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arXiv 2020年

作者： Yavas, Ugur Kumbasar, Tufan Ure, Nazm Kemal Eatron Technologies Istanbul Turkey Control and Automation Engineering Department Istanbul Technical University Turkey Artificial Intelligence and Data Science Research Center Department of Aeronautical Engineering Istanbul Technical University Turkey

Automated lane change is one of the most challenging task to be solved of highly automated vehicles due to its safety-critical, uncertain and multi-agent nature. This paper presents the novel deployment of the state of art Q learning method, namely Rainbow DQN, that uses a new safety driven rewarding scheme to tackle the issues in an dynamic and uncertain simulation environment. We present various comparative results to show that our novel approach of having reward feedback from the safety layer dramatically increases both the agent’s performance and sample efficiency. Furthermore, through the novel deployment of Rainbow DQN, it is shown that more intuition about the agent’s actions is extracted by examining the distributions of generated Q values of the agents. The proposed algorithm shows superior performance to the baseline algorithm in the challenging scenarios with only 200000 training steps (i.e. equivalent to 55 hours driving). Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

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Time Transformation and Robustness of PI controller Tuning for Integrating Plants with Time Delay

Time Transformation and Robustness of PI Controller Tuning f...

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Cybernetics & Informatics (K&I)

作者： Miluse Viteckova Antonin Vitecek Dagmar Janacova Department of Control Systems and Instrumentation VSB – Technical University of Ostrava Ostrava Czech Republic Department of Automation and Control Engineering Tomas Bata University in Zlin Zlin Czech Republic

ISBN: (数字)9781728143811

ISBN: (纸本)9781728143828

The paper is devoted to the use of time transformation in the analysis of the robustness of PI controller tuning for integrating plants with time delay. The use is shown in the time and frequency domain and especially in the domain of relative adjustable parameters of the PI controller. The proposed approach to the assessment of robustness is new.

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Correction to: Deep learning frameworks to learn prediction and simulation focused control system models

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Applied Intelligence 2021年第1期52卷 680-680页

作者： Tuna, Turcan Beke, Aykut Kumbasar, Tufan Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

A Correction to this paper has been published: https://***/10.1007/10489.1573-7497

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Power Grid Surveillance and control Based on Wireless Sensor Network Technologies: Review and Future Directions

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Journal of Physics: Conference Series 2021年第1期1773卷

作者： Ali Hadi Abdulwahid Department of Automation and Control Engineering Techniques Southern Technical University Basra Iraq

In this paper, the concept of the smart grid and the emerging challenges of wireless communication technology for use on the smart grid (SG)is reviewed. One modern-day technology of great significance is wireless sensor networks (WSNs), which has the potential to ensure the smooth operation of smart grid management and increase its energy efficiency, reliability and cost-effectiveness. The advanced electric power grid infrastructure known as smart grid takes advantage of automated control and cutting-edge communication strategies to achieve greater efficiency, reliability and safety, whilst seamlessly combining renewable and alternative sources of energy. Unlike conventional communication technologies, WSNs are more beneficial to modern electric power systems because they are affordable and operate on a cooperative basis. For this reason, WSNs are considered to have good potential for improving the way electric power is produced, distributed and used. Therefore, they are a key element of the smart grid. Nevertheless, the implementation of WSNs in smart grid settings may be inadequately reliable due to the complexity and unfavourable aspects of electric power system environments. The purpose of the current work is to review WSN uses in electric power systems and the opportunities and difficulties offered by this technology, as well as to delineate possible facets of smart grid applications and wireless technologies that future research could explore. Therefore, this work is significant.

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Safe Feedback Motion Planning in Unknown Environments: An Instantaneous Local control Barrier Function Approach

arXiv

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arXiv 2021年

作者： Li, Cong Zhang, Zengjie Nesrin, Ahmed Liu, Qingchen Liu, Fangzhou Buss, Martin Technical University of Munich Theresienstr. 90 Munich80333 Germany Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Department of Automation University of Science and Technology of China Hefei230027 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China

