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第42届中国控制会议

作者： Lei Cao Erhan Yumuk Clara-Mihaela Ionescu Guo-Ping Liu Department of Control Science and Engineering Harbin Institute of Technology Dynamical Systems and Control Research Group Department of Electromechanical Systems and Metal Engineering Ghent University Department of Control and Automation Engineering Istanbul Technical University Center for Control Science and Technology Southern University of Science and Technology

In this paper, the tracking control problem for networked control system(NCS) under communication delays is investigated. In order to realize the tracking of the NCS, an event-triggered predictive control strategy is provided to compensate for the delays and achieve stability. Both tracking performance and input increments are considered in the proposed cost *** on the incremental inputs, an event-triggered mechanism is established to reduce the communication costs. The efforts of different parameters are illustrated through the results of the simulation, and the effectiveness of the proposed control scheme is also validated from the application of the networked lighting setup.

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Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

arXiv

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arXiv 2023年

作者： Enevoldsen, Thomas T. Blanke, Mogens Galeazzi, Roberto Automation and Control Group Department of Electrical and Photonics Engineering Technical University of Denmark Kgs. LyngbyDK 2800 Denmark

This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhopper, Denmark’s first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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Production Scheduling Application Software for Small Medium Enterprises

Production Scheduling Application Software for Small Medium ...

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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Le, Xuan-Thuyen Nguyen, The-Anh-Tu Pham, Ngoc-Hieu Tran, Ngoc-Huy VNU-HCM Innovation Fablab Ho Chi Minh City Viet Nam VNU-HCM Faculty of Electrical & Electronics Engineering Department of Control & Automation Ho Chi Minh City Viet Nam Cao Thang Technical College Department of Mechatronics Ho Chi Minh City Viet Nam

ISBN: (纸本)9798350322941

Derived from the current implementation of the production plan as well as the production schedule, Enterprise Resource Planning software with a built-in production scheduling algorithm helps optimize the uses of resources, reduce production time, increase productivity, and increase customer service levels. In this research, the available management platform (Odoo) with Python as the main programming language is proposed to build a system to support suitable schedule production plans helps shorten processing time and reduce order delay. In addition, the results are shown in detail and can be flexibly modified manually on the Gantt chart. The feasibility of the production scheduling application is shown by the Gantt chart before and after the scheduling. Moreover, the order delay rate has been reduced from 15% to 3.33%. © 2023 IEEE.

关键词： Production control

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Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection

Point, Segment, and Inspect: Leveraging Promptable Segmentat...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Riccardo Franceschini Javier Rodriguez Marquez Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola del Vallès Barcelona Spain Department of Electrical Engineering Automation and Control Group Danish Technical University Lyngby Denmark

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Operating unmanned aerial vehicles (UAVs) for assets inspections poses distinct challenges encompassing the need to maintain a safe distance from the inspection area, ensure correct orientation towards the inspected surface, and achieve comprehensive coverage of the entire surface. Achieving these tasks is inherently complex and stressful. Therefore, a novel approach that seeks to enhance the piloting experience by harnessing the latest advancements in segmentation models, such as Segment Anything Model (SAM), is proposed. These models, thanks to their prompting capabilities, allow seamless communication between the operator and the UAV, opening up the possibility of defining intricate inspection regions through simple interactions. Within this approach, decision-making authority remains with the operator, while the UAV takes on the demanding task of segmenting the designated area and devising an appropriate traversal plan. Throughout this process, the operator’s situational awareness is heightened through visual cues overlaid on the camera stream and a 3D panel presenting information of the drone position and spatially sensed data. This teleoperation framework allows the operator to maintain continuous control of the ongoing operation through a simplified interface. The paper delineates both the system and the methodology employed, showcasing the effectiveness of integrating segmentation models into the decision-making workflow. The validity of the proposed framework is established through testing within a photorealistic UAV simulator along with real experiments in a controlled laboratory environment.

关键词： Visualization Three-dimensional displays Decision making Laboratories Inspection Traveling salesman problems Autonomous aerial vehicles Robot sensing systems Spatial databases Surface treatment

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Optimal PID control of Spatial Inverted Pendulum With Big Bang–Big Crunch Optimization

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IEEE/CAA Journal of Automatica Sinica 2020年第3期7卷 822-832页

作者： Jia-Jun Wang Tufan Kumbasar School of Automation Hangzhou Dianzi UniversityHangzhou 310018China IEEE Control and Automation Engineering Department Faculty of Electrical and Electronics EngineeringIstanbul Technical UniversityIstanbul TR-34469Turkey

As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear,unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multipleinput and multiple-output(MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP,the control structure with five PID controllers will be *** parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang – Big Crunch(BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization(PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.

