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Two-Degree-of-Freedom Feedback Loop Factorization controller for Oscillating Plant with Uncertain Time Delay and Astatism Using Structured Singular Value

Two-Degree-of-Freedom Feedback Loop Factorization Controller...

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2024 International Conference on control, automation and Diagnosis, ICCAD 2024

作者： Dlapa, Marek Tomas Bata University In Zlin Faculty of Applied Informatics Department of Automation and Control Engineering Nad Stranemi 4511 Zlin760 05 Czech Republic

ISBN: (纸本)9798350361025

Application of Robust control Toolbox for Time Delay Systems implemented in the Matlab system to the oscillating plant with uncertain time delay and astatism using the D-K iteration and algebraic approach. The algebraic approach combines the structured singular value, algebraic theory and algorithm of global optimization solving remaining issues in structured singular value framework. The algorithm for global optimization can be alternated with direct search methods such as Nelder-Mead simplex method giving solutions for problems with one local extreme. As a global optimization method, Differential Migration is used proving to be reliable in solving this type of problems. The D-K iteration represents a standard method in the structured singular value theory. The results obtained from the D-K iteration are compared with the algebraic approach. © 2024 IEEE.

关键词： Global optimization

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Semi-mind controlled robots based on Reinforcement Learning for Indoor Application 8

Semi-mind controlled robots based on Reinforcement Learning ...

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8th International Conference of Yearly Reports on Informatics, Mathematics, and engineering, ICYRIME 2023

作者： Naidji, Ilyes Tibermacine, Ahmed Guettala, Walid Tibermacine, Imad Eddine Department of Computer Science University Mohamed Khider of Biskra Algeria Department of Computer Control and Management Engineering Sapienza University of Rome Italy

This paper presents a solution to this challenge by introducing interactive feedback derived from brain signals to train robots using deep reinforcement learning, particularly in the context of indoor maze navigation. Our objective is to enhance the learning process in a human-robot interaction scenario by incorporating human emotion or attention feedback. To accomplish this, we empowered the robot to learn new tasks through a dynamic policy network based on human feedback, and we augmented this input with other sensor data, including LIDAR. Various experiments are conducted to compare the efficacy of manual feedback, brain signal feedback, and no brain signal feedback, employing diverse Reinforcement Learning models. Additionally, we explore different models for emotion classification, employing Graph Neural Network models and traditional deep learning models, and subsequently compare the outcomes. © 2023 Copyright for this paper by its authors.

关键词： Feedback

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Complex Permeability Determination for EE Core Based on Flexible PCB Fixture and Magnetic Flux Path Length Analysis 2

Complex Permeability Determination for EE Core Based on Flex...

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2nd China Power Supply Society Electromagnetic Compatibility Conference, CPEMC 2024

作者： Jie, Huamin Zhao, Zhenyu Chang, Yongqi Wang, Changdong Jiang, Shiqi Gao, Richard Xian-Ke See, Kye Yak School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Department of Electrical and Computer Engineering National Univeristy of Singapore Singapore Singapore Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Electronics and Information Engineering Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Institute of High Performance Computing A*STAR Singapore Singapore

ISBN: (纸本)9798331509552

The complex permeability of magnetic cores acts as a vital factor in electromagnetic interference (EMI) filtering choke design and optimization. Many efforts have been reported for toroid cores, but fewer target those with other shapes, such as EE, EI, UU, and UI cores. Owing to their commonly used in planar EMI filters, determining the complex permeability of them is of significance. Targeting EE cores, this paper presents a flexible printed circuit board (PCB)-based fixture adapter tailored designed for performing the measurement, while the corresponding core permeability can be calculated through magnetic flux path length analysis. The experiments validate the effectiveness and accuracy of the proposed methods, spanning a wide frequency range up to 120 MHz. ©2024 IEEE.

关键词： Magnetic flux

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A Modified Dempster Shafer Approach to Classification in Surgical Skill Assessment 31

A Modified Dempster Shafer Approach to Classification in Sur...

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31st International Conference on Electrical engineering, ICEE 2023

作者： Iranfar, Arash Soleymannejad, Mohammad Moshiri, Behzad Taghirad, Hamid D. School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran University of Waterloo Department of Electrical and Computer Engineering Waterloo Canada Industrial Control Center of Excellence Faculty of Electrical Engineering Tehran Iran

ISBN: (纸本)9798350312560

Artificial intelligence systems are usually implemented either using machine learning or expert systems. Machine learning methods are usually more accurate and applicable to a broader range of applications. Expert systems, on the other hand, require much less data for training and generate more comprehensible results. These characteristics are typically desired in the fields of surgery and medicine because there isn't much data available. In order to give a machine's decisions a deeper level of semantics, it is also advantageous to incorporate a doctor's expertise into it. Furthermore, it is safer to understand the reasoning behind a machine's choices. In this paper, a Dempster-Shafer Theory (DST) based expert system is suggested for the task of surgical training skill assessment. An interval-based probabilistic feature analysis was applied to the data to assign values to the mass functions. Zhang's rule of combination was applied to handle the conflicting evidence in the prediction phase. The performance of the proposed method was compared to another DST classifier, SVM, and XGBoost. Our method outperforms SVM and other DST classifiers, but it is not as precise as XGBoost. By reducing the size of the dataset, the added benefit of using an expert system as opposed to a machine learning method was explored further. The performance of the suggested method is not adversely affected by the size of the dataset, whereas the XGBoost classifier is. © 2023 IEEE.

