Orthogonal least squares) algorithm in the identification of system NARX (Nonlinear Auto-Regressive with Exogenous inputs) models. The problem is first illustrated by the identification of a Single Degree of Freedom (SDoF) system. After that, the OMP-ERR algorithm is developed to improve the NARX modelling efficiency for the purpose of system model-based online fault detections. A case study on the crack detection of a cantilever beam shows that the new approach is over 10 times faster than the traditional OLS modelling process, demonstrating the promising applications of the new approach in online fault detections in engineering practice. © 2022 IEEE.

关键词： Least squares approximations

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