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25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024

作者： Rahvar, Faraz Yilmaz, Abdurrahman Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783031720611

Quadruped robots are indispensable for specialized tasks, particularly in disaster scenarios like earthquakes, where their mobility surpasses that of fixed robots. However, altering their dimensions significantly impacts their mechanical requirements and control systems. This study investigates and compares the principal mechanical parameters affecting the control systems of quadruped robots during scaling, aiming to understand how scalability influences their design across different sizes. Using a standard quasi-direct driven commercial quadruped robot1(Unitree A 1) model featuring dual coaxial motor design and serial link architecture actuators, simulations are conducted at four different sizes, each expanding the robot size by 30%. These simulations analyze static and dynamic forces as the robot walks on a flat surface at a constant speed. To fortify our findings, simulations employ three trajectory scenarios, in each scenario, four robots are scaled in length, increasing by a coefficient of 0.3 from robot 1 to robot 4. The first and second scenarios feature different trajectory lengths, while the third scenario increases the trajectory height while maintaining the length of the second scenario. Specifically, we examine the required torque, energy consumption of the robot motors, reaction forces between the robot feet and terrain, and the mechanical cost of transport. These outcomes encompass critical components of the robot from a mechanical analysis perspective, including joints, providing valuable references for various actuator architecture designs. Our findings reveal a logical pattern in the increase of torques, power consumptions, and reaction forces as the robot scales. These insights lay the groundwork for developing a scalable control architecture for legged robots. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Multipurpose robots

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State Transition Modeling Method for Optimal Dispatching for Integrated Energy System Based on Cyber-Physical System

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Journal of Modern Power Systems and Clean Energy 2024年第5期12卷 1617-1630页

作者： Yi Yang Peng Zhang Can Wang Zhuoli Zhao Loi Lei Lai the Hubei Provincial Key Laboratory for Operation and Control of Cascaded Hydropower Station College of Electrical Engineering and New EnergyChina Three Gorges UniversityYichangChina the Department of Electrical Engineering School of AutomationGuangdong University of TechnologyGuangzhouChina

The traditional energy hub based model has difficulties in clearly describing the state transition and transition conditions of the energy unit in the integrated energy system(IES).Therefore,this study proposes a state transition modeling method for an IES based on a cyber-physical system(CPS)to optimize the state transition of energy unit in the *** method uses the physical,integration,and optimization layers as a three-layer modeling *** physical layer is used to describe the physical models of energy units in the *** the integration layer,the information flow is integrated into the physical model of energy unit in the IES to establish the state transition model,and the transition conditions between different states of the energy unit are *** optimization layer aims to minimize the operating cost of the IES and enables the operating state of energy units to be transferred to the target *** simulations show that,compared with the traditional modeling method,the state transition modeling method based on CPS achieves the observability of the operating state of the energy unit and its state transition in the dispatching cycle,which obtains an optimal state of the energy unit and further reduces the system operating costs.

关键词： Integrated energy system(IES) cyber-physical system(CPS) state transition modeling optimal dispatching

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IGBT Temperature Field Monitoring Based on Reduced-order Model

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CES Transactions on Electrical Machines and Systems 2023年第2期7卷 129-136页

作者： Ziyu Zhou Yi Su Xu Zhang Chengde Tong Ping Zheng Mingjun Zhu School of Electrical Engineering&Automation Harbin Institute of TechnologyHarbin 150001China IEEE Flight control department Xi'an Flight Automatic Control Research InstituteXi'an 710076China

With the rapid development of the world economy,IGBT has been widely used in motor drive and electric energy *** order to timely detect the fatigue damage of IGBT,it is necessary to monitor the junction temperature of *** order to realize the fast calculation of IGBT junction temperature,a finite element method of IGBT temperature field reduction is proposed in this ***,the finite element calculation process of IGBT temperature field is introduced and the linear equations of finite element calculation of temperature field are *** field data of different working conditions are obtained by finite element simulation to form the sample *** the covariance matrix of the sample space is constructed,whose proper orthogonal decomposition and modal extraction are carried *** basis vector space is selected to complete the low dimensional expression of temperature vector inside and outside the sample ***,the reduced-order model of temperature field finite element is obtained and *** results of the reduced order model are compared with those of the finite element method,and the performance of the reduced-order model is evaluated from two aspects of accuracy and rapidity.

