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Electronic Technology, Communication and Information (ICETCI), IEEE International Conference on

作者： Jieming Chen Xiang Chen Steven Liu Department of Electrical Engineering The Hong Kong Polytechnic University Hong Kong SAR China Institute of Control Systems University of Kaiserslautern Kaiserslautern Germany

This paper proposes an integrated framework of trajectory planning and control for autonomous mobile robots (AMRs) in an intra-logistic scenario, where humans and robots share the same indoor workspace. The proposed framework consists of perception and trajectory planning. To perceive human motion, information from the RGB-D camera is used to detect human positions. Then a model-based tracking approach is employed to track multiple people’s motion and estimate their speed over a short time horizon. For trajectory planning, a Model Predictive control (MPC) based scheme is adopted to generate motor commands while taking into account energy efficiency, safety, and addressing human-aware proximity constraints. To convexify the nonlinear collision avoidance constraints, Sequential Convexification Programming is employed. The simulation and experimental results demonstrate that the proposed method can be implemented in real-time and efficiently avoid people in advance.

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Sublevel Set Approximation in The Hausdorff and Volume Metric with Application to Path Planning and Obstacle Avoidance

arXiv

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arXiv 2023年

作者： Jones, Morgan The Department of Automatic Control and Systems Engineering The University of Sheffield Amy Johnson Building Mappin Street SheffieldS1 3JD United Kingdom

Under what circumstances does the "closeness" of two functions imply the "closeness" of their respective sublevel sets? In this paper, we answer this question by showing that if a sequence of functions converges strictly from above/below to a function, V, in the L∞ (or L1) norm then these functions yield a sequence sublevel sets that converge to the sublevel set of V with respect to the Hausdorff metric (or volume metric). Based on these theoretical results we propose Sum-of-Squares (SOS) numerical schemes for the optimal outer/inner polynomial sublevel set approximation of various sets, including intersections and unions of semialgebraic sets, Minkowski sums, Pontryagin differences and discrete points. We present several numerical examples demonstrating the usefulness of our proposed algorithm including approximating sets of discrete points to solve machine learning one-class classification problems and approximating Minkowski sums to construct C-spaces for computing optimal collision-free paths for Dubin’s car. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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The System of Electric Drive of the Dragging Camp During the Automation of the Technological Process of Drawing Steel Wire 5

The System of Electric Drive of the Dragging Camp During the...

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5th IEEE KhPI Week on Advanced Technology, KhPIWeek 2024

作者： Khrebtova, Oksana Shapoval, Oleksandr Khrebtov, Oleg Rudych, Mykhailo Babaryka, Maryna Kozlovs'ka, Tatyana Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Mechanical Engineering Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Jurisprudence Sciences Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Central Ukrainian National Technical University Kropyvnytskyi Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Kremenchuk Flight College of Kharkiv National University of Internal Affairs Kremenchuk Ukraine

ISBN: (纸本)9798350384499

The study involved an analysis of methods and electromechanical equipment during the production of metal products using wire drawing machines. For manufacturing wires with a medium diameter (1.8 ... 3.0 mm), the most promising approach is the use of wire drawing machines with a non-impact technological process, which has the potential for significant efficiency improvement through the optimization of power parameters and increasing the drawing speed. Increasing the efficiency of the wire drawing process is achievable through the modernization of existing electric drive systems, leading to a substantial increase in the overall drawing process efficiency. As for increasing the drawing speed, it can be accomplished by employing a more advanced electric drive control system. It has been proven that the electric drive based on the frequency converter - asynchronous motor is economically beneficial for use as the main electric drive in the wire drawing machine. An analysis of the operating modes of the wire drawing machine's electric drive using a mathematical model confirmed that the developed control principle provides speed regulation of wire drawing with an error that does not exceed the specified criteria. Thus, the technological process requirements are met in all operating modes. ©2024 IEEE.

