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Stabilization with Zero Location Constraints for Delay-Based Non-collocated Vibration Suppression ⁎

IFAC-PapersOnLine 2021年第18期54卷 121-126页

作者： Haik Silm Wim Michiels Tomáš Vyhlídal Departement of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

A generally applicable design of non-collocated vibration absorption by a delayed resonator is proposed. It is grounded in the direct assignment of imaginary axis zeros of the transfer function between the periodic disturbance force and the target. We show that these transmission zeros are characterized as eigenvalues of a delay differential-algebraic system. Furthermore, a stabilizing local controller is added to the setup in order to widen the range of admissible vibration frequencies. These design requirements are translated into an optimization problem of the spectral abscissa function subjected to zero location constraints. The presented approach and algorithm are validated by a simulation on a three body lumped mass-spring system.

关键词： Vibration control Delayed resonator Transmission zeros Stability Spectral method

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Identifiability issues in estimating the impact of interventions on Covid-19 spread

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IFAC-PapersOnLine 2020年第5期53卷 829-832页

作者： Fredrik Gustafsson Joakim Jaldén Bo Bernhardsson Kristian Soltesz Linköping University Div. of Automatic Control Linköping Sweden. KTH Royal Institute of Technology Div. Division of Information Science and Engineering Stockholm Sweden. Lund University Dept. Automatic Control Lund Sweden.

The Covid-19 pandemic has spawned numerous dynamic modeling attempts aimed at estimation, prediction, and ultimately control. The predictive power of these attempts has varied, and there remains a lack of consensus regarding the mechanisms of virus spread and the effectiveness of various non-pharmaceutical interventions that have been enforced regionally as well as nationally. Setting out in data available in the spring of 2020, and with a now-famous model by Imperial College researchers as example, we employ an information-theoretical approach to shed light on why the predictive power of early modeling approaches have remained disappointingly poor.

关键词： Bayesian methods Covid-19 Epidemiology Identifiability Sensitivity

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Data-driven leak localization in water distribution networks via dictionary learning and graph-based interpolation

arXiv

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arXiv 2021年

作者： Irofti, Paul Romero-Ben, Luis Stoican, Florin Puig, Vicenç Department of Computer Science Faculty of Mathematics and Computer Science University of Bucharest Romania Institut de Robòtica i Informàtica Industrial Universitat Politècnica de Catalunya Barcelona Spain Politehnica University of Bucharest Dept. of Automation Control and Systems Engineering Romania

In this paper, we propose a data-driven leak localization method for water distribution networks (WDNs) which combines two complementary approaches: graph-based interpolation and dictionary classification. The former estimates the complete WDN hydraulic state (i.e., hydraulic heads) from real measurements at certain nodes and the network graph. Then, these actual measurements, together with a subset of valuable estimated states, are used to feed and train the dictionary learning scheme. Thus, the meshing of these two methods is explored, showing that its performance is superior to either approach alone, even deriving different mechanisms to increase its resilience to classical problems (e.g., dimensionality, interpolation errors, etc.). The approach is validated using the L-TOWN benchmark proposed at BattLeDIM2020. Copyright © 2021, The Authors. All rights reserved.

关键词： Water distribution systems

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On the Role of Models in Learning control: Actor-Critic Iterative Learning control

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IFAC-PapersOnLine 2020年第2期53卷 1450-1455页

作者： Maurice Poot Jim Portegies Tom Oomen Control Systems Technology Group Dept. of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands CASA Dept. of Mathematics and Computer Science Eindhoven University of Technology Eindhoven The Netherlands

Learning from data of past tasks can substantially improve the accuracy of mechatronic systems. Often, for fast and safe learning a model of the system is required. The aim of this paper is to develop a model-free approach for fast and safe learning for mechatronic systems. The developed actor-critic iterative learning control (ACILC) framework uses a feedforward parameterization with basis functions. These basis functions encode implicit model knowledge and the actor-critic algorithm learns the feedforward parameters without explicitly using a model. Experimental results on a printer setup demonstrate that the developed ACILC framework is capable of achieving the same feedforward signal as preexisting model-based methods without using explicit model knowledge.