Mobile robots are desired with resilience to safely interact with prior-unknown environments and finally accomplish given tasks. This paper utilizes instantaneous local sensory data to stimulate the safe feedback motion planning (SFMP) strategy with adaptability to diverse prior-unknown environments without building a global map. This is achieved by the numerical optimization with the constraints, referred to as instantaneous local control barrier functions (IL-CBFs) and goal-driven control Lyapunov functions (GD-CLFs), learned from perceptional signals. In particular, the IL-CBFs reflecting potential collisions and GD-CLFs encoding incrementally discovered subgoals are first online learned from local perceptual data. Then, the learned IL-CBFs are united with GD-CLFs in the context of quadratic programming (QP) to generate the safe feedback motion planning strategy. Rather importantly, an optimization over the admissible control space of IL-CBFs is conducted to enhance the solution feasibility of QP. The SFMP strategy is developed with theoretically guaranteed collision avoidance and convergence to destinations. Numerical simulations are conducted to reveal the effectiveness of the proposed SFMP strategy that drives mobile robots to safely reach the destination incrementally in diverse prior-unknown environments. Copyright © 2021, The Authors. All rights reserved.

关键词： Lyapunov functions

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Management of services of a hyperconverged infrastructure using the coordinator 1st

Management of services of a hyperconverged infrastructure us...

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1st International Conference on Computer Science, engineering and Education Applications, ICCSEEA2018

作者： Rolik, Oleksandr Telenyk, Sergii Zharikov, Eduard Department of Automation and Control in Technical Systems National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" Kyiv Ukraine Department of Theoretical Electrical Engineering and Computer Science Faculty of Electrical and Computer Engineering Cracow University of Technology Cracow Poland

ISBN: (纸本)9783319910079

Modern data centers’ providers are gradually moving away from traditional and multi-vendor IT infrastructures to open, standardized and interchangeable solutions that are based on a software defined approach to managing data center resources. The authors analyze the architectural features, requirements, limitations, hardware and software of hyperconverged infrastructures and their advantages in comparison with traditional and converged architectures deployed in data centers. The authors propose to employ two-level coordination schema to manage compute, storage, network and virtualization subsystems of hyperconverged infrastructure along with the self-management algorithms inside these subsystems. © Springer International Publishing AG, part of Springer Nature 2019.

关键词： Digital storage

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Ion source and LEBT of KAHVELab proton beamline

arXiv

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arXiv 2022年

作者： Adigüzel, A. Açiksöz, S. Çaǧlar, A. Çetinkaya, H. Esen, S. Halis, D. Hamparsunoǧlu, A. Ilhan, T.B. Kiliçgedik, A. Koçer, O. Oǧur, S. Öz, S. Özbey, A. Özcan, V.E. Ünel, N.G. Istanbul University Department of Physics Istanbul Turkey Boǧaziçi University Department of Physics Istanbul Turkey Boǧaziçi University Feza Gürsey Center for Physics and Mathematics Istanbul Turkey Yildiz Technical University Istanbul Turkey Kütahya Dumlupinar University Department of Physics Kütahya Turkey Marmara University Department of Physics Istanbul Turkey Irene Joliot-Curie Lab. University of Paris-Saclay Paris France Istanbul University Cerrahpaşa Department of Mechanical Engineering Istanbul Turkey University of California Irvine Physics Department Irvine United States Electronics and Communication Engineering Istanbul Turkey Department of Physics Istanbul Turkey Department of Control and Automation Istanbul Turkey

The KAHVE Laboratory, at Boǧaziçi University, Istanbul, Turkey is home to an educational proton linac project. The proton beam will originate from a 20 keV H+ source and will be delivered to a two module Radio Frequency Quadrupole (RFQ) operating at 800 MHz via a low energy beam transport (LEBT) line. Currently, the design phase being over, commissioning and stability tests are ongoing for the proton beamline which is already produced and installed except the RFQ which is being manufactured. This work summarizes the design, production and test phases of the ion source and LEBT line components. Copyright © 2022, The Authors. All rights reserved.

关键词： Ion sources

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Adaptive control for hindlimb locomotion in a simulated mouse through temporal cerebellar learning

arXiv

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arXiv 2020年

作者： Jensen, T.P. Tata, S. Ijspeert, A.J. Tolu, S. Automation and Control Department of Electrical Engineering Technical University of Denmark Kgs Lyngby Denmark Biorobotics Laboratory School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland

