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arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance. © 2024, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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Tangentially-Magnetized-Slot-PM-Assisted Magnet Saturation Relieving Design for Doubly Salient Reluctance Machine Position Sensorless Drive Electric Propulsion Applications

Tangentially-Magnetized-Slot-PM-Assisted Magnet Saturation R...

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electrical engineering and control Technologies (CEECT), Conference on

作者： Weiyu Wang Xiaodong Zhang Shuangxia Niu Xing Zhao Jianfei Pan Weinong Fu School of Engineering Great Bay University Dongguan China Department of Electrical and Electronic Engineering The Hong Kong Polytechnic University Hong Kong China Department of Electronic Engineering University of York York United Kingdom College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China

ISBN: (数字)9798331528096

ISBN: (纸本)9798331528102

For doubly salient reluctance machines, the magnetic saturation effect easily occurs, thereby the saturated inductance with complex analytical expression brings difficulties to the inductance modeling procedure during position sensorless control. To tackle this issue, a direct solution from electrical machine design is introduced to regulate magnetic flux distribution. The key is to insert tangentially-magnetized-slot-permanent-magnet into stator slots, thus relieving the magnetic saturation in the stator teeth. Consequently, unsaturated inductance characteristics can be acquired through the magnetic saturation relieving effect, thereby the inductance modeling effort can be significantly decreased, and such design is friendly for doubly salient reluctance machine position sensorless drive application.

关键词： Magnetic flux Inductance Analytical models Windings Stator windings Sensorless control Reluctance machines Magnetic analysis Saturation magnetization Load modeling

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Multi-task Learning for Real-time autonomous Driving Leveraging Task-adaptive Attention Generator

Multi-task Learning for Real-time Autonomous Driving Leverag...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wonhyeok Choi Mingyu Shin Hyukzae Lee Jaehoon Cho Jaehyeon Park Sunghoon Im Department of Electrical Engineering & Computer Science DGIST Daegu Korea Department of Interdisciplinary Studies of Atrificial Intelligence DGIST Daegu Korea Autonomous Driving Center Hyundai Motor Company Seoul Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Real-time processing is crucial in autonomous driving systems due to the imperative of instantaneous decision-making and rapid response. In real-world scenarios, autonomous vehicles are continuously tasked with interpreting their surroundings, analyzing intricate sensor data, and making decisions within split seconds to ensure safety through numerous computer vision tasks. In this paper, we present a new real-time multi-task network adept at three vital autonomous driving tasks: monocular 3D object detection, semantic segmentation, and dense depth estimation. To counter the challenge of negative transfer — the prevalent issue in multi-task learning — we introduce a task-adaptive attention generator. This generator is designed to automatically discern interrelations across the three tasks and arrange the task-sharing pattern, all while leveraging the efficiency of the hard-parameter sharing approach. To the best of our knowledge, the proposed model is pioneering in its capability to concurrently handle multiple tasks, notably 3D object detection, while maintaining real-time processing speeds. Our rigorously optimized network, when tested on the Cityscapes-3D datasets, consistently outperforms various base-line models. Moreover, an in-depth ablation study substantiates the efficacy of the methodologies integrated into our framework.

关键词： Three-dimensional displays Semantic segmentation Estimation Object detection computer architecture Multitasking Real-time systems

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Automated Lane Changing Through Learning-Based control: An Experimental Study

Automated Lane Changing Through Learning-Based Control: An E...

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International Conference on Intelligent Transportation

作者： Won Yong Ha Sayan Chakraborty Yujie Yu Samin Ghasemi Zhong-Ping Jiang Department of Electrical and Computer Engineering Control and Networks Lab New York University Brooklyn NY U.S.A.

This paper presents a learning-based methodology for developing an optimal lane-changing control policy for a Remote controlled (RC) car using real-time sensor data. The RC car is equipped with sensors including GPS, IMU devices, and a camera integrated in an Nvidia Jetson AGX Xavier board. By a novel Adaptive Dynamic Programming (ADP) algorithm, our RC car is capable of learning the optimal lane-changing strategies based on the real-time processed measurement from the sensors. The experimental outcomes show that our learning-based control algorithm can be effectively implemented, adapt to parameter changes, and complete the lane changing tasks in a short learning time with satisfactory performance.

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Collision-Free Path Generation for Teleoperation of Unmanned Vehicles

Collision-Free Path Generation for Teleoperation of Unmanned...

