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IFAC-PapersOnLine 2017年第1期50卷 5824-5830页

作者： Parrilla L. Mahulea C. Kloetzer M. Aragón Institute of Engineering Research I3A University of Zaragoza María de luna 1 Zaragoza 50018 Spain Department of Automatic Control and Applied Informatics Technical University of Iasi Iasi 700050 Romania

This paper presents the enhancements introduced in the second version of RMTool, an open-source Matlab-based interactive software for teaching mobile robotics in introductory courses. In the first version only navigation problem of one robot has been considered (the robot should avoid obstacles and reach a desired position). In the actual version, the toolbox introduces new algorithms to cope with modeling and path planning of multiple identical robots, where the final states of the robots and the regions visited along trajectories should satisfy Linear Temporal Logic (LTL) or Boolean-based formulas. The paper includes extensive simulation results performed in RMTool, pertained to multi-robot path planning based on an LTL or Boolean team specification. © 2017

关键词： Discrete Event Systems Mobile Robots Software Tool

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Nonlinear Model Predictive control using Lyapunov Functions for Vehicle Lateral Dynamics

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IFAC-PapersOnLine 2016年第3期49卷 135-140页

作者： Rafaila, Razvan C. Caruntu, Constantin F. Livint, Gheorghe Gheorghe Asachi Technical University of Iasi Iasi Romania Department of Electrical Engineering and Applied Informatics United States Department of Automatic Control and Applied Informatics United States

The purpose of this paper is the development of a nonlinear model based predictive control strategy for the autonomous control of the steering system for ground vehicles. The control system is aimed to automatically steer the vehicle along a desired trajectory. The developed strategy uses control Lyapunov functions to guarantee the stability of the closed-loop control system. In order to obtain reliable results, a nonlinear vehicle dynamic model is used in the design phase of the controller. The model incorporates the tire-ground contact nonlinearities and describes with higher accuracy the real vehicle dynamics. The proposed approach is validated using simulation results and it is shown that this approach could provide good performances in practical use. © 2016

关键词： Model predictive control Automobile steering equipment Closed loop control systems Dynamic models Lyapunov functions Nonlinear systems Predictive control systems Steering Autonomous Vehicles Bicycle model Lyapunov stability Parameter optimization Predictive control Steering control

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On designing an automated tool for capacitors removal from waste printed circuits boards

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IOP Conference Series: Materials Science and Engineering 2019年第1期591卷

作者： C Stamate I Doroftei D Chirita A Burlacu 'Gheorghe Asachi' Technical University of Iasi Department of Mechanical Engineering Mechatronics and Robotics Blvd. Mangeron No. 43 700050 Iasi Romania 'Gheorghe Asachi' Technical University of Iasi Department of Automatic Control and Applied Informatics Blvd. Mangeron No. 27 700050 Iasi Romania

The mass electronics sector is one of the most important sources of waste, both in terms of volume and materials content with dangerous effects on the environment. Printed Circuit Boards (PCBs) are the most valuable component embedded into Electrical and Electronic Equipment (EEEs). The current amount of electronic systems is impressive while manual dismantling is a very common and non-efficient solution. On average, waste PCB accounts almost from 3% to 5% of the overall weight of waste electrical and electronic equipment. At this time, in Romania, the implemented solutions for waste PCB reduction are in a research phase, with no existing technological procedures that can be replicated. In the context of the TRADE-IT project we aim to design replicable architectures for waste printed boards reduction. Starting from the largest base plate and continuing to the smallest size, Extended ATX, ATX, Micro ATX, Mini ITX are some of the most used boards in a computer. When choosing a base plate from the ATX and/or microATX range, the shape factor must fit on a universal support bracket. The shape factor identifies the size of the circuit board, the location of the slots, and the location of the display board that comes out on the back of the computer. The shape factor also identifies the location of the holes that are used to mount the base plate in the universal clamp holder. Taking into account that capacitors represent approximately 8.6% of the PCB mass, we aim at designing an automated driven tool for their removal. The design is based on a robotic arm for motion manoeuvring, a programmable screwdriver and a custom-made end tool. In the current phase the proposed design was evaluated on controlled individual tests. The initial results highlight the feasibility of the proposed design while uncovering potential challenges for real-time implementation.

