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arXiv 2023年

作者： Berto, Letícia Costa, Paula Simões, Alexandre Gudwin, Ricardo Colombini, Esther Laboratory of Robotics and Cognitive Systems Institute of Computing University of Campinas Brazil Dept. of Computer Engineering and Industrial Automation School of Electrical and Computer Engineering University of Campinas Brazil Dept. of Control and Automation Engineering Institute of Science and Technology São Paulo State University Sorocaba Brazil University of Campinas Brazil

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action’s perceived pleasure, which is susceptible to changes over time. This makes decision-making more complex, requiring learning to balance needs and preferences according to the context. To understand how this process works and enable the development of robots with a motivational-based learning model, we computationally model a motivation theory proposed by Hull. In this model, the agent (an abstraction of a mobile robot) is motivated to keep itself in a state of homeostasis. We added hedonic dimensions to see how preferences affect decision-making, and we employed reinforcement learning to train our motivated-based agents. We run three agents with energy decay rates representing different metabolisms in two different environments to see the impact on their strategy, movement, and behavior. The results show that the agent learned better strategies in the environment that enables choices more adequate according to its metabolism. The use of pleasure in the motivational mechanism significantly impacted behavior learning, mainly for slow metabolism agents. When survival is at risk, the agent ignores pleasure and equilibrium, hinting at how to behave in harsh scenarios. Copyright © 2023, The Authors. All rights reserved.

关键词： Metabolism

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Hardware Implementation of Sigmoid Activation Functions using FPGA

Hardware Implementation of Sigmoid Activation Functions usin...

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International Conference on CAD systems in Microelectronics (CADSM)

作者： Ivan Tsmots Oleksa Skorokhoda Vasyl Rabyk Automated Control Systems dept. Lviv Polytechnic National University Lviv Ukraine Department of Radio Physics and Computer Technologies Ivan Franko National University Lviv Ukraine

The methods of approximation of the sigmoid function are developed and modified, using piecewise linear approximation and approximation by a second order polynomial. The estimation of the accuracy of approximation by these methods of sigmoid function and its derivative is performed. The considered methods are implemented on FPGA using VHDL. The comparison of the required hardware resources and performance is given.

关键词： Field programmable gate arrays Hardware Neurons Color Piecewise linear approximation VHDL Synchronization

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Closed Loop Fault Detectability Based on a Gap-Metric

Closed Loop Fault Detectability Based on a Gap-Metric

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control Technology and Applications (CCTA),

作者： André Sekunda Steven Ding Niels Kjølstad Poulsen Henrik Niemann Department of Electrical Engineering Automation and Control Tech. University of Denmark Denmark Dept. of Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany Dept. of Applied Mathematics and Computer Science Tech. University of Denmark Kgs. Lyngby Denmark

systems are often controlled using feedback loops. Fault diagnosis schemes are usually designed assuming that there is no feedback loop. Therefore fault diagnosis methods need to accommodate for the feedback loop. One such method is active fault diagnosis based on a fault signature system. This method is derived using the YJBK parametrisation, named after Youla, Jabr, Bongiorno and Kucera. It uses the derived fault signature system to determine the detectability of possible faults in the system. Deriving the fault signature system requires knowledge about the controller. This paper demonstrates the possibility of estimating the detectability of faults in the fault signature system using a gap-metric. The gap-metric has the advantage of only requiring knowledge about the plant. By using the gap-metric it is possible to estimate the detectability of faults without using information about the controller.

关键词： Fault diagnosis Measurement Kernel Closed loop systems Fault detection Sensors

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Study of the Influence of Rolling Modes on the Operation of Interconnected Electric Drives of a Rolling Mill 4

Study of the Influence of Rolling Modes on the Operation of ...

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

作者： Tytiuk, Valerii Busher, Victor Kalinin, Alexey Chornyi, Oleksii Druzhinin, Valeriy Halushko, Dmytro Department of Electromechanics Kryvyi Rih National University Kryvyi Rih Ukraine Dept. of Electrical Engineering and Electronics National University "Odessa Maritime Academy" Odessa Ukraine Department of Informative computer systems Abylkas Saginov Karaganda Technical University NPJSC Karaganda Kazakhstan Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrogradskyi National University Kremenchuk Ukraine Department of Power Engineering Karaganda Industrial University NPJSC Temirtau Kazakhstan Dept. of Electrical Engineering Ukrainian State University of Science and Technologies Dnipro Ukraine

ISBN: (纸本)9798350395532

The paper is devoted to study of the influence of rolling modes on the performance of powerful interconnected electric drives of a hot rolling mill under the action of an electromagnetic coupling circuit between the electric drives of the roughing and finishing groups. The action of the electromagnetic coupling circuit manifests itself in the form of the influence of impact loads of synchronous electric drives on the angular velocity of direct current electric drives of the finishing group of the mill. The parameters of the electromagnetic coupling circuit are determined by the power supply scheme and equipment parameters. Values of impact loads applied to a synchronous motor depend on the rolling process parameters, in particular, the chemical composition of the rolled steel and the temperature of the ingot. The paper presents the results of calculating the rolling power for various rolling mode parameters. Using mathematical modeling in Simulink, numerical estimates of the influence of rolling modes on the magnitude of the voltage drop in the power supply unit and the drop in the angular velocity of the electric drive of the finishing group were obtained on the example of a wide-strip hot rolling mill 1700 of ArcelorMittal Temirtau JSC. © 2023 IEEE.

关键词： Hot rolling

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Total Least Squares Based Identification for Permanent Magnet Synchronous Machine

Total Least Squares Based Identification for Permanent Magne...

