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Mediterranean Conference on control and Automation (MED)

作者： Nigora Gafur Leo Weber Vassilios Yfantis Achim Wagner Martin Ruskwoski Department of Mechanical and Process Engineering Chair of Machine Tools and Control Systems Technische Universit&#x00E4 t Kaiserslautern Kaiserslautern Germany German Research Center for Artificial Intelligence (DFKI) Kaiserslautern Germany

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

Operation of robotic manipulators is limited to structured environments and well-defined tasks due to an offline path planning. However, flexible production processes and human-robot collaboration necessitates a real time path planning to allow for replanning a path in changing environments. In this work, we investigate established planning algorithms for their applicability to dynamic path planning problems. We further compare these methods with our approach based on model predictive control. We consider a single manipulator with six degrees of freedom in static and dynamic environments. We investigate three experimental setups and show the advantages of the proposed MPC-ELS approach over more traditional path planning algorithms in terms of several metrics, such as path-length, execution time or trajectory smoothness. In addition, we propose a scheduling algorithm for object allocation to determine an optimal sequence for pick and place tasks with regard to minimum execution time.

关键词： Measurement Scheduling algorithms Heuristic algorithms Production Prediction algorithms Dynamic scheduling Trajectory

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Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation

arXiv

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arXiv 2024年

作者： Aucone, Emanuele Sferrazza, Carmelo Gregor, Manuel D'Andrea, Raffaello Mintchev, Stefano The Environmental Robotics Laboratory Dept. of Environmental Systems Science ETH Zürich Zürich8092 Switzerland Birmensdorf8903 Switzerland The Robot Learning Lab UC Berkeley BerkeleyCA94704 United States The Institute for Dynamic Systems and Control Dept. of Mechanical and Process Engineering ETH Zürich Zürich8092 Switzerland

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed multi-contact sensing. Designed to be easily mounted at the bottom of a drone, we propose an optical tactile sensor that features a large and curved soft sensing surface, a hollow structure and a new illumination system. Even when spaced only 2 cm apart, multiple contacts can be detected simultaneously using our software pipeline, which provides real-world quantities of 3D contact locations (mm) and 3D force vectors (N), with an accuracy of 1.5 mm and 0.17 N respectively. We demonstrate the sensor’s applicability and reliability onboard and in real-time with two demos related to i) the estimation of the compliance of different perches and subsequent re-alignment and landing on the stiffer one, and ii) the mapping of sparse obstacles. The implementation of our distributed tactile sensor represents a significant step towards attaining the full potential of drones as versatile robots capable of interacting with and navigating within complex environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Drones

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Immobilizing ultrafine bimetallic PtAg alloy onto uniform MnO_(2) microsphere as a highly active catalyst for CO oxidation

引用

Chinese Chemical Letters 2021年第6期32卷 2057-2060页

作者： Shengpeng Mo Peng Peng Yinchang Pei Taiming Shen Qinglin Xie Mingli Fu Yunfa Chen Daiqi Ye College of Environment Science and Engineering Guilin University of TechnologyGuilin 541004China School of Environment and Energy South China University of TechnologyGuangzhou 510006China Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of TechnologyGuilin 541004China State Key Laboratory of Multi-Phase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

Herein,a facile glycol reduction route is successful employed to synthesize bimetallic Pt Ag alloys with homogeneous distribution of sizes and *** studies reveal that the ultrafine Pt Ag alloys with well-defined sizes from around 3.3 nm to 5.8 nm are immobilized onto MnO_(2)microsphere,which remarkably enhances the catalytic performances for CO ***,quasi in-situ X-ray photoelectron spectroscopy(XPS)result reveals that both Mn and Pt ions on the surface of catalysts would realize alternating reduction-oxidation by CO and O_(2)molecules,and the oxygen vacancy sites could be replenished and excited by gas-phase O_(2).

