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IEEE Conference on control Technology and Applications (CCTA)

作者： Boulaïd Boulkroune Manuel Gálvez-Carrillo Michel Kinnaert Department of Control Engineering and System Analysis Université Libre de Bruxelles Brussels Belgium

The problem of additive and multiplicative fault detection and isolation (FDI) in the current sensors of a doubly-fed induction generator (DFIG) is considered in the presence of model uncertainty. A residual generator based on the DFIG model is proposed using the structure of the classical generalized observer scheme (GOS). However, each observer in this scheme is replaced by a robust H - /H ∞ fault detection filter followed by a Kalman-like observer. The latter further attenuates the effect of the modelling uncertainties on the residuals. It exploits the specific pattern induced by the balanced three phase nature of all the electric signals. It turns out that the fault detection/isolation problem then amounts to detecting an abrupt change in the mean of the residual vector in the additive fault case, or the appearance of sine waves superimposed to a white noise vector in the multiplicative fault case. A decision algorithm made of a combination of generalized likelihood ratio (GLR) algorithms allows us to detect and isolate the additive and multiplicative sensor faults. The complete FDI system is tested through simulations on a controlled DFIG.

关键词： Additives Sensors Observers Rotors Fault detection Uncertainty Robustness

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Modeling and Optimal control for Resource Allocation in the Epidemic Monitoring of a Multi-group Population

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SN Computer Science 2024年第1期5卷 121页

作者： Di Giamberardino, Paolo Iacoviello, Daniela Papa, Federico Department of Computer Control and Management Engineering “A. Ruberti” Sapienza University of Rome Via Ariosto 25 Rome 00185 Italy Institute for System Analysis and Computer Science “A. Ruberti” CNR Via dei Taurini 19 Rome 00185 Italy

In the last 3 years, the entire world has been facing the sanitary emergency due to the SARS-CoV2;it has been stressed the mutual interdependence of the human populations, as well as the strong impact of specific conditions, such as age, work, habits, on the disease spread among subgroups of a given population. Moreover, the high percentage of asymptomatic individuals, especially among young subjects, improves the infection spread among groups with higher probability of fatal consequences. The vaccination campaign has strongly contributed to reduce mortality, so bringing the epidemic scenario probably closer to the endemic state. Nevertheless, the loss of the vaccination protection, the appearance of new variants and the mixing of moving people require a surveillance action to reduce new virus waives. By suitable modeling and optimal control design, this paper addresses the planning of a swab test campaign for the surveillance of the disease spread within a given multi-group population, when resource limitation and distinctive epidemiological characteristics of the subgroups are present. The proposed approach, applied on a case study in which the population is split into four groups, stresses the importance of a suitable tuned swab test campaign, saving a significant number of infections (and therefore of human lives), by scheduling the surveillance effort on the different populations. The determination of this kind of control is useful not only in the endemic condition, but also as general surveillance strategy at the beginning of an epidemic spread, with limitations in material and logistic resources. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Epidemic monitoring Mathematical modeling of epidemics Optimal control Resource allocation

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Disturbance-observer-based user force estimation for bilateral teleoperated needle insertion

Disturbance-observer-based user force estimation for bilater...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Jerome Janssens Laurent Catoire Serge Torfs Michel Kinnaert Control Engineering and System Analysis Department Universite Libre de Bruxelles (ULB) Bruxelles Belgium

ISBN: (纸本)9781479957378

The work reported in this paper is part of a project aiming at designing a teleoperated tool to perform a needle insertion task through an endoscope. The focus is on the design of the master interface. The proposed mechanical design ensures that the gesture performed by the operator is as close as possible to the original clinical gesture. As this design does not allow for an easy measurement of the interaction force with the operator, a software sensor is used to estimate this force from an encoder measurement. It relies on a disturbance observer (DOB), for which a systematic design approach is presented. The DOB requires the velocity of the one dof master device as input. A comparative study between four possible approaches is performed in order to determine the most appropriate method to estimate this velocity. A method relying directly on the encoder pulses appears to surpass the classical velocity estimators.

