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High-Resolution Buffer Design for Measurement Time Delay Compensation of Transfer Alignment

Journal of institute of control, Robotics and systems 2022年第4期28卷 377-382页

作者： Cha, Jaehyuck Park, Chan Gook Kim, Kwanghoon Kwon, Seungbok Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Korea Republic of Institute of Advanced Aerospace Technology Seoul National University Korea Republic of LIG Nex1 Korea Republic of

In this paper, we propose a time delay compensation method for transfer alignment using a high-resolution buffer design. Time delay degrades the performance of transfer alignment, resulting in subsequent mission failure. The value of such a time delay may not be constant and varies indefinitely depending on the system configuration or operating environment, which reduces the time delay estimation performance using general Kalman filtering. Using a state buffer is one of the methods to solve this problem. This paper presents a new time delay estimation method using a time delay candidate buffer. The proposed scheme can finely set the interval of time delay candidates and does not require a separate memory. In addition, a method for designing an appropriate time delay candidate buffer interval according to the activation of a vehicle and the performance of the MINS is presented. Simulations verified that the proposed technique could reduce the memory requirement and improve the transfer alignment performance for finely changing the time delay. © 2022, institute of control, Robotics and systems. All rights reserved.

关键词： Timing circuits

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Design of An Intelligent control System for Underground Directional Drilling Trajectory in Coal Mines 41

Design of An Intelligent Control System for Underground Dire...

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第41届中国控制会议

作者： Wangnian Li Min Wu Ke Yao Quanxin Li Chengda Lu Sheng Du 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 Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Directional drilling trajectory control technology is one of the key technologies to realize automation and intelligence of underground tunnel drilling in coal *** construction of directional drilling in underground coal mines mainly relies on manual observation of measurement-while-drilling parameters to control the drilling trajectory,which is highly dependent on manual *** paper designs an intelligent control system of underground directional drilling trajectory for coal *** the idea of hierarchical design and modular design,this system collects and displays geometric parameters,geological parameters,and engineering parameters of the directional drilling ***,an intelligent decision-making platform for directional drilling trajectory prediction and control is developed,laying a foundation for the research of directional drilling trajectory prediction and intelligent control for coal mines.

关键词： Trajectory prediction trajectory control geometric parameters geological parameters engineering parameters

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Design of an Intelligent Monitoring System for Operating States in a Coal Mine Drilling Process 41

Design of an Intelligent Monitoring System for Operating Sta...

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第41届中国控制会议

作者： Xiao Yang Luefeng Chen Sheng Du Chengda Lu Wangnian Li Min Wu 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 Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development trend of intelligent drilling in coal mines,an intelligent monitoring system for operating states in a drilling process is developed to solve the problems of incomplete display of drilling parameters and ineffective *** system realizes the remote monitoring of drilling *** mainly adopts the Fuzzy C-Means clustering algorithm to cluster the drilling *** it combines expert empirical knowledge to classify coal seams into soft,hard and alternating soft and hard coal *** boundary values are calculated according to the boundary ***,three drilling operating states,rated,conservative and over-excited,are judged to provide guidance for the drilling process control.

关键词： Drilling process Intelligent monitoring Fuzzy C-Means clustering Operating states

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Stabilization of nonlinear safety-critical systems by relaxed converse Lyapunov-barrier approach and its applications in robotic systems

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Autonomous Intelligent systems 2024年第1期4卷 73-80页

作者： Haoqi Li Jiangping Hu Xiaoming Hu Bijoy K.Ghosh School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu611731China Yangtze Delta Region Institute(Huzhou) University of Electronic Science and Technology of ChinaHuzhou313000China Optimization and Systems Theory Royal Institute of TechnologyStockholmSE-10044Sweden Department of Mathematics and Statistics Texas Tech UniversityLubbock79409-1042TXUSA

Combining safety objectives with stability objectives is crucial for safety-critical *** studies generally unified these two objectives by constructing Lyapunov-type barrier ***,insufficient analysis of key set relationships within the system may render the proposed safety and stability conditions conservative,and these studies also did not provide how to use such conditions to design safety-stability control *** paper proposed a feasible and constructive design to achieve stabilization of safety-critical systems by a relaxed converse Lyapunov-barrier *** analyzing the relationships between a series of sets associated with the safety-critical system,the stability and safety conditions can be appropriately ***,with the help of relaxed converse control Lyapunov-barrier functions(RCCLBFs),a theoretical result was obtained for the stability of affine nonlinear systems with safety ***,a constructive method was developed for a second-order strict-feedback system to transform the process of solving RCCLBFs into a Lyapunov-like stabilization ***,the proposed safety-stability control method is exerted on a robotic system and demonstrated by simulations.

