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A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot

Applied Mathematical Modelling 2023年 113卷 13-29页

作者： Jafari, Maryam Mobayen, Saleh Bayat, Farhad Roth, Hubert Department of Electrical Engineering University of Zanjan Zanjan38791-45371 Iran Future Technology Research Center National Yunlin University of Science and Technology Yunlin Douliou64002 Taiwan Hubert Roth is with the Institute of Automatic Control Engineering University of Siegen Siegen Germany

The design of swing and stance control for path following of a prosthetic leg robot subject to uncertain dynamics and exterior disturbances is a serious issue, which affects the development of wearable robots. In wearable robots, parametric uncertainties and external disturbances are unavoidable problems. This problem is associated with practical engineering of wearable robots due to the actual swing and stance situations, where the combination of contact and tracking control objectives is highly complex. This paper proposes two novel finite-time controllers for a prosthetic leg robot with three degree-of-freedom. A prosthetic leg robot should emulate hip vertical displacement, thigh and knee angles according to human gaits in the presence of ground friction force and external disturbances. For the swing phase, a nonsingular fast terminal sliding mode control method is designed to track the reference trajectories fast and in the finite time without any non-singularity problem and chattering phenomenon. Moreover, the other designed controller can deal with input saturation by using a hyperbolic tangent function and an auxiliary system. For the stance phase, an impulse momentum sliding mode control scheme is introduced which allows the prosthetic leg robot to emulate the mechanics of human walking. Using the proposed controller, the robot imitates the patient momentum exchange and weight transfer in the stance phase. The proposed techniques cause the transition between contact and off-contact phases and contact phase itself. Finally, the simulation results verify the efficiency of the provided technique. In our future work, we will focus on employing this technique to a practical prosthesis legged robot. © 2022 Elsevier Inc.

关键词： Prosthetics

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Privacy-Preservation for Distributed Quantized k-means Clustering 59

Privacy-Preservation for Distributed Quantized k-means Clust...

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59th Annual Allerton Conference on Communication, control, and Computing, Allerton 2023

作者： Rikos, Apostolos I. Manitara, Nicolas E. Oliva, Gabriele Hadjicostis, Christoforos N. Boston University Division of Systems Engineering Department of Electrical and Computer Engineering BostonMA02215 United States University of Cyprus Department of Electrical and Computer Engineering Nicosia1678 Cyprus Università Campus Bio-Medico di Roma Unit of Automatic Control Department of Engineering Rome00128 Italy

ISBN: (纸本)9798350328141

In this paper, we enhance a distributed version of the well known k-means algorithm with privacy-preservation features. While ensuring that sensitive or confidential information remains undisclosed to unauthorized entities (in our case these entities are curious nodes within the network), we maintain the desirable features of the distributed algorithm: the transmitted values are quantized, which optimizes bandwidth utilization and alleviates communication bottlenecks, and nodes possess the ability to collectively determine when to terminate the algorithm, which enables the conservation of valuable resources. We introduce a novel privacy-preserving protocol that not only preserves the privacy of a node's state, but it also ensures confidentiality about its cluster affiliation (i.e., it does not reveal to curious nodes whether a node participates in the update calculation for a specific centroid value). Moreover, we precisely characterize topological conditions that guarantee privacy preservation for individual nodes. Our distributed algorithm allows the formation of exclusive clusters within a finite time frame on any static and strongly connected directed graph. © 2023 IEEE.

关键词： Directed graphs

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Split Cost Function based Single-Horizon Finite-Set Model Predictive control for Boost Converter with Loading Current Estimation

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Tatari, Fatemeh Rezayof Bizhani, Hamed Iwanski, Grzegorz Warsaw University of Technology Faculty of Electrical Engineering Warsaw Poland Kielce University of Technology Faculty of Electrical Engineering Automatic Control and Computer Science Kielce Poland

