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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Chakraborty, Tirthankar Maity, Arnab Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Fault tolerance is crucial in the design and operation of gas turbine engines, where even minor malfunctions can disrupt operations and compromise performance. This paper presents a modified covariance intersection-based decentralized estimator which can ensure uninterrupted operation amidst sensor failures. A network of sensor nodes within the engine is considered. Each node in the network computes a local state estimate, which is subsequently fused with the other node estimates at each time instant. The developed algorithm uses a novel weight adaptation scheme to fuse the node estimates and the associated covariances. The node weights are expressed as a function of the covariance matrix of the node estimate and a scaling matrix. This algorithm is tested through simulation by injecting faults in the sensors of a small-scale gas turbine engine primarily used for research, called the SR-30 engine. The simulation results illustrate the effectiveness of the proposed estimator in ensuring the integrity of the state estimates in the presence of drift and bias faults in the sensors. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Gas turbines

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Survey on Integrated Navigation System Based on Inertial Technology

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Journal of institute of control, Robotics and systems 2024年第4期30卷 448-463页

作者： Park, Chan Gook Cha, Jaehyuck Choe, Yeongkwon Lee, Jaehong Lee, Hanyeol Kim, Kwangjin Cho, Seong Yun Song, Jin Woo Department of Aerospace Engineering/Automation and Systems Research Institute Seoul National University Korea Republic of Department of Mechatronics Engineering/Department of Smart Health Science and Technology Kangwon National University Korea Republic of Navigation Business Center Hanwha Aerospace Korea Republic of Department of mechanical automotive engineering Kyungil University Korea Republic of Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of

In this paper, we summarize the results of inertial navigation-based integrated navigation systems that have been researched for over 30 years. First, we introduce the core technologies for operating inertial navigation systems (INS) and discuss the technological advances in pedestrian navigation using small and low-cost inertial sensors for mobile devices. Second, we present the integrated navigation systems with other sensors to overcome the limitations of the INS, which degrades over time. The fundamental principles of, and major research on the inertial-based integrated navigation system with global navigation satellite system, database, or camera/LiDAR are discussed. Finally, the major achievements in recent advances in artificial intelligence-assisted navigation are addressed. © ICROS 2024.

关键词： Inertial navigation systems

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Collision avoidance and routing based on location access (CARLA) of mobile robots

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Neural Computing and Applications 2025年第9期37卷 6401-6430页

作者： ElSayyad, Shimaa Ezzat Saleh, Ahmed I. Ali, Hesham A. Saraya, M.S. Rabie, Asmaa H. Abdelsalam, Mohamed M. Computers Engineering Department MISR Higher Institute for Engineering and Technology Mansoura Round Road Mansoura City35516 Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Dean of Faculty of Artificial Intelligence Delta University for Science and Technology Gamasa Mansoura Egypt Faculty of Engineering Mansoura National University Gamasa Mansoura Egypt

The paper introduces a new path-planning robotic system methodology called Collision Avoidance and Routing based on Location Access (CARLA) for use in critical environments such as hospitals and crises where quick action and saving human lives are vital. The main focus of our framework is on accuracy and fast responses, such as delivering tools or items in a specific area while avoiding collisions with other robots and obstacles. CARLA is designed to provide quick responses during emergencies, unlike most existing algorithms that are integrated into site control units or distributed among mobile robots on-site. By being loaded onto a remote server node rather than individual robots, CARLA helps to conserve the robots' capabilities, hardware resources, and power consumption. Additionally, our system utilizes cloud computing and Fog servers technology to improve data transmission times between the cloud and smart devices, especially for applications with strict timing requirements like emergency response. The Fog platform is also leveraged to enhance on-site access to real-time interaction and location-based services by bringing processing power closer to the robots from far-off Cloud servers. CARLA has various applications, such as in factories and warehouses, where mobile robots need to be selected and directed by a central control system remotely. The proposed framework consists of three main modules: Robot Knowledge Module, Robot Selection Module, and Route Reservation Module, which will all be discussed in detail in this paper. The results of simulations using this framework show that the robots have improved flexibility and efficiency in terms of computing paths and successfully fulfiling requests without colliding, compared to traditional methods used in similar scenarios. © The Author(s) 2025.

关键词： Mobile robots

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Dynamic Event-Triggered Fixed-Time Consensus Analysis of Multi-Agent systems Under Input Delays and Switching Topologies 3

Dynamic Event-Triggered Fixed-Time Consensus Analysis of Mul...

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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Zhang, Yu Li, Yajing Ran, Guangtao Yu, Hao Ma, Guangfu Department of Automation Shenzhen518055 China Shanghai Institute of Aerospace System Engineering Shanghai200241 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798331540319

This paper proposes a dynamic event-triggered control method for first-order multi-agent systems with input delays and disturbances under switching topologies. The controller design and its properties of dynamic event-triggered fixed-time consensus are presented in detail. Furthermore, agents can achieve consensus in a fixed time for any initial conditions and topologies that comply with the control protocol. Zeno behavior is avoided. Simulation examples demonstrate the effectiveness of the proposed algorithm and simulate scenarios in which the communication environment deteriorates due to external disturbances affecting the MASs. © 2024 IEEE.

