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Analysis of the effect of sampling strategy: flicking for chemical plume tracing by an autonomous robot

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Analysis of the effect of sampling strategy: flicking for ch...

IEEE/SICE International Symposium on system Integration

作者： Kei Okajima Shunsuke Shigaki Cesar Hernandez Reyes Kazushi Sanada Daisuke Kurabayashi Department of Mechanical Engineering Graduate School of Engineering Science Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama Kanagawa Japan Department of System Innovation Osaka University 1-2 Machikaneyama-cho Toyonaka Osaka Japan Department of Systems and Control Engineering Tokyo Institute of Technology 2-12-1 Ookayama Meguro-ku Tokyo Japan Division of Systems Research Faculty of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama Kanagawa Japan

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

In this paper, we propose an odor sampling strategy with flicking motion for chemical plume tracing(CPT). CPT consists of locating a chemical source according to the chemical particles in the air. The capability of performing CPT by an autonomous robot is highly demanded, yet difficult due to the complex behavior of airflow. From the viewpoint of bio-inspired systems, we focused on the flicking of an insect, by which it swings its antennae (chemical sensors) variably. We expected the flicking provide variable sampling resolutions according to searching phases. We first designed and implemented a variable air sampling mechanism that gave flicking ability to the robot. Then, we introduced the flicking to a common CPT algorithm inspired by the programmed behavior of a silkworm moth, which was composed of three motion phases. For the motion phases, we tested all combinations of the wide or narrow range of the sampling system. Through CPT experiments, results indicated that the flicking could improve CPT performance.

关键词： Robot sensing systems Chemicals Organisms Ethanol Antennas Surges

Supplementary material for CDC submission no. 1461

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arXiv 2020年

作者： Ju, Yue Chen, Tianshi Mu, Biqiang Ljung, Lennart Chinese University of Hong Kong Shenzhen518172 Hong Kong School of Science and Engineering Shenzhen Research Institute of Big Data Chinese University of Hong Kong Shenzhen518172 Hong Kong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing100190 China Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden

In this paper, we study the influence of ill-conditioned regression matrix on two hyper-parameter estimation methods for the kernel-based regularization method: the empirical Bayes (EB) and the Stein’s unbiased risk estimator (SURE). First, we consider the convergence rate of the cost functions of EB and SURE, and we find that they have the same convergence rate but the influence of the ill-conditioned regression matrix on the scale factor are different: the scale factor for SURE contains one more factor cond(ΦTΦ) than that of EB, where Φ is the regression matrix and cond(·) denotes the condition number of a matrix. This finding indicates that when Φ is ill-conditioned, i.e., cond(ΦTΦ) is large, the cost function of SURE converges slower than that of EB. Then we consider the convergence rate of the optimal hyper-parameters of EB and SURE, and we find that they are both asymptotically normally distributed and have the same convergence rate, but the influence of the ill-conditioned regression matrix on the scale factor are different. In particular, for the ridge regression case, we show that the optimal hyper-parameter of SURE converges slower than that of EB with a factor of 1/n2, as cond(ΦTΦ) goes to ∞, where n is the FIR model order. Copyright © 2020, The Authors. All rights reserved.

关键词： Cost functions

State of charge estimation of parallel connected battery cells via descriptor system theory

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arXiv 2020年

作者： Zhang, Dong Couto, Luis D. Benjamin, Sebastien Zeng, Wente Coutinho, Daniel F. Moura, Scott J. Department of Civil and Environmental Engineering University of California BerkeleyCA United States Department of Control Engineering and System Analysis Université Libre de Bruxelles BrusselsB-1050 Belgium Saft Batteries Total S.A. Total S.A. Department of Automation and Systems UFSC PO BOX 476 88040-900 Florianópolis SC Brazil

— This manuscript presents an algorithm for individual Lithium-ion (Li-ion) battery cell state of charge (SOC) estimation when multiple cells are connected in parallel, using only terminal voltage and total current measurements. For battery packs consisting of thousands of cells, it is desirable to estimate individual SOCs by only monitoring the total current in order to reduce sensing cost. Mathematically, series connected cells yield dynamics given by ordinary differential equations under classical full voltage sensing. In contrast, parallel connected cells are evidently more challenging because the dynamics are governed by a nonlinear descriptor system, including differential equations and algebraic equations arising from voltage and current balance across cells. An observer with linear output error injection is formulated, where the individual cell SOCs and local currents are locally observable from the total current and voltage measurements. The asymptotic convergence of differential and algebraic states is established by considering local Lipschitz continuity property of system nonlinearities. Simulation results on LiNiMnCoO2/Graphite (NMC) cells illustrate convergence for SOCs, local currents, and terminal voltage. Copyright © 2020, The Authors. All rights reserved.

