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2022 CSAA/IET International Conference on Aircraft Utility systems, AUS 2022

作者： Wang, Jiaqi Wang, Xingjian Miao, Yinan Wang, Shaoping An, Mailing Miao, Yiqi Gavrilov, Alexander I. School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Qingdao Research Institute Beihang University Qingdao266104 China Beijing Advanced Innovation Center for Big Data-based Precision Medicine Beihang University Beijing100191 China Bauman Moscow State Technical University Department of Automatic Control Systems Moscow105005 Russia

ISBN: (数字)9781839537769

ISBN: (纸本)9781839537769

Human-machine interaction devices (HMI), such as assisted exoskeletons and assisted prostheses, that improve human motion behaviours are playing an increasingly important role in various fields. In order for these HMI devices to provide accurate and appropriate assistance to wearers, the real-time recognition of locomotion with accuracy is among the key issues to be solved. This paper proposes a high real-time motion pattern recognition algorithm using inertial measurement units (IMU) that can accurately and quickly identify the current motion state by collecting various motion parameters of the lower limb during human walking. The algorithm uses a trajectory solving and motion direction discrimination method based on the shank zero velocity point and a terrain classification method based on an F-score improved support vector machine (F-score-SVM). In this paper, experimental data was used to verify the performance of the algorithm. Results show that the algorithm performs better than traditional recognition algorithms in complex environments. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Support vector machines

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Fault-tolerant Optimal control Scheme for Satellite Micro-launchers

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IFAC-PapersOnLine 2020年第2期53卷 4115-4120页

作者： Alexandra Reitu Andrei Sperilă Bogdan D. Ciubotaru Automatic Control and Systems Engineering Department University Politehnica of Bucharest

An integration of Fault Detection, Isolation and Recovery (FDIR) with the Linear Quadratic Gaussian (LQG) technique is presented, which achieves fault tolerance while maintaining control optimality. The FDIR scheme is tested on a space micro-launcher model, and simulation results show successful accommodation of both sensor and actuator faults.

关键词： Aerospace control LQG control Fault detection Fault diagnosis Fault tolerant systems

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A Study for Obstacle Determination fusing MMW Radar and Vision Sensor 2

A Study for Obstacle Determination fusing MMW Radar and Visi...

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2nd IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2021

作者： Rui, Wang Xin, Gu Tao, Wang National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China China Academy of Launch Vehicle Technology Department of Research Development Center Beijing China School of Intelligent Systems Engineering Sun Yat-Sen University Guangzhou China

ISBN: (纸本)9781665428767

This paper, on the basis of attention mechanism and driver's visual consciousness, presented a robust and adaptive approach for on-road obstacle boundary detection through fusing vision sensor and millimeter wave (MMW) radar in order to implement the navigation task, which is the sequent research work of radar and vision fusion for autonomous ground vehicle (AGV) navigation. It is the first most important issue for practically real-time precise guidance, navigation and control (GNC) of AGV. The novel exploration of prior knowledge about the features, shadow and edge or the position indicator lamps was discussed and employed with the attentive information from millimeter wave radar. An adaptive threshold algorithm based on the local significant peak and trough inside peaks determination (LSiPTiD) of the gray image histogram was provided in order to automatically judge the validity of obstacle shadow detection and detect the obstacle robustly. Vertical edge detection and possible intensity mutant were integrated with shadow and radar vision fusion point so as to recognize obstacle boundary correctly and robustly for further GNC task. In the end, through huge experiments of real on-road measured data, the algorithm was verified to be robust, adaptive and fast for real-time applications in natural road environment. © 2021 IEEE.

关键词： Behavioral research

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The Electrotechnical Complex of The Grain Thrower With Improved Performance Characteristics

The Electrotechnical Complex of The Grain Thrower With Impro...

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International Conference on Modern Electrical and Energy systems (MEES)

作者： Evgeniia Burdilna Serhii Serhiienko Hennadii Rykov Roman Voliansky Department of Automation and Information Systems Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Electrical Engineering Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Electromechanical Systems Automation and Electrical Drives National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Kyiv Ukraine

ISBN: (纸本)9798350346848

In the work, the structure of an interconnected electrotechnical complex of frequency-regulated electric drives of the mechanisms of grain-throwing machines is proposed to ensure effective overloading of grain with a reduction in its injury. The basic equations for determining the laws governing the grain flight trajectory are presented. The results of research on the influence of various parameters on the flight trajectory (thickness of the grain layer, presence of additional blowing) are given. The obtained results of the study allow us to state that additional blowing ensures a reduction in dispersion, depending on the type of grain and the speed of the conveyor belt of the grain thrower As a result, a regression model was obtained that allows taking into account the main parameters. The simulation results of the proposed electric fan drive system with scalar control with the control algorithm based on the PID structure, calculated according to the frequency criterion, are presented. A functional diagram of the electrical complex of the grain thrower is proposed. The practical application of the proposed system will reduce material damage from injury to the reloaded grain and improve the efficiency of the grain thrower.

