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63rd IEEE Conference on Decision and control, CDC 2024

作者： Tukenmez, Nejat Fotiadis, Filippos Junior, Jose M. Magalhaes Vamvoudakis, Kyriakos G. Bogosyan, Seta O. Istanbul Technical University Mechatronics Engineering Department Istanbul34469 Turkey Georgia Institute of Technology School of Aerospace Engineering AtlantaGA United States Istanbul Technical University Control and Automation Engineering Department Istanbul34469 Turkey

ISBN: (纸本)9798350316339

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. © 2024 IEEE.

关键词： Contrastive Learning

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation 9

Video Streaming Protocols Comparison in Field Experiments fo...

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9th International Conference on Mechanical engineering and Robotics Research, ICMERR 2025

作者： Fernandez, Manuel J. Franceschini, Riccardo Becerra, Julian Cayero Fumagalli, Matteo Technical University of Denmark Department of Electrical Engineering Automation and Control Kongens Lyngby2800 Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola Del Vallès Barcelona Spain

ISBN: (纸本)9798331509262

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios. © 2025 IEEE.

关键词： Social robots

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Compensation of the Temperature Impact on the Characteristics of a Titania-Silica Thin Film Humidity Sensor Element

Compensation of the Temperature Impact on the Characteristic...

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2023 International Conference Automatics and Informatics, ICAI 2023

作者： Ivanov, Stefan Nedev, Nedyu Nenova, Zvezditza Technical University of Gabrovo Department of Automation Information and Control Systems Gabrovo Bulgaria Technical University of Gabrovo Department of Fundamentals of Electrical and Power Engineering Gabrovo Bulgaria

ISBN: (纸本)9798350312911

In the present work is investigated the impact of ambient temperature in the range of 20°C to 50°C under a change in relative humidity RH of 20% up to 92 % on the characteristics of a highly sensitive TiO2-SiO2-based thin-film impedance humidity sensor element doped with Ce and prepared by a sol-gel method. The variation of sensor impedance changes in a very wide range - about 4 orders of magnitude. The sensor element is connected in a measurement circuit based on an AC bridge, a variable gain amplifier, a precision rectifier, and a microcontroller with a built-in analog-to-digital converter. The use of artificial neural networks monitoring the ambient temperature and measured voltage is proposed for the realization of the temperature compensation of the characteristics. The proposed approach allows compensating the impact of temperature and performing measurements when connecting humidity sensing elements with a very wide range of impedance change. © 2023 IEEE.

关键词： Silica

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Feasibility Analysis of Path Planning Algorithms 16

Feasibility Analysis of Path Planning Algorithms

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16th International Conference on INnovations in Intelligent SysTems and Applications, INISTA 2022

作者： Allozi, Elbera Yilmaz, Abdurrahman Ervan, Osman Temeltas, Hakan Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (数字)9781665498104

ISBN: (纸本)9781665498104

Path planning, which aims to find the most suitable route between source and destination, is a challenging problem in mobile robotics. Although there are several study ideas on the path planning challenges of mobile robots in the literature, there is no approach that evaluates path quality qualitatively and quantitatively. It is significant to choose the optimal path by analyzing the properties of the path and the planning algorithm for effectiveness and efficiency. In this paper, we proposed a feasibility analysis to evaluate the quality of the path planning algorithm from various perspectives. This paper defines criteria for path planning algorithms and investigates traceability, smoothness, and shortness factors. Furthermore, by using these test results, a novel artificial neural network-based method has been proposed to enhance path planning algorithms without altering them. © 2022 IEEE.

