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A PID control Algorithm for Path Tracking of a Nonholonomic Car-Like Robot

A PID Control Algorithm for Path Tracking of a Nonholonomic ...

引用

IEEE International Symposium on Consumer Electronics (ISCE)

作者： Indrazno Siradjuddin Dimas Adi Prayoga Sapto Wibowo Yan Watequlis Syaifudin Rendi Pambudi Wicaksono Mas Nurul Achmadiah Dept. of Electrical Engineering State Polytechnic of Malang Malang Indonesia Dept. of Information Technology State Polytechnic of Malang Malang Indonesia Dept. Of Computer Control Engineering State Polytechnic of Madiun Madiun Indonesia

ISBN: (数字)9798350365191

ISBN: (纸本)9798350365207

A car-like robot with an Ackermann steering system is a type of nonholonomic which is characterised by a set of first-order differential constraints on its configuration variables, which are not integrable. This distinctive characteristic gives rise to complex issues in the construction of feedback controllers. This research proposes reactive control using a feedback controller using PID algorithm for a car-like robot navigation. The proposed method controls the steering angle of the car-like robot to follow the prescribed path with a constant longitudinal robot velocity. The open-loop car-like dynamical system has been formulated in the form of state-space model. Two PID controllers in parallel computed the lateral position error and the yaw angle error. The summation of the two outputs from the PID controllers was inputted into the state-space model. The PID controller parameters were selected based on trial and error. The simulation results confirm the effectiveness of the proposed control algorithm.

关键词： PI control Navigation Simulation Heuristic algorithms Steering systems State-space methods PD control Adaptive control Dynamical systems Robots

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Sound Noise Monitoring using Wireless Sensor Networks in Annaba City 11

Sound Noise Monitoring using Wireless Sensor Networks in Ann...

引用

11th International Conference on Information Technology, ICIT 2023

作者： Fezari, Mohamed Dahoud, Ali Al Arif, Mohamed Al-Dahoud, Ahmad Al-Mimi, Hani M. Badji Mokhtar Annaba University Laboratory of Automatic and Signals Annaba Faculty of Engineering Annaba Algeria Al-Zaytoonah University of Jordan Faculty of IT Dept. of Computer Scinece Amman Jordan Al-Zaytoonah University of Jordan Faculty of Architecture and Design Amman Jordan

ISBN: (纸本)9798350320060

The aim of this work is to design a sound logger system for environmental monitoring using wireless sensors network WSN. The proposed solution is to place nodes in a fixed location in the city center of Annaba. These devices collect noise levels, process the information then transmit a code containing node position, sound level, and other data concerning the environment. A central unit will process the collected information from different nodes again then a GUI program will represent the data on a map concerning the selected area of Annaba city. The improvement is done on the choice of quality/price sensors;on designing an easy-to-understand and monitor GUI. © 2023 IEEE.

关键词： Microcontrollers

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IoT Based Framework for Monitoring and controlling Movable Harbor Cranes

IoT Based Framework for Monitoring and Controlling Movable H...

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2021 International Mobile, Intelligent, and Ubiquitous Computing Conference, MIUCC 2021

作者： Awad, A.H. Saraya, M.S. Elksasy, M.S.M. Ali-Eldin, Amr M. T. Mansoura University Faculty of Engineering Computer Engineering and Control System Dept. Mansoura Egypt

ISBN: (纸本)9781665412438

The Internet of Things refers to the type of network that connects anything to the Internet on the basis of the protocols stipulated by the information sensing equipment for the exchange of information and communication in order to achieve smart recognition, positioning, tracing, monitoring and administration. Movable harbor crane (MHC) is a major part of logistics services. Logistics is the management of the flow of goods between the point of origin and the point of consumption in order to meet the requirements of customers or corporations. MHC is mainly used for the loading and unloading of ships. This paper presents recommendations and practices to be used in the future of the smart industry internet (IoSI) and explores the different applications of smart sensor networks in the movable harbor crane. The main objective of the current paper is to develop a conceptual framework for monitoring and controlling harbor movable crane using a cloud on the IoT-PLC control system. Experimental results show that the proposed system is applicable and effective. © 2021 IEEE.

关键词： Internet of things

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Contagion Propagation with Rule-Based Reasoning and Decentralized control in an Agent-Based Susceptible-Infected-Recovered-Susceptible Infodemic Model 8

Contagion Propagation with Rule-Based Reasoning and Decentra...

