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2nd International Conference on Physics and Applied Sciences, ICPAS 2021

作者： Mohsen, D.E. Hammadi, A.M. Alaskary, A.J. Department of Computer Engineering Techniques Electrical Engineering Technical College Baghdad Iraq Department of Control and Automation Technical Engineering Electrical Engineering Technical College Middle Technical University Baghdad Iraq

The improvement of 5G networks started in 2019 and is commonly accepted to bring changes not restricted to individuals' day-by-day life. The interconnection between the nodes of 5G network is realized through the utilization of optical transceiver modules and optical fibers. The most interesting part in the 5G communication network is the communication between the Central Office (CO) and the Base Station (BS), which has been widely investigated by several researchers to enhance and optimize such network performance. As a result, in this paper we demonstrate, design and implemented a) based on Dense Wavelength Division Multiplexing (DWDM Radio over Fiber (RoF) system and by using the software of Optisystem 17.1 version. Such system is considered a 32X40 Gbps of data transmission for higher speed transmission system towards the Tera bit per second (Tbps) communication. The channels of 1, 4, 8, 12, 16, 20, 24, 28 and 32 were selected as samples for the investigation. The performance analysis would be based on the parameters of the eye diagram, (Quality Factor) Q-factor and Min Bit Error Rate (BER) and for distances of 60, 120 and 180 km respectively. Analyzing results indicate a higher performance system toward the 1.28 Tbps of data rate transmission. © Published under licence by IOP Publishing Ltd.

关键词： 5G mobile communication systems

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Chaos in pulsar spin dynamics

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IFAC-PapersOnLine 2023年第1期56卷 199-203页

作者： Berc Deruni Mustafa Dogan Department of Engineering Yeditepe University Istanbul 34755 Turkey Department of Control and Automation Engineering Faculty of Electrical-Electronics Engineering Istanbul Technical University Istanbul 34469 Turkey

In the present paper, a new model describing neutron star dynamics is analysed. The system under consideration can be described as a modified vortex creep model. Two component model and the vortex creep model have been used successfully to describe post glitch relaxation phase. However, glitch behaviour is yet to be explained. There can be a possible stochastic mechanism that trigger glitches in neutron stars. To this aim, we propose a modification in the nonlinear vortex creep model. The significance of the modification is twofold, the dynamics of the system is able to generate intermittency, imitating the glitch behaviour of pulsars, and the system also show chaotic motion when the system parameters are set accordingly. The chaotic dynamics is verified by using nonlinear tools such as numerical phase portraits, Lyapunov exponents and bifurcation diagrams.

关键词： Pulsar spin dynamics nonlinear superfluidity chaos intermittency

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Robust control Performance in Uncertain Environments: A Semi-Heuristic Gradient Descent Approach

Robust Control Performance in Uncertain Environments: A Semi...

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International Conference on Instrumentation control and automation (ICA)

作者： Mohammed Elbadri Ahmed Hassan Ahmad Irham Jambak Ismail Bayezit Mehmet Turan Soylemez Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkiye Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkiye Department of Aeronautical Engineering Istanbul Technical University Istanbul Turkiye

Designing a robust controller for systems with parameter uncertainties is a complex and demanding task. Traditional deterministic and probabilistic approaches may fall short in providing efficient and satisfactory solutions. To address this challenge, we propose a semi-heuristic approach that exploits the Kharitonov theorem to establish an initial point for the gradient descent algorithm. Through an iterative optimization process that incorporates user-defined performance criteria, our approach provide a robust controller with respect to presence of system uncertainties. Numerical simulations validate the effectiveness of our proposed method and highlight its superiority in addressing robust control problems compared with auto-tuned ΡΠ) controller.

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Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Real-Time Implementation of MEKF using VDPL Localization Alg...

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Innovations in Intelligent Systems and Applications Conference

作者： Ozan Vahit Altinpinar Emre Can Contarlı Volkan Sezer Department of Mechatronics Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul TURKEY Department of Control and Automation Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul TURKEY

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases.

关键词： Location awareness Technological innovation Navigation Heuristic algorithms Real-time systems Planning Mobile robots Kalman filters MATLAB Intelligent systems

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Comparative Analysis of Pharmacokinetic-Pharmacodynamic Models for Propofol and Remifentanil Using Model Predictive control

Comparative Analysis of Pharmacokinetic-Pharmacodynamic Mode...

