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arXiv 2020年

作者： Berberich, Julian Scherer, Carsten W. Allgöwer, Frank The University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70569 Germany The Institute of Mathematical Methods in the Engineering Sciences Numerical Analysis and Geometrical Modeling Department of Mathematics University of Stuttgart Stuttgart70569 Germany

We present a framework for systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or on the uncertainty for robust controller design. Our approach leads to linear matrix inequality (LMI) based feasibility criteria which guarantee stability and performance robustly for all closed-loop systems consistent with the prior knowledge and the available data. The design procedures rely on a combination of multipliers inferred via prior knowledge and learnt from measured data, where for the latter a novel and unifying disturbance description is employed. While large parts of the paper focus on linear systems and input-state measurements, we also provide extensions to robust output-feedback design based on noisy input-output data and against nonlinear uncertainties. We illustrate through numerical examples that our approach provides a flexible framework for simultaneously leveraging prior knowledge and data, thereby reducing conservatism and improving performance significantly if compared to black-box approaches to data-driven control. Copyright © 2020, The Authors. All rights reserved.

关键词： Robust control

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State Estimation for Non-linear Fully-implicit, Index-1 Differential Algebraic Equation systems

State Estimation for Non-linear Fully-implicit, Index-1 Diff...

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American control Conference

作者： Neeraja Srinivasan Nirav Bhatt Sridharakumar Narasimhan Systems and Control group Indian Institute of Technology Madras Chennai India Department of Biotechnology and member Robert Bosch Centre for Data Science and Artificial Intelligence and Initiative for Biological Systems Engineering Indian Institute of Technology Madras Chennai India Department of Chemical Engineering and member of the Robert Bosch Centre for Data Science and Artificial Intelligence Indian Institute of Technology Madras Chennai India

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

The Kalman filter and its variants have been developed for state estimation in semi-explicit, index-1 DAE systems in current literature. In this work, we develop a method for state estimation in non-linear fully-implicit, index-1 differential algebraic equation (DAEs) systems. In order to extend the Kalman filtering techniques for fully-implicit index-1 DAE systems, in the correction step we convert the fully-implicit DAE into a system of ordinary differential equations (ODEs). This is achieved by the index reduction of DAE using the method of successive differentiation of algebraic equations. This is a challenging problem as the fully-implicit DAE system does not contain explicit algebraic states unlike in the semi-explicit case. In this work, we propose a linear transformation of the mass matrix which enables us to find candidate algebraic states for the system. This transformation on the mass matrix is relatively simpler than constructing the transformation matrices in the Weierstrass-Kronecker canonical form. We illustrate our proposed method with two examples, a linear and a non-linear fully-implicit index-1 DAE system.

关键词： Mathematical model Kalman filters Indexes Differential equations State estimation Computational modeling

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Optimal Waveform for Fast Entrainment of Weakly Forced Quantum Nonlinear Dissipative Oscillators

Optimal Waveform for Fast Entrainment of Weakly Forced Quant...

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IEEE Annual Conference on Decision and control

作者： Yuzuru Kato Hiroya Nakao Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We consider entrainment of a quantum nonlinear dissipative oscillator to a periodically modulated harmonic driving in the semiclassical regime. We derive the optimal waveform of the periodic amplitude modulation by extending a classical optimization scheme to the semiclassical phase equation approximately describing the quantum oscillatory dynamics. Specifically, we consider optimization of the waveform for fast entrainment of quantum nonlinear oscillators and show that the optimal waveform yields faster entrainment to the driving signal than the simple sinusoidal waveform. We argue that the optimization of waveforms provides better performance when the phase sensitivity function of the limit cycle has stronger high-harmonic components. The theoretical results are verified by using the quantum van der Pol model, which is a typical model of the quantum nonlinear dissipative oscillator.