关键词： IGBT Junction temperature Proper orthogonal decomposition Reduced-order model

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Dynamic Programming vs Q-learning for Feedback Motion Planning of Manipulators 5

Dynamic Programming vs Q-learning for Feedback Motion Planni...

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5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023

作者： Yildiran, Ugur Yildiz Technical University Control and Automation Engineering Department İstanbul Turkey

ISBN: (纸本)9798350337525

Reinforcement Learning (RL) based methods have became popular for control and motion planning of robots, recently. Unlike sampling based motion planners, optimal policies computed by them provide feedback motion plans which eliminates the need for re-computing (optimal) trajectories when a robot starts from a different initial configuration each time. In related studies, an optimal policy (actor) and the associated value function (critic) are usually calculated preforming training in a simulation environment. During training, RL allows learning by interactions with the environment in a physically realistic manner. However, in a simulation system, it is possible to make physically unimplementable moves. Thus, instead of RL, one can make use of Dynamic Programming approaches such as Value Iteration for computing optimal policies, which does not require an exploration component and known to have better convergence properties. In addition, dimension of a value function is smaller than that of a Q-fuction, thereby lessening the severity of the curse of dimensionality. Motivated by these facts, the aim of this paper is to employ Value Iteration algorithm for motion planning of robot manipulators and elaborate its effectiveness compared to a popular RL method, Q-learning. © 2023 IEEE.

关键词： Manipulators

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Parks-McClellan Algorithm-Based Active Damping Strategy Applied to Grid-Connected Inverters 8

Parks-McClellan Algorithm-Based Active Damping Strategy Appl...

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8th Southern Power Electronics Conference and the 17th Brazilian Power Electronics Conference, SPEC / COBEP 2023

作者： Filho, José De Arimatéia O. Bressanini, Gabriel Lucas Curi Busarello, Tiago Davi De Oro Arenas, Luis Silva, Paulo Fernando Morales Paredes, Helmo Kelis Sorocaba Brazil Department of Control Automation and Computing Engineering Blumenau Brazil

ISBN: (纸本)9798350321128

In recent years, grid-connected inverters have gained wide prominence, primarily attributed to the surge in distributed energy resources. To ensure the reliable operation of these inverters, it is crucial to adequately damp the resonance peak of the LCL filter at the inverter output. By achieving this, the grid-connected inverter guarantees the system's stability while minimizing the harmonic content in the current injected into the distribution grid. To address this issue, this paper proposes the utilization of digital differentiators in conjunction with optimized wideband differentiators, which are designed using the Parks-McClellan (PM) algorithm. These differentiators are applied specifically to the LCL filter capacitor voltage to dampen the resonance peak effectively. Simulation results univocally demonstrate the effectiveness of the proposed approach. © 2023 IEEE.

关键词： Active damping capacitor voltage digital differentiator LCL-filter Parks-McClellan algorithm

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An Efficient Mixed Integer Nonlinear Program Model for Optimal Positions of Pressure Reducing Valves in Water Distribution Systems 15

An Efficient Mixed Integer Nonlinear Program Model for Optim...

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15th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2023

作者： Dai, Pham Duc Thuyloi University Department of Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350321388

Water loss happens in all water distribution systems (WDSs). To deal with such the problems, pressure management strategy should be applied to lessen the water leakage flow. The optimal pressure management is formulated to minimize the total of excessive pressures in all demand supplying nodes. In mathematical formulation, it is a mixed-integer nonlinear program (MINLP). The existing MINLP model having been used until now for optimizing PRV locations is proven to be hard for MINLP algorithms based gradient methods and therefore is only suitable for small-scale WDSs with a limited number of demand patterns. In this paper, an efficient non-smooth constraints are proposed to model whether PRVs are installed on links for the optimal PRV localization problem. Since these constraints can be approximated by relaxed forms of complementarity inequalities, high quality MINLP solution can be achieved in a reasonable computation time. To demonstrate the efficacy of our new modeling approach, comparison of the performance of the newly formulated MINLP with the existing one for solving optimal PRV locating problems for a real WDS are taken. The results have shown that with our new MINLP model, better MINLP solution can be attained even for WDSs with multiple demand patterns. © 2023 IEEE.

关键词： Water distribution systems

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Sequential Convex Program for Variable Speed Pump Scheduling in Water Distribution Systems 15

Sequential Convex Program for Variable Speed Pump Scheduling...

