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Periodica polytechnica electrical engineering and computer science 2023年第4期67卷 403-412页

作者： Péter, Gábor Kiss, Bálint Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Műegyetem rkp. 3. BudapestH-1111 Hungary

Simultaneous localization and mapping (SLAM) is an essential task for autonomous rover navigation in an unknown environment, especially if no absolute location information is available. This paper presents a computationally lightweight framework to enable agents with limited processing power to carry out the SLAM cooperatively and without absolute onboard localization sensors in a 2D environment. The proposed solution is built on a graph-based map representation, where nodes (resp. edges) represent landmarks (resp. odometry-based relative measurements), a measurement algebra with embedded uncertainty, and a compact database format that could be stored on a server in a centralized manner. The operations required by the agents to insert a new landmark in the graph, update landmark positions and combine measurements as a loop is closed in the graph are detailed. The resulting framework was tested in a laboratory environment and on a public dataset with encouraging results;hence our method can be used for cost-effective indoor mobile agents with limited computational resources and onboard sensors to achieve a mapping while keeping track of the agent’s position. The method can also be easily generalized for a 3D scenario. © 2023 Budapest University of Technology and Economics. All rights reserved.

关键词： Mobile agents

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Robust Aerodynamic Parameter Estimation of Unmanned Aircraft Based on Two-step Identification

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2023年第4期67卷 394-402页

作者： Kimathi, Stephen Lantos, Bela Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2. BudapestH-1117 Hungary

This paper presents the estimation of stability and control derivatives of an unmanned aircraft. The aerodynamics are described using regressors composed of velocity, angular rates, flow angles and control surface deflections. The flight data is generated from numerical simulation of postulated equations of motion describing the aerodynamics model. Least squares based on the equation error method is used to estimate the parameters representing the different force and moment aerodynamic coefficients. Statistical analysis is done on the estimates to determine the accuracy and adequacy of the estimates to describe the aerodynamic model. A dynamic simulation based on the identified aerodynamic model is used to improve the parameter estimates through regression of the errors between the flight data and the model response. The aircraft under consideration is a scaled Yak-54 fixed wing unmanned aerial vehicle. © 2023 Budapest University of Technology and Economics. All rights reserved.

关键词： Fixed wings

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Digital Twin and Cloud Based Remote control of Vehicles 2

Digital Twin and Cloud Based Remote Control of Vehicles

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2nd IEEE International Conference on Mobility, Operations, Services and Technologies, MOST 2024

作者： Rovid, Andras Tihanyi, Viktor Cserni, Marton Csontho, Mihaly Domina, Adam Remeli, Viktor Vincze, Zsolt Szanto, Matyas Szalai, Matyas Nagy, Szabolcs Szalay, Zsolt Budapest University of Technology and Economics Faculty of Transportation Engineering and Vehicle Engineering Department of Automotive Technologies Hungary Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Hungary

ISBN: (纸本)9798350307733

Cloud-based, centralized control system architectures have been published in recent years, examining the applications, structure and validity of the idea of controlling a vehicle, or multiple vehicles directly from the cloud. The literature presents possible advantages and disadvantages of control as a Service (CaaS), as well as multiple viable applications, however no real-car real-world implementation exists to the best of our knowledge. In our experiments, we demonstrate a real-life and real-time vehicle control method that runs in the cloud and reacts adaptively to the vehicle's surroundings. In the presented tests, acquisition of the vehicle and environment state is performed from a collective perception-based digital twin that is also produced in our cloud-based Central System using data streams from our distributed sensor network. We conduct real-world physical vehicle tests, and establish that cloud-based centralized control is a viable solution, and an interesting research direction. We test our vehicle control in one mixed reality, and two real-world scenarios on the ZalaZONE proving ground in Hungary, Zalaegerszeg. Our experiments prove that cloud-based low-level vehicle control is feasible. © 2024 IEEE.

