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3rd International Conference on Energy systems, Drives and Automations, ESDA 2020

作者： Szymanski, Jerzy Zurek-Mortka, Marta Faculty of Transport Electrical Engineering and Computer Science Kazimierz Pulaski University of Technology and Humanities Radom Poland Department of Control Systems Lukasiewicz Research Network Institute for Sustainable Technology Radom Poland

ISBN: (纸本)9789811672736

The article presents the concept of a hybrid network topology in the enterprises with the use of a solar power plant and energy storage as well as a drive frequency converter for charging of transportation battery of wheels vehicles and powering of electric caterpillar mining machines. Two important functionalities of the drive frequency converter as a unidirectional EV battery charger and for powering electric motors are presented. The obtained results of the simulation and experimental tests of the presented model confirm the possibility of controlling the DC current value of connected to drive frequency converter of the diode rectifier unit charging the EV battery. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Solar energy

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Energy-Aware Task Allocation for Teams of Multi-mode Robots

arXiv

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arXiv 2025年

作者： Ito, Takumi Funada, Riku Sampei, Mitsuji Notomista, Gennaro Department of Systems and Control Engineering Institute of Science Tokyo Tokyo152-8550 Japan Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada

This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where the mode of each robot is represented by a node. Next, we formulate a constrained optimization problem to decide both the task to be allocated to each robot as well as the mode in which the latter should execute the task. The robot modes are optimized based on the state of the robot and the environment, as well as the energy required to execute the allocated task. Moreover, the proposed framework is able to encompass kinematic and dynamic models of robots alike. Furthermore, we provide sufficient conditions for the convergence of task execution and allocation for both robot models. Copyright © 2025, The Authors. All rights reserved.

关键词： Constrained optimization

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

Carbon-Aware Computing in a Network of Data Centers: A Hiera...

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European control Conference (ECC)

作者： Enno Breukelman Sophie Hall Giuseppe Belgioioso Florian Dörfler Division of Decision and Control Systems KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Stockholm Sweden Department of Electrical Engineering and Information Technology Automatic Control Laboratory ETH Zurich Zürich Switzerland

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

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 success-fully reduces carbon emissions while simultaneously ensuring operational reliability and priority-aware scheduling.

关键词： Data centers Processor scheduling Computational modeling Carbon dioxide Games Supervisory control Resource management

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Design of a Mechatronic Endoskeleton Robot for Inspection Tasks: Model Reference Adaptive control (MRAC) for Serpentine Locomotion with Stability Analysis

Design of a Mechatronic Endoskeleton Robot for Inspection Ta...

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International Conference on Developments in esystems engineering (DESE)

作者： Ammar K. Al Mhdawi Nick Wright Mohammed I. Younis Amjad J. Humaidi School of Engineering and Sustainable Development De Montfort University Leicester UK Department of Electrical and Electronic Engineering Newcastle University Newcastle UK Department of Computer Engineering University of Baghdad Iraq Department of Control and Systems Engineering University of Technology Baghdad Iraq

ISBN: (数字)9798350368697

ISBN: (纸本)9798350368703

An advantage of bio-inspired robots is the versatility of their locomotion on a wide range of terrains that conventional robots are not able to traverse. The snake-like robot, which is a mechanism designed to move in the manner of a biological snake, is an example of a bio-inspired platform. This paper aims to implement and validate, using real and simulation tests on flat terrain, a snake-like endoskeleton robot that permits serpentine movement with adaptive control capabilities. The prototype mechatronic robot was comprised of eleven segments that were 3D printed sequentially. A simulation using Matlab’s Multibody Mechanics tool determines the necessary torques for each motor. In this simulation, a parameterized virtual model of the robot is created, where rectilinear gaits are programmed. In accordance with simulation and experimental results, the robot undertakes different times to reach the goal trajectory or end points depending on the frequency, angular position, and wave length (duty cycle). As a result, there is a high degree of similarity between the simulation tests and those conducted with the prototype endoskeleton. Furthermore, the robot is equipped with machine vision capabilities that allow it to detect faults within oil and gas pipes for the purpose of inspection and maintenance. Furthermore, a Model Reference Adaptive control (MRAC) method based on Lyapunov stability analysis and MIT rules is proposed. The theoretical analysis and numerical simulation show that the designed trajectory tracking control law can make the multi-joint snake-like robot track the trajectory of the front joint when the robot encounters disturbances and stabilize the angular position and velocity of the first two head joints when disturbances occur.

