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IEEE Conference on control Technology and Applications (CCTA)

作者： Felipe J. Montana Jun Liu Tony J. Dodd Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Department of Applied Mathematics University of Waterloo Waterloo Canada

ISBN: (纸本)9781509007561

This paper describes a method to find optimal policies for stochastic dynamic systems that maximise the probability of satisfying real-time properties. The method consists of two phases. In the first phase, a coarse abstraction of the original system is created. In each region of the abstraction, a sampling-based algorithm is utilised to compute local policies that allow the system to move between regions. Then, in the second phase, the selection of a policy in each region is obtained by solving a reachability problem on the Cartesian product between the abstraction and a timed automaton representing a real-time specification given as a metric interval temporal logic formula. In contrast to current methods that require a fine abstraction, the proposed method achieves computational tractability by modelling the coarse abstraction of the system as a bounded-parameter Markov decision process (BMDP). Moreover, once the BMDP is created, this can be reused for new specifications assuming the same stochastic system and workspace. The method is demonstrated with an autonomous driving example.

关键词： Automata Clocks Stochastic systems Real-time systems Markov processes

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Correction to: Development and clinical validation of inertial sensor-based gait-clustering methods in Parkinson's disease

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Journal of neuroengineering and rehabilitation 2019年第1期16卷 98页

作者： An Nguyen Nils Roth Nooshin Haji Ghassemi Julius Hannink Thomas Seel Jochen Klucken Heiko Gassner Bjoern M Eskofier Machine Learning and Data Analytics Lab Department of Computer Science Friedrich-Alexander-University Erlangen-Nürnberg (FAU) Carl-Thiersch-Straße 2b 91052 Erlangen Germany. an.nguyen@fau.de. Machine Learning and Data Analytics Lab Department of Computer Science Friedrich-Alexander-University Erlangen-Nürnberg (FAU) Carl-Thiersch-Straße 2b 91052 Erlangen Germany. Control Systems Group Department of Electrical Engineering and Computer Science Technische Universität Berlin (TUB) Einsteinufer 17 10587 Berlin Germany. Department of Molecular Neurology University Hospital Erlangen Friedrich-Alexander University Erlangen-Nürnberg (FAU) Schwabachanlage 6 91054 Erlangen Germany.

The original article [1] contained an error whereby Fig. 6 contained a minor shading glitch affecting its presentation. This has now been corrected.

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Identifiability in dynamic network identification

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IFAC-PapersOnLine 2015年第28期48卷 1409-1414页

作者： Weerts, Harm H.M. Dankers, Arne G. Van den Hof, Paul M.J. Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Department of Electrical Engineering University of Calgary Canada

Dynamic networks are structured interconnections of dynamical systems driven by external excitation and disturbance signals. We develop the notion of network identifiability, a property of a parameterized model set that ensures that module dynamics are uniquely related to the filters that specify the one-step-ahead predictors of all node signals in the network. It can be used to specify which presence of excitation signals will result in a unique representation of the network dynamics in a particular network model parametrization. This uniqueness is necessary for detecting the topology of the network from measured data, and for consistently estimating the network dynamics. We combine aspects of the classical notion of system identifiability with a uniqueness-oriented parametrization concept, and extend this to the situation of highly structured model sets. All node signals in the network are treated in a symmetric way. The presented concept and theory allow for the incorporation of particular structural prior knowledge of the network structure © 2015

关键词： Dynamics Dynamical systems Identification (control systems) Disturbance signals Dynamic network Excitation signals External excitation Identifiability Network structures Parameterized model Parametrizations

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Autonomous flame detection in video based on saliency analysis and optical flow

Autonomous flame detection in video based on saliency analys...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Zhenglin Li Olga Isupova Lyudmila Mihaylova Lucile Rossi Department of Automatic Control and Systems Engineering University of Sheffield UK UMR CNRS 6134 SPE University of Corsica France

ISBN: (纸本)9781467397087;9781467397094

The paper proposes a flame detection method based on saliency analysis, optical flow estimation and temporal wavelet transform. Two separate saliency maps are first obtained based on the grayscale values and optical flow magnitudes of each frame using a saliency detector. Subsequently, the two maps are combined to extract candidate flame regions. To further discard falsely detected pixels, a colour model of flames and temporal wavelet transform are employed. The proposed algorithms can be applied in the autonomous and semi-autonomous systems for environmental surveillance and can reduce the load of human operators. Experiments illustrate the introduced method achieves around 91% true positive rate and 97% true negative rate.

关键词： Color Optical imaging Fires Wavelet transforms Integrated optics Gray-scale

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Prediction of subharmonic oscillation in switching regulators with integrative feedback loops

Prediction of subharmonic oscillation in switching regulator...

