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control Instrumentation System Conference (CISCON)

作者： Riddhiman Ganguly Dhruvam Nagarsheth Eshita Thippana Pooja Nag Department of Biomedical Engineering MIT Manipal Manipal Academy of Higher Education Manipal India Department of Instrumentation and Control Engineering MIT Manipal Manipal Academy of Higher Education Manipal India Department of Mechatronics MIT Manipal Manipal Academy of Higher Education Manipal India

ISBN: (数字)9798350375480

ISBN: (纸本)9798350375497

Parkinson’s Disease (PD) and Essential Tremors (ET) are a class of chronic neurodegenerative disorders. One of the most damaging symptoms include frequent bouts of pathological tremors that renders day-to-day movement and tasks almost impossible. Manual administration of medication like Levodopa has been the primary method of providing relief for a significant amount of time, but recent advancements in biomedical sensing and machine learning are slowly helping develop a newer generation of noninvasive, real-time, and control-based remedies for tremors. Sensors that include but are not limited to gyroscopic sensors, electromyography sensors and electroencephalography sensors have been often used to provide clinical data on tremors and as such can be used for tremor rectification systems. The use of recurrent neural network algorithms trained on time-series data from PD and ET patients are being used to discern features that indicate onset of tremors and even predict what the waveform will look like in the future. There are now attempts being made to significantly, if not completely remove resting and essential tremors. This class of devices, the main methodologies of their development, feasible sensing, data analysis and remediation methods, and the future development of wearable devices and overall quality-of-life improvements of patient are discussed in these proceedings.

关键词： Pathology Recurrent neural networks Manuals Machine learning Prediction algorithms Sensor systems Real-time systems Sensors Wearable devices Diseases

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Standard and RL-controled Tabu Search Algorithms Comparison in Capacitated Vehicle Routing Problem Solving

Standard and RL-Controled Tabu Search Algorithms Comparison...

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20th International Conference on Dependability of Computer systems, DepCoS-RELCOMEX 2025

作者： Bronicki, Jan Nowak, Piotr Faculty of Mechanical Engineering Wroclaw University of Science and Technology Wroclaw Poland Department of Control Systems and Mechatronics Faculty of Information and Communication Technology Wroclaw University of Science and Technology Wroclaw Poland

ISBN: (纸本)9783031927331

The Capacitated Vehicle Routing Problem (CVRP) is a key logistics and computer science problem where a vehicle with limited capacity must deliver orders efficiently while minimizing costs. Traditional exact methods struggle with large-scale instances, making metaheuristic approaches like Tabu Search (TS) practical solutions to real-world problems. However, TS performance depends on usually manually tuned neighborhood search strategies. We propose a Tabu Search controlled by reinforcement learning (RL-TS) that dynamically selects the search policy for neighborhood move. Experimental results show that RL-TS improves the quality of the solution over standard TS in multiple CVRP instances and multiple problem sizes. This highlights the potential of machine learning-driven metaheuristics for complex optimization problems. Future work will refine the RL model and explore real-world applications. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Reinforcement learning

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Solidity Effects on Small Hybrid Savonius-Darrieus Wind Turbine Performance: Experimental Analysis with NREL S809 Airfoil

Solidity Effects on Small Hybrid Savonius-Darrieus Wind Turb...

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International Conference on Applied System Innovation (ICASI)

作者： Elysa Nensy Irawan Kai Shibuya Ken-Ichiro Yamashita Goro Fujita Functional Control Systems Shibaura Institute of Technology Tokyo Japan Department of Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Bandung Indonesia Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Salesian Polytechnic Tokyo Japan

ISBN: (数字)9798350394924

ISBN: (纸本)9798350394931

This experimental study uses the NREL S809 airfoil to evaluate how solidity affects the performance of a hybrid Savonius-Darrieus wind turbine. To assess its effects on power coefficient, starting torque, and other performance metrics, solidity is varied with values of 0.5, 0.75, and 1. The model is made using 3D printing with PLA material and has internal and external rotor radii of 5cm and 10cm, respectively. The experiments are conducted in a wind tunnel with a testing chamber cross-sectional area measuring $30\mathrm{x}30$ cm between 3–12 m/s of wind speed variation. Overall, the model with a solidity of 0.75 demonstrates the best performance, showcasing both favorable initial torque and the highest maximum power coefficient of 0.33 at TSR 2.1.

关键词： Solid modeling Technological innovation Torque Atmospheric modeling Wind tunnels Wind speed Three-dimensional printing

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Design of a Tube Model Predictive controller for Pneumatic Muscle Actuators Servomechanism under Uncertainty

Design of a Tube Model Predictive Controller for Pneumatic M...

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International Conference on control, Instrumentation, and Automation

作者： Mobina Zibandehpoor Fatemeh Rahmati Mehdi Delrobaei Amirhossein Nikoofard Department of Mechatronics Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331509972

ISBN: (纸本)9798331509989

Pneumatic muscle actuators (PMAs) are efficient and versatile, mimicking natural muscle-tendon systems. They are widely used in manufacturing, automotive, and aerospace industries due to their lightweight design, high force-to-weight ratio, and flexibility, making them suitable for delicate tasks and powerful exertions. Their application in industrial and biomechatronic systems highlights their potential to revolutionize automation and human-machine interaction. This research aimed to develop a PMA regulator using the Model Predictive control (MPC) framework. Researchers identified key PMA characteristics and defined attributes for the regulator, ensuring accurate signal tracking, effective uncertainty handling, and real-time operation. The initial stages involved implementing a proportional-integral-derived (PID) controller, and by integrating a PID block with a linear MPC block, a tube MPC controller was developed to enhance performance. The controllers’ responses were tested in noisy environments using a low-pass filter for evaluation. The tube MPC controller demonstrated optimal control, robustness, and expertise in managing uncertainties, making it a reliable choice for system control.