关键词： Sensor networks

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Target Capturing in an Ellipsoidal Region for a Swarm of Double Integrator Agents

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IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 801-811页

作者： Antonio Bono Luigi D'Alfonso Giuseppe Fedele Veysel Gazi IEEE Department of Informatics ModelingElectronics and Systems EngineeringUniversity of CalabriaRende 87036Italy Dept.Electrical and Electronics Eng. Faculty of EngineeringMarmara UniversityIstanbul 34722 Department of Control and Automation Engineering Faculty of Electrical and Electronics EngineeringYildiz Technical UniversityEsenler 34220Turkey

In this paper we focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space *** agent knows the relative position of the target and has only an estimation of its velocity and *** that the estimation errors are bounded by some known values,it is possible to design a control law that ensures that agents enter a user-defined ellipsoidal ring around the moving *** know the relative position of the other members whose distance is smaller than a common detection ***,in the case of no uncertainty about target data and homogeneous agents,we show how the swarm can reach a static configuration around the moving *** simulations are reported to show the effectiveness of the proposed strategy.

关键词： Agents-based systems cooperative control swarms target-capturing

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Design of Supervisory Model Predictive control for HVAC Systems and Two Zones with Consideration of Energy Efficiency and Thermal Comfort 23

Design of Supervisory Model Predictive Control for HVAC Syst...

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23rd International Conference on control, Automation and Systems, ICCAS 2023

作者： Srisurapanon, Panithan Banjerdpongchai, David Chulalongkorn University Center of Excellence in Intelligent Control Automation for Process Systems Faculty of Engineering Department of Electrical Engineering Pathumwan Bangkok10330 Thailand

ISBN: (纸本)9788993215274

This paper presents the design of supervisory model predictive control for HVAC systems and two zones. The supervisory control (SC) is designed to find the optimal reference temperature of each zone. The design criteria consist of the total operating cost (TOC) and the thermal comfort cost (TCC). Then, the model predictive control (MPC) is designed to track the optimal reference signals. When SC and MPC are designed for two zones simultaneously, they are referred to centralized SC and centralized MPC. On the other hand, when SC and MPC are designed for two zones separately, they referred to decentralized SC and decentralized MPC. We then compare the results between the decentralized control and the centralized control. The trade-off curve shows that the performance of centralized control is better than that of decentralized control. In particular, centralized MPC improves the performance in tracking reference signals. Furthermore, TOC of centralized control is lower than that of decentralized control. It can be concluded that the centralized control is appropriate for two zones in terms of the tracking of reference and the electrical charge. © 2023 ICROS.

关键词： Model predictive control

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control System of an Autonomous Object Tracking Robot 17

Control System of an Autonomous Object Tracking Robot

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17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Barabas, Tiberiu Silaghi, Helga Spoiala, Dragos Gamcova, Maria University of Oradea Control Systems Engineering and Management Department Oradea Romania Technical University of Kosice Faculty of Electrical Engineering and Informatics Kosice Slovakia

ISBN: (纸本)9798350310634

This paper presents the control system of a mobile robot, capable of detecting, tracking and following an object of a certain color. The mobile robot was created for educational purposes, in the CIM laboratory of the University of Oradea. It is based on a crawler robot, controlled with a Raspberry Pi development system. This system controls the movements necessary for tracking the object: moving forward, backward, left turn or right turn. For detecting and locating the object, the robot is also equipped with a video camera connected to Raspberry Pi. The acquisition and processing of images in real time, provided by the camera, are performed with programming functions provided by the OpenCV (Open Source Computer Vision Library). These functions are implemented in a control program, written in Python language. In order to facilitate the tracking of the images obtained and processed during the movements, the robot has also been provided with a graphic display connected to the Raspberry Pi board. This paper also presents the implementation of a numerical control algorithm used for tracking the objects. © 2023 IEEE.

关键词： Python

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Life Cycle Management in Oil&Gas Products Industry 17

Life Cycle Management in Oil&Gas Products Industry

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17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Magdoiu, Liliana Doina Caciora, Simona Veronica Abrudan Pacala, Anca Gamcova, Maria University of Oradea Control Systems Engineering and Management Department Oradea Romania Technical University of Kosice Faculty of Electrical Engineering and Informatics Kosice Slovakia

ISBN: (纸本)9798350310634

The life cycle of a petroleum product reflects the evolution of its sales volume over time and represents the interval between its introduction on the market and its definitive disappearance from the commodity exchange arena. During the life cycle of a petroleum product, the company marketing it will keep on reformulating the adopted marketing strategies, as determined by variable conditions and new challenges on the side of the competition, along with the changes in customers' interests and their requirements in relation to the product;therefore, appropriate marketing strategies must be developed for each stage in the life cycle of the petroleum product in order to increase its marketing profitability, even though its existence is limited over time. © 2023 IEEE.

