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49th EPS Conference on Plasma Physics, EPS 2023

作者： Pastore, F. Felici, F. Sauter, O. Bosman, T.O.S.J. Galperti, C. Vincent, B. Pau, A. Poels, Y. Ravensbergen, T. Vu, N.M.T. Lausanne Switzerland DIFFER - Dutch Institute for Fundamental Energy Research Energy Systems and Control Group Eindhoven Netherlands Eindhoven University of Technology Dept. of Mechanical Engineering Control Systems Technology Group Eindhoven Netherlands Eindhoven University of Technology Dept. of Mathematics and Computer Science Data Mining Group Eindhoven Netherlands ITER Organization Route de Vinon-sur-Verdon St. Paul Lez Durance13067 Cedex France

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FPGA-based Low Power Acceleration of HARK Sound Source Localization

FPGA-based Low Power Acceleration of HARK Sound Source Local...

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IEEE Cool Chips

作者： Zirui Lin Katsutoshi Itoyama Kazuhiro Nakadai Hideharu Amano Dept. of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Honda Research Institute Japan Co. Ltd. Saitama Japan Dept. of Information and Computer Science Keio University Kanagawa Japan

ISBN: (数字)9798350384147

ISBN: (纸本)9798350384154

This paper presents an FPGA-based low-power acceleration of sound source localization in HARK, open-source software for robot audition. Due to the massive matrix operations, sound source localization in HARK takes substantial processing time in edge computing devices. To balance processing time and low power consumption, two functions in sound source localization that include many matrix operations are targeted and migrated on an FPGA SoC board called M-KUBOS. Compared to CPU-based computing on ARM Cortex A53, our implementation achieved a 2.0× speedup and 1.7× lower energy consumption.

关键词： Location awareness Program processors Power demand Parallel processing Energy efficiency Matrix decomposition Robots

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Load Demand Prediction for Electric Vehicles Smart Charging through Consensus-based Federated Learning

Load Demand Prediction for Electric Vehicles Smart Charging ...

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Mediterranean Conference on control and Automation (MED)

作者： Danilo Menegatti Antonio Pietrabissa Sabato Manfredi Alessandro Giuseppi Dept. of Computer Control and Management Engineering (DIAG) University of Rome ”La Sapienza” Rome Italy Dept. of Electrical Engineering and Information Technology University of Naples ”Federico II” Naples Italy

Having access to a reliable and accurate prediction of the short-term power demand is a fundamental step for the widespread adoption of Electric Vehicles (EVs), as their charges may have a significant impact on the power system balancing. In this direction, we propose a short-term load demand predictor, based on distributed Long Short-Term Memory Networks, that employs consensus and fully-decentralized Federated Learning (FL) algorithms to seek cooperation among multiple points of charge without the requirement of sharing any user-related data.

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Linear Quadratic Regulator-based controller for control Mode Switching Under Fault Operation of Grid-Connected PV with Supercapacitor System

Linear Quadratic Regulator-based Controller for Control Mode...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Paychuda Kritprajun Leon M. Tolbert Nattapat Praisuwanna Jingxin Wang Yunting Liu Maximiliano Ferrari Dept. of Electrical Engineering and Computer Science The University of Tennessee Knoxville TN USA Dept. of Electrical Engineering The Pennsylvania State University PA USA Grid Components and Control Oak Ridge National Laboratory Oak Ridge TN USA

ISBN: (数字)9798350376067

ISBN: (纸本)9798350376074

This paper proposes a linear quadratic regulator (LQR)-based controller for a grid-connected photovoltaic (PV) with a supercapacitor (SC) system to ensure a smooth transition of control mode when the SC is unavailable (completely charged) during fault operations. The SC improves the low-voltage ride-through (LVRT) capability of the PV system by quickly balancing power between the PV system and the grid. When the SC reaches its full charge capacity, the DC-link voltage will be controlled by the inverter’s controller, and the PV system may need to curtail its power generation. During the transition, fluctuations in the DClink voltage can occur which can compromise the stability of the PV system, especially when the control mode switching happens during severe fault operations. The proposed LQR-based controller is validated on a hardware testbed platform to demonstrate its effectiveness in reducing DC-link overvoltage during the control mode transitions. As a result, the PV system can remain compliant with LVRT requirements while maintaining stability during fault operations.