关键词： Actuators Uncertainty Automation Regulators Low-pass filters Muscles Shock absorbers Robustness Servomechanisms Springs

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Nonlinear Model Predictive control for Autonomous Sailboat with Optimization of Sail Angle

Nonlinear Model Predictive Control for Autonomous Sailboat w...

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OCEANS 2024 - Halifax, OCEANS 2024

作者： Wu, Junzhuo Pan, Ya-Jun Shen, Chao Smith, Sean Witrant, Emmanuel Dalhousie University Advanced Control and Mechatronics Lab Department of Mechanical Engineering HalifaxB3H 4R2 Canada Carleton University Department of Systems and Computer Engineering OttawaK1S-5B6 Canada Université Grenoble Alpes-CNRS GIPSA-lab GrenobleF-38000 France Dalhousie University Departement of Mechanical Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798331540081

This paper studies trajectory tracking control problems of sailing vessels using a nonlinear model predictive control (NMPC) approach with a novel sail angle optimization approach. The proposed sail angle optimization method accounts for physical constraints during practical implementation such as operational sail angle bound and rate of change in sail angles. This technique also emphasizes the potential to use the sail to plan a safe trajectory, while a simple proportional-derivative (PD) controller is used for rudder angle regulation. The NMPC is implemented for trajectory tracking control in the simulation. Results show that the proposed controller can achieve excellent tracking performance in the presence of environmental disturbances in terms of ocean waves. © 2024 IEEE.

关键词： Water waves

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A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements

A Multi-Player Potential Game Approach for Sensor Network Lo...

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IEEE Conference on Decision and control

作者： Gehui Xu Guanpu Chen Baris Fidan Yiguang Hong Hongsheng Qi Thomas Parisini Karl H. Johansson Department of Electrical and Electronic Engineering Imperial College London London UK Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Control Science and Engineering Tongji University shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China Department of Electronic Systems Aalborg University Denmark Department of Engineering and Architecture University of Trieste Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multiplayer non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies.

关键词： Location awareness Noise Games Position measurement Nash equilibrium Distance measurement Noise measurement

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Observer-Based control of Second-Order Multi-vehicle systems in Bearing-Persistently Exciting Formations

arXiv

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arXiv 2024年

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Mårtensson, Jonas Hamel, Tarek Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Mechanical and Mechatronics Engineering Department University of Waterloo ON Canada France

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024, CC BY-NC-ND.

关键词： Acceleration measurement

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The development and evaluation of a combined initial alignment algorithm for strapdown inertial navigation system 3

The development and evaluation of a combined initial alignme...

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3rf International Scientific Conference on Metrological Support of InnovativeTechnologies, ICMSIT 2022

作者： Afonin, A.A. Sulakov, A.S. Maamo, M.S. Shapovalov, N.A. Moscow University for Industry and Finance "synergy" Faculty of Robotics and Mechatronics 9/14 street Meshchanskaya Moscow129090 Russia Department of Control Systems Informatics and Power Engineering 4 Volokolamskoe shosse Moscow125993 Russia

This paper proposes a combined initial alignment algorithm for strapdown inertial navigation system, in which the initial alignment is carried out in two stages during the process of preflight preparations while the aircraft is not moving. This method of initial alignment has the advantages of being conducted based on the Earth's equatorial (Greenwich) coordinate system, which is also used by the aircraft onboard navigation system. In the first stage, the coarse initial alignment is carried out, and this is done according to the orientation parameters using the vector matching method. Then, in the second stage, a fine procedure is carried out, which may be looked at as an integrated system implemented using optimal Kalman filter. In this case, the initial parameters of orientation and navigation are refined, as well as the systematic errors of the inertial sensors are estimated and corrected. The simulation results show that the required level of initial alignment accuracy could be achieved by applying coarse and fine initial alignment procedures not sequentially but in a combination. © Published under licence by IOP Publishing Ltd.

关键词： Inertial navigation systems

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Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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FISS GAN:A Generative Adversarial Network for Foggy Image Semantic Segmentation

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IEEE/CAA Journal of Automatica Sinica 2021年第8期8卷 1428-1439页

作者： Kunhua Liu Zihao Ye Hongyan Guo Dongpu Cao Long Chen Fei-Yue Wang School of Computer Science and Engineering Sun Yat-sen UniversityGuangzhou 510006China State Key Laboratory of Automotive Simulation and Control and the Department of Control Science and Engineering Jilin University(Campus Nanling)Changchun 130025China Mechanical and Mechatronics Engineering Department at the University of Waterloo 200 University Avenue West WaterlooON N2L 3G1Canada State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

Because pixel values of foggy images are irregularly higher than those of images captured in normal weather(clear images),it is difficult to extract and express their *** method has previously been developed to directly explore the relationship between foggy images and semantic segmentation *** investigated this relationship and propose a generative adversarial network(GAN)for foggy image semantic segmentation(FISS GAN),which contains two parts:an edge GAN and a semantic segmentation *** edge GAN is designed to generate edge information from foggy images to provide auxiliary information to the semantic segmentation *** semantic segmentation GAN is designed to extract and express the texture of foggy images and generate semantic segmentation *** on foggy cityscapes datasets and foggy driving datasets indicated that FISS GAN achieved state-of-the-art performance.

关键词： Edge GAN foggy images foggy image semantic segmentation GAN semantic segmentation

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