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Software for Small-scale Robotics: A Review

International Journal of automation and computing 2018年第5期15卷 515-524页

作者： Tobias Tiemerding Sergej Fatikow Department of Computing Science Division Microrobotics and Control Engineering (AMiR) University of Oldenburg OFFIS–Institute for Information Technology R&D Division Automation and Integration Technology (AIT)

In recent years, a large number of relatively advanced and often ready-to-use robotic hardware components and systems have been developed for small-scale use. As these tools are mature, there is now a shift towards advanced applications. These often require automation and demand reliability, efficiency and decisional autonomy. New software tools and algorithms for artificial intelligence（AI） and machine learning（ML） can help here. However, since there are many software-based control approaches for small-scale robotics, it is rather unclear how these can be integrated and which approach may be used as a starting point. Therefore, this paper attempts to shed light on existing approaches with their advantages and disadvantages compared to established requirements. For this purpose, a survey was conducted in the target group. The software categories presented include vendor-provided software, robotic software frameworks（RSF）, scientific software and in-house developed software（IHDS）. Typical representatives for each category are described in detail, including Smar Act precision tool commander, Math Works Matlab and national instruments Lab VIEW, as well as the robot operating system（ROS）. The identified software categories and their representatives are rated for end user satisfaction based on functional and non-functional requirements, recommendations and learning curves. The paper concludes with a recommendation of ROS as a basis for future work.

关键词： Robotic control software engineering micro/nano robotics artificial intelligence （AI） machine learning （ML） open

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Shaping Effect of Phase-locked Loop on Impedance Characteristics of PMSG Wind Turbines Connected to Weak-grid

Shaping Effect of Phase-locked Loop on Impedance Characteris...

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IEEE General Meeting Power& Energy Society

作者： Feiya Wan Zhen Li Bin Liu Guanghui Li Xiaoliang Dong Xi Chen Samson S. Yu Amanullah M. T. Oo Zhenyu Shan Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China China Electric Power Research Institute Beijing China State Grid Corporation of China and North China Branch of State Grid Corporation of China Beijing China GEIRI North America USA School of Engineering Deakin University 75 Pigdon Rd Waurn Ponds Victoria Australia School of Electrical and Control Engineering North China University of Technology Beijing China

ISBN: (数字)9781728155081

ISBN: (纸本)9781728155098

With the booming installed capacity of permanent magnet synchronous generator (PMSG) for wind energy generation, the grid becomes weaker and the oscillation events are frequently observed in weak-grid-tied large-scale grid-connected PMSG wind farms. Although the impedance-based method is effective to analyze the stability of grid-connected systems, the mathematical relationship between external impedance characteristics and the internal controllers has not been quantitatively analyzed in depth, which is beneficial to the controller design. This paper studies the influence of phase-locked loop (PLL) on the impedance characteristics based on the analytical sequence impedance model of PMSG with typical topology and control structure. The shaping effect of PLL on the impedance characteristics is described so as to clearly describe the relationship between the external impedance characteristics of the wind turbines and the internal controller. Finally, the stability analysis of the grid-connected PMSG wind turbine system is provided in Matlab and simulation results are given to verify the oscillating mechanism caused by PLL.

关键词： Synchronous generators Stability analysis Wind turbines Topology Impedance Phase locked loops Oscillators

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Search strategy in a complex and dynamic environment: The MH370 case

arXiv

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arXiv 2020年

作者： Ivić, Stefan Crnković, Bojan Arbabi, Hassan Loire, Sophie Clary, Patrick Mezić, Igor Faculty of Engineering University of Rijeka Rijeka Croatia Department of Mathematics University of Rijeka Rijeka Croatia Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge United States Bruker Nano Surfaces Santa Barbara United States Oregon State University Corvallis United States Department of Mechanical Engineering Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

Search and detection of objects on the ocean surface is a challenging task due to the complexity of the drift dynamics and lack of known optimal solutions for the path of the search agents. This challenge was highlighted by the unsuccessful search for Malaysian Flight 370 (MH370) which disappeared on March 8, 2014. In this paper, we propose an improvement of a search algorithm rooted in the ergodic theory of dynamical systems which can accommodate complex geometries and uncertainties of the drifting search areas on the ocean surface. We illustrate the effectiveness of this algorithm in a computational replication of the conducted search for MH370. In comparison to conventional search methods, the proposed algorithm leads to an order of magnitude improvement in success rate over the time period of the actual search operation. Simulations of the proposed search control also indicate that the initial success rate of finding debris increases in the event of delayed search commencement. This is due to the existence of convergence zones in the search area which leads to local aggregation of debris in those zones and hence reduction of the effective size of the area to be searched. Copyright © 2020, The Authors. All rights reserved.