关键词： Fans automatic frequency control Simulation Microprocessors Optimal control Drives Mathematical models

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Model Predictive control for Wave Energy Converters: A Moving Window Blocking Approach

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IFAC-PapersOnLine 2020年第2期53卷 12815-12821页

作者： Juan Guerrero-Fernández Oscar J. González-Villarreal John Anthony Rossiter Bryn Jones Department of Automatic Control and Systems Engineering University of Sheffield UK

Ocean wave energy is one of the most concentrated sources of renewable energy. However, until now it has not reached the economic feasibility required to be commercialised. To improve the efficiency of wave energy converters, several advanced control strategies have been proposed, including Model Predictive control (MPC). Nevertheless, the computational burden of the underlying optimisation problem is a drawback of conventional (Full-Degree of Freedom, F-DoF) MPC, which typically limits its application for real-time control of systems. In this paper, a Moving Window Blocking (MWB) approach is proposed to speed-up the time required for each optimisation problem by reducing the number of decision variables using input parameterised solutions. Numerical simulation of a generic single device point absorber wave energy converter controlled by this scheme confirms the potential of this approach.

关键词： Wave energy converters Model predictive controller Moving window blocking

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Resistance Tuning of Soft Strain Sensor Based on Saline Concentration and Volume Changes 21st

Resistance Tuning of Soft Strain Sensor Based on Saline Conc...

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21th Annual Conference on Towards Autonomous Robotics, TAROS 20120

作者： Jones, Joanna Gillett, Zachary Perez-Guagnelli, Eduardo Damian, Dana D. Automatic Control and Systems Engineering Department University of Sheffield SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783030634858

Soft sensors have a wide potential in augmenting the functionality of soft robots for healthcare, by providing information without compromising the mechanical compliance. Soft sensors that are based on ionic solutions are of particular interest, as they can be used for in-the-body medical applications due to their biocompatibility. In this paper, we present a soft strain sensor whose resistance is tuned by varying its volume and its ionic concentration. The study opens up the possibility of creating soft sensors whose electrical properties could be adjusted dynamically in fluidic soft robots, in order to suit specific tasks. © 2020, Springer Nature Switzerland AG.

关键词： Biocompatibility

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Method of Space Vector Pulse Width Modulation in High Voltage Cascaded Frequency Converter with Damaged H-cells 20

Method of Space Vector Pulse Width Modulation in High Voltag...

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20th IEEE International Conference on Modern Electrical and Energy systems, MEES 2021

作者： Busher, Victor Shestaka, Anatoliy Chornyi, Oleksii Glazeva, Oksana Melnikova, Lubov Tytiuk, Valerii National University 'Odessa Maritime Academy' Dept. of Electrical Engineering and Electronics Odessa Ukraine Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrohradskyi National University Institute of Electromechanics Kremenchuk Ukraine Odessa State Polytechnic University Dept. Electromechanical Engineering Odessa Ukraine Kryvyi Rih National University Kryvyi Rih Ukraine

ISBN: (纸本)9781665423663

The paper proposes a control method for a high-voltage cascade frequency converter with H-bridges, based on Space Vector Pulse Width Modulation, regardless of the number of normal and damaged H-cells in phases. Analytical dependencies are given that explain the principle of balancing asymmetric base vectors, and tabular data are provided for the implementation of this method in most possible emergency modes in 4-6-level frequency converters. It was found that the formation of control laws for power switches only taking into account the change in length and phase shifts between the base vectors in emergency modes is not enough to exclude shock electromagnetic and electromechanical processes in an induction motor. Such shocks occur due to the appearance of an additional shift of the phase-to-phase voltages due to the asymmetry of the phase voltages on the half-period of the generated signal. Based on the expansion in a Fourier series, the necessary correcting phase shifts are calculated for all considered emergency modes. Modelling of electromagnetic and electromechanical processes in an electric drive 3.3 MW, 6.6 kV with a 6-level frequency converter has shown the effectiveness of the developed method - during transitions from a normal to an emergency mode, electromagnetic processes caused by phase shifts are excluded. At the same time, SVPWM in all modes increases the energy efficiency of power supplies by 15.6%, which makes it possible to increase the phase-to-phase voltage by 10... 26% in emergency modes in comparison with sinusoidal PWM. The proposed analytical dependencies and tabular data can be used in the synthesis of control systems with both scalar and vector control. © 2021 IEEE.