关键词： Speed regulators

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Dynamic Tip-Over Avoidance Method for Mobile Manipulators Based on the Extended Zero-Moment Point Algorithm for Human–Robot Collaboration

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Journal of Computing and Information Science in engineering 2025年第5期25卷 051003页

作者： Tao, Yong Liu, Haitao Song, Yian Deng, Changyi Wang, Baicun Zheng, Pai School of Mechanical Engineering and Automation Beihang University Beijing 100191 China Institute of Software China Industrial Control Systems Cyber Emergency Response Team Beijing 100040 China School of Mechanical Engineering Zhejiang University Hangzhou 310030 China Research Institute for Advanced Manufacturing Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Hung Hom Hong Kong

Human–robot collaboration (HRC), as an important role in intelligent manufacturing, is widely utilized in modern factories. Mobile manipulators offer greater flexibility due to the ability to simultaneously move their bases and arms. This provides them an advantage in facing challenging tasks such as flexible production and intelligent manufacturing. The environment of modern factories is complex, with slopes and thresholds at the entrance. Stability plays a fundamental role in complex environments. Therefore, for the future deployment and application of mobile manipulator in HRC, a novel dynamic tip-over avoidance method is proposed for mobile manipulators based on the extended zero-moment point (ZMP) algorithm. This method extends the traditional ZMP stability criterion into three dimensions, deriving a system-wide three-dimensional (3D) zero-moment point. The integration of the extended ZMP with redundant features facilitates adaptive weight matrix adjustments, enabling the robot to adapt its motion based on environmental constraints, thus preventing instability such as tip-over. Simulation verification is carried out withcoppeliasim. Experimental verification is performed using the MR2000 + FR3 mobile manipulator. The results confirm that the extended ZMP algorithm effectively prevents tipping in complex environments.

关键词： tip-over avoidance null-space projection Weight (Mass) mobile manipulator Stability Manipulators Robots human–robot interfaces/interactions velocity controlled manufacturing automation extended ZMP Algorithms

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Computational Fluid Dynamics Analysis on the Improvement of Hybrid Savonius-Darrieus NREL S809 at Various Fluid Flows

Computational Fluid Dynamics Analysis on the Improvement of ...

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International Conference on High Voltage engineering and Power systems (ICHVEPS)

作者： Elysa Nensy Irawan Sandro Sitompul Ken-Ichiro Yamashita Goro Fujita Functional Control Systems Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Salesian Polytechnic Tokyo Japan

Among all types of vertical axis wind turbines, Savonius and Darrieus are the most popular to study. Savonius has a very large torque and requires a low wind velocity to start the rotation, but the efficiency is below 20%. Meanwhile, Darrieus is not capable of self-starting if the wind velocity is below 4 m/s, but the efficiency is the best among all types of vertical axis wind turbines, which is around 40–45%. So far, many researchers have applied the hybrid Savonius-Darrieus to combine their performances. However, the conventional hybrid Savonius-Darrieus cannot produce an optimal Power Coefficient at a high Tip Speed Ratio. In this study, an improvement in the performance of the hybrid Savonius-Darrieus has been analyzed using the Computational Fluid Dynamics method at various fluid flows. This improvement was carried out with the aim of obtaining a high Moment Coefficient and Power Coefficient in all turbine Tip Speed Ratios compared to the conventional hybrid Savonius-Darrieus. The hybrid model used is the 2-bladed Savonius as the internal rotor and the 3-bladed Darrieus NREL S809 as the external rotor with a rotor radius ratio of 0.5. Improvements were made by changing the turbine rotation mode from hybrid at a low Tip Speed Ratio to single Darrieus at a high Tip Speed Ratio. This method was tested in the wind velocity range of 3–7 m/s using the Realizable k-e turbulence model, enhanced wall treatment. As a result, the best performance occurs at a wind velocity of 7 m/s, which is a Moment Coefficient value of 110% better than single Darrieus at low TSR and a maximum Power Coefficient value of 50% better than conventional hybrid.