关键词： Voltage fluctuations Regulators Power quality Power control Switches Power system stability Supercapacitors control systems Voltage control Transient analysis

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Discrete Shuffled Frog Leading Algorithm for Multiple-product Human-robot Collaborative Disassembly Line Balancing Problem

Discrete Shuffled Frog Leading Algorithm for Multiple-produc...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Fan, ChenYang Wang, JiaCun Guo, XiWang Qin, ShuJin Zhou, MengChu Qi, Liang Engineering of Liaoning Petrochemical University School of Information and Control Fushun China Engineering of Monmouth University Dept. Computer Science and Software West Long Branch United States Liaoning Petrochemical University Fushun China Monmouth University West Long Branch United States College of Economics and Management of Shangqiu Normal University Shangqiu China Dept. Electrical and Computer Engineering of New Jersey Institute of Technology Newark United States Tech of Shandong University of Science and Technology Dept. Computer Intelligent Sci. & Qingdao China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

With the rapid development of recycling and remanufacturing technologies, disassembly line balancing problems (DLBP) have drawn great attention. Considering the limitation of disassembly by humans or robots alone, this paper focuses on human-robot collaborative disassembly lines. Specifically, this work proposes a multi-product human-robot collaborative disassembly line balancing model to tackle the inflexibility of single product disassembly and inconsistency in recovery values of different product components. Its objective is to maximize disassembly profit. As a commercially available solver, IBM's CPLEX is used to obtain the exact solution of DLBP and verify the correctness of the proposed mathematical model. A discrete shuffled frog leading algorithm is newly designed to solve the sizable problems. Experimental results show that the proposed algorithm has a fast convergence rate and can find solutions consistent with those with CPLEX but requires much less time than the latter, thus advancing the field of disassembly automation. © 2022 IEEE.

关键词： Robots

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LLM Based Multi-Agent Generation of Semi-structured Documents from Semantic Templates in the Public Administration Domain

arXiv

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arXiv 2024年

作者： Musumeci, Emanuele Brienza, Michele Suriani, Vincenzo Nardi, Daniele Bloisi, Domenico Daniele Dept. of Computer Control and Management Engineering Sapienza University of Rome Rome Italy UNINT Univeristy Via Cristoforo Colombo 200 Rome00147 Italy

In the last years' digitalization process, the creation and management of documents in various domains, particularly in Public Administration (PA), have become increasingly complex and diverse. This complexity arises from the need to handle a wide range of document types, often characterized by semi-structured forms. Semi-structured documents present a fixed set of data without a fixed format. As a consequence, a template-based solution cannot be used, as understanding a document requires the extraction of the data structure. The recent introduction of Large Language Models (LLMs) has enabled the creation of customized text output satisfying user requests. In this work, we propose a novel approach that combines the LLMs with prompt engineering and multi-agent systems for generating new documents compliant with a desired *** main contribution of this work concerns replacing the commonly used manual prompting with a task description generated by semantic retrieval from an LLM. The potential of this approach is demonstrated through a series of experiments and case studies, showcasing its effectiveness in real-world PA scenarios. © 2024, CC BY.

关键词： Multi agent systems

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Adaptive Output Regulation of MIMO LTI Systems with Unmodeled Input Dynamics

Adaptive Output Regulation of MIMO LTI Systems with Unmodele...

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IEEE Conference on Decision and control

作者： Oleg Borisov Alberto Isidori Anton Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Dept. of Computer Control and Management Engineering University “Sapienza” Rome Italy

This paper addresses the problem of adaptive output regulation of a minimum-phase MIMO LTI system in the presence of un-modeled (fast) input dynamics. The adoption of a post-processing tunable internal model makes it possible to implement standard methods for the analysis of two-time-scale systems. The proposed adaptation law guarantees, under suitable hypotheses, convergence to zero of the regulation error as well as of the parameter estimation error.

