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16th International Conference on Vibration engineering and Technology of Machinery, VETOMAC 2021

作者： Malaji, P.V. Litak, Grezgorz Pakrashi, Vikram Abdelkefi, Abdessattar Kattimani, R.S. Karadi, L.N. Energy Harvesting and IoT Lab Department of Mechanical Engineering BLDEA’s V. P. Dr. P. G. Halakatti College of Engineering and Technology Karnataka Vijayapur India Department of Automation Lublin University of Technology Lublin Poland Dynamical Systems and Risk Laboratory School of Mechanical and Materials Engineering University College Dublin Dublin Ireland SFI MaREI Centre University College Dublin Dublin Ireland UCD Energy Institute Dublin Ireland Department of Mechanical and Aerospace Engineering New Mexico State University Las CrucesNM United States

ISBN: (纸本)9789819989850

This paper analyzes the dynamics and energy harvesting of a resonantly excited single-degree-of-freedom linear system with an array of pendulums coupled by springs as absorbers. Energy generation along with vibration reduction gives added advantage of generating sufficient electrical energy to powerup portable electronics. Energy harvesting converts vibration into useful electrical energy using a suitable transduction method. The mathematical model is developed for the proposed model. The numerical method will be used to obtain the response of the system. The effect of multiple pendulums with and without coupling on frequency bandgap of the primary mass and bandwidth of harvested energy will be analyzed. The effect of various parameters on the performance will also be reported. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Energy harvesting

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A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements 63

A Multi-Player Potential Game Approach for Sensor Network Lo...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Xu, Gehui Chen, Guanpu Fidan, Baris Hong, Yiguang Qi, Hongsheng Parisini, Thomas Johansson, Karl H. Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden University of Waterloo Department of Mechanical and Mechatronics Engineering WaterlooONN2L 3G1 Canada Tongji University Department of Control Science and Engineering shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China University of Chinese Academy of Sciences School of Mathematical Sciences Beijing China Aalborg University Department of Electronic Systems Denmark Imperial College London Department of Electrical and Electronic Engineering LondonSW7 2AZ United Kingdom University of Trieste Department of Engineering and Architecture Italy

ISBN: (纸本)9798350316339

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multiplayer non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies. © 2024 IEEE.

关键词： Nash equilibrium

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Resilient Time-Varying Formation-Tracking of Multi-UAV systems Against Composite Attacks: A Two-Layered Framework

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 969-984页

作者： Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui School of Cyber Science and Engineering Southeast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciences the Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment Technology Ningbo 315299China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Texas A&M University at Qatar Doha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots the College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng Laboratory Shenzhen 518000China

This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.

关键词： Composite attacks multi-UAV systems resilient control time-varying formation-tracking

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Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics

Humanoid Robot Co-Design: Coupling Hardware Design with Gait...

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IEEE Conference on Decision and control

作者： Adrian B. Ghansah Jeeseop Kim Maegan Tucker Aaron D. Ames Department of Control and Dynamical Systems California Institute of Technology Pasadena CA USA Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA USA

Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive process whereby one iterates between designing the robot and manually evaluating its capabilities. This is particularly challenging for bipedal robots, where it can be difficult to evaluate the behavior of the system due to the underlying nonlinear and hybrid dynamics. Thus, in an effort to streamline the design process of bipedal robots, and maximize their performance, this paper presents a systematic framework for the co-design of humanoid robots and their associated walking gaits. To this end, we leverage the framework of hybrid zero dynamic (HZD) gait generation, which gives a formal approach to the generation of dynamic walking gaits. The key novelty of this paper is to consider both virtual constraints associated with the actuators of the robot, coupled with design virtual constraints that encode the associated parameters of the robot to be designed. These virtual constraints are combined in an HZD optimization problem which simultaneously determines the design parameters while finding a stable walking gait that minimizes a given cost function. The proposed approach is demonstrated through the design of a novel humanoid robot, ADAM, wherein its thigh and shin are co-designed so as to yield energy efficient bipedal locomotion.

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Influence of the Inclination Angle on Mixed Convection and Heat Transfer in a“T”Shaped Double Enclosure

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Fluid Dynamics & Materials Processing 2023年第7期19卷 1753-1774页

作者： M’Barka Mourabit Meryam Meknassi Soukaina Fekkar Soumia Mordane Hicham Rouijaa El Alami Semma Polymer Physics and Critical Phenomena Laboratory Department of PhysicsFaculty of Sciences of Ben M’SikHassanⅡUniversityCasablancaMorocco Laboratory of Control and Mechanical Characterization of Materials and Structures National Higher School of Electricity and MechanicsHassanⅡUniversityCasablancaMorocco Laboratory of Electrical Systems and Telecommunications Department of Applied PhysicsFSTHassan 1^(st)UniversitySettatMorocco Laboratory of Engineering Industrial Management and Innovation FSTHassan 1^(st)UniversitySettatMorocco

The effect of the tilt angle on mixed convection and related heat transfer in a“T”shaped double enclosure with four heated obstacles on the bottom surface is numerically *** considered obstacles are constantly kept at a relatively high(fixed)temperature,while the cavity’s upper wall is *** finite volume approach is used to solve the mass,momentum,and energy equations with the SIMPLEC algorithm being exploited to deal with the pressure-velocity *** is put on the influence of the tilt angle on the solution symmetry,flow structure,and heat exchange through the *** following parameters and related ranges are considered:Rayleigh number 104≤Ra≤5.105,tilt angle 0°≤φ≤90°,Reynolds number 100≤Re≤1000,Prandtl number Pr=0.72,block height B=0.5,opening width C=0.15,and distance between blocks D=*** results reveal different branches of solutions on varying Re andφ.They also show that the symmetry of the solution regarding the P_(2)axis is retained for all cases with no tilt and for values of Re between 100 and 1000.