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Sparse Identification of Nonlinear Dynamics with Side Information (SINDy-SI)∗

arXiv

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arXiv 2023年

作者： Machado, Gabriel F. Jones, Morgan Department of Automatic Control and Systems Engineering The University of Sheffield Amy Johnson Building Mappin Street SheffieldS1 3JD United Kingdom

Modern societies have an abundance of data yet good system models are rare. Unfortunately, many of the current system identification and machine learning techniques fail to generalize outside of the training set, producing models that violate basic physical laws. This work proposes a novel method for the Sparse Identification of Nonlinear Dynamics with Side Information (SINDy-SI). SINDy-SI is an iterative method that uses Sum-of-Squares (SOS) programming to learn optimally fitted models while guaranteeing that the learned model satisfies side information, such as symmetries and physical laws. Guided by the principle of Occam’s razor, that the simplest or most regularized best fitted model is typically the superior choice, during each iteration SINDy-SI prunes the basis functions associated with small coefficients, yielding a sparse dynamical model upon termination. Through several numerical experiments we will show how the combination of side information constraints and sparse polynomial representation cultivates dynamical models that obey known physical laws while displaying impressive generalized performance beyond the training set. Copyright © 2023, The Authors. All rights reserved.

关键词： Dynamics

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Solving optimal control problems with non-smooth solutions using an integrated residual method and flexible mesh

Solving optimal control problems with non-smooth solutions u...

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IEEE Conference on Decision and control

作者： Lucian Nita Eric C. Kerrigan Eduardo M. G. Vila Yuanbo Nie Department of Electrical & Electronic Engineering Imperial College London London UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Solutions to optimal control problems can be discontinuous, even if all the functionals defining the problem are smooth. This can cause difficulties when numerically computing solutions to these problems. While conventional numerical methods assume state and input trajectories are continuous and differentiable or smooth, our method is able to capture discontinuities in the solution by introducing time-mesh nodes as decision variables. This allows one to obtain a higher accuracy solution for the same number of mesh nodes compared to a fixed time-mesh approach. Furthermore, we propose to first solve a sequence of suitably-defined least-squares problems to ensure that the error in the dynamic equation is below a given tolerance. The cost functional is then minimized subject to an inequality constraint on the dynamic equation residual. We demonstrate our implementation on an optimal control problem that has a chattering solution. Solving such a problem is difficult, since the solution involves infinitely many switches of decreasing duration. This simulation shows how the flexible mesh is able to capture discontinuities present in the solution and achieve superlinear convergence as the number of mesh intervals is increased.

关键词： Costs Optimal control Mathematical models Trajectory Convergence

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Robust Predictive Motion Planning by Learning Obstacle Uncertainty

arXiv

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arXiv 2024年

作者： Zhou, Jian Gao, Yulong Johansson, Ola Olofsson, Björn Frisk, Erik Division of Vehicular Systems Department of Electrical Engineering Linköping University LinköpingSE-581 83 Sweden Department of Electrical and Electronic Engineering Imperial College London United Kingdom Department of Automatic Control Lund University LundSE-221 00 Sweden

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this paper, an efficient, robust, and safe motion-planning algorithm is developed by learning the obstacle uncertainties online. More specifically, the unknown yet intended control set of obstacles is efficiently computed by solving a linear programming problem. The learned control set is used to compute forward reachable sets of obstacles that are less conservative than the worst-case prediction. Based on the forward prediction, a robust model predictive controller is designed to compute a safe reference trajectory for the ego robotic system that remains outside the reachable sets of obstacles over the prediction horizon. The method is applied to a car-like mobile robot in both simulations and hardware experiments to demonstrate its effectiveness. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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A fractional order impedance model for heterogeneous drug distribution in obese patients during general anesthesia ⁎

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IFAC-PapersOnLine 2024年第12期58卷 61-66页