关键词： Multi agent systems

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Differentially Private Distributed Parameter Estimation

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Journal of systems Science & Complexity 2023年第1期36卷 187-204页

作者： WANG Jimin TAN Jianwei ZHANG Ji-Feng School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China

Data privacy is an important issue in control systems,especially when datasets contain sensitive information about *** this paper,the authors are concerned with the differentially private distributed parameter estimation problem,that is,we estimate an unknown parameter while protecting the sensitive information of each ***,the authors propose a distributed stochastic approximation estimation algorithm in the form of the differentially private consensus+innovations(DP-CI),and establish the privacy and convergence property of the proposed ***,it is shown that the proposed algorithm asymptotically unbiased converges in mean-square to the unknown parameter while differential privacy-preserving holds for finite number of ***,the exponentially damping step-size and privacy noise for DP-CI algorithm is *** estimate approximately converges to the unknown parameter with an error proportional to the step-size parameter while differential privacy-preserving holds for all *** tradeoff between accuracy and privacy of the algorithm is effectively ***,a simulation example is provided to verify the effectiveness of the proposed algorithm.

关键词： Differential privacy distributed parameter estimation stochastic approximation

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AutYOLO-ATT: an attention-based YOLOv8 algorithm for early autism diagnosis through facial expression recognition

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Neural Computing and Applications 2024年第27期36卷 17199-17219页

作者： Hosney, Reham Talaat, Fatma M. El-Gendy, Eman M. Saafan, Mahmoud M. Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura Egypt Faculty of Artificial Intelligence Kafrelsheikh University Kafrelsheikh33516 Egypt Faculty of Computer Science and Engineering New Mansoura University Gamasa35712 Egypt Nile Higher Institute for Engineering and Technology Mansoura Egypt

Autism Spectrum Disorder (ASD) is a developmental condition resulting from abnormalities in brain structure and function, which can manifest as communication and social interaction difficulties. Conventional methods for diagnosing ASD may not be effective in the early stages of the disorder. Hence, early diagnosis is crucial to improving the patient's overall health and well-being. One alternative and effective method for early autism diagnosis is facial expression recognition since autistic children typically exhibit distinct facial expressions that can aid in distinguishing them from other children. This paper provides a deep convolutional neural network (DCNN)-based real-time emotion recognition system for autistic kids. The proposed system is designed to identify six facial emotions, including surprise, delight, sadness, fear, joy, and natural, and to assist medical professionals and families in recognizing facial expressions in autistic children for early diagnosis and intervention. In this study, an attention-based YOLOv8 (AutYOLO-ATT) algorithm for facial expression recognition is proposed, which enhances the YOLOv8 model's performance by integrating an attention mechanism. The proposed method (AutYOLO-ATT) outperforms all other classifiers in all metrics, achieving a precision of 93.97%, recall of 97.5%, F1-score of 92.99%, and accuracy of 97.2%. These results highlight the potential of the proposed method for real-world applications, particularly in fields where high accuracy is essential. © The Author(s) 2024.

关键词： Diagnosis

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Integrating Machine Learning and Mathematical Optimization for Job Shop Scheduling

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IEEE Transactions on automation Science and engineering 2024年第3期21卷 4829-4850页

作者： Liu, Anbang Luh, Peter B. Sun, Kailai Bragin, Mikhail A. Yan, Bing Department of Automation and BNRist Beijing100084 China University of Connecticut Department of Electrical and Computer Engineering StorrsCT06269 United States National Taiwan University Department of Electrical Engineering Taipei10617 Taiwan Tsinghua University Chaired Professors Group Center for Intelligent and Networked Systems Department of Automation Beijing100084 China Rochester Institute of Technology Department of Electrical and Microelectronic Engineering RochesterNY14623 United States

Job-shop scheduling is an important but difficult combinatorial optimization problem for low-volume and high-variety manufacturing, with solutions required to be obtained quickly at the beginning of each shift. In view of the increasing demand for customized products, problem sizes are growing. A promising direction is to take advantage of Machine Learning (ML). Direct learning to predict solutions for job-shop scheduling, however, suffers from major difficulties when problem scales are large. In this paper, a Deep Neural Network (DNN) is synergistically integrated within the decomposition and coordination framework of Surrogate Lagrangian Relaxation (SLR) to predict good-enough solutions for subproblems. Since a subproblem is associated with a single part, learning difficulties caused by large scales are overcome. Nevertheless, the learning still presents challenges. Because of the high-variety nature of parts, the DNN is desired to be able to generalize to solve all possible parts. To this end, our idea is to establish 'surrogate' part subproblems that are easier to learn, develop a DNN based on Pointer Network to learn to predict their solutions, and calculate the solutions of the original part subproblems based on the predictions. Moreover, a masking mechanism is developed such that all the predictions are feasible. Numerical results demonstrate that good-enough subproblem solutions are predicted in many iterations, and high-quality solutions of the overall problem are obtained in a computationally efficient manner. The performance of the method is further improved through continuous learning. Note to Practitioners - Scheduling is important for the planning and operation of job shops, and high-quality schedules need to be obtained quickly at the beginning of each shift. To take advantage of ML, in this paper, a DNN is integrated within our recent decomposition and coordination approach to learn to predict 'good-enough' solutions to part subproblems. To be able t