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15th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2023

作者： Dai, Pham Duc Thuyloi University Department of Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350321388

Operation of water distribution systems (WDSs) to reduction of water leakage can be achieved by properly operating variable speed pumps (VSPs). This practical problem can be casted into a nonlinear program (NLP) where decision variables are relative speeds of pumps while the state variables are flows and nodal heads. The formulated NLP consists of both convex and non-convex constraints, for this reason, we proposed to apply the sequential convex programming technique (SCP) for solving the NLP. The advantage of the SCP method lies in the fact that instead of solving the non-convex NLP, we solve sequential convex NLPs and, in this case, it requires less number of iterates for solution convergence than solving the problem directly by using standard NLP solvers. The effectiveness of the approach was demonstrated on two WDSs for optimal VSP scheduling problem © 2023 IEEE.

关键词： Water distribution systems

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A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot 8

A Comparison of Local Planner Algorithms for a ROS-based Omn...

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8th International Conference on Robotics and automation engineering, ICRAE 2023

作者： Imamoglu, Mehmed Rafi Sumer, Ecem Temeltas, Hakan Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9798350327656

The topic of local planner algorithms applicable to omnidirectional mobile robots is yet to thoroughly investigated. This study investigates the performance of the most commonly implemented local planner algorithms for omnidirectional mobile robots by conducting a comparative analysis between the Dynamic Window Approach (DWA) and the Timed Elastic Band (TEB) algorithms. The evaluation was conducted within real-world settings, specifically targeting the challenges of parking maneuvers, dynamic obstacle avoidance and turning maneuvers. Performance metrics, tailored to each scenario, were employed to assess the algorithms. The results demonstrate that the TEB method outperforms the DWA in the tested conditions. © 2023 IEEE.

关键词： Mobile robots

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Generating High-Quality Prediction Intervals for Regression Tasks via Fuzzy C-Means Clustering-Based Conformal Prediction

Generating High-Quality Prediction Intervals for Regression...

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Intelligent and Fuzzy Systems - Intelligence and Sustainable Future Proceedings of the INFUS 2023 Conference

作者： Msaddi, Saleh Kumbasar, Tufan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783031397769

Accurately assessing uncertainty and prediction of a regression model is essential for making informed decisions, especially in high-risk tasks. Conformal Prediction (CP) is a powerful distribution-free uncertainty quantification framework for building such models as it is capable to transform a single-point prediction of any machine learning model into a Prediction Interval (PI) with a guarantee of encompassing the true value for specified levels of confidence. On the other hand, to generate high-quality PIs, the PIs should be as narrow as possible while enveloping a certain amount of uncertainty (i.e. confidence level). The generated width of the PIs mainly depends on the nonconformity measure used within the CP. In this study, we propose two novel Fuzzy c-Means Clustering (FCM) based nonconformity measures for CP with nearest neighbors to learn distribution-free and high-quality PIs for regression. The proposed approach generates tight PIs by evaluating the degree of nonconformity of a new data point compared to the so-called calibration points via Fuzzy Sets (FSs). From the calibration dataset, we extract representative FSs via FCM and assign every test point alongside the nearest neighbors within the calibration dataset with membership grades to adapt the nonconformity measure. To evaluate the performance, we present statistical comparisons and demonstrate that the proposed FCM-based nonconformity measures result in high-quality PIs. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

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Sliding mode active disturbance rejection control for uncalibrated visual servoing

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International Journal of Systems, control and Communications 2025年第2期16卷 133-151页

作者： Pu, Cuiping Wu, Yi Ren, Jie Ran, Chenyang College of Mechanical and Electrical Engineering Kunming University Kunming China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Department of Automation Shanghai Jiao Tong University Shanghai China

A sliding mode control algorithm based on a linear extended state observer is proposed to address the multi-source uncertainty of uncalibrated visual servoing in robotic arms. Uncertainty, nonlinearity, coupling, external disturbances, etc. are considered as total disturbances. The linear expansion state observer is designed to observe the total disturbance and compensate for it. This enhances the system’s anti-interference ability. The outer loop adopts sliding mode control law as state feedback. It suppresses the observation errors of the observer and ensures the stability of the system. Sliding mode control based on linear extended observer does not depend on specific tasks and system configurations. It provides a unified design framework for solving the problem of uncalibrated visual servoing. Through numerical simulations of three different disturbance cases, it was compared with PI linear extended state observer and linear active disturbance rejection to verify its good dynamic performance and disturbance rejection performance. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Robotic arms

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