关键词： Debris

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Analytical model of the inductor system of the device to prevent ice formation on power lines

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Journal of Physics: Conference Series 2021年第2期1889卷

作者： A V Livshits Valentina S Ratushnyak Viktor S Ratushnyak P V Novikov Department of Production Processes Automation Irkutsk State Railway Engineering University Irkutsk Russia Department of Train Propulsion Systems Krasnoyarsk Railway Transport Institute branch of Irkutsk State Railway Engineering University Krasnoyarsk Russia

The article describes the analytical model of the magnetic-pulsed electromechanical energy converter in relation to the device for preventing ice formation on power lines. The inductor system of the device is a flat inductor and a firing pin made of electrically conductive material. The mobility of both the firing pin, and also the inductor is due to the attachment of the device to the pair of power line wires. This feature, in contrast to the fixed position of the inductor traditionally used, required the development of the universal design scheme for the electrodynamic interaction of the inductor and the firing pin. The proposed analytical model takes into account the forces of resistance to the motion of the inductor system caused by the presence of the elastic return mechanisms in the device and attachment to the power line wire, which is a body with a distributed mass. The developed analytical model was tested. The calculation of the device parameters for the transmission line span with the specified mass-dimensional characteristics was performed.

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Steady-State Analysis of HVAC Performance using Indoor Fans in control Design

Steady-State Analysis of HVAC Performance using Indoor Fans ...

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IEEE Annual Conference on Decision and control

作者： Joaquin G. Ordonez Claus Danielson Daniel Limon Scott A. Bortoff Stefano Di Cairano Department of Systems Engineering and Automation University of Seville Seville Spain Control and Dynamical Systems Group Mitsubishi Electric Research Laboratories Cambridge MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Indoor fans are high-authority actuators in heating, ventilation, and air conditioning (HVAC) systems since they facilitate the transfer of heat between refrigerant and room air. In some variable refrigerant flow (VRF) systems, the indoor fan speeds are under the control of the occupants, rather than the HVAC control system. This paper studies the benefits of transferring control of the indoor fans to the HVAC controller. We quantify the system performance using five metrics related to occupant comfort and power consumption. The first metric measures the ability of the HVAC system to accommodate users with different temperature preferences by quantifying the largest difference in requested room temperatures that can be achieved with and without the aid of indoor fans. The second and third metrics measure the ability of the HVAC system to reject extreme heating and cooling loads. The final two metrics measure the reduction in power consumption obtained by manipulating the indoor fan speeds. Each of these metrics is computed via linear programming for varying numbers of indoor units. Simulation results indicate that the maximum steady-state difference in room temperatures is tripled, and the maximum rejected heating and cooling loads are doubled. Furthermore, power consumption is significantly reduced.

关键词： Fans Heating systems Temperature measurement Steady-state Power demand Refrigerants

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Convex Relaxation with Log-Determinant Divergence-L1 Regularization for 3D Shape Reconstruction

Convex Relaxation with Log-Determinant Divergence-L1 Regular...

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第三十八届中国控制会议

作者： Wei Cao Luefeng Chen Min Wu Witold Pedrycz School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Electrical and Computer Engineering University of Alberta

Investigated is the problem of estimating the 3 D shape of an object defined by a set of 3 D landmarks with their 2 D correspondences in a single image. To solve this problem, we use a dictionary of the basic shape with LDD-L1 regularization,which is the construction of the shape space model. Based on the proposed convex optimization method, 3 D human pose reconstruction by shape space model and 3 D variable shape model was carried out on the mocap database. To improve accuracy and reduce the number of iterations, we use PSO algorithm to optimize initial value of the key parameter. The experimental results show that the improved algorithm exhibits less iterations but higher accuracy, which can be much helpful in practical applications.

关键词： LDD-L1 regularization 3D reconstruction PSO

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Synthesis Method of Diagnostic Observer for Fault Identification in Mechatronic systems*

Synthesis Method of Diagnostic Observer for Fault Identifica...

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International Conference on control, automation and Diagnosis (ICCAD)

作者： Alexey Zhirabok Alexey Shumsky Aleksandr Zuev Vladimir Filaretov School of Engineering Far Eastern Federal University Vladivostok Russia Laboratory of Robotic Systems Institute of Automation and Control Processes Vladivostok Russia

ISBN: (数字)9781728122922

ISBN: (纸本)9781728122939

The synthesis method of sliding mode diagnostic observers for fault identification in dynamic and sensors of mechatronic systems is proposed and investigated. These diagnostic observers provide robustness of the diagnostic process under unknown disturbances. The proposed method is based on the idea of constructing a reduced (having a smaller dimension) model of the mechatronic systems, which has selective sensitivity with respect to faults and disturbances, based on which a sliding diagnostic observer is built. The results of simulation confirm the efficiency of synthesized observers proposed method.