关键词： Deep neural networks

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Automating CPPSs Analyses with SysML v2 and Lingua Franca in the Context of Industry 4.0 50

Automating CPPSs Analyses with SysML v2 and Lingua Franca in...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Gaiardelli, Sebastiano Wilch, Jan Fummi, Franco Vogel-Heuser, Birgit Industrial Computer Engineering Laboratory Department of Engineering for Innovation Medicine University of Verona Italy Institute of Automation and Information Systems Technical University of Munich Germany

ISBN: (纸本)9781665464543

The design of manufacturing systems requires exploring diverse component configurations for one that best satisfies the requirements of the target system. At the same time, manufacturing systems evolve continuously, increasing their complexity and that of the production line in which they are installed. Model-based System engineering (MBSE) methodologies and modeling languages like System Modeling Language (SysML) are used to assist system engineers during the entire design process. Yet, MBSE methodologies mainly rely on manually composed models for requirements verification, incurring enormous cost and effort especially in larger, more complex systems. This paper proposes a methodology exploiting the knowledge enclosed in a SysML model to automate the execution of a set of analyses defined over the represented manufacturing system. The proposed approach relies on Lingua Franca (LF) to simulate the specified analysis and analyze the results. Moreover, the methodology supports chains of analyses to represent dependent requirements and tradeoffs imposed upon a manufacturing system. The proposed methodology has been evaluated on a manufacturing system demonstrator. Results show the proposed methodology’s applicability and scalability on diverse configurations of the manufacturing system. © 2024 IEEE.

关键词： Smart manufacturing

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Deadtime Compensation-Based Approximate Decoupling control Approach for Multivariable Processes

Deadtime Compensation-Based Approximate Decoupling Control A...

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2024 IEEE Region 10 Conference, TENCON 2024

作者： Aldhandi, Suresh Detroja, Ketan P. Indian Institute of Technology The Systems and Control Group Department of Electrical Engineering Telangana Hyderabad502285 India

ISBN: (纸本)9798350350821

The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to counteract interaction effects. However, decouplers may not be realizable and even if they are realizable, for high dimensional systems, decoupler elements may be complex. To improve the decoupler realizability, a dead-time compensation (DTC) approach is proposed in this work. The DTC framework can minimise the impact of dead-time on system dynamics. The proposed decoupler is designed based on the dynamic relative gain array (DRGA) to compensate for interaction effects. The DRGA reveals more insights about the coupling effect between a pair of input-output loops. The DRGA elements are used as decoupler elements for the multivariable process. The minimization of both interaction effects and dead-time dynamics can be achieved with the proposed DTC-based decoupling control approach. The simple IM C PI tuning rules are utilized to implement controllers for each loop. The simulation study affirming the proposed method provides better desired closed-loop performance, error indices for nominal and plant model mismatches, and robust stability against plant uncertainty over the popular existing decoupler based approaches. © 2024 IEEE.

关键词： Multivariable control systems

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2411 | Proposing Turning Motion of The Small and Lightweight Push-Rolling Rover with Minimal Configuration 21

2411 | Proposing Turning Motion of The Small and Lightweight...

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21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2024

作者： Fujiwara, Daisuke Iizuka, Kojiro Suwa University of Science Department of Mechanical Engineering and Electrical Engineering Nagano Japan Shibaura Institute of Technology Department of Machinery and Control Systems Saitama Japan

ISBN: (纸本)9781942112570

Some organizations in Japan have planned planetary explorations using a small rover. However, the rovers with cylindrical wheels have a risk of failing to move in the loose soil area, such as the surface of the lunar/planet. The movement using the supporting force of the locked wheel, for example, a wheeled walking, or push-pull locomotion, can reduce the risk. Previous studies have mainly developed relatively large rovers over a mass of 10 kg. Meanwhile, our group has developed a small and lightweight (under a mass of a few kg) push-rolling rover with minimal configuration, and our previous studies indicated that the rover could climb steep slopes over 30 degrees with low slip. Planetary exploration rovers are required to move in an arbitrary direction;therefore, the developed rover also needs to have a function of a turning motion. This paper proposes the turning motion while inching for the push-rolling rover with minimal configuration and evaluates its performance by the traveling experiments at different conditions (driving conditions, and wheel shapes). The experimental results indicated that the proposed turning motion using high wheel slip and lug's wheel realized turning with low slip on loose surfaces with steep slopes. Additionally, the experimental results also showed that the slip amount of the rotational center is lower than that of a normal skid-steering rover. © 2024 International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Rovers

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