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European control Conference (ECC)

作者： A. R. Ynineb H. Farbakhsh G. Ben Othman Y. Wahlquist I. R. Birs E. Yumuk C. I. Muresan R. De Keyser D. Copot C. M. Ionescu M. Neckebroek Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Ghent University Gent Belgium Department of Automatic Control Lund University Lund Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Control and Automation Engineering Istanbul Technical University Maslak Istanbul Turkey Department of Anesthesia Ghent University Hospital Ghent Belgium

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This study aims to compare the effectiveness of different Pharmacokinetic-Pharmacodynamic (PK-PD) models for administering Propofol and Remifentanil, two critical agents in anesthesia. Initially, different PK models were introduced: one for Propofol based on the Schnider model and another for Remifentanil using the Minto model. Alternatively, both drugs were modeled using the Eleveld models. The PK-PD models were integrated into a closed-loop control system using model predictive control (MPC) with disturbances to control the Bispectral index (BIS) and the Richmond Agitation Sedation Scale (RASS). The methodology involved simulating the anesthetic agents in the open-source patient simulator (2 inputs, 2 outputs) with 12 patient datasets in a controlled environment to simulate the patient response variability, allowing for a detailed analysis of the model's performance in maintaining optimal drug concentrations. The primary focus was on the system's ability to adapt to surgical disturbances, a key challenge in anesthesia management, and whether a different modeling of drugs can have an impact on their effects. The results indicated significant differences in the performance of the two models configurations. The Eleveld model for Propofol showed less usage of drugs to maintain the desired BIS value. Concluding that this comparative analysis offers a valuable reference for selecting appropriate modeling approaches in the development of advanced control strategies in anesthesia.

关键词： Drugs Analytical models Adaptation models Surgery Europe Predictive models Anesthesia

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Secure Routing Protocol Based on FANET

Secure Routing Protocol Based on FANET

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： I. I. Naumov R. R. Ibadov D. G. Chebotarev Faculty of Automation Mechatronics and Control Don State Technical University Rostov-on-Don Russia Department of Electrical Engineering and Electronics Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

The flying ad-hoc network (FANET) technology-based secure routing protocol described in this study functions between a ground station and a UAV network. This protocol employs a hybrid authentication technique to guarantee communication dependability. The system is based on an asymmetric method that ensures secure connections between the UAV and the ground control station, as well as between the UAVs themselves. A symmetric scheme with digital signatures is used to encrypt the routing. Before joining the network, the UAV must register. During the registration process, the Key Distribution Center provides the necessary public and private keys for each node that wants to connect. Furthermore, crucial routing data is safeguarded using the TWINE algorithm. Wormhole attacks are avoided by using the packet binding method. Even in the event of an aggressor attack, simulations show that this routing system can sustain effective network functioning, ensuring a high packet delivery ratio and optimal network costs.

关键词： Industries Network topology Authentication Autonomous aerial vehicles Routing Routing protocols Ad hoc networks Safety Registers Grippers

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Unmanned Aerial Vehicles for Inspection of Power Lines

Unmanned Aerial Vehicles for Inspection of Power Lines

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： I. I. Naumov R. R. Ibadov S. P. Oboimova Faculty of Automation Mechatronics and Control Don State Technical University Rostov-on-Don Russia Department of Electrical Engineering and Electronics Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

Problem Statement. New unmanned aerial vehicle (UAV) technology has become more accessible and practical for transmission line inspection. In this paper, we propose a multi-platform UAV system and a multi-model communication system designed for high-efficiency transmission line inspection tasks. Different UAVs perform both long-range and short-range surveillance functions, and provide communication relay. High-quality images and videos are transmitted in real time to the local control station for UAV navigation and to the remote office for analysis. Practice shows that joint inspection using multiple UAVs can significantly outperform traditional inspection methods. Objective. To propose a new method for inspecting and checking the condition of power lines using several types of UAVs using certain signal transmission and relay methods. Results. A new concept of power line inspection using joint actions of unmanned aerial vehicles (UAVs) is proposed. The functional capabilities of the UAVs and the communication system are considered and discussed. Practical experience shows that due to joint work, the time spent on inspection can be significantly reduced and the efficiency can be significantly increased. The feasibility and advantages of inspections using UAVs are confirmed. Future work can focus on optimizing the configuration of UAVs as part of a group. Practical significance. The presented method allows increasing the efficiency of inspection and testing of power transmission lines in comparison with existing methods.