关键词： Lyapunov functions Barrier functions Safety Stability

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EXPERIMENTAL TESTING OF A DYNAMIC AMPLIFIER (DDA) ENHANCED PHONONIC METAMATERIAL ON LEGO® TECH-NIC DEVICE 29

EXPERIMENTAL TESTING OF A DYNAMIC AMPLIFIER (DDA) ENHANCED P...

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29th International Congress on Sound and Vibration, ICSV 2023

作者： Kalderon, Moris Mantakas, Antonis Chondrogiannis, Kyriakos Antoniadis, Ioannis School of Mechanical Engineering Department of Mechanical Design and Control Systems National Technical University of Athens Athens Greece School of Civil Engineering Institute of Structural Analysis and Antiseismic Research Department of Structural Engineering National Technical University of Athens Athens Greece Department of Civil Environmental and Geomatic Engineering ETH Zurich Zurich8093 Switzerland

ISBN: (纸本)9788011034238

In this study, a novel Dynamic Directional Amplifier, namely the DDA, is implemented in an experimental scaled phononic set-up that is constructed using LEGO® technical components. Experimental testing is undertaken as a feasibility assessment of the concept and results indicate the low-frequency wave attenuation properties of the structure. © 2023 Proceedings of the International Congress on Sound and Vibration. All rights reserved.

关键词： Metamaterials

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Anomaly Detection Based on Principle of Justifiable Granularity and Probability Density Estimation

Anomaly Detection Based on Principle of Justifiable Granular...

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2023 China automation Congress, CAC 2023

作者： Du, Sheng Ma, Xian Li, Xiang Wu, Min Cao, Weihua Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Faculty of Engineering and Natural Sciences Department of Computer Engineering Istanbul Sariyer Turkey

ISBN: (纸本)9798350303759

Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. First, time series data are transformed into a two-dimensional information granule by the principle of justifiable granularity. Then, the test statistic is constructed, and the probability density and cumulative distribution functions of the test statistic are calculated. Next, the confidence level determines the test threshold. Finally, the time series data of a key parameter in the sintering process is used as a case study. The experimental result demonstrates that the proposed approach can detect abnormal time series data effectively, providing an accurate and effective solution for detecting time series anomalies in industrial processes. © 2023 IEEE.

关键词： Time series

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Disturbance Rejection for Pedaling Rehabilitation Robot Based on Integration of Equivalent-Input-Disturbance and Repetitive control Methods 32

Disturbance Rejection for Pedaling Rehabilitation Robot Base...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Zhou, Yujian She, Jinhua Wang, Feng Iwasaki, Makoto School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Tokyo University of Technology School of Engineering Tokyo Hachioji192-0982 Japan Nagoya Institute of Technology Department of Electrical and Mechanical Engineering Nagoya466-8555 Japan

ISBN: (纸本)9798350399714

This study integrated an improved equivalent-input-disturbance (EID) and a repetitive control methods to ensure reference tracking and enhance disturbance-rejection performance for a pedaling rehabilitation robot. A repetitive controller ensures steady-state tracking of a periodic reference input. An EID estimator with a state observer estimates and compensates for the effect of disturbances generated by patients with lower-limb impairment. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show the effectiveness of this method. © 2023 IEEE.

关键词： Disturbance rejection

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Joint Multi-stage Planning of Renewable Generation, HESS, and AESS for Deeply Decarbonizing Power systems with High-penetration Renewables

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IEEE Transactions on Sustainable Energy 2024年第3期16卷 1613-1628页

作者： Yu, Zhipeng Chi, Yingtian Lin, Jin Liu, Feng Li, Jiarong Song, Yonghua Ren, Zhengwei Lu, Chengcheng Ji, Mengbo Tsinghua University State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing100087 China Tsinghua University Sichuan Energy Internet Research Institute Chengdu610213 China Harvard University Harvard John A. Paulson School of Engineering and Applied Sciences Cambridge United States University of Macau Department of Electrical and Computer Engineering Macau999078 China Tsinghua University Department of Electrical Engineering Beijing100087 China China Electric Power Planning & Engineering Institute National Electric Power Planning and Research Center Beijing100087 China Co. Ltd. Beijing100087 China Ordos City Hanxia Renewable Energy Co. Ltd. Ordos014300 China