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International Conference on Advanced Robotics (ICAR)

作者： Fatima Kashwani Bilal Hassan Majid Khonji Jorge Dias Center for Autonomous Robotic Systems (KUCARS) Abu Dhabi UAE Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi UAE

Teleoperation, or remote driving, constitutes a crucial transitional phase toward the widespread adoption of fully autonomous vehicles. Nevertheless, to enable seamless real-time teleoperation, it is imperative to address the time delay between the driver and the vehicle. Collision-free path generation has emerged as a vital technique facilitating both teleoperation and autonomous driving, particularly in high-level path planning for vehicles. In the context of real-time teleoperation, a generated collision-free path serves as a valuable guide for the teleoperator, effectively mitigating the impact of time delay. In this research, we present a framework dubbed dual transformer network (DTNet), designed to cater to the needs of teleoperation by addressing road scene understanding. The proposed DTNet employs two transformer-based networks to effectively segment the road free space and detect road objects. Additionally, we introduce an innovative fusion mechanism that leverages the combined information from both networks to predict a collision-free path. The efficacy of the DTNet is extensively evaluated using a large-scale BDD100k dataset, substantiating its superior performance in road free space segmentation and road object detection tasks. Remarkably, DTNet achieves a mean intersection over union score of 83.89% for road free space segmentation and an impressive mean average precision score of 34.20% for road object detection. The experimental findings affirm the effectiveness of the DT-Net framework in addressing the challenges of road scene understanding, making it a promising solution to provide a robust and efficient approach for collision-free path generation, with broader implications for the advancement of autonomous driving technologies.

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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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Exploiting Hankel–Toeplitz Structures for Fast Computation of Kernel Precision Matrices

arXiv

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arXiv 2024年

作者： Viset, Frida Kullberg, Anton Wesel, Frederiek Solin, Arno Delft Center for Systems and Control Delft University of Technology Netherlands Department of Electrical Engineering Linköping University Sweden Department of Computer Science Aalto University Finland

The Hilbert–space Gaussian Process (hgp) approach offers a hyperparameter-independent basis function approximation for speeding up Gaussian Process (gp) inference by projecting the gp onto M basis functions. These properties result in a favorable data-independent O(M3) computational complexity during hyperparameter optimization but require a dominating one-time precomputation of the precision matrix costing O(NM2) operations. In this paper, we lower this dominating computational complexity to O(NM) with no additional approximations. We can do this because we realize that the precision matrix can be split into a sum of Hankel–Toeplitz matrices, each having O(M) unique entries. Based on this realization we propose computing only these unique entries at O(NM) costs. Further, we develop two theorems that prescribe sufficient conditions for the complexity reduction to hold generally for a wide range of other approximate gp models, such as the Variational Fourier Feature (vff) approach. The two theorems do this with no assumptions on the data and no additional approximations of the gp models themselves. Thus, our contribution provides a pure speed-up of several existing, widely used, gp approximations, without further approximations. © 2024, CC BY.

关键词： Gaussian distribution

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Synthesis of Dynamic Virtual-Inertia for Microgrid System Applications

Synthesis of Dynamic Virtual-Inertia for Microgrid System Ap...

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Intelligent control, Computing and Communications (IC3), International Conference on

作者： Jackson J. Justo Galina Demidova Dmitry Lukichev Nikolai Poliakov Peter Makolo Ramesh C. Bansal Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Engineering University of Dar es Salaam Dar es Salaam Tanzania Depatment of Electrical Engineering University of Sharjah Sharjah United Arab Emirates Department of Electric Electronic and Computer Engineering University of Pretoria Pretoria South Africa

ISBN: (数字)9798331527495

ISBN: (纸本)9798331527501

During the last two decades, interest in grid integrated renewable energy sources (RERs) into the electrical power grids has significantly grown. The motive being a promising strategy to reduce greenhouse gas emissions generated by conventional power plants (CPPs) and hence environmental consequences, decrease losses in distribution lines to improve power system supply efficiency and reliability to consumers. As a result, several CPPs are being replaced by RERs such as solar PV system, wind energy, micro hydro-turbine, fuel cell, and small gas power plants. These are installed close to customers on low-voltage and medium-voltage sites to reduce losses in the network and improve power quality, overall efficiency and reliability. However, grid-connected RERs via inverter decreases system inertia due to decrease in CPPs with rotating mass serving as an immediate natural response to frequency deviations following network disturbances. Therefore, this paper presents the design of dynamic virtual-inertia control (DVIC) scheme. The developed DVIC incorporates the mechanism to adjust active and reactive demand in response to any frequency and voltage variations to ensure system stability. To validate the suitability of the presented technique, MATLAB/Simulink model is developed and simulated under various operating scenarios. Using the results obtained simulation study, it is evidently the proposed DVIC shows improved performance is achieved than when no inertia control system applied.