关键词： Adaptation models Analytical models Mechatronics Prototypes Inspection Mathematical models Trajectory Adaptive control MATLAB Robots

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Wheelchair Wheel Design with Transformable “Wheel-Leg” Configuration for Climbing Stairs and Various Surfaces

Wheelchair Wheel Design with Transformable “Wheel-Leg” Con...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Islam Magomedov Timur Aygumov Anzor A. Kanametov Bissnes informatics Kadyrov Chechen state university Grozny Russia Department of software engineering computer technology and automated systems Dagestan State Technical University Dagestan Russia Department of Electronics and Digital Information Technologies Kabardino-Balkarian State University Nalchik Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

The dynamic and uneven terrain of our environment introduces complexity for locomotion vehicles to navigate easily across different settings. Wheelchairs belong to the category of vehicles that require locomotion across various uneven terrains, such as stairs and other partitions. Therefore, the aim of this work is to design a wheel that can travel through various environments without using complex mechanisms. This aim was achieved by creating a novel transformable wheel. This wheel can turn into a legged wheel without using a complex mechanism and, when unnecessary, transform back into a normal wheel. Several simulations were carried out to understand the design's capability to overcome obstacles. In this case, the stair was the obstacle, and the results illustrated that the wheel is capable of climbing stairs without serious issues. Different parameters, such as speed and force, were examined with various values. The results showed that the weight on the wheelchair plays a significant role in climbing. For instance, with lighter weight, the structure moves without major slipping. The roughness of the surface is also related to the wheelchair's ability to reach the top of the stairs. A finer depth of cuts on the surface of the stairs increases the chance of the legged wheel firmly gripping and moving up the stairs.

关键词： Shape Navigation Wheelchairs Wheels Rotors Transforms Stairs Surface roughness Rough surfaces Vehicle dynamics

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Towards construction of analog solver of Schroedinger and Ginzburg-Landau equation based on Long Line

arXiv

引用

arXiv 2023年

作者： Pluszyński, Lukasz Pomorski, Krzystof Cracow University of Technology Department of Computer Science Poland Cracow University of Technology Department of Automatic Control and Computer Engineering Poland Quantum Hardware Systems Lodz Poland

The analog electronic computers are a type of circuitry used to calculate specific problems using the physical relationships between the voltages and currents following classical laws of physics. One specific class of these circuits are computers based on the interactions between passive circuit elements. Models presented by Gabriel Kron in 1945 are the example of using such passive elements to construct a solver for the problem of free quantum particles confined by rectangular potential. Numerical validation of Kron's second model is conducted for different shapes of particle confining potential. Kron's model is generalized by introduction of non-linear resistive elements what implies deformation of Schroedinger equation solution into Ginzburg-Landau form. © 2023, CC BY.

关键词： Analog computers

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Skeleton-based Action Recognition Using Two-stream Graph Convolutional Network with Pose Refinement 41

Skeleton-based Action Recognition Using Two-stream Graph Con...

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第41届中国控制会议

作者： Biao Zheng Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point coordinates entering into the network are barely refined,which may cause large ***,the second-order information(the length and direction of bones),which can reflect action characteristics discriminatively,is rarely *** solve the above issues,a two stream graph convolutional network with pose refinement for skeleton based action recognition is ***,we use an adaptive block to to help improve the *** test our method on Kinetics dataset and the experiment show it can get better results than some recent methods,which plays a positive role in future research.

关键词： Graph convolutional network Pose refinement Skeleton based action recognition Adaptive block

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Effect of Ignition Voltage Amplitude on Breakdown Delay Time of Ring Laser Discharge Gap

Effect of Ignition Voltage Amplitude on Breakdown Delay Time...