关键词： Oscillators Limit-cycles Optimization Mathematical model Synchronization Amplitude modulation Harmonic analysis

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Mapping Surgeons Hand/Finger Movements to Surgical Tool Motion during Conventional Microsurgery Using Machine Learning

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Journal of Medical Robotics Research 2021年第3-4期6卷

作者： Fattahi Sani, Mohammad Ascione, Raimondo Dogramadzi, Sanja Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Heart Institute and Translational Biomedical Research Centre Faculty of Health Science University of Bristol Bristol United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffiled United Kingdom

Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-Assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current human-robot interfaces lack intuitive teleoperation and cannot mimic surgeon's hand/finger sensing required for fine motion micro-surgeries. These limitations make teleoperated robotic surgery not less suitable for, e.g. cardiac surgery and it can be difficult to learn for established surgeons. We report a pilot study showing an intuitive way of recording and mapping surgeon's gross hand motion and the fine synergic motion during cardiac micro-surgery as a way to enhance future intuitive teleoperation. Methods: We set to develop a prototype system able to train a Deep Neural Network (DNN) by mapping wrist, hand and surgical tool real-Time data acquisition (RTDA) inputs during mock-up heart micro-surgery procedures. The trained network was used to estimate the tools poses from refined hand joint angles. Outputs of the network were surgical tool orientation and jaw angle acquired by an optical motion capture system. Results: Based on surgeon's feedback during mock micro-surgery, the developed wearable system with light-weight sensors for motion tracking did not interfere with the surgery and instrument handling. The wearable motion tracking system used 12 finger/thumb/wrist joint angle sensors to generate meaningful datasets representing inputs of the DNN network with new hand joint angles added as necessary based on comparing the estimated tool poses against measured tool pose. The DNN architecture was optimized for the highest estimation accuracy and the ability to determine the tool pose with the least mean squared error. This novel approach showed that the surgical instrument's pose, an essential requirement for teleoperation, can be accurately estimated from recorded surgeon's hand/finger movements with a mean squared error (M

关键词： feature extraction hand tracking machine learning minimally invasive surgery real-Time low-cost hand tracking Robot-Assisted surgery

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Interactive visualization of model dependencies in a transdisciplinary environment

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IFAC-PapersOnLine 2019年第19期52卷 317-322页

作者： Dorothea Pantförder Eric Vollenweider Florian Leitner Technical University of Munich Department of Mechanical Engineering Institute for Automation and Information Systems 85748 Garching near Munich Germany

Innovation processes are influenced by cyclical factors and involve many stakeholders from different disciplines within a company. Working together in transdisciplinary teams can save time and therefore improve the innovation process. However, the stakeholders have a completely different understanding of the processes based on their domain specific knowledge and experience and the requirements of their individual task. To avoid conflicts between the disciplines, this paper presents an interactive two-level graph-based approach to visualize cross-discipline model dependencies. This visualization can help to support the transdisciplinary communication and comprehension.

关键词： Interaction Interdisciplinary design Human factors Man/machine interaction Communication Information integration Information retrieval

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Risk-Aware Profit Maximization Problem in Multiperiod Energy Markets with Uncertain Photovoltaics Power*

Risk-Aware Profit Maximization Problem in Multiperiod Energy...

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Asian control Conference

作者： Bo Tu Takayuki Ishizaki Jun-ichi Imura Department of Systems and Control Engineering Graduate School of Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781728102634

We present a profit maximization issue in a dayahead electricity market for a participant (aggregator) whose financial condition is considered under the uncertain photovoltaics (PV) power situation. An energy demand/supply profile can be achieved by adjusting the dispatchable devices, e.g., energy storage systems and fossil fuel generators, by applying a prosumption model. We analyze an uncertainty issue brought by the PV profiles, discussing the relationship between the PV profile and the associated profit. Then we propose a strategy, in which the financial condition is considered by constraining the potential profits within one particular acceptable extent. Based on the proposed strategy, the aggregator is supposed to operate his dispatchable devices to pursue the maximum profit by submitting a risk-aware prosumption profile to the market. The simulation results show that under different financial conditions, the aggregator's performances are different and reasonable.

关键词： Uncertainty Cost function Generators Convex functions Energy storage Solar energy

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Motion control and Motion Coordination of Bionic Robotic Fish： A Review

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Journal of Bionic engineering 2018年第4期15卷 579-598页

作者： Junzhi Yu Ming Wang Huifang Dong Yanlu Zhang Zhengxing Wu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Information and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the framework of bionics. This paper offers a general review of the current status of bionic robotic fish, with particular emphasis on the hydrodynamic modeling and testing, kinematic modeling and control, learning and optimization, as well as motion coordination control. Among these aspects, representative studies based on ideas and concepts inspired from fish motion and coordination are discussed. At last, the major challenges and the future research directions are addressed in the context of integration of various research streams from ichthyologic, hydrodynamic, mechanical, electronic, control, and artificial intelligence. Further development of bionic robotic fish can be utilized to execute some specific missions in complex underwater environments, where operations are unsafe or impractical for divers or conventional underwater vehicles.