关键词： Frequency converters

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Intelligent Synthesis of Individual Rehabilitation Plans for Patients after Joint Endoprosthesis Based on Computer Vision Technologies 7

Intelligent Synthesis of Individual Rehabilitation Plans for...

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7th International Conference on Information Technologies in engineering Education, Inforino 2024

作者： Arseniev, D.G. Borisov, V.V. Misnik, A.E. Gomzhina, E.A. Shalukhova, M.A. Scientific Innovation Institute 'Mathematical Modeling and Intelligent Control Systems' Peter the Great St. Petersburg Polytechnic University St. Petersburg Russia National Research University 'MPEI' Branch in Smolensk Department of Computer Engineering Smolensk Russia Information Technology Software Inter-State Educational Institution of Higher Education 'Belarusian-Russian University' Mogilev Belarus Early Medical Rehabilitation FSBI 'FCTOE' The Ministry of Health of the Russian Federation Smolensk Russia Inter-State Educational Institution of Higher Education 'Belarusian-Russian University Peter the Great St. Petersburg Polytechnic University Information Technology Software Mogilev Belarus

ISBN: (纸本)9798350371369

The article presents an innovative approach to the rehabilitation process for patients with joint endoprosthetics, focusing on the integration of a specialized software module based on computer vision technologies and the ontological approach. Developed for the Federal Centre for Traumatology, Orthopaedics, and Endoprosthesis in Smolensk, Russia, this system is designed to improve the quality of life for patients by offering personalized rehabilitation plans. The core of the study lies in the application of ontological models and meta-associative graphs for synthesizing individual rehabilitation plans, which streamline the recovery process and reduce the workload on healthcare professionals. This method allows for the processing of large amounts of information, providing detailed conclusions and recommendations for functional correction of the musculoskeletal system. The software utilizes computer vision to analyze patient movement and develop tailored rehabilitation strategies, overcoming the limitations of traditional diagnostic tools like MRI, which may not be suitable for all patients. By incorporating artificial intelligence and augmented reality, the system enhances the accuracy of patient assessments and the effectiveness of rehabilitation plans. Furthermore, the article discusses the application of this technology in the educational process at the Belarusian-Russian University, where students are introduced to cutting-edge software tools that assist in creating personalized rehabilitation plans. This educational integration not only enriches the students' learning experience but also fosters innovation in the development of new applications for computer vision in medical rehabilitation. The ontological approach, combined with modern technology, represents a significant advancement in the management of musculoskeletal system diseases, offering a more efficient, personalized approach to rehabilitation and recovery. © 2024 IEEE.

关键词： Application programs

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On-The-Fly CNC interpolation using frequency-domain FFT-based filtering

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Procedia CIRP 2022年 107卷 1571-1576页

作者： Rob Ward Burak Sencer George Panoutsos Erdem Ozturk Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK Advanced Manufacturing Research Centre University of Sheffield Rotherham S60 5TZ UK Mechanical Engineering Department Oregon State University Corvallis OR USA

Finite Impulse Response filtering is increasingly becoming the interpolation method of choice in modern computer numerically controlled (CNC) machining centres. Recently, On-The-Fly (OTF) interpolation was introduced using direct convolution to adaptively change the FIR flter time constant throughout the toolpath. In this paper, it is shown that computational advantages can be gained by using frequency domain methods instead. This paper introduces a novel on-the-fly CNC interpolation method using Fast Fourier Transforms (FFTs). The presented OTF FFT method demonstrates up to 10 times increase in computational speed than the direct convolution OTF method. The effectiveness of the proposed method is validated in simulation based case studies.

关键词： CNC Interpolation FFT Convolution Motion control

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On the exponential convergence of input-output signals of nonlinear feedback systems

arXiv

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arXiv 2022年

作者： Su, Lanlan Zhao, Di Khong, Sei Zhen The Department of Automatic Control & Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom The Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China The Department of Electrical Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan

This note studies the exponential convergence of input-output signals of discrete-time nonlinear systems composed of a feedback interconnection of a linear time-invariant system and a nonlinear uncertainty. Both the open-loop subsystems are allowed to be unbounded. Integral-quadratic-constraint-based conditions are proposed for these uncertain feedback systems, including the Lurye type, to exhibit the property that the endogenous input-output signals enjoy an exponential convergence rate for all initial conditions of the linear time-invariant subsystem. The conditions are established via a combination of tools, including integral quadratic constraints, directed gap, and exponential weightings. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear time-invariant system

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