This paper presents a robust single-horizon finite-set model predictive control (FS-MPC) method for controlling the output voltage of boost converters. Unlike the long-horizon FS-MPC approach, which addresses the non-minimum phase (NMP) behavior of the converter by extending the prediction horizon (thereby increasing computational effort), the proposed method ensures stable voltage regulation by incorporating inductor current regulation into the cost function. To achieve this, the desired inductor current is calculated based on input-output power balance theory. Unlike recent studies that require an additional sensor to measure the loading current, this paper develops a loading current estimation approach to eliminate the need for extra current sensors, thereby enhancing the robustness of the proposed FS-MPC method. Additionally, over-current protection, which is typically absent in conventional FS-MPC used for direct voltage regulation, is also incorporated into the proposed method. The conventional cost function is also modified to tackle the NMP behavior more effectively. The performance of the proposed method in regulating the output voltage is evaluated through simulation results. Finally, its effectiveness across a wide range of output power and various load characteristics, including resistive, constant power, and constant current loads, is validated via experimental results. The results demonstrate that the proposed method is not only able to eliminate the overshoot and undershoot, but can also improve the settling time by 41% compared to a well-tuned conventional cascaded PI controller. In addition, the proposed method can reduce the computational burden by 84% compared to the conventional long-horizon FS-MPC approach. © 2013 IEEE.

关键词： Cost functions

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Towards Empirical Transfer Function Estimation for Frequency Domain Closed-loop System Identification

Towards Empirical Transfer Function Estimation for Frequency...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Amirreza Zaman Dina Shona Laila Wolfgang Birk Department of Computer Science Electrical and Space Engineering Automatic Control Group Luleå University of Technology Luleå Sweden

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This work introduces a method for closed-loop system identification using frequency analysis, employing Empirical Transfer Function Estimation (ETFE). By integrating optimization within a Monte Carlo framework, it enhances the precision of ETFE, resulting in minimized frequency response errors compared to actual system data. Leveraging controller information in an offline model fitting scheme, it achieves optimal realization of process dynamics. The method is evaluated on a data center rack-level cooling system, showing Bode magnitude plots of actual and estimated closed-loop and open-loop dynamics, with confidence intervals demonstrating algorithm consistency. Numerical evaluations confirm the feasibility and potential of the approach to improve offline closed-loop system identification performance in the frequency domain, beneficial for analysis and design. There will not be a comparative study for the introduced approach.

关键词： Monte Carlo methods Heuristic algorithms Fitting Transfer functions Estimation Process control Numerical models Closed loop systems Iterative methods Optimization

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Quality-Relevant Modeling and Monitoring of Industrial Cyber-Physical Systems: The Semi-Supervised Dynamic Latent Variable Models

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 39-47页

作者： Zhou, Le Wang, Yaoxin Wu, Yuanqing He, Shenghuang Song, Zhihuan Zhejiang University of Science and Technology Department of Automation and Electrical Engineering Hangzhou310023 China Guangdong University of Technology Department of Automation Guangzhou510006 China Dongguan University of Technology Department of Computer Science and Technology Dongguan523808 China Ningbo Industrial Internet Institute Ningbo315012 China Zhejiang University Department of Control Science and Engineering Hangzhou310027 China

In modern industrial cyber-physical systems, a mass of process variables has been obtained by the high-sampling online sensors. Meanwhile, the key quality indexes are usually obtained infrequently from the laboratory. Hence, these quality variables are with low sampling rate. To avail of the complete process and quality variables with various sampling rates in the dynamic processes, a set of semi-supervised dynamic latent variable models are proposed for dynamic modeling and quality-relevant monitoring. The proposed models have built a unified structure to consider both the auto-correlations and cross-correlations between the process and quality variables with unbalanced sampling sizes. Hence, the feature extraction of the time series data is dynamically adjusted under the guidance of the quality variables. Then, the quality-relevant monitoring schemes are proposed, which is validated by a numerical case and an actual wastewater treatment process. © 2024 IEEE. All rights reserved.