The further decarbonization of power systems with high renewable energy penetration faces the problem of inter-day intermittence of renewable energy sources (RES) and the seasonal imbalance between RES and load demand, due to the limited regulation ability of conventional units such as thermal generation. Regular solutions based on battery energy storage system (BESS) are too costly to be practical. To address issues above, hydrogen energy storage system (HESS) and ammonia energy storage system (AESS) are introduced to gradually replace thermal generation. Specifically, first, HESS and AESS are incorporated into the multi-stage capacity expansion planning (MSCEP) model with carbon emission reduction constraints. Yearly data with hourly time resolution are utilized for each stage to accurately describe the intermittence of RES. Then, an improved column generation (CG) with Dantzig-Wolfe decomposition (DWD) embedded solution approach is used to efficiently solve the large-scale MSCEP model. Finally, a real-life system in China is studied. The results indicate that the proposed method can guarantee high power supply reliability (PSR) under different renewable energy penetration levels, avoiding the low PSR problem that may be caused by the existing typical scenario-based method (TSM) under high penetration (≥30%). Moreover, HESS and AESS are essential to reduce the cost of decarbonization. Especially under the goal of carbon neutrality, the contribution of HESS and AESS in reducing levelized cost of energy (LCOE) reaches 12.28% and 14.59%, respectively, leading to a levelized cost of carbon reduction (LCOCr) of 998 RMB/t. © 2010-2012 IEEE.

关键词： Hydrogen storage

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Predictive Cruise control with Velocity Profile Online Optimization for Energy Efficiency

Predictive Cruise Control with Velocity Profile Online Optim...

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2024 China automation Congress, CAC 2024

作者： Sun, Kai Sun, Mengge Chu, Fanyuan Guo, Lulu Hong, Jinlong Gao, Bingzhao School of Automotive Studies Tongji University Shanghai China Department of Control Science and Engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

ISBN: (纸本)9798350368604

Factors such as road gradient, driving style, and traffic conditions all significantly impact the energy consumption performance of heavy trucks. Predictive Cruise control (PCC) algorithm, which based on Model Predictive control (MPC), can utilize the upcoming road gradient to achieve energy-efficient driving by controlling the truck’s longitudinal speed. However, as a type of cruise control, PCC regulates longitudinal speed within a certain range, which limits its ability to fully exploit the energy-saving potential brought by speed variations. Dynamic Programming (DP) can compute the globally optimal vehicle speed for energy-efficient driving using pre-obtained map information. However, it requires significant computational resources and cannot be used in real-time online scenarios. This paper utilizes the powerful fitting capability of neural networks to enable online use of the DP algorithm. It utilizes the suggested vehicle speed output by the network to guide the PCC algorithm in speed tracking, thereby significantly enhancing energy efficiency. The proposed method has been compared with the Adaptive Cruise control (ACC) algorithm and the original PCC algorithm. Simulation results show that this method achieves superior energy efficiency: compared to the ACC algorithm, it improves energy savings by 14% to 18%, and compared to the original PCC, it improves energy savings by 6% to 8%. © 2024 IEEE.

关键词： Dynamic programming

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PID control of data-driven patient response with fixed ratio co-administration of drugs for depth of hypnosis

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IFAC-PapersOnLine 2024年第7期58卷 222-227页

作者： Clara M. Ionescu Hamed Farbakhsh Cristina Muresan Robin De Keyser Erhan Yumuk Ghada Ben Othman Amani Rayene Ynineb Isabela Birs Dana Copot Martine Neckebroek Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 9052 Zwijnaarde Belgium Technical University of Cluj-Napoca Department of Automation Memorandumului no. 28 Cluj-Napoca 400114 Romania Istanbul Technical University Department of Control and Automation Engineering Systems and Control Istanbul Turkey Ghent University Hospital Department of Anesthesia C. Heymanslaan 10 9000 Ghent Belgium

In this work we make use of knowledge from clinical practice to deliver a trusted environment for feedback control of co-administration of two drugs to induce depth of hypnosis during general anesthesia. The clinical data we have provides valuable insight into the ratio used to determine the Propofol and Remifentanil infusion rates by means of specifying their corresponding effect site concentrations. A feedback closed loop with a fixed parameter PID controller tuned on population dynamics is used. To account the strong variations in gain of the system (patient) we propose an online identification of the dose-effect response from clinical data available during clinical protocol. Theoretical analysis is provided to justify the approach and simulations with real data from patient are given to support the theoretical insight. Limitations of this approach are discussed as to justify why ratio based co-administration is used in practice solely during the induction phase of general anesthesia.

关键词： Closed-Loop control of Anesthesia PID control Depth of Hypnosis Ratio control Model Estimation Data Driven control

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