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Multi-Objective Optimization of Feature Selection procedure for EEG signals classification

Multi-Objective Optimization of Feature Selection procedure ...

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E-Health and Bioengineering Conference (EHB)

作者： Corina Cîmpanu Lavinia Ferariu Tiberius Dumitriu Florina Ungureanu Department of Computer Science “Gheorghe Asachi” Technical University Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University Iasi Romania

EEG is one of the biomarkers adequate for memory load assessment. Feature Selection (FS) routines for electroencephalogram (EEG) signals have been extensively studied in the past years. Current research is often based on machine learning algorithms. This paper investigates the impact of a new evolutionary approach to Multi-Objective Optimization (MOO) of FS routine for memory load classification using EEG. The main contributions of this study consist in: i) the analysis of candidate feature vectors regarding the accuracy of classification and parsimony; ii) the development of a multi-objective Genetic Algorithm (GA) with an improved selection of the preferred final solution, able to optimize the accuracy and the parsimony of any associated classifier. The feature vectors are classified using Support Vector Machine (SVM) and Random Forests (RF) classifiers. The suggested algorithms are verified on two benchmark datasets, optimizing feature selection for memory load level recognition using EEG data. The testing scenarios motivate the necessity of MOO for EEG signal feature selection. The superior performance of the proposed method recommends it as a preprocessing phase in EEG complex applications.

关键词： Electroencephalography Optimization Genetic algorithms Support vector machines Erbium Sociology Statistics

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Modeling of vertical handover from LTE to a cognitive network

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AIP Conference Proceedings 2019年第1期2116卷

作者： Elvira R. Zaripova Alexander Yu. Grebeshkov Nika M. Ivanova Кonstantin E. Samouylov 1Department of Applied Probability and Informatics Peoples’ Friendship University of Russia (RUDN University) 6 Miklukho-Maklaya St. Moscow 117198 Russian Federation 2Department of Automatic Telecommunications Povolzhskiy State University of Telecommunications and Informatics 23 Tolstoy Str. Samara 443010 Russian Federation 3Institute of Informatics Problems Federal Research Center “Computer Science and Control” of the RAS 44-2 Vavilov St Moscow119333 Russian Federation

The Vertical handover delay is a key performance index for making a decision about vertical handover (VHO) from the LTE network to the target IEEE 802.22 network with an existing IP-address. The application of the IEEE 802.22 standard for wireless regional area network (WRAN) is actual in low population density areas, or in emergencies, or when using of other standards are impossible. The IEEE 802.22 standard is the first standard of cognitive radio, which has the status of international standard. The IEEE 802.22 standard uses so-called «white spaces» in the television (TV) frequency spectrum from 410 MHz to 862 MHz. The paper compares two switching procedures for vertical handover: with the saving of the IP-address and without saving. We used a multistage queueing system with background traffic for the analysis.

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Simple adaptive control of externally excited synchronous machine 20

Simple adaptive control of externally excited synchronous ma...

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20th International Conference on System Theory, control and Computing, ICSTCC 2016

作者： Mocanu, Razvan Onea, Alexandru Department of Automatic Control and Applied Informatics Technical University Gh. Asachi of Iasi Iasi Romania

ISBN: (纸本)9781509027200

This paper proposes a control strategy for a high power Externally Excited Synchronous Machine (EESM) based on Simple Adaptive control technique. A cascade control scheme is designed in the rotor reference frame. In the current control loop a SAC approach is described, while for the speed control loop a robust controller is proposed. The rotor and stator reference currents are determined based on a Maximum Torque per Ampere (MTPA) and Field Weakening (FW) strategies. Variations of parameters are simulated in order to evaluate the performance of the control method. Numerical simulations are performed in Matlab-Simulink. © 2016 IEEE.

关键词： Robust control

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A methodology for control structure adaptation in presence of varying, unknown sub-system interaction degree

A methodology for control structure adaptation in presence o...