关键词： Feedforward control iterative learning control learning algorithms reinforcement learning Markov decision problems function-approximation model-free control model-based control

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An Efficient GPU-based Implementation for Noise Robust Sound Source Localization

arXiv

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arXiv 2025年

作者： Lin, Zirui Takigahira, Masayuki Terakado, Naoya Gulzar, Haris Busto, Monikka Roslianna Eda, Takeharu Itoyama, Katsutoshi Nakadai, Kazuhiro Amano, Hideharu Dept. of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Honda Research Institute Japan Co. Ltd. Saitama Japan NTT Software Innovation Center Tokyo Japan Dept. of Information and Computer Science Keio University Kanagawa Japan

Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their wide applicability, processing multi-channel audio signals from microphone arrays in SSL involves computationally intensive matrix operations, which can hinder efficient deployment on Central Processing Units (CPUs), particularly in embedded systems with limited CPU resources. This paper introduces a GPU-based implementation of SSL for robot audition, utilizing the Generalized Singular Value Decomposition-based Multiple Signal Classification (GSVD-MUSIC), a noise-robust algorithm, within the HARK platform, an open-source software suite. For a 60-channel microphone array, the proposed implementation achieves significant performance improvements. On the Jetson AGX Orin, an embedded device powered by an NVIDIA GPU and ARM®Cortex™-A78AE v8.2 64-bit CPUs, we observe speedups of 4645.1× for GSVD calculations and 8.8× for the SSL module, while speedups of 2223.4× for GSVD calculation and 8.95× for the entire SSL module on a server configured with an NVIDIA A100 GPU and AMD EPYC™ 7352 CPUs, making real-time processing feasible for large-scale microphone arrays and providing ample capacity for real-time processing of potential subsequent machine learning or deep learning tasks. © 2025, CC BY-NC-ND.

关键词： Acoustic generators

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Client-server Mobile System for Diagnosis of Asynchronous Motors

Client-server Mobile System for Diagnosis of Asynchronous Mo...

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Advanced Technology (KhPIWeek), IEEE KhPI Week on

作者： Olha Chorna Petro Kurliak Victor Busher Oleksii Chornyi Valerii Tytiuk Iurii Zachepa Institute of Education and Science in Electrical Engineering and Information Technologies Kremenchuk Mykhailo Ostrogradskyi National University Kremenchuk Ukraine Department of Electrical power engineering electrical engineering and electromechanics Ivano-Frankivsk National Technical University of Oil and Gas Ivano-Frankivsk Ukraine Dept. of Electrical Engineering and Electronics National University “Odessa Maritime Academy” Odessa Ukraine Department of Electromechanics Kryvyi Rih National University Kryvyi Rih Ukraine Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine

This paper presents client-server mobile system for diagnosis of asynchronous motors. The system is created as a mobile application for smartphones and tablets. The system provides processing of the measured values of the currents and voltages of the stator phases of the asynchronous motor. According to the processing results, the results of diagnostics and forecasting of the current state of asynchronous motors are calculated. The software runs on the Android OS. The main purpose is to predict the current state of AD, which has a parametric electromagnetic asymmetry of the stator phases.

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Towards the Coarsest Quantized controller under Denial-of-Service Attacks

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IFAC-PapersOnLine 2020年第2期53卷 3496-3501页

作者： Dorus van Dinther Shuai Feng Hideaki Ishii W.P.M.H. (Maurice) Heemels Control Systems Technology group Dept. of Mechanical Eng. Eindhoven University of Technology Eindhoven 5600 MB The Netherlands Dept. of Computer Science Tokyo Institute of Technology Yokohama 226-8502 Japan

In this paper, we consider networked control systems under Denial-of-Service (DoS) attacks. The control objective is to synthesize a quantized controller in which the quantizer is as coarse as possible for a networked control system subject to DoS attacks, while still guaranteeing (quadratic) stability. Our main result will explicitly show the trade-offs between system robustness against DoS and quantizer coarseness. A simulation example will demonstrate the strengths of the new method.

关键词： Denial-of-Service attacks secure networked control systems control estimation with data loss control under communication constraints

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Improving P300 Speller performance by means of optimization and machine learning

arXiv

引用

arXiv 2020年

作者： Bianchi, Luigi Liti, Chiara Liuzzi, Giampaolo Piccialli, Veronica Salvatore, Cecilia Dept. of Civil Engineering and Computer Science University of Rome Tor Vergata Department of Computer Control and Management Engineering Sapienza University of Rome

Brain-computer Interfaces (BCIs) are systems allowing people to interact with the environment bypassing the natural neuromuscular and hormonal outputs of the peripheral nervous system (PNS). These interfaces record a user’s brain activity and translate it into control commands for external devices, thus providing the PNS with additional artificial outputs. In this framework, the BCIs based on the P300 Event-Related Potentials (ERP), which represent the electrical responses recorded from the brain after specific events or stimuli, have proven to be particularly successful and robust. The presence or the absence of a P300 evoked potential within the EEG features is determined through a classification algorithm. Linear classifiers such as stepwise linear discriminant analysis (SWLDA) and support vector machine (SVM) are the most used discriminant algorithms for ERPs’ classification. Due to the low signal-to-noise ratio of the EEG signals, multiple stimulation sequences (a.k.a. iterations) are carried out and then averaged before the signals being classified. However, while augmenting the number of iterations improves the Signal-to-Noise Ratio (SNR), it also slows down the process. In the early studies, the number of iterations was fixed (no stopping), but recently, several early stopping strategies have been proposed in the literature to dynamically interrupt the stimulation sequence when a certain criterion is met to enhance the communication rate. In. Copyright © 2020, The Authors. All rights reserved.