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Computationally Efficient Predictive control Based on ANN State-Space Models

Computationally Efficient Predictive Control Based on ANN St...

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IEEE Conference on Decision and control

作者： Jan H. Hoekstra Bence Cseppento Gerben I. Beintema Maarten Schoukens Zsolt Kollár Roland Tóth Dept. of Electrical Engineering at the Eindhoven Control Systems group University of Technology The Netherlands Dept. of Measurement and Information Systems Budapest University of Technology and Economics Hungary Institute for Computer Science and Control Budapest Hungary

Artificial neural networks (ANN) have been shown to be flexible and effective function estimators for the identification of nonlinear state-space models. However, if the resulting models are used directly for nonlinear model predictive control (NMPC), the resulting nonlinear optimization problem is often overly complex due to the size of the network, requires the use of high-order observers to track the states of the ANN model, and the overall control scheme does not exploit the available autograd tools for these models. In this paper, we propose an efficient approach to auto-convert ANN statespace models to linear parameter-varying (LPV) form and solve predictive control problems by successive solutions of linear model predictive problems, corresponding to quadratic programs (QPs). Furthermore, we show how existing deep-learning methods, such as SUBNET that uses a state encoder, enable efficient implementation of MPCs on identified ANN models. Performance of the proposed approach is demonstrated by a simulation study on an unbalanced disc system.

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control of Deterministic Chaotic Modes in Power Systems

Control of Deterministic Chaotic Modes in Power Systems

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Smart Information Systems and Technologies (SIST), IEEE International Conference on

作者： Mamyrbek Beisenbi Ainur Satpayeva Shugla Mussabayeva Gulnara Mussina Meruert Tlegen Dept. of System Analysis and Control L.N. Gumilyov Eurasian National University Astana Kazakhstan Dept. of Computer Engineering Astana IT University Astana Kazakhstan

The paper examines a new approach to controlling deterministic dynamical chaotic mode of power system with two electric generate-sources. A control law is synthesized in the class of one-parameter structurally stable mappings from catastrophe theory. Analytical calculations and a numerical experiment in MatLab showed that the proposed system excludes the generation of a deterministic chaotic mode for any changes in the uncertain system parameters. The study of the control system is carried out by the gradient-velocity method Lyapunov vector functions

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Robotic Teleoperation control Using PSO-Tuned Fractional Order Active Disturbance Rejection

Robotic Teleoperation Control Using PSO-Tuned Fractional Ord...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Omar Gad R. Fareh J. Ghommam M. Nasir S. Khadraoui M. Bettayeb Dept. of Electrical Engineering University of Sharjah UAE Research Inst. of Sciences and Engineering University of Sharjah UAE Dept. of Electrical and Computer Engineering Sultan Qaboos University Oman Control and Energy Management Laboratory (CEM Lab) Ecole National d'Ingenieur de Sfax Tunisia

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

Bilateral teleoperation systems have become essential for enabling precise remote manipulation in fields such as robotic surgery and hazardous material handling. However, these systems face significant challenges, including time delays, environmental uncertainties, and nonlinear dynamics, which can affect their stability and performance. This research aims to investigate the application of Active Disturbance Rejection control (ADRC) to address these challenges. ADRC is chosen for its real-time estimation and compensation for disturbances, even with limited knowledge of the system model. Additionally, the study incorporates enhancements such as Fractional-Order control and optimization techniques, including Particle Swarm Optimization (PSO), for parameter tuning. A simulation study is conducted to assess the performance of the proposed controller in tracking control of bilateral teleoperation systems with 3-DOF and 4-DOF manipulators. Results illustrate the superiority of the fractional order ADRC in disturbance rejection and trajectory tracking compared to linear ADRC, making it a promising solution for teleoperation applications.

关键词： Robust control Uncertainty Trajectory tracking Simulation 3-DOF Surgery Manipulators Stability analysis Particle swarm optimization Tuning

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