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IEEE International Conference on Emerging Technologies and Factory Automation

作者： Anca MAXIM Dana COPOT Clara IONESCU Robin DE KEYSER Department of Automatic Control and Applied Informatics Blvd. Gheorghe Asachi’ Technical University of Iasi Iasi Romania Ghent University Research group on Dynamical Systems and Control Technologiepark 914 Ghent Belgium

This paper proposes a rationale and methodology for control structure adaptation in presence of varying, unknown sub-system interaction degree. Two elements are introduced: 1) the detection, i.e., the cycle of detecting changing circumstances, planning and deploying responsive modifications and 2) the adaptation of the control architecture to maintain specified performance, fulfilled in absence of model information. The first hand results presented in this work indicate the method works well. Simulation studies support the application potential of the proposed methodology.

关键词： control structure varying interaction degree

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Reference Tracking using a Non-Cooperative Distributed Model Predictive control Algorithm

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IFAC-PapersOnLine 2016年第7期49卷 1079-1084页

作者： Maxim, Anca Ionescu, Clara M. Caruntu, Constantin F. Lazar, Corneliu Keyser, Robin De Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Blvd. Mangeron 27 Iasi700050 Romania Department of Electrical energy Systems and Automation Ghent University Technologiepark 914 GentB9052 Belgium

In this paper, a non-cooperative distributed model predictive control (DMPC) algorithm for tracking constant references is developed and evaluated. As such, an augmented model is employed (i.e. the control loop is embedded with integrators) and the augmented state contains the state increments and the error between the reference and the predicted output. The algorithm is tested in real life experiments on the quadruple tank process with non-minimum phase behaviour. The experimental results show acceptable performance index for the DMPC method when compared with the centralized approach. © 2016

关键词： Model predictive control MIMO systems Predictive control systems Acceptable performance Centralized approaches Distributed Model predictive control Non cooperative Non minimum phase Non minimum phase systems Reference tracking Two agents

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Simulation and visualisation of a laboratory model by support software tools connection 27

Simulation and visualisation of a laboratory model by suppor...

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27th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAAM 2016

作者： Zatopek, Jiri Department of Automatic and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlin Nad Stranemi 4511 Zlin760 05 Czech Republic

ISBN: (纸本)9783902734082

This article introduces the possibilities of the simulation and visualisation of the "Twin-Rotor MIMO System" laboratory model outputs by means of various support software tools. The 3D model of the system, (used for simulation and visualisation), is designed in SolidWorks 3D CAD software. Matlab/Simulink with extension libraries like Simscape and 3D Animation - (formerly Virtual Reality Toolbox), is used for 3D visualisation and simulation. The 3D Animation toolbox is only used for the visualisation of the mathematical and real models. The Simscape library - on the other hand, is used for the validation of the reverse control of the derived mathematical models correctness and for simulation and analysis purposes as a suitable substitution for real models. As a result of this, these supporting software tools streamline the overall suggested controls - from analysis to presentation of the results.

关键词： Simulink

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Dynamic analysis in discrete time delta domain for unstable bicycle system

Dynamic analysis in discrete time delta domain for unstable ...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Cristina Budaciu Laura-Diana Apostol Department of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” Iasi Romania

ISBN: (纸本)9781509027217

This work is inspired from a challenging project conducted with undergraduate students within automatic control and Computer Engineering Faculty of Iasi. A bicycle type system was implemented and analyzed. In order to control this type of system, fast sampling rate is required. The finite precision nature of the existing digital hardware involves the choice of computational operations restricted to a finite number of bits. Even more so, the control algorithms must be implemented on control units with limited word length in the context of fast sampling. On the other hand, the mathematical design approach gives infinite-precision ideal values. The implementation stage is a critical step since the representation in finite precision must be performed as close to the ideal one. The discrete time delta (δ) domain representation is proposed due to its accuracy loss minimization at high sampling frequency comparing to discrete time shift (q) representation counterpart. The advantage of using δ operator is more pronounced as the number of bits used for finite word length implementation is lower. In this paper, a dynamic analysis of a real bicycle system is performed and discrete time δ domain representation is proposed, considering low bit number representation. Hence, δ domain representation allows implementation of different algorithms on cheaper processors without loss of performances.

关键词： Bicycles Mathematical model Quantization (signal) Numerical models Eigenvalues and eigenfunctions Hardware Numerical stability

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