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International Youth Conference on Radio Electronics, Electrical and Power engineering (REEPE)

作者： Anton O. Sinelnikov Ilya A. Smetanin Bogdan A. Basov Egor A. Smetanin Uliana F. Bykanova Computer science and control systems department Laboratory of Technologies of Polymer Ferroelectrics Laboratory of Microelectronics and Nanotechnology Mechanical engineering technologies department Bauman Moscow State Technical University Moscow Russian Federation Department of Nanotechnology and Microsystems Engineering Department of Mechanics and Control Processes RUDN University Moscow Russian Federation

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

The modern space industry requires autonomous and high-precision control systems for scientific and commercial missions. Strapdown inertial navigation systems based on laser gyroscopes play a key role in spacecraft control, especially in environments where satellite navigation is unavailable. In this paper, ring lasers with an active medium made of a helium-neon mixture, their design and operating modes are investigated. The influence of voltage on the ignition electrodes (4.2-5 kV) on the breakdown time of the active medium has been analyzed. It was found that increasing the voltage reduces the breakdown time, providing reliable activation of gyroscopes. The experimental results allowed to determine the optimal ignition parameters that increase operation reliability and reduce production losses. This contributes to the development of highly efficient spacecraft control systems, opening up new prospects for deep space exploration and control of satellite systems.

关键词： Space vehicles Breakdown voltage Electric breakdown Power lasers Ignition Ring lasers Laser modes control systems Gyroscopes Reliability

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Supervised reinforcement learning based trajectory tracking control for autonomous vehicles ⁎

引用

IFAC-PapersOnLine 2024年第10期58卷 140-145页

作者： András Mihály Van Tan Vu Trong Tu Do Péter Gáspár Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Hungarian Research Network Kende u. 13-17 H-1111 Budapest Hungary Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications Hanoi Vietnam Mechanical and Power Engineering Faculty Electric Power University Hanoi Vietnam

Recent developments in autonomous vehicle technologies and applications gain a lot of interest by the public, as the popularity of both driver assistance and automated driving systems increase. One of the most promising aspect of the autonomous vehicle compared to conventional human driven vehicle is the increased level of safety. Machine learning techniques enables to achieve fast and efficient control actions compared to model based techniques. However, the advantages of a more conservative model based controller are their better robustness properties. In this paper a synergy of the two control philosophy is presented through a trajectory tracking control design for autonomous vehicles. A supervised reinforcement learning (RL) control method is introduced, where a robust Linear Parameter Varying (LPV) controller supervises the operation of the trained RL agent. Thus, in case sensor noise is detected, the guaranteed stability LPV controller takes over the steering control action. In order to demonstrate the operation of the proposed method, three different simulations have been evaluated and compared in CarSim simulation environment.

关键词： autonomous vehicle control supervised reinforcement learning trajectory tracking

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Robust Sliding Manifold Design for Uncertain Linear systems

Robust Sliding Manifold Design for Uncertain Linear Systems

引用

European control Conference (ECC)

作者： Edoardo Vacchini Nikolas Sacchi Michele Cucuzzella Antonella Ferrara Department of Electrical Computer Science and Biomedical Engineering University of Pavia Pavia Italy Center for Systems and Control ENTEG Faculty of Science and Engineering (FSE) University of Groningen (UG) Groningen Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper proposes a novel approach for the design of stabilizing sliding manifolds for linear systems affected by model uncertainties and external disturbances. In classical sliding mode control approaches, rejecting model uncertainties and external disturbances often relies on designing a dis-continuous control law with a suitable gain. Specifically, the greater the uncertainty, the larger the control gain. However, this approach might be detrimental to the plant. Instead, the proposed technique deals with this problem by focusing on the design of a suitable sliding manifold, where stability is guaranteed despite model uncertainties. This approach exhibits several benefits such as not needing any further identification process and designing a smaller control gain.

关键词： Manifolds Linear systems Uncertainty RLC circuits Stability analysis Mathematical models Robustness

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