Human beings and other vertebrates show remarkable performance and efficiency in locomotion, but the functioning of their biological control systems for locomotion is still only partially understood. The basic patterns and timing for locomotion are provided by a central pattern generator (CPG) in the spinal cord. The cerebellum is known to play an important role in adaptive locomotion. Recent studies have given insights into the error signals responsible for driving the cerebellar adaptation in locomotion. However, the question of how the cerebellar output influences the gait remains unanswered. We hypothesize that the cerebellar correction is applied to the pattern formation part of the CPG. Here, a bio-inspired control system for adaptive locomotion of the musculoskeletal system of the mouse is presented, where a cerebellar-like module adapts the step time by using the double support interlimb asymmetry as a temporal teaching signal. The control system is tested on a simulated mouse in a split-belt treadmill setup similar to those used in experiments with real mice. The results show adaptive locomotion behavior in the interlimb parameters similar to that seen in humans and mice. The control system adaptively decreases the double support asymmetry that occurs due to environmental perturbations in the split-belt protocol. Copyright © 2020, The Authors. All rights reserved.

关键词： Learning algorithms

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Use of a H∞ controller on a half semi-trailer truck model to reduce vibrations and its implications on human factor 20th

Use of a H∞ controller on a half semi-trailer truck model t...

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20th Congress of the International Ergonomics Association, IEA 2018

作者： Oguzhan Ahan, A. Arisoy, Dogan Onur Muderrisoglu, Kenan Arslan, Burcu Guclu, Rahmi Mechanical Engineering Department Yıldız Technical University Istanbul Turkey Control and Automation Engineering Department Yıldız Technical University Istanbul Turkey Anadolu Isuzu Automotive Industry and Trading Inc. Kocaeli Turkey Psychology Department Middle East Technical University Ankara Turkey

ISBN: (纸本)9783319960739

Comfort of a large goods vehicle driver has a crucial factor on fatigue one of which being physical (muscular) fatigue, which has common indicators of pain in the back and legs caused by prolonged voluntary and involuntary muscle activities as an attempt by the body to counteract the vibrations induced via the seat. Therefore, drivers working under uncomfortable driving conditions, encounter ergonomic problems, increased fatigue and require additional rest time. Consequently, these rests increase both in time and numbers resulting with lost logistics time and reduced efficiency. Additionally, these drivers suffer from medical issues both physically and mentally. It is shown that muscular health complaints is mostly accompanied by mental health complaints (e.g.: stress, burnout etc.). These muscular and mental health complaints increase drivers need for recovery, however drivers undergo problems to recover from this work-related fatigue at the end of work day. Though it may be seen as an acute issue, in long term, the accumulation of restlessness may induce the development of psychosomatic health problems. Hence, drop in medical status and efficiency of drivers burden the organizations with major financial costs, via sickness absence of worker, compensations of absenteeism, errors or mistakes occurred at work caused by sudden pain, stress, and etc. Therefore an uncomfortable driving experience becomes not only a health issue for the drivers but also an economical inconvenience to the company. To increase comfort and prevent these issues a H∞ controller with a dynamic output feedback was proposed in this study. This controller was designed and modeled with linear matrix inequality (LMI) method, and implemented on a model of a half semi-trailer truck augmented with a human-seat couple model. Both uncontrolled and controlled cases were simulated and compared in terms of the comfort level of the driver with respect to ISO 2631 standard. As a result, controller decreased

关键词： Ergonomics

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Simulink Implementation of Voltage Stability Improvements Using STATCOM based 5-level Diode Clamped Converter

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IOP Conference Series: Materials Science and engineering 2021年第1期1105卷

作者： Prof. Dr. Raa Hassan Suha Sabah Shyaa Department of Control and Automation Engineering Techniques Electrical Engineering Technical college Middle Technical University Baghdad Iraq Department of Electrical Power Engineering Techniques Electrical Engineering Technical college Middle Technical University Baghdad Iraq

In this paper, a STATCOM based on Five-level Diode Clamped Multilevel Converter is used to maintain the bus voltage at specific bus bar in a suggested grid under various abnormal conditions like 2-phase to ground fault, load disturbance and source disturbance. The suggested grid consists of a single machine, transmission line and loads. The compensation procedure is carried out and compared between the two suggested control methods, the first method was the traditional control method using Phase Shifted-PWM controller which is used to improve the voltage profile. The Second one was the Finite Set-Model Predictive controller for improving the voltage profile. The simulation results show that the two methods provided significant improvements of the bus voltage profile. Moreover, the improvement of voltage profile using FS-MPC method is less over shoot and attains a steady state better than the conventional PS-PWM when the system is subjected under many disturbances. The results of the harmonic effect show low values of total harmonic distortion (THD) of supply voltage and current.

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