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arXiv 2024年

作者： Liang, Wenyu Baldivieso, Pablo R. Drummond, Ross Shin, Donghwan Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom Dept. of Computer Science University of Sheffield Sheffield United Kingdom

Typical autonomous driving systems are a combination of machine learning algorithms (often involving neural networks) and classical feedback controllers. Whilst significant progress has been made in recent years on the neural network side of these systems, only limited progress has been made on the feedback controller side. Often, the feedback control gains are simply passed from paper to paper with little re-tuning taking place, even though the changes to the neural networks can alter the vehicle’s closed loop dynamics. The aim of this paper is to highlight the limitations of this approach;it is shown that retuning the feedback controller can be a simple way to improve autonomous driving performance. To demonstrate this, the PID gains of the longitudinal controller in the TCP autonomous vehicle algorithm are tuned. This causes the driving score in CARLA to increase from 73.21 to 77.38, with the results averaged over 16 driving scenarios. Moreover, it was observed that the performance benefits were most apparent during challenging driving scenarios, such as during rain or night time, as the tuned controller led to a more assertive driving style. These results demonstrate the value of developing both the neural network and feedback control policies of autonomous driving systems simultaneously, as this can be a simple and methodical way to improve autonomous driving system performance and robustness. © 2024, CC BY.

关键词： Feedback control

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Detection of Electric Motor Damage Through Analysis of Sound Signals Using Bayesian Neural Networks

Detection of Electric Motor Damage Through Analysis of Sound...

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Annual Conference of Industrial Electronics Society

作者： Waldemar Bauer Marta Zagórowska Jerzy Baranowski Dept. of Automatic Control & Robotics AGH University of Krakow Krakow Poland Dept. of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

Fault monitoring and diagnostics are important to ensure reliability of electric motors. Efficient algorithms for fault detection improve reliability, yet development of cost-effective and reliable classifiers for diagnostics of equipment is challenging, in particular due to unavailability of well-balanced datasets, with signals from properly functioning equipment and those from faulty equipment. Thus, we propose to use a Bayesian neural network to detect and classify faults in electric motors, given its efficacy with imbalanced training data. The performance of the proposed network is demonstrated on real life signals, and a robustness analysis of the proposed solution is provided.

关键词： Accuracy Fault detection Neural networks Training data Robustness Bayes methods Wind turbines Signal representation Time-domain analysis Electric motors

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Detection of Electric Motor Damage Through Analysis of Sound Signals Using Bayesian Neural Networks

arXiv

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arXiv 2024年

作者： Bauer, Waldemar Zagórowska, Marta Baranowski, Jerzy Dept. of Automatic Control & Robotics AGH University of Krakow Krakow Poland Dept. of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

关键词： Electric motors

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Reference Tracking for Constrained Uncertain Linear systems by Stochastic MPC

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IFAC-PapersOnLine 2023年第2期56卷 10421-10427页

作者： Jannik Hahn Olaf Stursberg Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel 34121 Kassel Germany

This paper addresses model predictive control of a class of linear systems subject to additive stochastic disturbances and constraints. The underlying stochastic optimal control problem combines inverse cumulative distribution functions with ellipsoid-in-polyhedron formulations to reduce the conservatism induced by constraint satisfaction. By use of terminal constraints and time-varying weights within the cost functional, the presented control scheme satisfies criteria for mean-square stability and can be adapted to reference-tracking problems for arbitrary reference signals.

关键词： Probabilistic Constraints Mean-Square Stability Predictive control Stochastic control Uncertain systems

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A COMPARATIVE STUDY OF SUPPORT VECTOR MACHINE AND RISK DETERMINISTIC APPROACH ON A PHOTOVOLTAIC system

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2024年第3期86卷 67-80页

作者： Colbu, Ștefania-Cristiana Băncilă, Daniel-Marian Petrescuniță, Alina Popescu, Dumitru Olteanu, Severus-Constantin Dept. of Automatic Control and Systems Engineering National University of Science and Technology POLITEHNICA Bucharest Romania Dept. of Mathematical Methods and Models National University of Science and Technology POLITEHNICA Bucharest Romania

The present paper introduces a comparative analysis of the management of a stochastic optimization problem using both a risk deterministic approach and a support vector machine strategy. This optimization problem is formulated in consideration of the influence produced by environmental factors, such as irradiance and temperature, on a photovoltaic panel. The problem will be solved by applying both methods to determine the Maximum Power Point (MPP), thereby to enhance the power generation efficiency. The primary objective is to conduct an analysis comparing the two approaches, with the aim of recommending the most suitable approach for Maximum Power Point Tracking (MPPT). © 2024, Politechnica University of Bucharest. All rights reserved.

关键词： machine learning photovoltaics risk optimization support vector machine for regression

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Adaptive control Using a Quaternion Wavelet Neural Network

Adaptive Control Using a Quaternion Wavelet Neural Network

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International Workshop on Robot Motion and control (RoMoCo)

作者： Gerardo Martínez-Terán Eduardo Bayro-Corrochano Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico Institute of Automatic Control and Robotics Poznan University of Technology

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.