关键词： Mobile robots

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Resilient fractional-order fuzzy-based tilt control of renewable-dominated hybrid power system

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Neural Computing and Applications 2025年 1-17页

作者： Sah, Sneha V. Prakash, Vivek Pathak, Pawan Kumar Yadav, Anil Kumar School of Automation Banasthali Vidyapith Rajasthan Tonk India Government Polytechnic College Tonk Department of Technical Education Government of Rajasthan Jodhpur India Department of Instrumentation and Control Engineering Dr B R Ambedkar National Institute of Technology Jalandhar Punjab Jalandhar144008 India

The research conducted for this work has focused on the design and implementation of resilient fractional-order fuzzy integral tilt derivative with filter (FOF-ITDF) controller for renewable-dominated hybrid power system (HPS). The considered HPS employs solar thermal, wind power, diesel engine, aqua electrolyzer, and fuel cell as the distributed generation system. Moreover, flywheel, battery, and ultra-capacitor (UC) are chosen as the energy storage components. The parameters of FOF-ITDF controller are tuned via a hybrid optimization termed as artificial gorilla troops optimizer (GTO) with gradient-based optimizer (GBO). This proposed controller shows enhanced performance over fuzzy proportional–integral–derivative (PID), fuzzy ITDF, and FOF-PID controllers in terms of dynamic as well as steady state. Proposed GTO-GBO: FOF-ITDF controller provides highly robust operation against rate constraint non-linearities, parameter variations, and communication time delays (CTDs). Finally, the performance assessment of the proposed control architecture is also benchmarked over real-power system data via a standard IEEE-14 bus system with its stability evaluation by bode plot. By utilizing the proposed control design, the maximum frequency deviation Δf in the worst situation, i.e., CTD of 0.3 s, is − 0.024 Hz, which is much less and under the admissible range of IEEE standard. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Bode diagrams

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Performance Enhancement of the PV Array Based on Hybrid Configuration under Variable Irradiance Conditions 6

Performance Enhancement of the PV Array Based on Hybrid Conf...

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6th International Conference on Vocational Education and Electrical engineering, ICVEE 2023

作者： Ali, Salim A. Ajel, Ahmed R. Ghadhban, Safaa A. Middle Technical University Electrical Engineering Technical College Department of Electrical Power Engineering Techniques Baghdad Iraq Middle Technical University Electrical Engineering Technical College Department of Medical Devices Techniques Engineering Baghdad Iraq Middle Technical University Electrical Engineering Technical College Department of Control and Automation Techniques Engineering Baghdad Iraq

ISBN: (纸本)9798350326642

The study investigates the challenges posed by' partial shading conditions' (PSCs) on a performance and efficiency of solar photovoltaic (PV) systems. The primary goal is to find the best photovoltaic array setup to optimize power output while reducing efficiency losses caused by mismatching. The researchers evaluate various PV configurations such as Series (S), Series-Parallel (SP), Total Cross Tied (TCT), Bridge Linked (BL), Honey Comb (HC), and a hybrid of TCT and BL called TCT-BL, focusing on a 4x4 array layout. Six different shading patterns are examined, including diagonal, 'short and narrow', 'short and wide', 'long and narrow', 'long and wide', and random. Based on simulations using Matlab/Simulink and a 130W PV module model, the study suggests that the TCT-BL configuration offers superior power generation, efficiency, and reduced mismatching loss compared to other configurations under most PSCs examined. © 2023 IEEE.

关键词： Efficiency

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Implementation of Neural Networks in Real-Time Swarm Robotics Applications

Implementation of Neural Networks in Real-Time Swarm Robotic...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Yazici, Emre Temeltas, Hakan Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Software Development Department Niso Software Technologies Izmir Turkey

ISBN: (纸本)9798350337020

Over the last few decades, significant attention has been devoted to the coordinated motion of swarm systems, which involve multiple autonomous robots. These systems have a range of potential applications, such as creating formations with physical or non-physical bonds, navigating to desired locations while maintaining formation, and preventing collisions. To achieve coordinated motion, recent researches have focused on the potential function method. We previously validated novel potential functions and developed a sliding-mode speed controllers to promote collective behavior. In this study, we implement an accepted neural network with one hidden and one output layer to update potential function weights with decentralized manner in real-time, thereby enhancing swarm behavior for formation creation and maintenance. The effectiveness of this approach is demonstrated through simulation and processor-in-the-loop tests using two different micro-controllers as well as measuring execution time of neural networks' models. By successfully validating neural networks implementation in this context, our study extends the current understanding of swarm behavior and opens up new possibilities for real-time swarm applications. © 2023 IEEE.

