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2023 International Conference on Ocean Studies, ICOS 2023

作者： Leng, Jiajun Fu, Li Wang, Lingling Tang, Ning Laboratory of Science and Technology on Marine Navigation and Control China State Shipbuilding Corporation Beijing100036 China Tianjin Navigation Instruments Research Institute Tianjin300131 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Bauman Moscow State Technical University Moscow Department of Automatic Control Systems 105005 Russia

ISBN: (纸本)9798350382457

Path planning algorithms are current research hotspots. Heuristic algorithms that can solve dynamic environment problems are gradually becoming the mainstream research direction. The D∗ algorithm, as one of the new heuristic algorithms, has the advantages of being more computationally efficient than the A ∗ algorithm and being able to solve dynamic problems, and has played an important role in two-dimensional path planning projects such as the NASA Mars rover. But its theoretical research and practical application in 3D environment are very rare. In this context, this paper carries out an in-depth study of the path planning problem based on the D∗ algorithm, and completes the theoretical derivation and simulation process in 2D and 3D environments. In this paper, a complex random 2D map is established by random generation, and the simulation of D∗ algorithm is realized on the map with the help of Python language, which realizes the finding of the relative optimal path. Then, in order to study the feasibility of D∗ solving in 3D environment, the simulation of D∗ algorithm under 3D map is realized with the help of Python and Unity3d. The research results show that the simulation results are good, which is valuable for the theoretical research and practical application of heuristic algorithms, and plays a role in the application of robot path planning algorithms. © 2023 IEEE.

关键词： Python

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Ethical Considerations in Explainable AI: Balancing Transparency and User Privacy in English Language-based Virtual Assistants 5

Ethical Considerations in Explainable AI: Balancing Transpar...

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5th International Conference on Intelligent Communication Technologies and Virtual Mobile Networks, ICICV 2024

作者： Alijoyo, Franciskus Antonius Sandya Sneha Sri, S. Alapati, Purnachandra Rao Yuldashev, Dilyorjon Ponni Valavan, M. Center for Risk Management and Sustainability Indonesia School of Business and Information Technology Stmik Likmi Bandung Indonesia Krishna University Andhra Pradesh India Prasad v Potluri Siddhartha Institute of Technology Andhra Pradesh Vijayawada Kanuru India Turin Polytechnic University in Tashkent Automatic Control and Computer Engineering Department Tashkent Uzbekistan K.Ramakrishnan College of Engineering Trichy Department of Artificial Intelligence and Data Science Tamil Nadu India

ISBN: (纸本)9798350385649

English Language-Based Virtual Assistants (ELB-VAs) are AI-powered systems designed to comprehend and respond to user queries in the English language, exemplified by virtual assistants like Siri or Alexa. The need for balancing transparency and user privacy in ELB-VAs is paramount due to their pervasive integration into daily life. Ensuring transparency imbues user trust, while safeguarding privacy addresses ethical concerns associated with personal data. Existing methods involve clear privacy policies, user-controlled data sharing settings, and encryption. However, drawbacks include user confusion and potential biases. To address these limitations, this study proposes a novel approach. Methodologically, it integrates pre-processing techniques such as lowercasing and tokenization, coupled with a Natural Language Understanding model. This model undergoes intent and entity recognition training, enhancing accuracy, and incorporates privacy-aware response generation, ensuring informative yet privacy-conscious interactions. The implementation of the study's results is carried out using Python tools, showcasing improved metrics and response times. This approach contributes to a more transparent and privacy-respecting user experience, aligning with evolving ethical norms and setting the stage for advancements in ELB-VA technology. This comprehensive exploration bridges existing gaps, emphasizing the ethical imperative of user-centric and privacy-aware AI interactions in ELB- VAs. The proposed NLU model exhibits a substantial increase in accuracy compared to other methods, with an impressive accuracy value of 99.1%• On average, it outperforms the Random Forest and Decision Tree models by 15.7 percentage points, highlighting its superior predictive capabilities in the evaluated task. This comprehensive exploration aligns with evolving ethical norms and establishes a foundation for future advancements in ELB-VA technology. © 2024 IEEE.

关键词： Transparency

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Robust Sliding Mode control of a Quadrotor With Disturbance Rejection for Enhanced Stability and Performance

Robust Sliding Mode Control of a Quadrotor With Disturbance ...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Hameed Ullah Owais Zarin Irfan Ahmad Sarfraz Ahmad Ansar Abbas Vincenzo Lippiello Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Department of Electrical Engineering Riphah International University Islamabad Pakistan ACG Department of Automatic Control and Systems Engineering Automatic Control Group School of Bilbao - EIB/BIE University of the Basque Country - UPV/EHU Bilbao Spain Department of Electrical Engineering CEME National University of Sciences and Technology (NUST) Islamabad Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This research presents a comprehensive analysis of quadrotor stabilization and trajectory tracking control using Proportional-Integral-Derivative (PID) and Sliding Mode control (SMC) with integrated disturbance rejection. The nonlinear dynamics of the quadrotor are formulated using the Newton-Euler approach, accounting for six degrees of freedom. The PID controller is implemented as a baseline, while the SMC is designed for enhanced robustness to model uncertainties and external perturbations, with a disturbance observer for managing time-varying disturbances. A rigorous Lyapunov stability proof ensures global asymptotic stability of the SMC-controlled system. Extensive simulations evaluate both controllers in terms of tracking accuracy, control effort, and robustness to external disturbances. Results show that SMC outperforms PID in dis-turbance rejection, tracking accuracy, and robustness, making it ideal for UAV applications in complex environments.