关键词： Life cycle

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Energy Quality Analysis of electrical Drive Systems with Induction Machine 17

Energy Quality Analysis of Electrical Drive Systems with Ind...

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17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Silaghi, Helga Spoiala, Viorica Costea, Claudiu Magdoiu, Liliana Gamec, Jan Silaghi, Alexandru Marius University of Oradea Control Systems Engineering and Management Department Oradea Romania Technical University of Kosice Faculty of Electrical Engineering and Informatics Kosice Slovakia University of Oradea Electrical Engineering Department Oradea Romania

ISBN: (纸本)9798350310634

Inthis paper many improvements in dealing with energy quality issues that could arise in electrical drive systems using asynchronous machines are presented. A series active power filter is used in electrical drive systems with induction motors to reduce harmonic current and voltage. We also propose a variety of active power filters with hysteresis current value control. Lastly, some experimental results for an electrical drive system utilizing an induction motor and a PWM converter are provided. These findings are followed by a discussion of the system's energy quality issues. © 2023 IEEE.

关键词： Induction machine

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Optimizing Hyperparameters of a Multi-Scale Convolutional Neural Model Tailored to Describe Amorphous Materials Behavior

Optimizing Hyperparameters of a Multi-Scale Convolutional Ne...

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

作者： Marek Pakosta Dept. of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Czech Republic

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper presents an optimization procedure of parameters in a multi-scale neural model, which is crucial for accurately characterizing the behavior of amorphous materials; more specifically glass transition kinetics, which is considered one of the most important yet not fully understood phenomena of solid-state physics and chemistry, with wide-ranging applications. Through systematic exploration of a hyperparameter grid space and rigorous evaluation of resultant models, a highly effective configuration was identified – Conv1D kernel size=8-24-48, Conv1D #filters=16 & Dense #neurons=16 – which offers optimal performance with remarkably short mean epoch times. Our findings suggest a promising strategy of increasing kernel size while decreasing the number of filters and neurons in the dense layer, supported by the superior performance of key competitors sharing this trend. However, further examination reveals comparable performance levels among subsequent competitors, indicating the need for additional samples to draw definitive conclusions. Our experiment highlights the intricate relationship between model accuracy and computational resources, emphasizing the necessity for further results to gain a comprehensive understanding of hyperparameter impact. Three promising combinations for future experimentation emerge, with Conv1D kernel size=8-24-48, Conv1D #filters=16 & Dense #neurons=16 standing out as the clear winner for practical application.

关键词： Training Solid modeling Systematics Filters Accuracy Computational modeling Neurons Solid-state physics Personnel Kernel

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Intelligent PI controller for Frequency Enhancement of a Diesel-PV-Battery-Based islanded AC microgrid 24

Intelligent PI Controller for Frequency Enhancement of a Die...

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24th International Middle East Power System Conference, MEPCON 2023

作者： Elborlsy, M.S. Mostafa, R.M. Keshta, Hossam E. Ghalib, Mohamed. A. Beni-Suef University Faculty of Technology and Education Process Control Technology Dept. Beni-Suef Egypt ShoubraBenha University Faculty of Engineering Department of Electrical Engineering Benha Egypt

ISBN: (纸本)9798350358469

Smart and flexible control is needed in contemporary electrical *** maintain a balance between power generation and usage, especially during major disruptions. Microgrids primarily rely on naturally fluctuating renewable energy sources (RES) for electricity generation. Power system fluctuations make traditional controllers inadequate for optimal performance across Diverse operational scenarios. To enhance frequency performance in an isolated AC microgrid, this paper focuses on a fuzzy PI (FPI) controller that can adjust control measures for fluctuating frequency in the face of uncertainties such as abrupt load changes and variation in solar irradiance. A comparative study was conducted to demonstrate the superior performance of the FPI in regulating frequency in an isolated AC microgrid system. © 2023 IEEE.

关键词： Solar panels

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