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arXiv 2025年

作者： Sandrini, Samuele Faroni, Marco Pedrocchi, Nicola Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing National Research Council of Italy Milan20133 Italy Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milan Italy Department of Control and Computer Engineering Politecnico di Torino Torino Italy

Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a human-aware task allocation and scheduling model based on Mixed Integer Nonlinear Programming to optimize efficiency and safety starting from task planning stages. The approach exploits synergies that encode the coupling effects between pairs of tasks executed in parallel by the agents, arising from the safety constraints imposed on robot agents. These terms are learned from previous executions using a Bayesian estimation;the inference of the posterior probability distribution of the synergy coefficients is performed using the Markov Chain Monte Carlo method. The synergy enhances task planning by adapting the nominal duration of the plan according to the effect of the operator’s presence. Simulations and experimental results demonstrate that the proposed method produces improved human-aware task plans, reducing unuseful interference between agents, increasing human-robot distance, and achieving up to an 18% reduction in process execution time. © 2025, CC BY.

关键词： Markov chains

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Bitroute SOME/IP: Implementation of a Scalable and Service Oriented Communication Middleware

Bitroute SOME/IP: Implementation of a Scalable and Service O...

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Proceedings of the International Convention MIPRO

作者： M. Vujanić N. Trifunović I. Kaš telan B. Kovač ević Department of Computing and Control Engineering Faculty of Technical Sciences University of Novi Sad RT-RK Institute for Computer Based Systems Novi Sad Serbia

ISBN: (数字)9789532331035

ISBN: (纸本)9781665484343

SOME/IP is a communication protocol introduced in automotive industry to enable Service Oriented Architecture which is not possible using traditional automotive protocols such as CAN or FlexRay. A trend emerging in the last years in the Advanced Driver Assistance systems (ADAS) is that SOME/IP became one of main communication protocols used for communication between safety and performance ECU devices. Currently in the market, including the open-source solutions, there is a set of different SOME/IP implementations that have different audience and combination of characteristics like high royalty costs, available feature set and software solution maturity. This paper presents the Bitroute SOME/IP, a new implementation of the SOME/IP communication protocol with focus on performance and deployment platform independency and compares it with the open-source solution from The Connected Vehicle systems Alliance (COVESA).

关键词： Performance evaluation Protocols Costs Market research Libraries Safety Service-oriented architecture

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Higher-order tensor methods for minimizing difference of convex functions

arXiv

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arXiv 2024年

作者： Necoara, Ion Automatic Control and Systems Engineering Department National University of Science and Technology Politehnica Bucharest Spl. Independentei 313 Bucharest060042 Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest050711 Romania

Higher-order tensor methods were recently proposed for minimizing smooth convex and nonconvex functions. Higher-order algorithms accelerate the convergence of the classical first-order methods thanks to the higher-order derivatives used in the updates. The purpose of this paper is twofold. Firstly, to show that the higher-order algorithmic framework can be generalized and successfully applied to (nonsmooth) difference of convex functions, namely, those that can be expressed as the difference of two smooth convex functions and a possibly nonsmooth convex one. We also provide examples when the subproblem can be solved efficiently, even globally. Secondly, to derive a complete convergence analysis for our higher-order difference of convex functions (HO-DC) algorithm. In particular, we prove that any limit point of the HO-DC iterative sequence is a critical point of the problem under consideration, the corresponding objective value is monotonically decreasing and the minimum value of the norms of its subgradients converges globally to zero at a sublinear rate. The sublinear or linear convergence rates of the iterations are obtained under the Kurdyka-Lojasiewicz property. © 2024, CC BY.

关键词： Iterative methods

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Intelligent Fault Diagnosis for Low-Voltage Power Network

Intelligent Fault Diagnosis for Low-Voltage Power Network

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Energy Technologies for Future Grids (ETFG), IEEE International Conference on

作者： Hamza M. Anwar Md Shafiullah M. A. Abido Electrical Engineering Department King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia Control & Instrumentation Engineering Department KFUPM Dhahran Saudi Arabia IRC for Renewable Energy and Power Systems KFUPM Dhahran Saudi Arabia SDAIA-KFUPM Joint Research Center for Artificial Intelligence (JRCAI) KFUPM Dhahran Saudi Arabia

Faults are common and potentially dangerous problems in low-voltage power system networks, e.g., distribution networks. Upon discovery, they must be dealt with immediately to prevent further damage to the distribution system and quickly return electricity to consumers. This paper proposes a hybrid fault diagnosis method combining a signal processing technique with deep learning models. Faults are applied in a four-node test distribution feeder developed using MATLAB and Simulink. Different measurement noise levels are implemented, along with varying load and fault parameters. The short-time Fourier transform (STFT) is used on the feeder’s current signals as a feature extraction tool. These features are then used to train deep learning models to detect, classify, and locate faults. Various parameters of the models are varied to find the optimum ones, which are used to obtain the results. The findings show that the model performed exceptionally well in fault detection and classification and satisfactorily in fault location.

