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6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： Kan, Jinpeng Meng, Yongqing Shi, Yixin Li, Fengjiao Chen, Wenjie Li, Changyi Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798350377798

The electromagnetic interference (EMI) problem caused by power electronic switching devices and pulse width modulation (PWM) affects the normal operation of the motor drive system. In this paper, a random PWM based on unified modulation is proposed for permanent magnet synchronous motor (PMSM) drive system. The theoretical basis of unified modulation and the implementation scheme of random modulation are analyzed. Finally, the effectiveness of the proposed random PWM is verified by simulation. © 2024 IEEE.

关键词： Pulse width modulation

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Smooth Motion Planning of an Omnidirectional Mobile Robot in Dynamic Environments

Smooth Motion Planning of an Omnidirectional Mobile Robot in...

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2022 International Conference on Electrical, computer, Communications and Mechatronics engineering, ICECCME 2022

作者： Šelek, Ana Seder, Marija Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (数字)9781665470957

ISBN: (纸本)9781665470957

In this paper, a real-time smooth motion planning method for a four mecanum wheeled omnidirectional mobile robot in dynamic environments that generates a smooth collision-free trajectory is proposed. The method employs a graph-search-based path planning algorithm and a smoothing technique based on clothoids. It is suitable for real-time operation due to its computational simplicity and allows fast path replanning in case the robot encounters unknown and dynamic obstacles. Such a path is feasible for holonomic mobile robots since it does not contain sharp turns so the energy consumption is reduced. Our method is compared to the reactive model predictive control scheme in simulations. The comparison showed advantages of the proposed method in the reduced task execution time, path length, cumulative replanning time, and smooth velocity profile. © 2022 IEEE.

关键词： Motion planning

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Lasso-based state estimation for cyber-physical systems under sensor attacks

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IFAC-PapersOnLine 2024年第15期58卷 163-168页

作者： V. Cerone S.M. Fosson D. Regruto F. Ripa Department of Control and Computer Engineering Politecnico di Torino Italy

The development of algorithms for secure state estimation in vulnerable cyber-physical systems has been gaining attention in the last years. A consolidated assumption is that an adversary can tamper a relatively small number of sensors. In the literature, block-sparsity methods exploit this prior information to recover the attack locations and the state of the system. In this paper, we propose an alternative, Lasso-based approach and we analyse its effectiveness. In particular, we theoretically derive conditions that guarantee successful attack/state recovery, independently of established time sparsity patterns. Furthermore, we develop a sparse state observer, by starting from the iterative soft thresholding algorithm for Lasso, to perform online estimation. Through several numerical experiments, we compare the proposed methods to the state-of-the-art algorithms.

关键词： Cyber-physical systems sensor attacks secure state estimation sparse optimization Lasso Luenberger-like observers

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Performance Comparison of Kalman Filter and Extended Kalman Filter for Human Tracking and Prediction with Particle Swarm Optimisation 1

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Innovative Manufacturing, Mechatronics and Materials Forum, iM3F 2022

作者： Ajasa, Abiodun Afis Wahyudi, Nawawi Sophan Department of Control and Mechatronics Engineering School of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Department of Electronics and Computer Engineering Lagos State University Epe Campus Lagos Nigeria

ISBN: (数字)9789811987038

ISBN: (纸本)9789811987021

In the past two decades, object tracking has progressively advanced in computer vision and image processing. Tracking is a collection of algorithms that detect and track objects in a video sequence. This has resulted in a broad variety of applications, including surveillance, biometric identification or biological imaging, human-machine interactions, traffic control, and intelligent vehicles, all of which have benefited from tracking applications. This paper presents an IoT-based human tracking system that employs the Kalman filter (KF) and extended Kalman filter (EKF) algorithms. However, the performance of the filters is impacted by noise. Therefore, instead of manually tuning the KF and EKF’s process noise and measurement error, particle swarm optimisation (PSO) is utilised to optimise them. Four 2-dimensional models (namely conventional KF and EKF, optimised KF-PSO, and EKF-PSO) were developed and evaluated using ten distinct human sets of data containing 100 samples each. The object’s tracked positions are estimated in horizontal and vertical directions. Accuracy analysis was used to compare the four models’ quality performance. With an average mean square error of 5.99 mm (or 0.599%), the EKF-PSO model outperformed the conventional EKF model, which had an error of 7.18 mm (or 0.718%). A 17.2 mm (or 1.72%) error was found in the KF-PSO model. The last one is the traditional KF model, yielding an error of 22.4 mm (or 2.24%). As a result of its higher accuracy, the EKF-PSO model outperforms the other three models. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Internet of things