关键词： bionic robotic fish motion control coordination control fish swimming learning and optimization

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Determination of Conditions for Adequate Analytical Simulation of the Electromagnetic Field of Disk Induction Motors

Determination of Conditions for Adequate Analytical Simulati...

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International Conference on Modern Problems of Radio engineering, Telecommunications and Computer Science

作者： Roman Kryshchuk Olexiy Karlov Andrii Bereziuk Department of electromagnetic systems The Institute of Electrodynamics of the National Academy of Sciences of Ukraine Kyiv Ukraine Department of Electrical Engineering Electromechanics and Electrotechnology Education and Research Institute of Energetics Automation and Energy Efficiency of the National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine

ISBN: (数字)9781728155661

ISBN: (纸本)9781728155678

The advantages of axial motors in comparison with motors with radial magnetic flux are shown. The modern methods for simulation of electromagnetic fields are described. The advantages and disadvantages of software for simulation electromagnetic fields based on the finite element method and analytical methods are presented. In this paper the analytical method for simulation electromagnetic fields and electromagnetic parameters of disk-type induction motors with massive bimetal rotors is investigated. The purpose of the work is to study the conditions for adequate simulation of electromagnetic field and parameters of disk-type induction motors, using analytical method. The adequacy of the analytical method is investigated by comparing the mechanical characteristics obtained by the finite element method, analytical method and experiment. The finite element method uses quasi-stationary three-dimensional mode without calculating rotor speed, and uses transient mode with calculating rotor speed. Analytical simulation method uses quasi-stationary three-dimensional mode in both without and with taking into account speed of the rotor. The mathematical model of the analytical method for simulation magnetic fields is presented. The conditions under which the high accuracy of the calculation by the analytical method is achieved are investigated. The correctness of the calculation of the magnetic field equation of the analytic method by the comparison with the result of the calculation of the finite elements method for the same mathematical model of the motor is checked.

关键词： electromagnetic fields finite element analysis induction motors machine theory magnetic flux rotors Electromagnetic fields Finite element method induction motors machine theory Rotors Magnetic flux rotor speed simulating Motor

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Development of Sheet Palletizing Manipulator Based on Multi-link Mechanism

Research Square

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Research Square 2020年

作者： Chen, Zhihua Wang, Shoukun Liu, Quan Wang, Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing100081 China New Energy Laboratory College of Mechanical and Electrical Engineering Beijing Information Science and Technology University Beijing100192 China

In view of the disadvantages of Traditional tandem joint type thin-plate palletizing robots using push-down adsorption sorting, such as moving path complexity, large occupied space, joint error stack and low end control precision, a novel multi-link mechanism thin-plate palletizing robot is developed. The kinematics analysis is carried out based on the analysis of the overall structure for the manipulator, a genetic algorithm based on the stroke speed ratio K, the transmission angle γ and the four-bar size is proposed to realize the optimal design of the four-link rocker arm mechanism. Secondly, a finite element based overall structure analysis method is proposed, which obtains the most affected part of the vibration process of a manipulator and performs load verification to prevent early warning and reference of faults caused by mechanical resonance. To solve the control problem of nonlinear strongly coupled dynamic systems, an iterative learning fuzzy adaptive control algorithm is proposed to achieve the smooth running of the manipulator and the high-precision tracking of the end centroid trajectory. The experimental results verify the feasibility and effectiveness of the proposed multi-link controllable thin-plate palletizing manipulator's overall structural design and iterative learning control method, which is well applied in practical engineering. © 2020, CC BY.

关键词： Manipulators

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A Design Method for Plug-and-Play Modules of Photovoltaic Generators

A Design Method for Plug-and-Play Modules of Photovoltaic Ge...

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Asian control Conference

作者： Anqi Qu Tomonori Sadamoto Jun-ichi Imura Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781728102634

In this paper, we propose a novel method for designing PnP (plug-and-play)-type modules of photovoltaic (PV) generators. The proposed module comprises a PV and a compensator that controls the duty cycle of the inverter cancelling out the negative influence of the newly added PV on the entire power system. The design and implementation of the compensator only depend on the local information about the power-system component that is connected to the PV. Even though the proposed module can be constructed locally, the stability of the entire system integrated with the module is theoretically guaranteed. We demonstrate the effectiveness of the proposed method through an example of a nine-bus power system.

关键词： Power system stability Connectors DC-AC power converters Stability analysis Load modeling Synchronous generators

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