关键词： Indexes Probabilistic logic Kalman filters Noise Cyber-physical systems Analytical models Parameter estimation Time series analysis Process monitoring Numerical models

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Texture Analysis of Breast US Images Using Morphological Transforms, Hausdorff Dimension and Bagging Ensemble Method 32

Texture Analysis of Breast US Images Using Morphological Tra...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Tabacaru, Gigi Moldovanu, Simona Barbu, Marian 'Dunarea de Jos' University of Galati Faculty of Automation Computers Electrical Engineering and Electronics Department of Automatic Control and Electrical Engineering Romania 'Dunarea de Jos' University of Galati Computer Science and Information Technology Faculty of Automation Computers Electrical Engineering and Electronics Romania Dunarea de Jos University of Galati The Modelling & Simulation Laboratory Galati800008 Romania

ISBN: (纸本)9798350395440

In this work, an attempt is made for the first time to use the measurement pattern generated by morphological transformation quantified by Hausdorff fractal dimension (HFD) and classified with ensemble learning based on bagging. The proposed work uses three morphological transformations for image preprocessing: hit-and-miss transform (HMT), white (WHT), and black top-hat (BHT). The pattern texture of US breast images is described by extracting the HFD from the regions of interest (ROI) after the ultrasound (US) images have been preprocessed. The main objective of this study was achieved by comparatively analyzing the classification performance of features using the Random Forest (RF), Extra Trees (ET) classifier, and bagging ensemble method based on XGBoot classifier. In presented study, the XGBoost classifier and BHT image processing method give an accuracy of 89.8% in a binary classification, benign versus malignant breast cancer. © 2024 IEEE.

关键词： Fractal dimension

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On the chronological understanding of the homogeneous dielectric barrier discharge

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High Voltage 2023年第6期8卷 1132-1150页

作者： Xinpei Lu Zhi Fang Dong Dai Tao Shao Feng Liu Cheng Zhang Dawei Liu Lanlan Nie Chunqi Jiang State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhanChina College of Electrical Engineering and Control Science Nanjing Tech TechnologyNanjingChina School of Electric Power South China University of TechnologyGuangzhouChina Institute of Electrical Engineering Chinese Academy of SciencesBeijingChina Frank Reidy Research Center for Bioelectrics Old Dominion UniversityNorfolkVirginiaUSA Department of Electrical and Computer Engineering Old Dominion UniversityNorfolkVirginiaUSA

Dielectric barrier discharges(DBD)are widely utilised non‐equilibrium atmospheric pressure plasmas with a diverse range of applications,such as material processing,surface treatment,light sources,pollution control,and *** the course of several decades,extensive research has been dedicated to the generation of homogeneous DBD(H‐DBD),focussing on understanding the transition from H‐DBD to filamentary DBD and exploring strategies to create and sustain H‐*** paper first discusses the in-fluence of various parameters on DBD,including gas flow,dielectric material,surface conductivity,and mesh ***,a chronological literature review is presented,highlighting the development of H‐DBD and the associated understanding of its un-derlying *** encompasses the generation of H‐DBD in helium,nitrogen,and ***,the paper provides a brief overview of multiple‐current‐pulse(MCP)behaviours in H‐*** objective of this article is to provide a chronological un-derstanding of homogeneous dielectric barrier discharge(DBD).This understanding will aid in the design of new experiments aimed at better comprehending the mechanisms behind H‐DBD generation and ultimately assist in achieving large‐volume H‐DBD in an air environment.

关键词： dielectric barrier pollution

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Digital Twin-Based Automated Fault Diagnosis in Industrial IoT Applications

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computers, Materials & Continua 2023年第4期75卷 183-196页

作者： Samah Alshathri Ezz El-Din Hemdan Walid El-Shafai Amged Sayed Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science and Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Computer Science Department Security Engineering LabPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electrical Energy Engineering College of Engineering&TechnologyArab Academy for Science Technology&Maritime TransportSmart Village CampusEgypt

In recent years, Digital Twin (DT) has gained significant interestfrom academia and industry due to the advanced in information technology,communication systems, Artificial Intelligence (AI), Cloud Computing (CC),and Industrial Internet of Things (IIoT). The main concept of the DT isto provide a comprehensive tangible, and operational explanation of anyelement, asset, or system. However, it is an extremely dynamic taxonomydeveloping in complexity during the life cycle that produces a massive amountof engendered data and information. Likewise, with the development of AI,digital twins can be redefined and could be a crucial approach to aid theInternet of Things (IoT)-based DT applications for transferring the data andvalue onto the Internet with better decision-making. Therefore, this paperintroduces an efficient DT-based fault diagnosis model based on machinelearning (ML) tools. In this framework, the DT model of the machine isconstructed by creating the simulation model. In the proposed framework,the Genetic algorithm (GA) is used for the optimization task to improvethe classification accuracy. Furthermore, we evaluate the proposed faultdiagnosis framework using performance metrics such as precision, accuracy,F-measure, and recall. The proposed framework is comprehensively examinedusing the triplex pump fault diagnosis. The experimental results demonstratedthat the hybrid GA-ML method gives outstanding results compared to MLmethods like LogisticRegression (LR), Na飗e Bayes (NB), and SupportVectorMachine (SVM). The suggested framework achieves the highest accuracyof 95% for the employed hybrid GA-SVM. The proposed framework willeffectively help industrial operators make an appropriate decision concerningthe fault analysis for IIoT applications in the context of Industry 4.0.