关键词： Power transmission lines Propellers Surveillance Refining Inspection Autonomous aerial vehicles Real-time systems Relays Videos Testing

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Self-Tuning Subordinate control System Based on Neural Network for Nonlinear Electric Drivers of Lower Limbs of Exoskeleton

Self-Tuning Subordinate Control System Based on Neural Netwo...

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2022 Conference of Russian Young Researchers in Electrical and Electronic engineering, ElConRus 2022

作者： Belov, Mikhail P. Dang Truong, Dinh Khoa, Tran Dang Saint Petersburg Electrotechnical University Department of Robotics and Industrial Automation Leti Saint Petersburg Russia Le Quy Don Technical University Department of Control Engineering Hanoi Viet Nam

ISBN: (纸本)9781665409933

This article proposes a subordinate system control with a self-turning adaptation of the coefficients of the PID controller of position control loop by an analog neural network for nonlinear electric drive of lower limb exoskeleton (LLE) under the influence of uncertain parameters of the dynamic model, nonlinear elements (friction, elasticity of the dynamic model), and stochastic external disturbances. To correct the coefficients of traditional PID controllers, it is proposed to use a neural network (NN), which allows self-tuning the coefficients directly from its outputs based on errors of the control system with the possibility of self-determination of the Jacobian matrix of the neural network. The paper also produces the dynamics model of exoskeleton movement with five links of two legs and a body, considering nonlinear electric drives and external disturbances acting. The efficiency of the proposed control method with the joint motion angular response of exoskeleton is proved by results simulation in the environment Matlab/ Simulink. © 2022 IEEE.

关键词： controllers

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Studying the Influence of Working Fluid Temperature on the Performance of an Electrohydraulic Servo System in Dynamic Mode

Studying the Influence of Working Fluid Temperature on the P...

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Automatics and Informatics (ICAI), International Conference

作者： Stanimir Yordanov Krasimir Ormandzhiev Georgi Mihalev Krasen Kostov Veselin Mitev Department of Automation Information and Control Systems Technical University of Gabrovo Gabrovo Bulgaria Department of Power Engineering Technical University of Gabrovo Gabrovo Bulgaria

The paper examines the influence of the working fluid temperature on power losses in an electro-hydraulic servo system. The behavior of the system has been investigated under Proportional-Integral (PI) control at different working fluid temperatures and various control setpoints. An Adaptive PID controller has been synthesized, utilizing feedback from sensors to measure various system parameters (such as temperature, pressure, and RPM), and then adapting the parameters of the P, I, and D components of the controller based on this data to achieve optimal regulation.

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Reward Drops in Learning-based control with an Experimental Validation on Microdrones

Reward Drops in Learning-based Control with an Experimental ...

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IEEE Conference on Decision and control

作者： Nejat Tukenmez Filippos Fotiadis José M. Magalhães Júnior Kyriakos G. Vamvoudakis Seta O. Bogosyan Mechatronics Engineering Department Istanbul Technical University Istanbul Türkiye School of Aerospace Engineering Georgia Institute of Technology Atlanta GA USA Control and Automation Engineering Department Istanbul Technical University Istanbul Türkiye

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we consider a computationally efficient learning-based control mechanism dealing with dense reward processing for a zero-sum game. The problem has been formulated as the online learning of the Nash equilibrium without requiring any information on the system dynamics. It has firstly been constructed as an infinite horizon optimal control problem, then as an online model-free Q-learning framework, which is composed of critic and actor networks (i.e., for the control and disturbance input). The closed-loop system is also proved to have a stable equilibrium point even in the presence of reward drops. The efficacy of the learning-based controller has been validated through simulations and experiments on micro drones.

关键词： Q-learning System dynamics Heuristic algorithms Process control Nash equilibrium Real-time systems Nonlinear dynamical systems Infinite horizon Closed loop systems Quadrotors

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