关键词： Asymptotic stability Accuracy Uncertainty Trajectory tracking Robustness Stability analysis PD control Sliding mode control Quadrotors Lyapunov methods

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A Data-Driven Approach to System Invertibility and Input Reconstruction

A Data-Driven Approach to System Invertibility and Input Rec...

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IEEE Conference on Decision and control

作者： Vikas Kumar Mishra Andrea Iannelli Naim Bajcinca Department of Mechanical and Process Engineering RPTU Kaiserslautern Kaiserslautern Germany University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart Germany

We consider the problems of system invertibility and input reconstruction for linear time-invariant (LTI) systems using only measured data. The two problems are connected in the sense that input reconstruction is possible provided that the system is left invertible. To verify the latter property without model knowledge, we leverage behavioral systems theory and develop two data-driven algorithms: one based on input/state/output data and the other based only on input/output data. We then consider the problem of input reconstruction for both noise-free and noisy data settings. In the case of noisy data, a statistical approach is leveraged to formulate the problem as a maximum likelihood estimation (MLE) problem. The proposed approaches are finally illustrated with numerical examples that show: exact input reconstruction in the noise-free setting; and the better performance of the MLE-based approach compared to the standard least-norm solution.

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Probabilistic Optimal Power Flow Computation for Power Grid Including Correlated Wind Sources

SSRN

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SSRN 2024年

作者： Xiao, Qing Du, Min School of Information and Electrical Engineering Hunan University of Science and Technology Hunan Province Xiangtan China Department of Automatic Control and Systems Engineering University of Sheffield South Yorkshire Sheffield United Kingdom

This paper sets out to develop an efficient probabilistic optimal power flow (POPF) algorithm to assess the influence of wind power on power grid. Given a set of wind data at multiple sites, the marginal distribution is fitted by a newly developed generalized Johnson system, the dependence structure of wind speeds is matched by the flexible Liouville copula. In order to lower the computational burden for solving POPF model, a Lattice sampling technique is developed to generate wind samples at multiple sites, and a Logistic mixture model is proposed to fit distributions of POPF outputs, which can quantify the effect of wind speed uncertainty on power grid. Finally, the proposed methods are illustrated by case studies on the IEEE 118-bus system. © 2024, The Authors. All rights reserved.

关键词： Electric load flow

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Maximizing social power in multiple independent Friedkin-Johnsen models

Maximizing social power in multiple independent Friedkin-Joh...

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European control Conference (ECC)

作者： Lingfei Wang Yu Xing Claudio Altafini Karl H. Johansson Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering Division of Automatic Control Linköping University Linköping Sweden

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper investigates the problem of maximizing social power for a group of agents, who participate in multiple meetings described by independent Friedkin-Johnsen models. A strategic game is obtained, in which the action of each agent (or player) is her stubbornness over all the meetings, and the payoff is her social power on average. It is proved that, for all but some strategy profiles on the boundary of the feasible action set, each agent's best response is the solution of a convex optimization problem. Furthermore, even with the non-convexity on boundary profiles, if the underlying networks are given by a fixed complete graph, the game has a unique Nash equilibrium. For this case, the best response of each agent is analytically characterized, and is achieved in finite time by a proposed algorithm.

关键词： Network topology Europe Games Nash equilibrium Cost function Convex functions

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Bio-inspired Multi-agent Model and Optimization Strategy for Collaborative Aerial Transport

Bio-inspired Multi-agent Model and Optimization Strategy fo...

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Chinese Intelligent Automation Conference, CIAC 2021

作者： Huang, Kangyao Chen, Jingyu Oyekan, John Zhang, Xinyu Tsinghua University School of Vehicle and Mobility Beijing100084 China Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9789811663710

Collaboration between robots provides solutions for transporting more complex and heavier loads. In this work, inspired by the ant colony foraging and transport, we put forward two collaborative models, Coupled-Carriers and Navigator-Carrier, for aerial cooperative transport. To achieve this, a linear quadratic regulator (LQR) is applied to optimize the performance. The results show the task of dual-drone transport of a bar load is successfully accomplished. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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The effect of ride experience on changing opinions toward autonomous vehicle safety

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Communications in Transportation Research 2021年第1期1卷 7-15页