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Implementation of Neural Networks in Real-Time Swarm Robotics Applications

Implementation of Neural Networks in Real-Time Swarm Robotic...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Yazici, Emre Temeltas, Hakan Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Software Development Department Niso Software Technologies Izmir Turkey

ISBN: (纸本)9798350337020

Over the last few decades, significant attention has been devoted to the coordinated motion of swarm systems, which involve multiple autonomous robots. These systems have a range of potential applications, such as creating formations with physical or non-physical bonds, navigating to desired locations while maintaining formation, and preventing collisions. To achieve coordinated motion, recent researches have focused on the potential function method. We previously validated novel potential functions and developed a sliding-mode speed controllers to promote collective behavior. In this study, we implement an accepted neural network with one hidden and one output layer to update potential function weights with decentralized manner in real-time, thereby enhancing swarm behavior for formation creation and maintenance. The effectiveness of this approach is demonstrated through simulation and processor-in-the-loop tests using two different micro-controllers as well as measuring execution time of neural networks' models. By successfully validating neural networks implementation in this context, our study extends the current understanding of swarm behavior and opens up new possibilities for real-time swarm applications. © 2023 IEEE.

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A Novel Zero Common-Mode Voltage Modulation Strategy for Dual Three-Phase PWM Inverter Based on Unified Voltage Modulation 4

A Novel Zero Common-Mode Voltage Modulation Strategy for Dua...

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4th International Conference on Energy, Power and Electrical engineering, EPEE 2024

作者： Kan, Jinpeng Meng, Yongqing Li, Changyi Chen, Wenjie Li, Fengjiao Shi, Yixin Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798331518066

Power electronic switching devices and pulse width modulation (PWM) not only improves the performance of motor drive systems, but also brings about common-mode voltage (CMV) issues, that challenging the normal operation of the system. This article proposes a zero common-mode voltage modulation strategy based on unified voltage modulation for a 60° Y-connected six-phase permanent magnet synchronous motor system driven by a dual three-phase inverter. The theoretical basis and zero common-mode implementation scheme of unified modulation are analyzed, and the effectiveness of the proposed zero common-mode voltage modulation strategy is finally verified through simulation. © 2024 IEEE.

关键词： Pulse width modulation

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Prediction of Radiated Electromagnetic Interference Based on Four-module Motor Drive System 6

Prediction of Radiated Electromagnetic Interference Based on...

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6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： Shi, Yixin Chen, Wenjie Li, Fengjiao Kan, Jinpeng Meng, Yongqing Yang, Guang Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798350377798

In recent years, wide bandgap semiconductor devices such as silicon carbide (SiC) and gallium nitride (GaN) have been increasingly applied in electric drive systems, effectively enhancing system power density. However, the high-frequency and high-speed characteristics of SiC devices exacerbate electromagnetic interference (EMI) issues within the system. Additionally, the cables in electric drive systems exhibit significant antenna effects, radiating conducted EMI into the surrounding space, thereby affecting the normal operation of other sensitive equipment. Therefore, it is essential to research motor drive system topologies that can actively suppress EMI and predict radiated interference in motor drive systems. The topology of a four-module motor paired with parallel inverters can achieve active suppression of EMI at the source. This paper conducts a simulation-based prediction of radiated interference for a parallel inverter-driven four-module motor system. It analyzes the coupling mechanisms of common mode and differential mode radiated interference and validates the radiated interference from both DC and AC cables through simulations, predicting the impact on surrounding sensitive equipment in practical systems. © 2024 IEEE.