关键词： Nonlinear equations

Dynamic Behavioral Analysis of Stimulus Response of Running Ants by High-Speed Robotic Platform 30

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Dynamic Behavioral Analysis of Stimulus Response of Running ...

30th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2019

作者： Kawahara, Tomohiro Kawajiri, Yuuki Furukawa, Motoki Belal, Ahmad Ohtsuka, Hirofumi Ishii, Idaku Kyushu Institute of Technology Department of Biological Functions and Engineering Kitakyushu808-0196 Japan AS2M Department FEMTO-ST Institute BesanconF-25000 France National Institute of Technology Kumamoto College Department of Control and Information Systems Engineering Kumamoto861-1102 Japan Hiroshima University Department of System Cybernetics Higashi-Hiroshima739-0046 Japan

ISBN: (纸本)9781728126746

We have developed a novel system for applying local area stimulation to freely running/walking single ant on a 2D space. It allows us to inspect more natural characteristics and stimulus response of the ants, because they are not fixed and modified. The system is constructed by integrating the tracking part to take magnified view continuously using a high-speed vision sensor and the stimulation part to apply droplet stimulus using a highspeed inkjet mechanism. In order to clarify the effectiveness of the stimulation, examples of analysis of the dynamic stimulus response of single ant using the captured images are shown and discussed in this paper. © 2019 IEEE.

关键词： Robotics

Test and analysis of dynamic characteristics of some aviation turbine cooler's rotor system

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Test and analysis of dynamic characteristics of some aviatio...

CSAA/IET International Conference on Aircraft Utility systems, AUS 2018

作者： Yuliang, Lu Department of Aviation Environmental Control System Nanjing Engineering Institute of Aircraft Systems AVIC NanJing China

ISBN: (纸本)9781785617911

This paper takes a type of aviation turbine cooler as the research object, and An aviation turbine cooler running state monitoring system covering all the operating conditions is established. The test system provides the product's vibration magnitude under different operating conditions by means of an acceleration sensor sticking to the product, then it can determine the health status of the product in operation by monitoring the spectral acceleration value. The critical speed of the rotor system of the aviation turbine cooler can be obtained accurately through the test system. According to the test results, the finite element mode of turbine cooler's rotor will be modified, to ensure that the FEM-calculated values are in good agreement with the testmeasured values. © 2018 IET Conference Publications. All rights reserved.

关键词： Cooling systems

Hierarchical control with Guaranteed Fault Diagnosability

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IFAC-PapersOnLine 2018年第24期51卷 1105-1110页

作者： Stoican, Florin Petzke, Felix Prodan, Ionela Streif, Stefan University POLITEHNICA of Bucharest Automatic Control and Systems Engineering Department 313 Splaiul Independentei Bucharest Romania Technische Universität Chemnitz Automatic Control and System Dynamics Lab Chemnitz09107 Germany GrenobleINP France

A multiple time-scale hierarchical control approach with guarantees for active fault diagnosability (detection and isolation) is presented. Robust positive invariance notions are used to provide a set-membership test for FDI validation at the low level and sufficient constraints for guaranteeing FDI at the high level. Due to the computational burden of the involved bilinear optimization problem, the high-level reference governor operates at a slower sampling time than the controller of the low-level system. Therefore, corner cutting avoidance constraints are imposed such that the faster-sampled lower level is still guaranteed to function properly. A case study illustrates the presented theoretical notions. © 2018

关键词： Fault detection Edge detection Bilinear optimizations Computational burden Corner cutting Fault diagnosability Hierarchical control isolation Positive invariance Reference governors

Fabry-perot lasers as enablers for parallel reservoir computing

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arXiv 2020年

作者： Bogris, Adonis Mesaritakis, Charis Deligiannidis, Stavros Li, Pu Department of Informatics and Computer Engineering University of West Attica Aghiou Spiridonos Egaleo Athens12243 Greece Department of Information & Communication Systems Engineering University of the Aegean 2 Palama & Gorgyras St. Karlovassi Samos83200 Greece Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan030024 China