作者： Xiaowei Shi Zhen Wang Xiaopeng Li Mingyang Pei Department of Civil and Environmental Engineering University of South FloridaTampaFL33620USA School of Information Engineering Chang'an UniversityShaanxiChina Automatic Control Group and Urban Mobility Systems Group Chalmers University of TechnologyGothenburgSE-41296Sweden

Autonomous vehicles(AVs)are a promising emerging technology that is likely to be widely deployed in the near ***'s perception on AV safety is critical to the pace and success of deploying the AV *** studies found that people's perceptions on emerging technologies might change as additional information was *** investigate this phenomenon in the AV technology context,this paper conducted real-world AV experiments and collected factors that may associate with people's initial opinions without any AV riding experience and opinion change after a successful AV ride.A number of ordered probit and binary probit models considering data heterogeneity were employed to estimate the impact of these factors on people's initial opinions and opinion *** study found that people's initial opinions toward AV safety are significantly associated with people's age,personal income,monthly fuel cost,education experience,and previous AV ***,the factors dominating people's opinion change after a successful AV ride include people's age,personal income,monthly fuel cost,daily commute time,driving alone indicator,willingness to pay for AV technology,and previous AV *** results provide important references for future implementations of the AV ***,based on the inconsistent effects for variables across different models,suggestions for future transportation survey designs are provided.

关键词： Autonomous vehicle Technology acceptance Safety Ordered probit model Binary probit model

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Torque Monitoring System at Rolling Mill Stand Spindles

Torque Monitoring System at Rolling Mill Stand Spindles

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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： O. A. Gasiyarova R. A. Lisovsky M. A. Zinchenko Department of Automation and Control Moscow Polytechnic University Moscow Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

Today on-line monitoring of the technical state and assessment of the service life of electromechanical systems at rolling mills is an urgent problem. To resolve it, it is necessary to substantiate the method for calculation of the remaining life under dynamic loads and to develop technical means for the method implementation. The authors have studied the oscillograms of speeds and torques of the motors of the top and bottom rolls main drives (TMD and BMD) for the plate mill 5000. A considerable difference between static (and consequently, dynamic) torques of these motors has been confirmed. When the loaded electrical drive reaches the limit torque values, it causes the loss of the motor control and increased amplitudes of elastic torque at the spindle when the rolls pick up metal. This confirms that it is important to study the dependence between elastic torque amplitude and thickness reduction and to develop the method to calculate mechanical equipment life at intermittent dynamic loads. An information system for on-line monitoring of elastic torques at spindles has been developed. Elastic torque recovery is conducted by the observer that additionally calculates the extent of equipment wear. The authors have substantiated the calculation of fatigue loading based on the Palmgren-Miner linear damage rule. The article also considers analytical expressions used to obtain dependences between wear and torque degree during metal pickup. The authors have calculated the spindle wear for different time periods at rolling sheets for actual plant stock. As a result, the difference in fatigue life of TMD and BMD spindles was confirmed. The authors give recommendations on the commercial adoption of the solutions and applying BigData technologies for dataset processing.

关键词： Motor drives Torque Loading Metals Observers Motors Fatigue Torque measurement Electromechanical systems Monitoring

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Utilization of Energy Storage and Hydrogen in Power and Energy systems:Viewpoints from Five Aspects

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CSEE Journal of Power and Energy systems 2023年第1期9卷 1-7页

作者： Yonghua Song Mohammad Shahidehpour Saifur Rahman Nigel Brandon Kai Strunz Jin Lin Yuxuan Zhao State Key Laboratory of Internet of Things for Smart City University of MacaoTaipaMacao 999078China Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Galvin Center for Electricity Innovation Illinois Institute of TechnologyChicagoIL 60616USA Department of Advanced Research Institute Virginia Polytechnic Institute and State UniversityArlingtonVA 22203USA Department of Earth Science and Engineering Imperial College LondonLondon SW72AZU.K Department of Sustainable Electric Networks and Sources of Energy Technische Universitt Berlin10587 BerlinGermany State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijing 100084China

Decarbonizing power systems is crucial to mitigating climate change impacts and achieving carbon *** renewable energy supply can reduce greenhouse gas emissions and accelerate the decarbonization ***,renewable energy sources(RESs)such as wind and solar power are characterized by intermittency and often non-dispatchability,significantly challenging their high-level integration into power *** storage is acknowledged as a vital indispensable solution for mitigating the intermittency of renewables such as wind and solar power and boosting the penetrations of *** the CSEE JPES Forum,five well-known experts were invited to give keynote speeches,and the participating experts and scholars had comprehensive exchanges and discussions on energy storage ***,the views on the design,control,performance,and applications of new energy storage technologies,such as the fuel cell vehicle,water electrolysis,and flow battery,in the coordination and operation of power and energy systems were *** experts also provided experience that could be used to develop energy storage for constructing and decarbonizing new power systems.

关键词： Electrolysis electric vehicle energy storage flow battery fuel cell electric vehicle hydrogen energy

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