关键词： Force Observers Approximation methods Friction Kalman filters Endoscopes

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Simulation and implementation of bilateral teleoperated needle insertion via an endoscope

Simulation and implementation of bilateral teleoperated need...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Jérôme Janssens Laurent Catoire Serge Torfs Michel Kinnaert Control Engineering and System Analysis Department Université Libre de Bruxelles (ULB) Bruxelles Belgium

This paper describes the design of a 1 dof teleoperation system aiming at performing a needle insertion task through an endoscope. The mechanical design of the master accounts for issues of ergonomics and performance (low inertia and friction force), while issues of ergonomics and instrumentations guided the design of the slave device. A complete simulator of the master / slave device together with its environment was developed, with particular focus on the major sources of friction. It was used for validation of the control scheme. Experimental results of a needle insertion task in a phantom multilayer tissue demonstrate the effectiveness of the device for detecting force variations due to puncturing of a tissue. Besides, the experimental signal recordings exhibit a good fit with the simulator outputs, which testifies the validity of this simulator.

关键词： Friction Force Catheters Endoscopes Needles Iron Pulleys

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Expert Search Framework for the Task of Building an Expert Panel in Educational Organizations

Expert Search Framework for the Task of Building an Expert P...

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2020 Ural Symposium on Biomedical engineering, Radioelectronics and Information Technology, USBEREIT 2020

作者： Sozykin, Andrey Oreskhina, Tatiana Detkov, Alexander Komockiy, Evgeniy Ural Federal University Engineering School of It Telecom and Control Systems Yekaterinburg Russia Institute of Fundamental Education Ural Federal University Yekaterinburg Russia Department of System Analysis and Decision Making Ural Federal University Yekaterinburg Russia

ISBN: (纸本)9781728131658

Development of curriculum in the universities, and search of good-skilled experts to evaluate project education results consume large amounts of time for faculty members. The article proposes a universal framework that facilitates this task by automating the process of finding companies that can provide such experts. The proposed approach is characterized by a high degree of automation and formalization, because it uses the data of financial statements of companies in a given industry in its work. Thanks to the use of statistical data and methods, the objectivity and reliability of the search for experts increases. As data source uses the data set 'Accounting (financial) statements of enterprises and organizations for 2018' provided by Rosstat. The proposed approach was successfully tested in the course of attracting experts to evaluate the results of a design workshop for students of the Ural Federal University in 2019. During testing, the top 40 IT companies of the Sverdlovsk region were *** the 40 organizations, 7 companies agreed to respond to the proposal, which determined to 17.5% of the sample. At the same time, 19 experts were sent from this organizations, which amounted to 65.5 % of all exerts who agreed to participate in the event. Thus, the proposed approach can significantly expand the composition of the expert base and attract experts based on a strictly formalized, objective approach. © 2020 IEEE.

关键词： Curricula

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Comparison of voxel-based morphometry (VBM) and tractography of diffusion tensor MRI (DT-MRI) in temporal lobe epilepsy

Comparison of voxel-based morphometry (VBM) and tractography...

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2010 18th Iranian Conference on Electrical engineering, ICEE 2010

作者： Afzali, Maryam Soltanian-Zadeh, Hamid Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395-515 Iran Image Analysis Laboratory Radiology Department Henry Ford Health System Detroit MI 48202 United States

ISBN: (纸本)9781424467600

Temporal lobe epilepsy (TLE) is a neurological disease that affects millions of individuals in the world. Majority of TLE patients suffer from refractory seizures. Determining abnormal/damaged regions of the brain that harbor seizure focus is a critical step towards treatment of TLE patients. Diffusion tensor imaging (DTI) is a non-invasive method that we use in this work to determine damaged regions of white matter in the brain. To this end, we apply two methods, voxel based morphometry (VBM) and fiber tracking. We use these methods along with two anisotropy maps (EAR and FA) extracted from the DTI data. We use DTI data of 31 subjects (12 normal subjects and 19 TLE patients) for testing and evaluation studies. The VBM method shows that TLE is associated with reduction of both of FA and EAR values in several regions within the temporal lobes. The tractography method shows abnormal diffusion characteristics in three fiber bundles (fornix, uncinate fasciculus, and cingulum). The results show that the EAR maps are less sensitive to noise than the FA maps and the EAR values change more than the FA values in TLE. ©2010 IEEE.

关键词： Diffusion tensor imaging

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Optimal LQ-type switched control design for a class of linear systems with piecewise constant inputs 19

Optimal LQ-type switched control design for a class of linea...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Azhmyakov, Vadim Basin, Michael Reincke-Collon, Carsten Department of Electronic and Biomedical Engineering University of Antonio Narino Neiva Colombia Department of Physical and Mathematical Sciences University of Nuevo Leon San Nicolas de los Garza Mexico System Analysis and Control Engineering Group Younicos AG Am Studio 16 BerlinD-12489 Germany

ISBN: (纸本)9783902823625

This paper is devoted to a specific LQ-type optimal control problem (OCP) in the presence of additional control constraints. We consider control processes governed by linear differential equations with a priori known control switchings. The piecewise constant structure of the admissible controls under consideration is motivated by variety of concrete engineering applications and moreover, can be interpreted as a result of a quantization procedure applied to the original dynamics. We propose an new implementable numeric algorithm that makes it possible to calculate a consistent approximating solution to the initial constrained LQ-type OCPs. The contribution discusses some theoretic aspects of the obtained computational scheme and also contains a numerical example. © IFAC.