关键词： Automated fault diagnosis control system ML AI CC IIoT digital twins genetic algorithm GA-ML technique

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Small Signal Stability-Guaranteed Moving Target Defense Against Load Redistribution Attack On IoT-based Smart Grid

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IEEE Internet of Things Journal 2025年第11期12卷 17413-17429页

作者： Wang, Bingdong Zhang, Zhenyong Wang, Mufeng Liu, Mengxiang Ye, Rui Deng, Ruilong Zhang, Xin Guizhou University State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Guizhou Power Grid Co. Ltd. Intelligent Operation Center China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou313000 China

Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed flexible AC transmission system. However, existing studies mainly focus on optimizing the performance of MTD and ignore the safety effect of it on the system’s operation. In this paper, we fill this gap by deeply analyzing the effect of MTD on the small signal stability and aim to alleviate the negative impact and guarantee its defending performance simultaneously. Firstly, the stability is formally described using the eigenvalue sensitivity. The relationship between the MTD-induced perturbation (MTDper) and the stability criteria is derived. Secondly, a new indicator is proposed to measure the effectiveness of MTDper. Thirdly, a constrained optimization problem is formulated to compute the bound of MTDper for guaranteeing the small signal stability. In addition, a surprising finding is that the stability margin can be improved and enhanced by optimizing the value of MTDper without losing the MTD’s effectiveness. Finally, we evaluate the performance of MTDper and its impact on the small signal stability with extensive simulations on the IEEE 30-bus, 39-bus, and 68-bus test power systems. © 2014 IEEE.

关键词： Constrained optimization

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Nonlinear Study of SRG Configurations Using Finite Element Analysis 23

Nonlinear Study of SRG Configurations Using Finite Element A...

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23rd International Middle East Power Systems Conference, MEPCON 2022

作者： Abdo, Asmaa E. Ghoneim, Walid A. M. Ashour, Hamdy A. Arab Academy for Science Electrical Engineering and Automatic Control Department Technology and Maritime Transport Alexandria Egypt

ISBN: (纸本)9781665463638

This paper, presents the non-linear analysis of the most common configurations of Switched Reluctance Generators (SRG). Finite Element Analysis (FEA) of two-phase (4/2), three-phase (6/4), and four-phase (8/6) SRGs have been carried out using (ANSYS Maxwell 16 - 3D Modeler - Transient solution). The simulation process was performed utilizing the Asymmetric Half Bridge Converter (AHBC) model as an external excitation circuit for the SRG model. Research interests have been dedicated recently to SRG as a promising and reliable candidate in both low-speed and high-speed applications, especially for small-scale renewable applications. However, this study includes the non-linear validation for both the conventional short-pitched and the fully-pitched SRG winding configurations at low-speed simulation conditions. This study aims to analyze the non-linear performance of SRG and validate the influence of stator and rotor pole angles (\beta{s} and \beta{r}) variation in addition to the excitation current patterns on the induced output voltage. The dynamic performance of SRG has been simulated, with the exact description of rotor angular position, number of conductors per phase, and the excitation current pattern for each case study. The FE simulation was applied to the same SRG test model;i.e., the same dimensions, the same angular speed, and the same number of conductors per phase. Moreover, SRG FEA output results have been recorded and compared to the corresponding results delivered from a related SRG linear analysis study done by the authors;hence the final proposed design was highlighted for further prototype implementation. The outcome of this study provides the recommended SRG design that can generate the maximum induced output voltage for the same machine design parameters. © 2022 IEEE.

关键词： Finite element method

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