关键词： Brain computer interface

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An early prediction on mild cognitive impairment using point-to-point reaching task in a virtual reality 8

An early prediction on mild cognitive impairment using point...

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8th IEEE Global Conference on Consumer Electronics, GCCE 2019

作者： Shin, Dongryun Jeong, Chanyoung Hong, Soonchan Choi, Sieun Kim, Jihun Kim, Jaehyo Handong University Dept. Mechanical and Control Engineering Pohang Korea Republic of Handong University Dept. Computer Science and Electrical Engineering Pohang Korea Republic of

ISBN: (纸本)9781728135755

In this study, MMSE-K and a PTP reaching task in a VR space were conducted on groups of university students and senior citizens to find out the relationship between cognitive and motor performance indices. During controller-visible task, while seniors with relatively high MMSE-K scores (above 24) have shown no statistical difference with university students in terms of final position errors, seniors with low survey scores have shown significantly greater errors. Therefore, we observed cognitive functions are closely related with motor functions and spatial perception, so we expect that VR PTP reaching task would help early predictions on mild cognitive impairment. © 2019 IEEE.

关键词： Virtual reality

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Multivariable Regression Model to Estimate Tidal Volume for Different Respiratory Patterns

Multivariable Regression Model to Estimate Tidal Volume for ...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Daniel Romero Pérez Jordi Solà Soler Leon Balchin Arantxa Mas Serra Manuel Lujan Torné Melinda R. Popoviciu Koborzan Beatriz F. Giraldo Automatic Control Dept. (ESAII) the Barcelona East School of Engineering (EEBE) Universitat Politècnica de Catalunya (UPC) Institute for Bioengineering of Catalonia (IBEC) – The Barcelona Institute of Science and Technology and CIBER de Bioingeniería Biomateriales y Nanomedicina (CIBER-BBN) Barcelona Spain ESAII Universitat Politècnica de Catalunya (UPC) Institute for Bioengineering of Catalonia (IBEC) Intensive Medicine Service Moisès Broggi Hospital Sant Joan d’Espi Barcelona Spain Pneumology Service Parc Tauli University Hospital Universitat Autònoma de Barcelona

Respiratory patterns present great variability, both in healthy subjects and in patients with different diseases and forms of nasal, oral, superficial or deep breathing. The analysis of this variability depends, among others, on the device used to record the signals that describe these patterns. In this study, we propose multivariable regression models to estimate tidal volume (V T ) considering different breathing patterns. Twenty-three healthy volunteers underwent continuous multisensor recordings considering different modes of breathing. Respiratory flow and volume signals were recorded with a pneumotachograph and thoracic and abdominal respiratory inductive plethysmographic bands. Several respiratory parameters were extracted from the volume signals, such as inspiratory and expiratory areas (Area ins , Area exp ), maximum volume relative to the cycle start and end (VT ins , VT exp ), inspiratory and expiratory time (T ins , T exp ), cycle duration (T tot ), and normalized parameters of clinical interest. The parameters with the greatest individual predictive power were combined using multivariable models to estimate V T . Their performance were quantified in terms of determination coefficient (R 2 ), relative error (E R ) and interquartile range (IQR). Using only three parameters, the results obtained for the thoracic band (VT exp , T tot , Area exp ) were better than those obtained from the abdominal band (VT exp , T ins , Area ins ) with R 2 = 0.94 (IQR: 0.07); E R = 6.99 (IQR: 6.12) vs R 2 = 0.91 (IQR: 0.09), E R = 8.70 (IQR: 4.62). Overall performance increased to R 2 = 0.97 (IQR: 0.02) and E R = 4.60 (IQR: 3.68) when parameters from the different bands were combined, further improving when was applied to segments with different inspiration–expiration patterns. In particular, the nose-nose E R = 1.39 (IQR: 0.73), nose-mouth E R = 2.11 (IQR: 1.23) and mouth-mouth E R = 2.29 (IQR: 1.44) patterns showed the best results compared to those obtained for b

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