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International Conference on control systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： Dmitriy V Ivanov Ilya L Sandler Sergey I Makarov Sergey A Kolpashchikov Daniil K Burnaevskiy Lubov A Bezyazykova Dept. Digital Technologies Samara State University of Railway Transport Samara Russia Dept. Information Systems Security Samara National Research University Samara Russia Ept. Digital Technologies Samara State University of Railway Transport Samara Russia Dept. Automation and Control in Technical Systems Samara State Technical University Samara Russia Dept. Statistics and Econometrics Samara State University of Economics Samara Russia

The identification of parameters of the permanent magnet synchronous machine (PMSM) is considered. The proposed algorithm makes it possible to consider the errors in measurements of current, voltage, and electrical angular speed. Generalized total least squares (GTLS) are used to identify parameters. The simulation results confirmed the high accuracy of the resulting estimates.

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Simulation Model of a Pneumatic Drive for Compressing Electrodes of Stationary Contact Spot Welding Machine

Simulation Model of a Pneumatic Drive for Compressing Electr...

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International Conference on control systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： Ilya L Sandler Dmitriy V Ivanov Michail A Terekhin Irina N Bragina Ilya V Lebakin Ruzil A Zaripov Dept. Digital Technologies Samara State University of Railway Transport Samara Russia Dept. Automation and Control in Technical Systems Samara State Technical University Samara Russia Dept. Information Systems Security Samara National Research University Samara Russia Dept. Digital Technologies Institute of Innovative Development FSBEI HE SamSMU MOH Russia Samara State University of Transport Higher School of Medical Engineering Samara Russia

The article presents a simulation model of a pneumatic drive for electrodes of a stationary contact spot welding machine. Thanks to the developed model, it becomes possible to analyze the system, as well as visually study its operation. The result of modeling the system is the obtained transients of the elements of the pneumatic system. The developed simulation model adequately describes the state and behavior of a real system of pneumatic compression of electrodes. The work is of interest to pneumatic engineers, designers and other specialists working in the field of pneumatics and can be used for more accurate and efficient design, analysis and optimization of not only a specific system of pneumatic compression of electrodes, but also pneumatic systems in general.

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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Active Fault Isolation in MIMO systems

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IFAC Proceedings Volumes 2014年第3期47卷 8012-8017页

作者： Henrik Niemann Niels Kjølstad Poulsen Department of Electrical Engineering Automation and Control Technical University of Denmark Building 326 DK-2800 Kgs. Lyngby Denmark Dept. of Applied Mathematics and Computer Science Section for Dynamical Systems Technical University of Denmark DK-2800 Kgs. Lyngby Denmark

Active fault isolation of parametric faults in closed-loop MIMO systems are considered in this paper. The fault isolation consists of two steps. The first step is group-wise fault isolation. Here, a group of faults is isolated from other possible faults in the system. The group-wise fault isolation is based directly on the input/output signals applied for the fault detection. It is guaranteed that the fault group includes the fault that had occurred in the system. The second step is individual fault isolation in the fault group. Both types of isolation are obtained by applying dedicated auxiliary inputs and the associated residual outputs.

关键词： Active fault isolation MIMO systems YJBK parameterization

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Lyapunov function-based control of active power filters to reduce the adverse effects of harmonics on induction motors

Lyapunov function-based control of active power filters to r...

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International Conference on Electric Power and Energy Conversion systems (EPECS)

作者： Ibrahim Aliskan Kayhan Gulez Gurkan Tuna M. Özgür Kizilkaya Dept. of Electrical and Electronics Eng. Bulent Ecevit University Zonguldak Turkey Dept. of Control and Automation Eng. Yildiz Technical University Istanbul Turkey Dept. of Computer Programming Trakya University Edirne Turkey Aeronautics and Space Technologies Institute Turkish Air Force Academy Istanbul Turkey

In this study, a pulse width modulator controller inverter type active power filter is used for reducing the adverse effects of harmonics. Induction motor control system used in this study comprises a proportional-integral controller, a direct torque control algorithm, and an inverter module. Nonlinear controller algorithm proposed in this study enables setting different parameters in the controller system. Our experimental results show that more planar electromagnetic torque can be obtained by using the proposed controller-based filter than a classical controlled-based filter.

关键词： Programming Linear systems MATLAB

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On simulation based analysis and synthesis of hierarchical network sturctures 6

On simulation based analysis and synthesis of hierarchical n...

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6th European control Conference, ECC 2001

作者： Tanevska, Dijana J. Dimirovski, Georgi M. Stankovski, Mile J. Jing, Yuanwei Makedonski Telekomunikacii AD Orce Nikolov Str. b.b. SkopjeMK-91000 Macedonia Inst. of Automation and Systems Engg. Faculty of Electrical Engg. SS Cyril and Methodius University SkopjeMK-1000 Macedonia Department of Computer Engg. Faculty of Engineering DOGUS University Kadikoy-IstanbulTR-81010 Turkey Dept. of Automatic Control and Control Eng. School of Information Science and Engineering Northeastern University Shenyang Liaoning110006 China

ISBN: (纸本)9783952417362

Analysis of complex systems such as hierarchically structured network systems that are employed in modelling and analysis various aspects and issues of control and management in telecommunications is investigated. Theory of graphs and binary matrices appear to be most suitable tools for modelling the overall structure of complex systems, in general, and of systemic hierarchies, in particular. A systematic methodology has been developed for computer simulation analysis and detecting general hierarchies in communications networking as well as for synthesis of system hierarchies. This methodology is an improved extension of Warfield's technique. © 2001 EUCA.

关键词： Discrete event simulation

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