关键词： Bimetallic alloys PtAg NPs MnO_(2) Quasi in-situ XPS CO oxidation

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Dairy Manure Fermentation at Hyperthermophilic Temperature Enabled Superior Activity of Thermostable Hydrolytic Enzymes Linked to Genus Caldicoprobacter

SSRN

引用

SSRN 2023年

作者： Qiu, Yaojing Johnson, Zachary Gu, Xiangyu Bohutskyi, Pavlo Chen, Shulin Department of Biological Systems Engineering Washington State University PullmanWA99164-6120 United States Biological Sciences Division Pacific Northwest National Laboratory RichlandWA99354 United States State Key laboratory of Multiphase Complex Systems Institute of Process Engineering Chinese Academy of Sciences Beijing100190 China

Hyperthermophilic temperature is considered a viable approach to enhance biomass hydrolysis during anaerobic digestion. There is, however, a lack of sufficient research on thermostable extracellular enzymes and hyperthermophilic microbial communities. In this study, batch experiments under mesophilic, thermophilic, and hyperthermophilic conditions are used to examine the impact of temperature on community structure and extracellular enzyme activity toward protein and polysaccharides hydrolysis in dairy manure. Indeed, extracellular hydrolases present in manure fermentation broth at hyperthermophilic temperature displayed significantly higher activities compared to enzymes in mesophilic and thermophilic broth. Specifically, activities of hyperthermophilic enzymes were higher by about 22% for protease, 47% for exoglucanase, and 49% for β-glucosidase than mesophilic and thermophilic enzymes. Connections between hydrolytic function and microbial structure were assessed using the PICRUSt2 computational tool. Caldicoprobacter was identified as a key genus responsible for production of thermostable endoglucanases, β-glucosidases, and β-xylosidases enhancing hydrolysis and conversion of biomass under hyperthermophilic conditions. © 2023, The Authors. All rights reserved.

关键词： Hydrolysis

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Employing Different Hydrodynamic Models (Mike & Hec-Rac) to Predict the Extreme Flood in the Hron River, Slovakia and Provide the Adequate Mitigation Measures

SSRN

引用

SSRN 2025年

作者： Zeleňáková, Martina Kaya, Yunus Ziya Abd-Elhamid, Hany F. Garaj, Miroslav Fijko, Rastislav Gergeľová, Marcela Bindzárová Department of Environmental Engineering Faculty of Civil Engineering Technical University of Kosice Košice04001 Slovakia Department of Civil Engineering Faculty of Engineering Osmaniye Korkut Ata University Osmaniye80100 Turkey Department of Water and Water Structures Engineering Faculty of Engineering Zagazig University Zagazig44519 Egypt Department of Geodesy Cartography and Geographical Information Systems Faculty of Faculty of Mining Ecology Process Control and Geotechnologies Technical University of Kosice Košice04001 Slovakia

In this study, the abilities of two of the most popular flood modeling software, namely, HEC-RAS and MIKE+, were used for flood modeling in the Hron River in East Slovakia. For modeling purposes, various discharge values of the River from one year to hundred years peak discharge were considered. The vulnerability of the catchment for each period was modeled and visualized using both software. The HEC-RAS and MIKE+ outputs showed that the study area is vulnerable to flood for high-frequency peak discharge values. The outputs of both 2D hydrodynamic approaches were found to be close to each other in various flow conditions. The comparisons of the MIKE+ and HEC-RAS showed that Hron River dimensions for the given catchment are only sufficient to transfer a one-year peak discharge value safely. The outputs of the models exhibited that the study area is not safe in case of ten-year peak discharge value and the risk of the floods getting the highest level in case of hundred-year peak discharge. Due to the models’ findings, it is seen that the area is vulnerable to flood, and three different mitigation scenarios were proposed and analyzed including change in river bed dimensions and rise of the levee on the right and left river bank to protect the area from flood risks. © 2025, The Authors. All rights reserved.