关键词： Mixed convection heat transfer inclination angle “T”shaped double cavity

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Input-to-State Stability in Probability

Input-to-State Stability in Probability

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IEEE Conference on Decision and control

作者： Preston Culbertson Ryan K. Cosner Maegan Tucker Aaron D. Ames Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA USA Department of Control and Dynamical Systems California Institute of Technology Pasadena CA USA

Input-to-State Stability (ISS) is fundamental in mathematically quantifying how stability degrades in the presence of bounded disturbances. If a system is ISS, its trajectories will remain bounded, and will converge to a neighborhood of an equilibrium of the undisturbed system. This graceful degradation of stability in the presence of disturbances describes a variety of real-world control implementations. Despite its utility, this property requires the disturbance to be bounded and provides invariance and stability guarantees only with respect to this worst-case bound. In this work, we introduce the concept of “ISS in probability (ISSp)” which generalizes ISS to discrete-time systems subject to unbounded stochastic disturbances. Using tools from martingale theory, we provide Lyapunov conditions for a system to be exponentially ISSp, and connect ISSp to stochastic stability conditions found in literature. We exemplify the utility of this method through its application to a bipedal robot confronted with step heights sampled from a truncated Gaussian distribution.

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Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP

Dynamic Walking on Highly Underactuated Point Foot Humanoids...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Adrian B. Ghansah Jeeseop Kim Kejun Li Aaron D. Ames Department of Control and Dynamical Systems California Institute of Technology Pasadena CA USA Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA USA Department of Computation and Neural Systems California Institute of Technology Pasadena CA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for realizing dynamic locomotion and implements it on a novel point foot humanoid: ADAM. To this end, we close the loop between Hybrid Zero Dynamics (HZD) and Hybrid linear inverted pendulum (HLIP) based step length regulation. To leverage the full-order hybrid dynamics of the robot, walking gaits are first generated offline by utilizing HZD. These trajectories are stabilized online through the use of a HLIP based regulator. Finally, the planned trajectories are mapped into the full-order system using a task space controller incorporating inverse kinematics. The proposed method is verified through numerical simulations and hardware experiments on the humanoid robot ADAM marking the first humanoid point foot walking. Moreover, we experimentally demonstrate the robustness of the realized walking via the ability to track a desired reference speed, robustness to pushes, and locomotion on uneven terrain.

关键词： Legged locomotion Regulators Humanoid robots Robustness Hardware Regulation Trajectory Rubber Standards Foot

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A Tube-Based Reinforcement Learning Approach for Optimal Motion Planning in Unknown Workspaces

A Tube-Based Reinforcement Learning Approach for Optimal Mot...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, a tube-based nearly optimal solution to motion planning in unknown workspaces is presented. The advantages of reactive motion planning are combined with a Policy Iteration Reinforcement Learning scheme to yield a novel solution for unknown workspaces that inherits provable safety, convergence and optimality. Moreover, in simply-connected workspaces, our method is proven to asymptotically provide the globally optimal path. Our method is compared against a provably asymptotically optimal RRT ⋆ method, as well as a relevant reactive method and provides satisfactory performance, closely matching or outperforming the former.

关键词： Reinforcement learning Planning Safety Robotics and automation Convergence

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Physics-Informed Neural Networks for Learning the Parameters of Commercial Adaptive Cruise control systems

Physics-Informed Neural Networks for Learning the Parameters...

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IEEE Conference on Decision and control

作者： Theocharis Apostolakis Konstantinos Ampountolas Department of Mechanical Engineering Automatic Control and Autonomous Systems Laboratory University of Thessaly Volos Greece

This paper develops a physics-informed neural network (PINN) for learning the parameters of commercially implemented adaptive cruise control (ACC) systems. The constant time-headway policy (CTHP) is adopted to emulate the core functionality of stock ACC systems (proprietary control logic and its parameters) which is not publicly available. Multi-layer artificial neural networks is a class of universal approximators, and thus the developed PINN can serve as a surrogate approximator to capture the longitudinal dynamics of ACC-engaged vehicles and efficiently learn the unknown parameters of the CTHP. The ability of the PINN to infer the unknown ACC parameters is tested on both synthetic and empirical data of space-gap and relative velocity involved ACC-engaged vehicles in platoon formation. The results have demonstrated the superior predictive ability of the proposed PINN to learn the unknown design parameters of stock ACC systems of different vehicle makes. The set of ACC model parameters obtained from the PINN revealed that the stock ACC system of the considered vehicles in three experimental campaigns is neither $\mathcal{L}_systems$ nor $\mathcal{L}_{\infty}$ string stable.

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Automation 5.0: The Key to systems Intelligence and Industry 5.0

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical Engineering-Systems University of Southern CaliforniaLos AngelesCA 90007 USA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of Engineering University of CambridgeCB21TN CambridgeU.K. School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence Institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

AUTOMATION has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“Automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： Automation machinery intelligence

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