作者： Amani R. Ynineb Erhan Yumuk Hamed Farbakhsh Ghada Ben Othman Dana Copot Isabela R. Birs Cristina I. Muresan Robin De Keyser Samir Ladaci Clara M. Ionescu Martine Neckebroek Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde 9052 Belgium Istanbul Technical University Department of Control and Automation Engineering Maslak 34469 Istanbul Turkey Technical University of Cluj Napoca Romania Department of Automation Memorandumului Street 20 Cluj Romania National Polytechnic School Department of Automatics and Control Engineering 10 Rue des Fréres OUDEK El Harrach 16200 Algiers Algeria Ghent University Hospital Department of Anesthesia Corneel Heymanslaan 10 Ghent 9000 Belgium

Personalised pharmacokinetic models imply stepping away from the classical assumption of homogeneous drug mixing in various tissue compartments in the body, with a particular impact on obese patients. In this work, the pharmacokinetic compartmental model structure is revisited to account for non-uniform distribution of uptake/clearance time constants in patients as a nonlinear function of body mass index. Simulations are confirming expected patterns of drug distribution in the body and can account for post-anesthesia side effects up to 72 hours. We apply spectroscopy to extract the complex impedance in fat tissue samples. The data is modelled by a Cole-Cole model, where parameters of the fractional order impedance model are optimized using a genetic algorithm. The findings suggest that fat tissue will exhibit anomalous diffusion when drug uptake and clearance are present.

关键词： fractional order impedance model Cole-Cole model bioimpedance compartmental modelling general anesthesia frequency domain spectroscopy

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Improving the Energy Efficiency of a Mine Drainage Installation by Means of an Industrial Electric Drive 3

Improving the Energy Efficiency of a Mine Drainage Installat...

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3rd IEEE KhPI Week on Advanced Technology, KhPI Week 2022

作者： Baranovskyi, Vladyslav Chornyi, Oleksii Busher, Victor Kuznetsov, Valeriy Hubskyi, Petro Lelikova, Olha Kryvyi Rih National University Electromechanical Systems in Industry and Transport Department of Automated Kryvyi Rih Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department 'Systems of Automatic Control and Electric Drive' Kremenchuk Ukraine National University 'Odessa Maritime Academy' Department of Electrical Engineering and Electronics Odessa Ukraine Railway Research Institute Electric Power Department Warsaw Poland Karaganda Industrial University Department 'Power Engineering Temirtau Kazakhstan

ISBN: (数字)9798350399202

ISBN: (纸本)9798350399202

The publication is devoted to determining the possibilities of reducing the energy consumption of drainage systems of mines and determining the numerical indicators of energy saving using mathematical modeling. Novelty of paper. The minimum required structure of the mathematical model of the mine drainage horizon for the study of energy consumption is substantiated, the existence of the minimum energy consumption of the main drainage pump at speed control is proved, the appearance of regression dependences of energy consumption and pump operating time on speed and inflow. Research methods. General methods of physics, hydraulics, mathematical analysis and computational mathematics were used in solving the tasks. Numerical solution of mathematical model equations and visualization of the obtained results were performed in MATLAB® / Simulink environment, methods of experimental design theory for regression analysis. The results obtained. The conditions under which the potential for energy saving of the pumping equipment of the main drainage of mines when using an adjustable electric drive appears. The existence of the minimum energy consumption of the pumping unit of the main drainage of the mine has been proved. Based on the regression analysis of the results of mathematical modeling of the pumping station of the main drainage of the mine, it is established that the regression dependences of the pumping unit operation time and its energy consumption have a shape close to the hyperboloid section. Practical value. The use of the results of work makes it possible in different mines to determine the potential for energy savings when using an adjustable electric drive, to make an economically sound decision on the feasibility of using an adjustable electric drive in specific production conditions. © 2022 IEEE.

关键词： Regression analysis

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