关键词： Numerical methods

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Constrained Extremum Seeking: a Modified-Barrier Function Approach ⁎

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IFAC-PapersOnLine 2019年第16期52卷 694-699页

作者： Christophe Labar Emanuele Garone Michel Kinnaert Christian Ebenbauer Department of Control Engineering and System Analysis Université libre de Bruxelles 1050 Brussels Belgium Institute for Systems Theory and Automatic Control University of Stuttgart 70569 Stuttgart Germany

In this paper, we address the problem of steering the input of a convex function to a value that minimizes the function under a convex constraint. We consider the case where the constraint cannot be violated of more than a user-defined value during the whole transient phase. The mathematical expression of both the cost function and the constraint are assumed to be unknown. The only information available are the on-line values of the cost and the constraint. To tackle this problem, an optimization law, based on a modified-barrier function, and involving the gradient of both the cost function and the constraint, is firstly designed. The Lie bracket formalism is then exploited to approximate this law, by combining time-periodic signals with the on-line measurements of both the cost and the constraint. The stability property of the resulting constrained extremum seeking system is proved, and its effectiveness is shown in simulation.

关键词： Constrained Optimization Extremum Seeking Singular Perturbations Data-based control Modified Barrier-Function

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Nonlinear State and Parameter Estimation for Li-ion Batteries with Thermal Coupling

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IFAC-PapersOnLine 2020年第2期53卷 12479-12484页

作者： Dong Zhang Luis D. Couto Saehong Park Preet Gill Scott J. Moura Department of Civil and Environmental Engineering University of California at Berkeley CA 94720 USA Department of Control Engineering and System Analysis Université libre de Bruxelles B-1050 Brussels Belgium

Advanced Lithium-ion battery management systems rely on accurate cell-level state of charge (SOC) and parameter estimation for safe and efficient real-time monitoring. However, the design of combined state and parameter estimators that are provably convergent is notoriously difficult. A robust observer framework based on a coupled equivalent circuit-thermal model for a cylindrical battery is proposed. The coupled model also takes into account SOC and temperature-dependent electrical parameters for higher accuracy. In the literature, the model parameters are often treated as constants to simplify model structure and observer analysis. The problem considered in this work is particularly challenging due to (i) nonlinear two-way coupling between electrical and thermal sub-models, and (ii) nonlinear dependence of model parameters on the system states. A single aggregated observer for both SOC and thermal estimation becomes intractable due to lack of convergence certification caused by complex model coupling. We tackle this problem by proposing a sequential estimation scheme such that every sub-estimator converges separately, which is mathematically verified by Lyapunov stability analysis. Simulation results demonstrate the performance of the proposed state and parameters estimation framework.

关键词： Li-ion Battery State Estimation Thermal Coupling Lyapunov Stability Robust Estimation State-Dependent Parameters

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Modeling of the interaction force between the instrument and the trocar in minimally invasive surgery

Modeling of the interaction force between the instrument and...

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International Workshop on Advanced Motion control (AMC)

作者： J. Verspecht T. Delwiche A. Buttafuoco L. Catoire S. Torfs M. Kinnaert Control Engineering and System Analysis Department Faculty of Applied Science Université Libre de Bruxelles Brussels Belgium

Trocars used in Minimally Invasive Surgery (MIS) are equipped with a sealing mechanism. During the motion of an instrument through a trocar, the sealing mechanism deforms itself. None of the friction models presented in the literature capture the macroscopical deformation of the seal mechanism. Therefore a specific hybrid model is developed to describe the movement of an instrument through a trocar. The only geometrical assumption of this model is the axial symmetry of the two bodies. It can thus be applied to all problems with the same symmetry. Two operating modes are distinguished, corresponding to the deformation of the sealing mechanism on the one hand, and to the sliding phase through the trocar on the other hand. The model is identified and validated using experimental data recorded on a dedicated test setup.

关键词： Minimally invasive surgery Surgical instruments Friction Deformable models Seals Robots Microscopy Surges Master-slave Conferences

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