关键词： Time-frequency analysis Renewable energy sources Power system dynamics Microgrids Power system stability Inverters Power system reliability Reliability Frequency control Power generation

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Stability Enhancement of LCL-Type Grid-Following Inverters Using Capacitor Voltage Active Damping

arXiv

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arXiv 2024年

作者： Souri, Naser Mehrizi-Sani, Ali Tehrani, Kambiz The Bradley Department of Electrical and Computer Engineering Virginia Tech BlacksburgVA24061 United States Department of Energy and Control University of Normandy ESIGELEC-IRSEEM Rouen France

An LCL filter offers superior attenuation for high-frequency harmonics for three-phase grid-following inverters compared to LC and L filters. However, it also introduces an inherent resonance peak, which can lead to power quality issues or even instability of the inverter control system. Active damping (AD) is widely employed to effectively mitigate this resonance. Capacitor voltage feedback (CVF) and capacitor current feedback (CCF) are effective AD methods for LCL resonance damping. CVF is preferred due to its lower sensor requirement compared to CCF. However, a derivative term appears in the active damping loop, which introduces high-frequency noise into the system. This paper proposes a noise-immune approach by replacing the derivative term with a discrete function suitable for digital implementation. The LCL resonance can be damped effectively, resulting in enhanced stability of the inverter control system. Simulation results verify the proposed effectiveness of the method with grid inductance variation and weak grid conditions 1 Copyright © 2024, The Authors. All rights reserved.

关键词： Power quality

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Performance Analysis and Quantification of BeiDou Navigation Satellite System (BDS-3)

Performance Analysis and Quantification of BeiDou Navigation...

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International Conference on Computing, Mathematics and engineering Technologies (iCoMET)

作者： Hina Magsi Madad Ali Shah Syed Hadi Hussain Shah Faiza Arif Hussain Arsalan Muhammad Soomar Faheem Akhtar Chachar Department of Electrical Engineering Sukkur IBA University Sukkur Pakistan Department of Electrical and Computer Engineering Muhammad Ali JinnahUniversity Karachi Pakistan Department of Electronics Engineering Benazir Bhutto Shaheed University of Technology & Skill Development Khairpur Mirs Pakistan Department of Electrical and Control Engineering Gdańsk university of Technology Poland

Positioning, Navigation, and Timing (PNT) information play a vital role in everyday life of common persons. People greatly rely on Global Navigation Satellite System (GNSS)-enabled applications for navigation to reach their desired destination. However, GNSS navigation performance is highly degraded in urban environments due to the high probability of signal interruption, multipath (MP), and/or non-line-of-sight (NLOS) signal reception. Multipath and NLOS being the major causes of disrupted positioning performance for GNSS in urban environments. The navigation signals encountered various environmental factors they are reflected, refracted, diffracted, and completely blocked by high-roof buildings, bridges, and trees, thus leading to severe uncertainties in position estimation. GNSS system has gained notable advancements in terms of number of satellites, satellite geometry and signal quality. In this paper newly established constellation BeiDou Navigation Satellite System (BDS-3) performance is quantified with respect to environmental changes and compared in terms of positional accuracy. The paper also discussed the innovative current developments and status of BDS-3 in 2023. For this reason, series of field experiments were carried out at clear open and urban environment with BDS-3 and GPS mode during the observation time of 6 hours. The BDS-3 system is configured for data logging and used for the first time at Pakistan region. The positioning and navigation performance of BDS-3 is evaluated by utilizing key performance indicators e.g satellite availability, geometric distribution in terms of PDOP, and statistical accuracy measures (i.e., Circular Error Probable (CEP) and Distance Root Mean Square (DRMS)). The experimental results shows that BDS-3 provides more number of satellites, favorable satellite geometry and reduced position error compared to GPS constellation in clear open sky environment. In urban environment it is observed that BDS-3 performance is reduced

关键词： Geometry Global navigation satellite system Satellites Uncertainty Urban areas Measurement uncertainty Key performance indicator

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