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42nd Chinese control Conference, CCC 2023

作者： Cao, Lei Yumuk, Erhan Ionescu, Clara-Mihaela Liu, Guo-Ping Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Ghent University Dynamical Systems and Control Research Group Department of Electromechanical Systems and Metal Engineering Ghent9052 Belgium Center for Control Science and Technology Southern University of Science and Technology Shenzhen518055 China Istanbul Technical University Department of Control and Automation Engineering Istanbul34467 Turkey

ISBN: (纸本)9789887581543

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 function. Based 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. © 2023 technical Committee on control Theory, Chinese Association of automation.

关键词： Networked control systems

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Investigation of the Performance Characteristics of the Angle-based Proportional Navigation Guidance Law

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IFAC-PapersOnLine 2023年第2期56卷 7020-7025页

作者： Bülent Özkan Mehmet Turan Söylemez Mechanical Engineering Department Gazi University Ankara Turkey Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

Guidance commands generated by the proportional navigation guidance (PNG) law which constitutes the most popular one among the guidance laws applied on the guidance munition fired against predetermined targets are in the form of linear acceleration or angular speed as dictated by the relevant engagement geometry. As a result of the studies in which notable linear acceleration- and angle-based guidance laws are compared, it is seen the lateral acceleration values obtained with the PNG law occur in a lower level than the results of the angle-based guidance laws. However, the angle-based guidance laws lead to lower final miss distances. In this study, the PNG law is so adapted that it yields angle-based guidance commands and then it is applied upon a short-range air-to-surface missile against a maneuvering surface target as well as the velocity pursuit guidance law that is nothing but a version of PNG law, linear homing guidance law, and body pursuit guidance law. After the computer simulations, it is observed that the angle-based PNG law produces smaller final miss distances compared to its original form. The resulting lateral accelerations are in admissible levels. Also, the engagement duration values with the target happen to be almost the same.

关键词： Guidance proportional navigation guidance guided munition acceleration-based guidance laws angle-based guidance laws

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A Semisupervised Soft-Sensor of Just-in-Time Learning With Structure Entropy Clustering and Applications for Industrial Processes Monitoring

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第4期4卷 722-733页

作者： Li, Dong Liu, Yiqi Huang, Daoping Xu, Chong South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering Guangzhou510640 China Technical University of Denmark Process and Systems Engineering Center Department of Chemical and Biochemical Engineering Lyngby2800 Denmark South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Gannan Normal University School of Physics and Electronic Information Ganzhou341000 China

To monitor industrial processes properly, soft-sensors are widely used to predict significant but difficult-to-measure quality variables. However, the prediction performances of traditional data-driven soft-sensors are usually unacceptable once suffering from high-nonlinear, high-dimension, and imblance data issues. Therefore, a semisupervised soft-sensor, which is learned by a just-in-time method with structure entropy clustering (SS-JITL-SEC), is proposed aiming to improve prediction performance with a simpler way. Inspired by a divide and conquer strategy, a novel SEC method is proposed to achieve several clusters and then to translate the highly complex and nonlinear modeling problems into simple and linear ones. Moreover, the training dataset is extended through a mixed SS labeling approach. Finally, dissimilarity-based JITL works together with the resulting clustering subdatasets to formulate a local adaptive prediction model. Two datasets from different types of wastewater treatment plants are used to verify the effectiveness of the proposed soft-sensor. The results show that the SS-JITL-SEC soft-sensor can achieve better prediction performance than other standard counterparts, and even for effective process monitoring with the resulted residuals. © 2020 IEEE.

关键词： Entropy

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Fractional Order PID control of Propofol Dosage and Optimization in Lean and Obese Patients

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IFAC-PapersOnLine 2024年第7期58卷 228-233页

作者： Amani R. Ynineb Marcian-David Mihai Erhan Yumuk Hamed Farbakhsh Ghada Ben Othman Robin De Keyser Cristina Muresan Isabela Birs Dana Copot Clara M. Ionescu Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 9052 Zwijnaarde Belgium Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania Istanbul Technical University Department of Control and Automation Engineering Maslak 34469 Istanbul Turkey

This paper outlines the design of a fractional-order proportional–integral–derivative controller for regulating the induction phase of Propofol infusion in lean and obese patients. The obtained controller is implemented within the pharmacokinetic-pharmacodynamic model and the nonlinear Hill function to conduct closed-loop simulations. The latter are employed using a dataset comprising 24 patients to obtain clinical evaluation results. The design of the controller relies on a generic second-order plus dead time approximation model, which characterizes interpatient variability in response to Propofol infusion within the studied population. The fractional-order proportional–integral–derivative is tuned to achieve sufficient robustness margins ie phase margin, cutoff frequency, and the consideration of the iso-damping properties. The results show no undershoot and a smooth convergence to the desired value of the bispectral index, which indicates the depth of hypnosis.

关键词： Closed-Loop control of Anesthesia Obese Patients Fractional-Order PID control

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Using Big Data Processing for Forming the Information Model of the Mining and Geological Area

Using Big Data Processing for Forming the Information Model ...