We introduce the use of Fabry-Perot (FP) lasers as potential neuromorphic computing machines with parallel processing capabilities. With the use of optical injection between a master FP laser and a slave FP laser under feedback we demonstrate the potential for scaling up the processing power at longitudinal mode granularity and perform real-time processing for signal equalization in 25 Gbaud intensity modulation direct detection optical communication systems. We demonstrate the improvement of classification performance as the number of nodes increases and the capability of simultaneous processing of arbitrary data streams. Extensive numerical simulations show that up to 8 longitudinal modes in typical Fabry-Perot lasers can be leveraged so as to enhance classification performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Recurrent neural networks

A vision-based path planning and following system for a miniature robotic fish

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A vision-based path planning and following system for a mini...

2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019

作者： Lu, Yue Chen, Xingyu Wu, Zhengxing Yan, Yan Yu, Junzhi State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering Science BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781728137261

Most existing path following algorithms for middle- or large-sized underwater vehicles minimize yaw difference of the control object. Breaking the canonical manner, this paper presents a vision-based path planning and following system for miniature robotic fish. As for path planning, the proposed system finds a gird path based on the AStar algorithm and selects a series of target points in the grid path. By connecting these points in order, a curve path can be planned. In terms of path following, the proposed system forgoes to give a specific yaw and only uses a global camera. It obtains coordinates of the robotic fish in real time by KCF tracking algorithm to calculate an approximate motion vector. A PID controller is employed to drive the difference angle between the motion vector and the target vector (the vector from the robotic fish to the target point) to zero. By swimming to target points one by one, the robotic fish can move to the terminus following the planned path. Finally, aquatic experiments are conducted to verify the effectiveness of the vision-based path planning and following system. The results reveal that the developed system can generate a safe and smooth path, and the robotic fish can follow the path with acceptable deviation. © 2018 IEEE.

关键词： Motion planning

Unexpected frequency of horizontal oscillations of magnetic structures in the solar photosphere

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arXiv 2024年

作者： Berretti, M. Stangalini, M. Verth, G. Jafarzadeh, S. Jess, D.B. Berrilli, F. Grant, S.D.T. Duckenfield, T. Fedun, V. University of Trento Via Calepina 14 Trento38122 Italy University of Rome Tor Vergata Department of Physics Via della Ricerca Scientifica 3 Rome00133 Italy ASI Italian Space Agency Via del Politecnico snc Rome00133 Italy Plasma Dynamics Group School of Mathematics and Statistics The University of Sheffield Hicks Building Hounsfield Road SheffieldS3 7RH United Kingdom Max Planck Institute for Solar System Research Justus-von-Liebig-Weg 3 Göttingen37077 Germany Niels Bohr International Academy Niels Bohr Institute Blegdamsvej 17 CopenhagenDK-2100 Denmark Astrophysics Research Centre School of Mathematics and Physics Queen’s University Belfast Northern Ireland BelfastBT7 1NN United Kingdom Department of Physics and Astronomy California State University Northridge NorthridgeCA91330 United States Plasma Dynamics Group Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

It is well known that the dominant frequency of oscillations in the solar photosphere is ≈3 mHz, which is the result of global resonant modes pertaining to the whole stellar structure. However, analyses of the horizontal motions of nearly 1 million photospheric magnetic elements spanning the entirety of solar cycle 24 have revealed an unexpected dominant frequency, ≈5 mHz, a frequency typically synonymous with the chromosphere. Given the distinctly different physical properties of the magnetic elements examined in our statistical sample, when compared to largely quiescent solar plasma where ≈3 mHz frequencies are omnipresent, we argue that the dominant ≈5 mHz frequency is not caused by the buffeting of magnetic elements, but instead is due to the nature of the underlying oscillatory driver itself. This novel result was obtained by exploiting the unmatched spatial and temporal coverage of magnetograms acquired by the Helioseismic and Magnetic Imager (HMI) on board NASA’s Solar Dynamics Observatory (SDO). Our findings provide a timely avenue for future exploration of the magnetic connectivity between sub-photospheric, photospheric, and chromospheric layers of the Sun’s dynamic atmosphere. Copyright © 2024, The Authors. All rights reserved.

关键词： Magnetic structure