关键词： Big Bang–Big Crunch(BBBC) optimal PID control spatial inverted pendulum(SIP) spatial trajectory tracking

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Research on Path Planning Algorithm Based on D∗ Search

Research on Path Planning Algorithm Based on D∗ Search

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Leng, Jiajun Fu, Li Wang, Lingling Tang, Ning Laboratory of Science and Technology on Marine Navigation and Control China State Shipbuilding Corporation Beijing100036 China Tianjin Navigation Instruments Research Institute Tianjin300131 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Bauman Moscow State Technical University Moscow Department of Automatic Control Systems 105005 Russia

ISBN: (纸本)9798350382457

Path planning algorithms are current research hotspots. Heuristic algorithms that can solve dynamic environment problems are gradually becoming the mainstream research direction. The D∗ algorithm, as one of the new heuristic algorithms, has the advantages of being more computationally efficient than the A ∗ algorithm and being able to solve dynamic problems, and has played an important role in two-dimensional path planning projects such as the NASA Mars rover. But its theoretical research and practical application in 3D environment are very rare. In this context, this paper carries out an in-depth study of the path planning problem based on the D∗ algorithm, and completes the theoretical derivation and simulation process in 2D and 3D environments. In this paper, a complex random 2D map is established by random generation, and the simulation of D∗ algorithm is realized on the map with the help of Python language, which realizes the finding of the relative optimal path. Then, in order to study the feasibility of D∗ solving in 3D environment, the simulation of D∗ algorithm under 3D map is realized with the help of Python and Unity3d. The research results show that the simulation results are good, which is valuable for the theoretical research and practical application of heuristic algorithms, and plays a role in the application of robot path planning algorithms. © 2023 IEEE.

关键词： Python

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Intelligent On-Line System for Monitoring technical Condition of High-Voltage Cable Couplings

Intelligent On-Line System for Monitoring Technical Conditio...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Vadim R. Gasiyarov Stanislav V. Voronin Andrey A. Radionov Ivan V. Lyubimov Sergey A. Evdokimov Vadim R. Khramshin Department of Automation and Control Moscow Polytechnic University Moscow Russia Department of Mechatronics and Automation South Ural State University Chelyabinsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

The article provides the characteristics of the end cable couplings of the closed switchgear 110 kV at the electric steelmaking workshop of the metallurgical plant. The functions of the continuous technical condition monitoring system are substantiated, including continuous temperature monitoring and on-line registration of partial discharges in the insulation. The first function provides monitoring of the operational load, and the second has the maximum sensitivity for diagnosing defect propagation. A functional diagram of the developed intelligent on-line system for monitoring technical condition with digital signal transmission is provided. The choice of sensors and processor unit is justified. The authors consider the temperature control system of high-voltage equipment “WDM-T”, including a wireless sensor and an information receiver. The results of monitoring the thermal regime are provided, the advantages of partial discharge analysis are pointed out. The temperature trends of the end couplings included in the cable line phases are considered. The system is implemented on the closed switchgear 110 kV end couplings, its long-term operation has confirmed the effectiveness of technical condition monitoring. The developed system may be a component of an on-line cyberphysical system for monitoring the condition of high-voltage equipment in the electric steelmaking workshop.

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Deep Learning for Improved Aircraft Identification in Shared Airspace

SSRN

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SSRN 2024年

作者： Ahmed, Aisha Sir Elkhatem Engin, Seref Naci Malik, Zainab Abdalgadir, Shahd Aeronautical Engineering Department Sudan University of Science and Technology Khartoum407 Sudan Computer Engineering Department Yildiz Technical University Istanbul34220 Turkey Department of Electrical and Electronics Engineering Sakarya University of Applied Science Sakarya54050 Turkey Control and Automation Engineering Department Yildiz Technical University Istanbul34220 Turkey