关键词： Gallium nitride

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Cascading Delays for the High-Speed Rail Network Under Different Emergencies:A Double Layer Network Approach

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IEEE/CAA Journal of Automatica Sinica 2023年第10期10卷 2014-2025页

作者： Xingtang Wu Mingkun Yang Wenbo Lian Min Zhou Hongwei Wang Hairong Dong School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Control and Computer Engineering North China Electric Power UniversityBeijing 100096China State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China National Research Center of Railway Safety Assessment Beijing Jiaotong UniversityBeijing 100044China

High-speed rail(HSR) has formed a networked operational scale in China. Any internal or external disturbance may deviate trains’ operation from the planned schedules, resulting in primary delays or even cascading delays on a network scale. Studying the delay propagation mechanism could help to improve the timetable resilience in the planning stage and realize cooperative rescheduling for dispatchers. To quickly and effectively predict the spatial-temporal range of cascading delays, this paper proposes a max-plus algebra based delay propagation model considering trains’ operation strategy and the systems’ constraints. A double-layer network based breadth-first search algorithm based on the constraint network and the timetable network is further proposed to solve the delay propagation process for different kinds of emergencies. The proposed model could deal with the delay propagation problem when emergencies occur in sections or stations and is suitable for static emergencies and dynamic emergencies. Case studies show that the proposed algorithm can significantly improve the computational efficiency of the large-scale HSR network. Moreover, the real operational data of China HSR is adopted to verify the proposed model, and the results show that the cascading delays can be timely and accurately inferred, and the delay propagation characteristics under three kinds of emergencies are unfolded.

关键词： Delay propagation double layer network high speed rail network max-plus algebra

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Sign consensus of heterogeneous linear multi-agent systems without an explicit leader 41

Sign consensus of heterogeneous linear multi-agent systems w...

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第41届中国控制会议

作者： Yihan Meng Shimin Wang Shuai Liu Hongwei Zhang School of Mechanical Engineering and Automation Harbin Institute of Technology Department of Chemical Engineering Queen's University School of Control Science and Engineering Shandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates leaderless output sign consensus of heterogeneous linear multi-agent systems over fixed directed signed *** multi-agent system can synchronize in the same sign concurrently with time-varying values without an explicit *** on the assumption that the adjacency matrix of the signed graph is eventually positive,a virtual leader is constructed by utilizing a distributed sign *** virtual leader is not pre-specified but arises from the graph topology and the initial states of the *** light of this distributed sign observer,we propose a state feedback controller that drives the outputs of such multi-agent systems to reach sign consensus.

关键词： Distributed observer Multi-agent system Sign consensus Signed graph

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ASLiquid: Non-Intrusive Liquid Counterfeit Identification with Your Earphones 24

ASLiquid: Non-Intrusive Liquid Counterfeit Identification wi...

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22nd ACM Conference on Embedded Networked Sensor Systems, SenSys 2024

作者： Li, Zhaohui Luo, Wei Zhang, Yongmin Chen, Jianxi Shu, Yuanchao Zhang, Yaoxue School of Computer Science and Engineering Central South University China College of Control Science and Engineering Zhejiang University China Department of Computer Science and Technology BNRist Tsinghua University China Zhongguancun Laboratory Beijing China

ISBN: (纸本)9798400706974

As society progresses, liquid identification plays an increasingly important role in human life. But for now, minority of existing liquid identification solutions on the market can meet daily requirements of being ubiquitous, cost-effective and non-intrusive enough. In this work, we propose ASLiquid, the first liquid counterfeit identification system with commercial off-the-shelf earphones. Our core insight is that earphones can effectively induce acoustic resonance in container, and this phenomenon is observed highly associated with the changes in liquid density and solute compositions. Deploying ASLiquid introduces three main challenges: hardware heterogeneity among different earphones, diversity of user operations, and data complexity due to variations in liquid volume and device placement. To address these issues, we first propose to eliminate the existence of hardware noise and frequency response diversity for an earphone-irrelevant solution. Afterwards, we design a user operation adaptation algorithm to extract valuable feature data during each measurement period. To alleviate problems in data complexity, we propose a spectrum projection algorithm that can effectively generate CFR data of unknown liquid volumes and a VAE based anomaly detection model for counterfeit identification. We evaluate our system with six different earphones and under various conditions. Experimental results reveal that ASLiquid can achieve F1 scores of 95%-99.25% for seven frequently occurring liquid counterfeit tasks, even in specialized attacks on liquids with 1% difference in mass fraction and different types of solutions but with the same density. © 2024 Copyright is held by the owner/author(s).

关键词： Earphones

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