引用

8th International Conference on Big Data, Knowledge and control Systems engineering, BdKCSE 2023

作者： Berceanu, Cristian Arshad, Nadia Patrascu, Monica University Politehnica of Bucharest Complex Systems Laboratory Dept. of Automatic Control and Systems Engineering Bucharest Romania University of Bergen Section for Epidemiology and Medical Statistics Dept. of Global Public Health and Primary Care Bergen Norway University Politehnica of Bucharest Complex Systems Laboratory Romania University of Bergen Centre for Elderly and Nursing Home Medicine Dept. of Global Public Health and Primary Care Bergen Norway

ISBN: (纸本)9798350313246

In recent years, and especially during the on-going pandemic, the interest in investigating the dynamics of infodemics has increased to unprecedented levels. In this study we propose an agent-based model for the spread of misinformation, disinformation, and other similar information. The model is based on the susceptible-infected-recovered-susceptible epidemic interpretation. We introduce a rule-based reasoning module to model individual bias in the perception of information based on the psychology concept of illusion of knowledge. We integrate this module into a deliberative-reactive agent controller structure and a decentralized control scheme for the multi-agent system. Results show significant differences between the outputs of the proposed model and the classical version, impressing on the effects of considering local agent individuality when modeling human psycho-social interactions. © 2023 IEEE.

关键词： Multi agent systems

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Forecasting Breakdowns of Electric Motors of a Sugar Factory Using Machine Learning Methods 4

Forecasting Breakdowns of Electric Motors of a Sugar Factory...

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4th IEEE KhPI Week on Advanced Technology, KhPI Week 2023

作者： Zaiets, Nataliia Vlasenko, Lidiia Lutska, Nataliia Zhyltsov, Andrii Dept. of Automation and Robotic Systems National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine Dept. of Software Engineering and Cyber Security State University of Trade and Economics Kyiv Ukraine Dept. of Automation and Computer Technologies of Control Systems National University of Food Technologies Kyiv Ukraine Dept. of Electromagnetic Systems The Institute of Electrodynamics The National Academy of Sciences of Ukraine Kyiv Ukraine

ISBN: (纸本)9798350395532

The paper demonstrates the process of developing mathematical models for identifying breakdowns of electric motors using machine learning methods. The authors have developed three mathematical models for identifying breakdowns of electric drives with a power of 55 kW, 1500 rpm on the example of sugar production: model for quadratic discriminant analysis;binary classification decision tree;feedforward neural network model. The best structures and parameters of the models were determined by machine learning methods. The performance of the models on the training and test sets was more than 96% by F-score. It was proposed to use all three models independently for diagnosing breakdowns of electric drives, while the decision maker makes the final decision on the replacement or repair of electrical equipment. This approach is justified and effective because of the diversity of models. The developed models, except for assessing the state of the engine, can also be used for simulation modelling, forecasting, and serve as information support for process operators in organizing equipment maintenance. The availability of real-time information about the state of equipment in production will allow timely repair or replacement of equipment, thereby reducing the risks of stopping production and increasing the resource efficiency of technological processes. © 2023 IEEE.

关键词： Decision trees

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Home Care Assistance Solution based on a Software Multi-Agents System

Home Care Assistance Solution based on a Software Multi-Agen...

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International Conference on control Systems and computer Science (CSCS)

作者： Mohammad Rasras Iuliana Marin Şerban Radu Doctoral School of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest ROMANIA Dept. of Engineering in Foreign Languages University POLITEHNICA of Bucharest Bucharest ROMANIA Dept. of Computer Science University POLITEHNICA of Bucharest Bucharest ROMANIA

A smart home allows automated technology to control systems and appliances to assist daily life activities. In the current work, a prototype of a designed smart home health-aware system is presented. Three predefined ruled agents have been used to gather data, communicate between themselves, interpret the data based on several machine learning algorithms to predict abnormality for cardiac conditions. The paper also compares results obtained by running five machine learning algorithms. The agents function in accordance with predefined dataset describing residents ’ age, gender, height, weight, systolic and diastolic blood pressure, cholesterol, and glucose levels, smoking and alcohol consumption habits, and lastly, physical activity. Our plan is to simplify ubiquitous health monitoring for smart home’s residents. The proposed solution aims to monitor parametric measurements to alert health specialists in case of emergencies.

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From Model Predictive control to Data Driven control to Meet High Efficiency Objective of a PMSM Drive System

From Model Predictive Control to Data Driven Control to Meet...

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International Conference on Applied and Theoretical Electricity (ICATE)

作者： Madalin Costin Ion Bivol Dept. of Electrical Engineering and Energy Conversion Systems “Dunarea de Jos” University of Galati Galati Romania Dept. of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania

ISBN: (数字)9798350388107

ISBN: (纸本)9798350388114

In this paper is proposed a Data Driven control (DDC) law of a Permanent Magnet Synchronous Machine (PMSM) drive as an alternative to the Model Predictive control (MPC) strategy. The DDC method is designed for the inner control structure of the PMSM drive, the outer speed loop being employed by a classical linear PI controller. Thus, the DDC is based on build up a database of the relevant quantities as electromagnetic torque, speed, voltages and current, all obtained in steady - state regime with MPC strategy, being selected for the highest efficiency values for a given pair of speed and torque. The learning process of the DDC strategy by a mutidimesional interpolation method leads to obtain high performances in both steady - state and dynamic regimes, without any additional optimal current reference command. A comparative analysis done in Matlab simulation environment of the results obtained by both MPC and DDC control laws shows the effectiveness of the last strategies. The DDC method provide a robust optimal control under energetic constraints, being more suitable then the classical MPC law that can not offers reliable results for a large area of conditions in practice.