关键词： Observers Mathematical model Fault diagnosis Reduced order systems Mechatronics Sensors Robustness

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Distributed linear equations over random networks

arXiv

引用

arXiv 2020年

作者： Yi, Peng Lei, Jinlong Chen, Jie Hong, Yiguang Shi, Guodong Department of Control Science and Engineering Tongji University Shanghai201804 China Institute of Advanced Study Tongji University Shanghai201804 China Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney NSW2006 Australia

Distributed linear algebraic equation over networks, where nodes hold a part of problem data and cooperatively solve the equation via node-to-node communications, is a basic distributed computation task receiving an increasing research attention. Communications over a network have a stochastic nature, with both temporal and spatial dependence due to link failures, packet dropouts or node recreation, etc. In this paper, we study the convergence and convergence rate of distributed linear equation protocols over a ∗-mixing random network, where the temporal and spatial dependencies between the node-to-node communications are allowed. When the network linear equation admits exact solutions, we prove the mean-squared exponential convergence rate of the distributed projection consensus algorithm, while the lower and upper bound estimations of the convergence rate are also given for independent and identically distributed (i.i.d.) random graphs. Motivated by the randomized Kaczmarz algorithm, we also propose a distributed randomized projection consensus algorithm, where each node randomly selects one row of local linear equations for projection per iteration, and establish an exponential convergence rate. When the network linear equation admits no exact solution, we prove that a distributed gradient-descent-like algorithm with diminishing step-sizes can drive all nodes' states to a least-squares solution at a sublinear rate. These results collectively illustrate that distributed computations may overcome communication correlations if the prototype algorithms enjoy certain contractive properties or are designed with suitable parameters. Copyright © 2020, The Authors. All rights reserved.

关键词： Graph theory

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Demonstration of broadband topological slow light

arXiv

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arXiv 2022年

作者： Chen, Fujia Xue, Haoran Pan, Yuang Wang, Maoren Hu, Yuanhang Zhang, Li Chen, Qiaolu Han, Song Liu, Gui-Geng Gao, Zhen Zhou, Peiheng Yin, Wenyan Chen, Hongsheng Zhang, Baile Yang, Yihao Interdisciplinary Center for Quantum Information State Key Lab. of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang ZJU-UIUC Institute Zhejiang University Hangzhou310027 China Jinhua Institute of Zhejiang University Zhejiang University Jinhua321099 China Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University 21 Nanyang Link Singapore637371 Singapore Centre for Disruptive Photonic Technologies The Photonics Institute Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore National Engineering Research Center of Electromagnetic Radiation Control Materials State Key Laboratory of Electronic Thin Film and Integrated Devices University of Electronic Science and Technology of China Chengdu610054 China Department of Electrical and Electronic Engineering Southern University of Science and Technology Shenzhen518055 China

Slow-light devices are able to significantly enhance light-matter interaction due to the reduced group velocity of light, but a very low group velocity is usually achieved in a narrow bandwidth, accompanied by extreme sensitivity to imperfections that causes increased disorder-induced attenuation. Recent theories have suggested an ideal solution to this problem—unidirectional chiral photonic states, previously discovered in structures known as photonic topological insulators, not only resist backscattering from imperfections but can also be slowed down in the entire topological bandgap with multiple windings in the Brillouin zone. Here, we report on the experimental demonstration of broadband topological slow light in a photonic topological insulator. When coupled with periodic resonators that form flat bands, the chiral photonic states can wind many times around the Brillouin zone, achieving an ultra-low group velocity in the entire topological bandgap. This demonstration extends the scope of topological photonics into slow light engineering, and opens a unique avenue in the dispersion manipulation of chiral photonic states. © 2022, CC BY.

关键词： Slow light

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Recursive Subspace-based Predictive control and Its Application to Fault-tolerant control

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IFAC-PapersOnLine 2018年第24期51卷 696-702页

作者： Gao, Jingjing Yang, Xu Li, Linlin Luo, Hao Ding, Steven X. Zhang, Kai Peng, Kaixiang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China School of Astronautics Harbin Institute of Technology Harbin150001 China Institute of Automatic Control and Complex Systems Faculty of Engineering University of Duisburg-Essen Duisburg47057 Germany

This paper investigates the data-driven realization of predictive controllers, and its application to fault-tolerant control. With the aid of subspace identification method, the subspace predictor is first derived in the closed-loop setup. To cope with the change in the process, a recursive algorithm is adopted to recursive update the subspace matrices. The data-driven predictive controller is designed by seeking the solution of the quadratic programming problem, without the information of the predesigned controller. Then, it is applied to fault-tolerant control by implementing the recursive subspace predictor. In the end, the effectiveness of the proposed method is verified by a case study on the three-tank system. © 2018

关键词： controllers Fault tolerance Quadratic programming Fault tolerant control Predictive control Predictive controller Quadratic programming problems Recursive algorithms Subspace identification methods Subspace predictors Three tank system

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