Ensuring accurate identification of approaching aircraft is a crucial task for Air Traffic control (ATC) systems. This is essential to prevent misidentification accidents, occurring especially in shared airspace. Misidentification incidents may occur due to "Mistaken Identity" and a system malfunction that results in the aircraft crew being unable to respond to a radar control sector call, as well as radio signal problems due to bad weather. While military Identification Friend or Foe (IFF), and Automatic dependent surveillance-broadcast (ADS-B) systems have traditionally served this purpose, their reliability diminishes in cases where stealthy aircraft, during extreme weather conditions and spacious oceanic regions, are involved. In addition, radio signal- based surveillance systems are reliance on aircraft transponders. Under certain circumstances, this may pose a serious problem for the ATC. This paper introduces a novel approach utilizing deep Convolutional Neural Networks (CNN) for the identification of a type of approaching aircraft as either military or civilian, specifically applied to remote-sensing satellite imagery. The objective is to robustly and accurately determine the type of aircraft whether hostile or friendly to enhance radio signal-based surveillance systems detectability. Experimental evaluation incorporates three distinct datasets: noise-free datasets, noisy datasets, and images affected by varying illumination conditions. The experimental results reveal a remarkably high identification accuracy, averaging 99.50%, across both noise-free and augmented datasets. The introduction of noisy datasets is accomplished through the application of a median filter. However, the results also point out an intrinsic challenge posed by illumination variations that affect CNN classification accuracy. © 2024, The Authors. All rights reserved.

关键词： Air traffic control

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Model predictive control of hemodynamics during intravenous general anesthesia

Model predictive control of hemodynamics during intravenous ...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Hamed Farbakhsh Erhan Yumuk Ghada Ben Othman Robin De Keyser Dana Copot Isabela Birs Clara M. Ionescu Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Ghent University Zwijnaarde Belgium Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey Department of Automation Technical University of Cluj-Napoca Memorandumului no. 28 Cluj-Napoca Romania

In the operating rooms and the intensive care unit, it is crucial to manage the patient’s hemodynamic status, which includes factors like cardiac output and mean arterial pressure. Anesthesiologists confront a difficult task while monitoring high-risk patients. Cardiac output optimization has been found to enhance the result of high-risk patients in terms of hospital stay, mortality rate, post-operative problems, etc. The application of standard control approaches is restricted because the mean arterial pressure response of a patient using vasoactive medicines is modeled by a first-order dynamical system with time-varying parameters and a time-varying delay in the control input. In order to circumvent implementation challenges, this work develops an approximation technique that describes the system using a higher-order model. Predictive control is therefore used to comprehend the practical application of higher-order hemodynamic systems. The effectiveness of this strategy is demonstrated by the simulations and outcomes that are given.

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A Fast and Precise Multi-Level Coarse-to-Fine Registration Method for 3d Point Clouds

SSRN

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SSRN 2023年

作者： Ervan, Osman Temeltas, Hakan Department of Control and Automation Engineering Faculty of Electric and Electronics Istanbul Technical University Ayazaga Campus Sariyer Maslak Istanbul34469 Turkey

Three-dimensional (3D) point cloud registration is a fundamental process in the fields of computer vision and robotics. It enables the alignment and fusion of multiple point cloud datasets acquired from diverse viewpoints or distinct temporal instances. The rapid progress of 3D sensing technologies in 3D LiDAR sensors has led to the widespread availability of point cloud data across various applications, including robotics, autonomous navigation, object recognition, and cultural heritage preservation. Nevertheless, the inherent presence of noise, occlusions, and varying scales within acquired point clouds presents significant challenges in achieving precise registration. In this paper, we proposed MultI-LEvel coarSe-TO-fiNe rEgistration algorithm, referred to as MILESTONE. Geometric features of the points have been extracted using eigenvalue and eigenvector-based multi-level similarity metrics. During pairwise registrations, changing the input point cloud between source and target can impact the registration performance. To address this issue, we introduced a correspondence intersection search mechanism, which effectively overcomes this problem. The similarity percentage metric calculation procedure generates the probability of two correspondence pairs being an exact match. These robust tools enhance the quality of the coarse registration, not only in terms of accuracy but also in terms of time consumption. Finally, the results of the coarse registration are updated in the fine registration step, completing the coarse-to-fine registration pipeline. The contribution of this proposed method lies in the enhancement of coarse registration accuracy, coupled with a reduction in the time required for fine registration. Comprehensive experimentation confirms that the proposed algorithm yields favorable outcomes, encompassing a high rate of successful registration, precise rotation estimation, accurate translation estimation, efficient runtime, and notably, surpasses the cap

关键词： Nearest neighbor search

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