关键词： Floods

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Circular Formation Flight control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

引用

IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target *** from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper *** from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as *** the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)*** the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching ***,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation *** validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

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Adaptive Pseudo Inverse control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic systems

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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 916-928页

作者： Xiuyu Zhang Ruijing Jing Zhiwei Li Zhi Li Xinkai Chen Chun-Yi Su School of Automation Engineering Northeast Electric Power Universityand also with Jilin Province International Research Center of Precision Drive and Intelligent ControlJilin 132012China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China Department of Electronic and Information Systems Shibaura Institute of TechnologySaitama 337-8570Japan Department of Mechanical and Industrial Engineering Concordia UniversityQCMontreal H3B 1R6Canada

This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control(DSC)***"pseudo inverse"means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is *** main contributions are summarized as:1)to our best knowledge,it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult;2)by designing the saturated-type hysteresis pseudo inverse compensator,the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis;3)by combining DSC technique with the tracking error transformed function,the"explosion of complexity"problem in backstepping method is overcome and the prespecified tracking performance is *** of stability and experimental results on the hardware-inloop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.

关键词： Adaptive dynamic surface control adaptive pseudo inverse control asymmetric and saturated hysteresis robust control

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Quantized Distributed Nonconvex Optimization with Linear Convergence

Quantized Distributed Nonconvex Optimization with Linear Con...

引用

IEEE Conference on Decision and control

作者： Lei Xu Xinlei Yi Jiayue Sun Yang Shi Karl Henrik Johansson Tao Yang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Digital Futures Stockholm Sweden Department of Mechanical Engineering University of Victoria Victoria Canada

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper considers distributed nonconvex op-timization for minimizing the average of local cost functions, by using local information exchange over undirected communication networks. Since the communication channels often have limited bandwidth or capacity, we first introduce a quantization rule and an encoder/decoder scheme to reduce the transmission bits. By integrating them with a distributed algorithm, we then propose a distributed quantized nonconvex optimization algorithm. Assuming the global cost function satisfies the Polyak– Łojasiewicz condition, which does not require the global cost function to be convex and the global minimizer is not necessarily unique, we show that the proposed algorithm linearly converges to a global optimal point. Moreover, a low data rate is shown to be sufficient to ensure linear convergence when the algorithm parameters are properly chosen. The theoretical results are illustrated by numerical simulation examples.

关键词： Quantization (signal) Communication channels Bandwidth Cost function Numerical simulation Communication networks Distributed algorithms

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Fire Test of an Equipment for Hydrogen Powered Aircraft

Fire Test of an Equipment for Hydrogen Powered Aircraft

引用

IEEE Metrology for Aerospace

作者： Tomasz Rogalski Jacek Pieniazek Piotr Cieciński Mirosław Szukiewicz Marcin Drajewicz Elżbieta Chmiel-Szukiewicz Robert Smusz Department of Avionics and Control Systems Rzeszow University of Technology Rzeszow Poland Department of Chemical and Process Engineering Rzeszow University of Technology Rzeszow Poland Department of Materials Science Rzeszow University of Technology Rzeszow Poland Department of Organic Chemistry Rzeszow University of Technology Rzeszow Poland Department of Thermadynamics Rzeszow University of Technology Rzeszow Poland

ISBN: (数字)9798350385045

ISBN: (纸本)9798350385052

Hydrogen fuel for aviation is a new idea. Its successful implementation requires new research and new technologies. One of them is the verification of the operation of the devices and their survivability in a hydrogen flame. The main topic of the article is the development of the hydrogen research and testing laboratory. Testing the flammability of hydrogen-containing systems is a challenge due to the very high explosiveness. The need to ensure the safety of both personnel and buildings means that the preparation of a stand for testing the flammability of aircraft systems should be treated differently from before. The article presents the design of a stand for fire resistance tests. Tests of fire resistance of various elements of aircraft systems, which in the event of an accident may be within the range of the hydrogen flame and elements of the hydrogen installation itself, are the main applications of the presented laboratory stand.

关键词： Temperature measurement Resistance Hydrogen Fires Flammability Safety Fuels

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

引用

arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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