关键词： Permanent magnet machines Interpolation Torque Stator windings Prediction algorithms Permanent magnets Temperature control Steady-state Reliability Predictive control

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High-Speed CBJT Operational Amplifier with Dual-Input-Stage Subclass Input Stage

High-Speed CBJT Operational Amplifier with Dual-Input-Stage ...

引用

Informatics, Electronics, and Radio engineering (PIERE), International Conference Problems of

作者： Dmitry V. Kuznetsov Alexey E. Titov Marsel A. Sergeenko Nikolay N. Prokopenko Dept. of Scientific Research dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia Dept. of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

A significant disadvantage of classical operational amplifiers with two complementary differential stages in parallel (on the inputs) is that here the slew rate has small values (50–80 V/μs). This is due to the non-linear mode of operation of the input differential stage. In this paper, a new circuit technique for slew rate enhancement in CBJT operational amplifiers of this subclass is discussed. Due to the use of special circuitry of the input differential stage, the process of recharging of the integrating correction capacitance in non-inverting and inverting operational amplifier inclusions is forced. This ultimately improves the performance of the operational amplifier in the large-signal mode. The purpose and originality of this paper is to investigate a new circuit solution of operational amplifier, in which by introducing differentiating transient correction circuits, slew rate is improved by two orders of magnitude. This does not require nanometer-scale technological processes, and the operational amplifier transistors can operate with emitter currents on the order of 100 μA. It is possible to build micro-power operational amplifier on the basis of the proposed circuit design technique, including CBJT and CCMOS transistors. computer simulations show that for micron CBJT silicon technological processes, the SR of the proposed operational amplifier in non-inverting inclusion (at 100% feedback) increases from 80 to 10000 V/μs, i.e., more than two orders of magnitude.

关键词： Operational amplifiers Micrometers Patents Voltage Silicon Circuit synthesis Transistors Transient analysis Informatics Parasitic capacitance

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Method for Improving the Performance of Operational Amplifier with HA2700 Microchip Architecture

Method for Improving the Performance of Operational Amplifie...

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IEEE International Conference on Electrical engineering and Photonics (EExPolytech)

作者： Dmitry V. Kuznetsov Alexey E. Titov Marsel A. Sergeenko Nikolay N. Prokopenko Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia Dept. of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798350388879

ISBN: (纸本)9798350388886

A circuit technique for increasing the maximum output voltage slew rate (SR) of an integrated operational amplifier (OpAmp) with the HA2700 microchip architecture based on the modernization of the input differential stage (DS) is considered. An OpAmp architecture is proposed in which the influence of parasitic capacitances of DS reference current sources and capacitances on the transistor substrate on the SR is minimized. This allows the use of micron technological processes in the fabrication of CBJT OpAmps, which are widely used to improve the radiation resistance of microchips. computer simulation of the proposed OpAmp is performed, which shows that the SR of the new circuit differs from the SR of the well-known serial OpAmp by more than 40 times and reaches values of about 800 V/µs at the emitter current of the input transistors of the DC in the range of up to 80-100 μA. The developed OpAmp is recommended for practical use in discrete-to-analog filters on switched capacitors.

关键词： Operational amplifiers Integrated circuits Micrometers Filters Capacitors computer architecture Voltage Capacitance Transistors Switching circuits

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Cooperative adaptive cruise control with string stability based on DMPC for vehicle platooning

Cooperative adaptive cruise control with string stability ba...

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

作者： Ovidiu Pauca Mircea Lazar Constantin F. Caruntu Dept. of Automatic Control and Applied Informatics ”Gheorghe Asachi” Technical University of Iasi Iasi Romania Dept. of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands

The cooperative adaptive cruise control (CACC) functionality received significant interest in the state-of-the-art due to its advantages in optimizing traffic flow. The model-based predictive control (MPC) strategy was used in various studies due to its advantages in improving the performance of the vehicles (reducing the travel costs, improving the quality of the travel by reducing sudden accelerations, and ensuring the stability of the platoons). Moreover, MPC solutions are built to maximize the advantages of vehicular communication by sharing predictions on states of vehicles (e.g., velocities, accelerations, trajectories). In addition, MPC is also used to compensate for the disturbances added by communications. Thus, this paper proposes a CACC strategy for a vehicle platoon. The solution is based on the distributed MPC (DMPC) strategy, and the controller is proposed in discrete time, ensuring predecessor-follower string stability for the whole platoon.

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