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2023 IEEE International Conference on Smart Information Systems and Technologies, SIST 2023

作者： Irbulat, Utepbergenov Yavorskiy, Vladimir Klyuyeva, Yelena Almaty University of Power Engineering and Telecommunications Named after Gumarbek Daukeyev Department of Automation and Control Almaty Kazakhstan Abylkas Saginov Karaganda Technical University Department of Information Technology and Security Karaganda Kazakhstan

ISBN: (纸本)9798350335040

The article presents the results of the study in the field of information and analytical modeling of territorial objects. The raw data used in the study was obtained using unmanned aerial vehicles (UAV). Big Data technologies such as Apache Hadoop and Apache Spark were used for data storage and analysis. The Delaunay triangulation algorithm was used to construct the surface skeleton. Algorithm A∗ was implemented to find the shortest paths in the resulting graph. © 2023 IEEE.

关键词： Big data

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Gigahertz Optical Digital-to-Analog Multiplier

Gigahertz Optical Digital-to-Analog Multiplier

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2023 International Russian automation Conference, RusAutoCon 2023

作者： Kamenskiy, Vladislav Sokolov, Sergey Kurinenko, Marianna Rostov State Transport University «automation and Remote Control in Railway Transport» Department Rostov-on-Don Russia Moscow Technical University of Communications and Informatics Department of Informatics and Computer Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

The article analyzes modern computing devices that perform multiplication operations. The main classes of multipliers built on the basis of both electronic and optical elements are considered. The main disadvantage of these devices, which negatively affects their performance, is the inability to carry out parallel calculations with them. In turn, this disadvantage is due to the fact that multiplication of the multi-bit binary number in general is carried out by calculating the partial products of the bits of the multipliers and their addition with the inevitable implementation of a corresponding, usually very large, number of transfers. The presence of a large number of transfers fundamentally does not allow solving the problem of increasing the speed of calculations. The developed optical binary digital-to-analog multiplier is devoid of this drawback. This optical digital-to-analog multiplier is implemented on the basis of optical splitters, optical couplers and optical banners with a well-developed technology for their manufacture today, which provides a minimum delay time of the optical signal (in the picosecond range). The functional diagram of the proposed optical digital-to-analog multiplier is shown and the principle of its operation is described. The possibility of increasing the speed of this optical digital-to-analog multiplier to the potential for optical information processing circuits is shown. © 2023 IEEE.

关键词： Optical data processing

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

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

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Human-Computer Interaction, Optimization and Robotic Applications (HORA), International Congress on

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

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.

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

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

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International Conference on Robotics and automation engineering (ICRAE)

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

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.

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Adaptive control of an Inverted Pendulum by a Reinforcement Learning-based LQR Method

arXiv

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arXiv 2023年

作者： Yıldıran, Uğur Yildiz Technical University Control and Automation Engineering Department İstanbul Turkey

Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model. However, deriving a mathematical model using physical parameters or system identification techniques requires manual effort. Moreover, the designed controllers may perform poorly if system parameters change. To mitigate these problems, recently, some studies used Reinforcement Learning (RL) based approaches for the control of inverted pendulum systems. Unfortunately, these methods suffer from slow convergence and local minimum problems. Moreover, they may require hyperparameter tuning which complicates the design process significantly. To alleviate these problems, the present study proposes an LQR-based RL method for adaptive balancing control of an inverted pendulum. As shown by numerical experiments, the algorithm stabilizes the system very fast without requiring a mathematical model or extensive hyperparameter tuning. In addition, it can adapt to parametric changes online. © 2023, CC BY-NC-ND.

关键词： Inverted pendulum

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Enhancing Visual Odometry Accuracy Through Block-Based Techniques

Enhancing Visual Odometry Accuracy Through Block-Based Techn...

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Innovations in Intelligent Systems and Applications Conference

作者： Cem Atilgan Muharrem MerciMek Department of Mechatronics Engineering Kirklareli University Kirklareli Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

Visual odometry (VO) is a method used to estimate the spatial movement of vehicles or camera-equipped systems by analyzing visual data from the environment. It is a cost-effective and accurate alternative to systems like Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS), and is particularly favored in autonomous vehicles, unmanned aerial vehicles (UAV s), and augmented reality applications. This study focuses on the performance challenges faced by visual odometry systems in low-light environments, where traditional systems may not be effective and presents a novel approach, Contrast-Adaptive Block Optimization (CABO), to enhance VO in low-light environments. CABO divides images into blocks and selectively applies Contrast Limited Adaptive Histogram Equal-ization (CLAHE) to darker regions, optimizing image quality without compromising natural appearance. By improving feature extraction and matching, CABO enhances VO accuracy and robustness. We utilized the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, we demonstrate the effectiveness of the proposed method in improving position and orientation estimation under challenging lighting conditions.

关键词： Visualization Global navigation satellite system Technological innovation Accuracy Lighting Autonomous aerial vehicles Robustness Intelligent systems Optimization Visual odometry

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