关键词： Classification (of information)

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Supremal and Robust control against Actuator Jamming Attacks in Cyber-Physical Systems

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2023年第9期9卷 1-13页

作者： Duo, Wenli Wang, Shouguang Zhou, MengChu You, Dan Wisniewski, Remigiusz Bazydlo, Grzegorz Albeshri, Aiiad Institute of Systems Engineering Macau University of Science and Technology Macau China School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Department of Computer Science King Abdulaziz University Jeddah Saudi Arabia

Cyber-physical systems, such as unmanned aerial vehicles and connected and autonomous vehicles, are vulnerable to cyber attacks, which can cause significant damage to society. This paper examines the attack issue in cyber-physical systems within the framework of discrete event systems. Specifically, we consider a scenario where a malicious intruder injects a jamming signal into an actuator channel. It disrupts the transmission of control commands and prevents an actuator from receiving them. This is termed an actuator jamming attack. In the paper, we first analyze the closed-loop system behavior under such an attack. An attack structure is constructed to illustrate how an intruder exploits a jamming attack to drive a system into unsafe states. Then, we study the supervisory control problem for a system exposed to such an attack. The problem is reduced to a basic supervisory control one in discrete event systems by introducing the concept of dynamically controllable language. A solution to this problem is explored, where we establish an existence condition for a supremal and robust supervisor that is capable of defending against actuator jamming attacks, and design an algorithm to derive it. Finally, the effectiveness of our method is illustrated by an intelligent automated guided vehicle system. IEEE

关键词： Discrete event simulation

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Improving the Accuracy of Systems for Measuring the Angular Position of Moving Objects with an Adaptive Wiener Filter 34

Improving the Accuracy of Systems for Measuring the Angular ...

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34th International Scientific Symposium Metrology and Metrology Assurance, MMA 2024

作者： Dichev, Dimitar Zhelezarov, Iliya Georgiev, Borislav Hasanov, Hasan Libchev, Kaloyan Kupriyanov, Oleksandr Malakov, Ivo Dicheva, Ralitza Technical University of Gabrovo Department of Machine and Precision Engineering Gabrovo Bulgaria Ukrainian Engineering Pedagogics Academy Department of Information Computer Technologies and Mathematics Kharkiv Ukraine Technical University of Sofia Department of Automation of Discrete Production Engineering Sofia Bulgaria Technical University of Sofia Department of Precision Engineering and Measurement Instruments Sofia Bulgaria

ISBN: (纸本)9798350352832

This paper presents a method for increasing the accuracy of systems for measuring the angular position of moving objects by using an adaptive Wiener filter. In the context of modern technological progress, the accuracy of angular position measurements is important for numerous applications, including aviation, marine, aerospace, robotics, and medical engineering. The method is based on detailed modeling of the dynamic errors arising due to external and internal disturbances and uses the adaptive Wiener filter to correct them. The modeling results demonstrate that the proposed technique significantly reduces the noise and improves the accuracy of the measurements. The method is applicable in various industrial and scientific fields, where high accuracy of angular measurements is required, and offers a significant contribution to the development of measurement technologies and control systems of dynamic objects. © 2024 IEEE.

关键词： Wiener filtering

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Real-Time Operating System for Multitasking control in the Robotics and automation Industry

Real-Time Operating System for Multitasking Control in the R...

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2023 International Conference on Intelligent Data Communication Technologies and Internet of Things, IDCIoT 2023

作者： Sayyad, Javed Jatti, Ashwini Attarde, Khush Ramesh, B.T. Deokar, Shubhangi Robotics and Automation Department Lavale Maharashtra Pune India Computer Science and Engineering Lavale Maharashtra Pune India

ISBN: (纸本)9781665474511

Real-Time Operating System (RTOS) is an Operating System (OS) that does a task in a constrained time. The RTOS is integrated with the microprocessor or microcontroller for specialized applications where the time-bound completion of the task is very much substantial. ESP32 is a microcontroller that comes with a package of advantageous and suitable features for RTOS. The ability of equipment like motors, sensors, and actuators to multitask is critical in the Robotics and automation (R&A) industry. In industries, a dedicated/centralized system allocated for a particular activity is not economically feasible;yet, when performing several tasks, some delay or lag is introduced in the task. Consequently, the proposed solution for industrial multitasking is cost-effective and efficient. The RTOS is suitable for machines constrained to do painstaking work, like a robotic arm or CNC drilling. In the R&A industry, a hardware interruption is often critical for an emergency, which may also be accomplished using RTOS. In such applications, implementing a software timer is also essential to delay a task for a period of time. Stepper and servo motors are widely employed in the R&A industries for various applications. This article presents the multitasking of four stepper motors and the introduction of a software timer, which will be developed when the stepper motor multitasking is implemented. For multitasking, the FreeRTOS library will be utilized. © 2023 IEEE.