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Integrating Parafac and Pso Fitting Model: A New View into Fluorescence Spectroscopic Analysis for Adulterant Quantification of Lubricant Oil

SSRN

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SSRN 2024年

作者： Zhang, Lujun Cai, Nuo Wang, Yan Fan, Xinmin Gao, Juanjuan Gao, Jin Li, Sensen Lan, Christopher Q. Xiaodong, Huang Wang, Chunyan Department of Physics and Electronic Information Weifang University Weifang261061 China Science and Technology on Electro-Optical Information Security Control Laboratory Tianjin300308 China Department of Chemical & Biological Engineering University of Ottawa OttawaONK1N 6N5 Canada

The adulteration of high-quality engine lubricants with inferior, dubious alternatives or reclaimed oils presents a significant challenge, necessitating the development of precise and rapid detection methodologies. This study introduces a novel analytical approach of excitation-emission matrix fluorescence (EEMF) spectroscopy paired with parallel factor analysis (PARAFAC) for the quantification of adulterants within adulterated lubricant samples. A fitting model is introduced to establish a correlation between the PARAFAC component scores of pure adulterants and those of adulterated samples. Furthermore, particle swarm optimization (PSO) is employed to refine the fitting parameters within this model, enabling the determination of individual adulterant' relative quantities in adulterated samples. This methodology not only broadens the application of EEMF combined with PARAFAC for adulteration quantification but also shows potential as a universal quantitative analysis tool for diverse complex fluorophobic mixtures. © 2024, The Authors. All rights reserved.

关键词： Fluorescence

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Covalent organic framework shows high isobutene adsorption selectivity from C_(4) hydrocarbons:Mechanism of interpenetration isomerism and pedal motion

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Green Energy & Environment 2022年第2期7卷 296-306页

作者： Wei Chen Mian Li Wen-Li Peng Ling Huang Chao Zhao Dinesh Acharya Wentao Liu Anmin Zheng State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics National Center for Magnetic Resonance in WuhanKey Laboratory of Magnetic Resonance in Biological SystemsWuhan Institute of Physics and MathematicsInnovation Academy for Precision Measurement Science and TechnologyChinese Academy of SciencesWuhan430071China Department of Chemistry and Key Laboratory for Preparation and Application of Ordered Structural Materials of Guangdong Province Shantou UniversityGuangdong515063China Chemistry and Chemical Engineering Guangdong Laboratory Shantou515031China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan430074China School of Materials Science and Engineering Zhengzhou UniversityZhengzhouHenan450001China University of Chinese Academy of Sciences Beijing100049China

Adsorption and separation of C_(4) hydrocarbons are crucial steps in petrochemical *** of porous materials for enhancing the separation efficiency have paid much ***-organic frameworks of diamond-topology,dia-COFs,often exhibit unique structural properties such as interpenetration isomerism and pedal ***,in order to get a deep insight into the structure-performance correlation of such dia-COFs,a series of dia-COF materials have been proposed and theoretically investigated on the C_(4) *** is found that these dia-COFs display an excellent adsorption and separation property towards isobutene with respect to other C_(4) hydrocarbons(i.e.,1,3-butadiene,1-butene,2-cis-butene,2-trans-butene,isobutane and n-butane).What’s more,the correlation between the topology parameters and experimental synthesis feasibility has been established for COF-300(dia-cN),and the unreported COF-300(dia-c3) is predicted to be experimentally feasible *** findings not only provide a deep insight into the mechanism of topology characteristics of dia-COFs on C_(4) adsorption and separation properties but also guide the design and synthesis of novel highly-effective porous materials.

关键词： adsorption hydrocarbons separation

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Hierarchical-type Model Predictive control and Experimental Evaluation for a Water-Hydraulic Artificial Muscle with Direct Data-Driven Adaptive Model Matching

arXiv

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arXiv 2024年

作者： Tsuruhara, Satoshi Ito, Kazuhisa School of Engineering and Science Shibaura Institute of Technology 307 Fukasaku Minuma Saitama3378570 Japan Japan Society for the Promotion of Science Tokyo1020083 Japan Department of Machinery and Control Systems Shibaura Institute of Technology 307 Fukasaku Minuma Saitama3378570 Japan

High-precision displacement control for water-hydraulic artificial muscles is a challenging issue due to its strong hysteresis characteristics that is hard to be modelled precisely, and many control methods have been proposed. Recently, data-driven control methods have attracted much attention because they do not explicitly use mathematical models, making design much easier. In our previous work, we proposed fictitious reference iterative tuning (FRIT)-based model predictive control (FMPC), which combines data-driven and model-based methods for the muscle and showed its effectiveness because it can consider input constraints as well. However, the problem in which control performance strongly depends on prior input-output data remains still unsolved. Adaptive FRIT based on directional forgetting has also been proposed;however, it is difficult to achieve the desired transient performance because it cannot consider input constraints and there are no design parameters that directly determine the control performance, such as MPC. In this study, we propose a novel data-driven adaptive model matching-based controller that combines these methods. Experimental results show that the proposed method could significantly improve the control performance and achieve high robustness against inappropriate initial experimental data, while considering the input constraints in the design phase. © 2024, CC BY-NC-ND.