关键词： Uncertainty Quaternions Neural networks Surgery Robustness Haptic interfaces Topology

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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Challenges and Solutions for Practical Implementation of Process Bus Based Substation Protection and Automation system

Challenges and Solutions for Practical Implementation of Pro...

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2023 IEEE Asia Meeting on Environment and Electrical engineering, EEE-AM 2023

作者： Soetomo, Kevin Hamamatsu, Koichi Thuan, Dinh Huu Linh, Nguyen Manh Quang, Lai Vu Okai, Makoto Power Grid System Solutions Toshiba Energy Systems & Solutions Corporation Engineering Dept. Kawasaki Japan Technical Department Ho Chi Minh City Viet Nam Ltd. Engineering Dept. Hanoi Viet Nam Ltd. Sales & Engineering Division Hanoi Viet Nam Toshiba Energy Systems & Solutions Corporation Protection and Control Dept. Fuchu Japan

ISBN: (纸本)9798350381061

The protection and control system in substations has undergone significant evolution since the era of hardwired systems. In recent years, the increasing trend of digital transformation (DX) across various fields, including protection and automation systems, has led to the promotion of IEC 61850 process bus-based digital substations. However, recent analysis and evaluation have revealed numerous challenges in various aspects, such as technical issues, system performance, test methods, maintenance, and economic considerations. Moreover, many of these challenges lie outside the scope of international standards like IEC 61850 and IEC 61869. As a result, the worldwide implementation of digital substations has been hindered. This paper aims to describe the issues encountered during the implementation of process bus technology and propose solutions that focus on optimizing system configuration based on our experience in implementing digital substation projects and developing MU and IED. Addressing these issues is crucial to fully unlocking the potential of digital substations. One of the most promising advantages is the availability of digital data collected from substation equipment. By utilizing this data, overall power system operational efficiency can be enhanced, and equipment management can be optimized. Predictive maintenance can be implemented, enabling the early detection of potential equipment failures, minimizing unplanned outages, and reducing the need for emergency repairs, which contribute to unnecessary carbon emissions and equipment downtime. Ultimately, digital substations empower end-users to reduce greenhouse gas emissions, improve energy efficiency, and seamlessly integrate power systems, thereby supporting the carbon-neutral initiative and facilitating the transition towards a sustainable energy future. © 2023 IEEE.

关键词： Energy efficiency

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PI Passivity-based control of a Stand-alone Three-phase Current Source Inverter ⁎

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IFAC-PapersOnLine 2024年第13期58卷 362-367页

作者： Pau Boira-Pujol Romeo Ortega Arnau Dória-Cerezo Robert Griñó Institute of Industrial and Control Engineering Universitat Politècnica de Catalunya 08028 Barcelona Spain Departament of Electrical Engineering ITAM Ciudad de México Mexico Dept. of Electrical Engineering and Inst. of Industrial and Control Engineering Universitat Politècnica de Catalunya 08028 Barcelona Spain Dept. of Automatic Control and Inst. of Industrial and Control Engineering Universitat Politècnica de Catalunya 08028 Barcelona Spain

This paper presents the design of a Proportional-Integral Passivity-based controller (PI-PBC) for a current source inverter feeding a resistive load. Thanks to the definition of a new passive output, the closed-loop system is shown to be globally asymptotically stable. This result solves the internal stability problem reported for these power converters. To robustify the control algorithm, the paper also includes the design of a parameter estimation scheme for the parasitic resistances and the load conductance. Numerical simulations are carried out to validate the control algorithm. The simulation stage compares the behaviour using the averaged model of the power converter and a more realistic switching model, including the three-phase implementation.

关键词： Current source inverter Passivity-based control Proportional-Integral controllers parameter estimation

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Sallen-Key Dual Channel Low-Pass Filter with Tunable Cutoff Frequency

Sallen-Key Dual Channel Low-Pass Filter with Tunable Cutoff ...

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2022 IEEE International Multi-Conference on engineering, Computer and Information Sciences, SIBIRCON 2022

作者： Denisenko, Darya Yu. Prokopenko, Nikolay N. Butyrlagin, Nikolay V. Dept. of Information Systems and Radio Engineering DTSU Rostov-on-Don Russia Dept. of Automatic Control Systems SFU Rostov-on-Don Russia Dept. of Information Systems and Radio Engineering DTSU Institute for Design Problems in Microelectronics of RAS Zelenograd Rostov-on-Don Russia

ISBN: (纸本)9781665464802

A two-channel Sallen-Key low-pass filter on three non-inverting amplifiers is studied, which has the property of unrelated digital set of the upper cut-off frequency at constant index of the transmission coefficient in the bandwidth range. The restructuring of the upper cutoff frequency and the attenuation of the pole is carried out by modify the resistors' resistance of one in the upper channel of the low-pass filter. It is shown that a non-inverting amplifier in the lower channel of the low-pass filter can have a small value of the systematic zero bias voltage component, what is important for the operation of the low-pass filter at the input of analog-to-digital converters. It has been established that due to the construction of a low-pass filter according to a two-channel architecture, the requirement for the magnitude of the output static voltage of the upper channel is removed. The base equations of the new low-pass filter scheme are given and the summary modeling in the Micro-Cap was pictured. © 2022 IEEE.

关键词： Cutoff frequency

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