关键词： Microcontrollers

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Transient Angle Stability of Inverters Equipped with Robust Droop control

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CSEE Journal of Power and Energy Systems 2023年第2期9卷 659-670页

作者： Chen Qi Keyou Wang Qing-Chang Zhong Jin Xu Guojie Li Key Laboratory of Control of Power Transmission and Conversion Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Department of Electrical and Computer Engineering Illinois Institute of TechnologyChicagoIllinois60616USA

Transient angle stability of inverters equipped with the robust droop controller is investigated in this *** first,the conditions on the control references to guarantee the existence of a feasible post-disturbance operating point are ***,the post-disturbance equilibrium points are found and their stability properties are ***,the attraction regions of the stable equilibrium points are accurately depicted by calculating the stable and unstable manifolds of the surrounding unstable equilibrium points,which presents an explanation to system transient ***,the transient control considerations are provided to help the inverter ridethrough the disturbance and maintain its stability *** is shown that the transient angle stability is not a serious problem for droop controlled inverters with proper control settings.

关键词： Droop controlled inverter equilibrium point transient angle stability (un)stable manifold

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SR-STM: Simulation–Reality Spatial–Temporal Model for Early Warning of Power Tilt in Nuclear Power Plants

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IEEE Internet of Things Journal 2025年第11期12卷 17854-17868页

作者： Lin, Weiqing Miao, Xiren Chen, Jing Duan, Pengbin Ye, Mingxin Xu, Yong Liu, Xinyu Jiang, Hao Fuzhou University College of Electrical Engineering and Automation Fuzhou350108 China China Nuclear Power Technology Research Institute Company Ltd. Research Department of Reactor Measurement and Control Shenzhen518000 China National Nuclear Power Operation Maintenance Technology Company Ltd. Department of Instrument & Control Equipment Hangzhou311200 China

Balanced in-core power levels in nuclear power plants (NPPs) are critical for safety, whereas power tilt disrupts this balance, reducing safety margins and posing risks. Early warning for power tilt offers an effective way of optimizing monitoring. Due to abnormal-sample scarcity and security concerns, common data-driven models train on the simulated data generated by simulators. However, achieving a satisfactory effect in practices is difficult because simulators imperfectly emulate reality. Thus, we propose a power tilt-oriented early warning method called simulation–reality spatial–temporal model (SR-STM). Motivated by the physical model in NPPs, a knowledge-guided hierarchical graph is designed to characterize spatial correlations among local power levels for SR-STM’s input. The SR-STM uses a lightweight spatial–temporal network (LST-Net) as a feature extractor, balancing precision, and efficiency. To bridge sim-real interdomain discrepancies, SR-STM utilizes node-alignment adversarial learning (NAAL) for fine weight tuning in subdomain, and eigenvalue-based scale alignment (ESA) for sim-real feature proximity. Forecasting local power levels using the SR-STM, dynamic metrics and alarm limits are calculated and compared to perform the early warning task. The online experimental prototype verifies that SR-STM surpasses various state-of-the-art methods in terms of early warning and sim-real cross-domain tasks. © 2014 IEEE.

关键词： Eigenvalues and eigenfunctions

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Kalman Filter Integration in Orientation Measurement Systems with MEMS Sensors Under Dynamic Conditions 34

Kalman Filter Integration in Orientation Measurement Systems...

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34th International Scientific Symposium Metrology and Metrology Assurance, MMA 2024

作者： Dichev, Dimitar Zhelezarov, Iliya Kupriyanov, Oleksandr Malakov, Ivo Georgiev, Borislav Pulov, Dimcho Dicheva, Ralitza Kovachev, Hristofor Technical University of Gabrovo Department of Machine and Precision Engineering Gabrovo Bulgaria Ukrainian Engineering Pedagogics Academy Department of Information Computer Technologies and Mathematics Kharkiv Ukraine Technical University of Sofia Department of Automation of Discrete Production Engineering Sofia Bulgaria Technical University of Sofia Department of Precision Engineering and Measurement Instruments Sofia Bulgaria

ISBN: (纸本)9798350352832

This paper examines the integration of Kalman filter and Fuzzy algorithm in orientation measurement systems with MEMS sensors under dynamic conditions. The presented methodology aims to improve the accuracy and reliability of measurements by combining the advantages of both methods. The Kalman filter provides optimal state estimation by combining information from various sources and models, which reduces the influence of inertial disturbances and noise in the measurements. The fuzzy algorithm further improves the control and correction of measurements, especially at high speeds and rapid changes in the direction of movement. The proposed methodology for determining the variances in the Q and R matrices, based on the analysis of data from the MEMS gyroscope and the measurement system, demonstrates practical applicability and efficiency. This makes it suitable for a wide range of applications such as aviation, marine navigation, robotics, and autonomous transport systems, providing a basis for future research and optimization of algorithms for data processing and orientation control of moving objects. © 2024 IEEE.

关键词： Kalman filters

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