关键词： Model predictive control

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Advances in dual-functional photocatalysis for simultaneous reduction of hexavalent chromium and oxidation of organics in wastewater

Environmental Functional Materials

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Environmental Functional Materials 2023年第1期2卷 1-12页

作者： Tao Zhang Pengfei Wang Yi Li Yueping Bao Teik-Thye Lim Sihui Zhan MOE Key Laboratory of Pollution Processes and Environmental Criteria/Tianjin Key Laboratory of Environmental Remediation and Pollution Control College of Environmental Science and Engineering Nankai University Tianjin 300350 PR China School of Energy and Environmental Engineering Hebei University of Technology Tianjin 300130 PR China Tianjin Key Laboratory of Molecular Optoelectronic Sciences Department of Chemistry School of Science Collaborative Innovation Center of Chemical Science and Engineering Tianjin University Tianjin 300072 PR China School of Civil and Environmental Engineering Nanyang Technological University Singapore 639798 Singapore

The solar-driven photocatalytic process has been evolved as a promising technology for both hexavalent chromium reduction and organic pollutants oxidation. Although both reactions are based on the same principle of photoinduced interfacial charge transfer, different catalysts and reaction conditions are required in two processes. This review revealed the scientific advances in dual-functional photocatalytic processes that enable simultaneous hexavalent chromium reduction and organics oxidation. Firstly, the basic principles of dual-functional photocatalysis are briefly discussed whereby the key concept of the system is the simultaneous oxidation of organic pollutants via photogenerated holes and reduction of hexavalent chromium via photogenerated electrons. Then, advances in dual-functional photocatalysis for the simultaneous removal of hexavalent chromium and organics are presented and discussed in terms of catalysts classification, including TiO 2 -based, bismuth-based and g-C 3 N 4 -based catalysts. Finally, the prospects, challenges and new perspectives of feasible solutions for dual-functional photocatalytic catalysts design are presented. Overall, this paper provides new insights on the modulation strategies and conformational relationships of dual-functional materials for researchers in the field of photocatalysis, which is beneficial for the practical applications of dual-functional materials in environmental remediation.

关键词： Dual-functional photocatalysis Cr(VI) reduction Organic pollutants oxidation Simultaneous removal Wastewater treatment

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Fault Detection and Isolation of Uncertain Nonlinear Parabolic PDE systems

arXiv

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arXiv 2022年

作者： Zhang, Jingting Yuan, Chengzhi Zeng, Wei Wang, Cong The Department of Mechanical Industrial and Systems Engineering University of Rhode Island Kingston RI02881 United States The School of Mechanical and Eletrical Engineering Longyan University Longyan364012 China The School of Control Science and Engineering Shandong University Jinan250061 China

This paper proposes a novel fault detection and isolation (FDI) scheme for distributed parameter systems modeled by a class of parabolic partial differential equations (PDEs) with nonlinear uncertain dynamics. A key feature of the proposed FDI scheme is its capability of dealing with the effects of system uncertainties for accurate FDI. Specifically, an approximate ordinary differential equation (ODE) system is first derived to capture the dominant dynamics of the original PDE system. An adaptive dynamics identification approach using radial basis function neural network is then proposed based on this ODE system, so as to achieve locally-accurate identification of the uncertain system dynamics under normal and faulty modes. A bank of FDI estimators with associated adaptive thresholds are finally designed for real-time FDI decision making. Rigorous analysis on the FDI performance in terms of fault detectability and isolatability is provided. Simulation study on a representative transport-reaction process is conducted to demonstrate the effectiveness and advantage of the proposed approach. © 2022, CC BY.

关键词： Partial differential equations

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Pattern Recognition Method for Detecting engineering Errors on Technical Drawings

Pattern Recognition Method for Detecting Engineering Errors ...

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AI IoT Congress (AIIoT), World

作者： Rimma Dzhusupova Richa Banotra Jan Bosch Helena Holmströ m Olsson Department of Electrical &#x0026 Instrumentation Control &#x0026 Safety Systems McDermott The Hague The Netherlands Department of Instrumentation Control &#x0026 Department of Computer Science and Engineering Chalmers University of Technology Gothenburg Sweden Department of Computer Science and Media Technology Malm&#x00F6 University Malm&#x00F6 Sweden

Many organizations are looking for how to automate repetitive tasks to reduce manual work and free up resources for innovation. Machine Learning, especially Deep Learning, increases the chance of achieving this goal while working with technical documentation. Highly costly engineering hours can be saved, for example, by empowering the manual check with AI, which helps to reduce the total time for technical documents review. This paper proposes a way to substantially reduce the hours spent by process engineers reviewing P&IDs (Piping & Instrumentation Diagrams). The developed solution is based on a deep learning model for analyzing complex real-life engineering diagrams to find design errors - patterns that are combinations of high-level objects. Through the research on an extensive collection of P&ID files provided by McDermott, we prove that our model recognizes patterns representing engineering mistakes with high accuracy. We also describe our experience dealing with class-imbalance problems, labelling, and model architecture selection. The developed model is domain agnostic and can be re-trained on various schematic diagrams within engineering fields and, as well, could be used as an idea for other researchers to see whether similar solutions could be built for different industries.

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