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Attack Path Analysis and Security Concept Design for OTA Enabled Electric Power Steering System

Attack Path Analysis and Security Concept Design for OTA Ena...

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2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

作者： Subaşi, Engin MercıMek, Muharrem Functional Safety & Cybersecurity Team FEV Türkiye Istanbul Turkey Department of Control and Automation Engineering Yıldız Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Electric power steering systems (EPS) are increasingly prevalent in modern vehicles, and over-the-air (OTA) updates offer a convenient method for improving their performance and functionality in the system lifecycle. OTA capability is important to improve control structure with state-of-the-art artificial intelligent (AI) powered novel control algorithms. AI also helps to improve personalized driving characteristics to the best performance. However, OTA capability introduces new security vulnerabilities that could be exploited by attackers. This paper presents a comprehensive analysis of potential attack paths within an OTA-enabled EPS system. Critical components and data flows susceptible to manipulation are identified to manipulation and are explored the potential consequences of successful attacks. Based on this analysis, a security concept is proposed to mitigate these identified risks. Proposed security concepts aim to ensure the integrity and confidentiality of the EPS system throughout the OTA update process. This research contributes to the development of secure and reliable OTA updates for electric power steering systems, promoting safety and functionality in modern vehicles with applying ISO 21434 [1] requirements and recommendations. © 2024 IEEE.

关键词： Steering

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Improved Performance by Designing and Building a 1.92 Tbps ROF System Using DWDM with External Modulation and DCF 2

Improved Performance by Designing and Building a 1.92 Tbps R...

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2nd International Conference on Advances in engineering Science and Technology, AEST 2022

作者： Lazim, Mariam Hammadi, Ali Mahdi Al-Askery, Ali Middle Technical University Department of Computer Engineering Baghdad Iraq Middle Technical University Department of Control and Automation Technical Engineering Baghdad Iraq

ISBN: (纸本)9798350334906

Telecommunication technology is rapidly evolving, accompanied by an increase in service requirements such as higher bandwidth and service accessibility. Transferring data at high speeds and the system performance are second to none. DWDM (Dence Wavelength Division Multiplexing) can be used to meet these requirements, but it is not the only option. Long-distance transmission using DWDM systems often experiences signal degradation, which can degrade the system performance. An EDFA (Erbium-Doped Fiber Amplifier) can be used to overcome signal degradation. OptiSystem 18.0 is the DWDM link model used in this study, with a DWDM design that uses 48 channels at an average bit rate per channel of 40 Gbps. A channel spacing of 200 GHz was used. At a 50-km SMF (single-mode fiber) length, the system quality increased in terms of power and frequency spacing. With the EDFA amplifier, the linkage is 180 km long, 240 km long, and 300 km long. Changes in laser power of 10 dB were used in the study. According to the results of the analysis, power changes affect the performance of the system. DWDM with a laser power of 10 dB complies with the values of the standards for the Q factor (Quality Factor) and the BER Min Bit Error Rate parameters. The highest Q factor at a distance of 180 km is 47.008 and BER is 0 with a wavelength of 1498.213nm. The highest Q factor at a distance of 240 km is 28.19 and BER is 3.32092 ∗ 10-175 and the wavelength is 1554.134nm. The highest Q factor at a distance of 300 km is 24.9, with BER equal to 3.66154 ∗ 10-138, and the wavelength being 1565.495nm. According to this study, the higher the laser power used, the better the performance of the system. © 2022 IEEE.

关键词： Single mode fibers

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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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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

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

ISBN: (纸本)9798350395044

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. © 2024 IEEE.

关键词： Electric lines

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