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International Symposium on Circuits and systems

作者： Abdelali El Aroudi GAEI Research Center Department of Electronics Electrical Engineering and Automatic Control Universitat Rovira i Virgili Tarragona Spain

ISBN: (纸本)9781479953424

This paper investigates the effect of the integrator gain on subharmonic oscillation boundary in switching converters with fixed frequency pulse width modulation (PWM) with an integrative feedback loop. First, the exact state-space switched model of the converter is revisited and then a closed-form expression for predicting this phenomenon is presented. The use of this expression is illustrated by means of two different examples f switching converters. While in voltage mode control, the integral action can be ignored for predicting subharmonic oscillation, it is shown the integral action in the current loop has a significant effect on this phenomenon.

关键词： Oscillators Switches Light emitting diodes Numerical models Time-domain analysis Stability analysis Steady-state

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I. Jet Formation and Evolution Due to 3D Magnetic Reconnection

arXiv

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arXiv 2017年

作者： González-Avilés, J.J. Guzmán, F.S. Fedun, V. Verth, G. Shelyag, S. Regnier, S. Laboratorio de Inteligencia Artificial y Supercómputo Instituto de Física y Matemáticas Universidad Michoacana de San Nicolás de Hidalgo. MoreliaMichoacán Mexico Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom School of Mathematics and Statistics University of Sheffield SheffieldS3 7RH United Kingdom Department of Mathematics Physics and Electrical Engineering Northumbria University Newcastle upon TyneNE1 8ST United Kingdom

Using simulated data-driven three-dimensional resistive MHD simulations of the solar atmosphere, we show that 3D magnetic reconnection may be responsible of the formation of jets with characteristics of Type II spicules. For this, we numerically model the photosphere-corona region using the C7 equilibrium atmosphere model. The initial magnetic configuration is a 3D potential magnetic field, extrapolated up to the solar corona region from a dynamic realistic simulation of solar photospheric magnetoconvection model which is mimicking quiet-Sun. In this case we consider a uniform and constant value of the magnetic resistivity of 12.56 Ω m. We have found that formation of the jet depends on the Lorentz force, which helps to accelerate the plasma upwards. Analyzing various properties of the jet dynamics, we found that the jet structure shows Doppler shift near to regions with high vorticity. The morphology, upward velocity, covering a range up to 130 km s−1, and timescale formation of the estructure between 60 and 90 s, are similar to those expected for Type II spicules. Copyright © 2017, The Authors. All rights reserved.

关键词： Magnetohydrodynamics

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Topology identification and design of distributed integral action in power networks

Topology identification and design of distributed integral a...

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American control Conference

作者： Xiaofan Wu Florian Dorfler Mihailo R. Jovanovic Department of Electrical and Computer Engineering University of Minnesota Minneapolis 55455 USA Automatic Control Laboratory at ETH Zurich Switzerland

ISBN: (纸本)9781467386838

Recently distributed integral controllers relying on averaging and communication have been proposed as effective means for optimal frequency regulation in power systems, load balancing of network flows, and as natural extensions to static consensus controllers. Typically, only the questions of stability, disturbance rejection, and steady-state resource allocation are addressed in the literature, and the problems of transient performance and optimal communication network design remain open. In this paper we consider the optimal frequency regulation problem and propose a principled heuristic to identify the topology and gains of the distributed integral control layer. We employ an l1-regularized H2-optimal control framework as a means for striking a balance between network performance and communication requirements. The resulting optimal control problem is solved using the alternating direction method of multipliers algorithm. For the IEEE 39 New England benchmark problem, we demonstrate that the identified sparse and distributed integral controller can achieve reasonable performance relative to the optimal centralized controller. Interestingly, the identified control architecture is directed and correlates with the generator rotational inertia and cost coefficients.

关键词： topology identification Alternating direction method of multipliers distributed PI-control power systems sparsity-promoting optimal control

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Prediction Error Method Estimation for Simultaneous Localisation and Mapping

Prediction Error Method Estimation for Simultaneous Localisa...

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International Conference on Information Fusion

作者： Zoran Sjanic Martin A. Skoglund Saab AB Link?ping Sweden Division of Automatic Control Department of Electrical Engineering Link?ping University Sweden

ISBN: (纸本)9781509020126

This paper presents a batch estimation method for Simultaneous Localization and Mapping (SLAM) using the Prediction Error Method (PEM). The estimation problem considers landmarks as parameter while treating dynamics using state space models. The gradient needed for parameter estimation is computed recursively using an Extended Kalman Filter (EKF). Results using simulations with a monocular camera and inertial sensors are presented and compared to a Nonlinear Least-Squares (NLS) estimator. The presented method produce both lower RMSE's and scale better to the batch length.

关键词： Jacobian matrices Cameras Time measurement Simultaneous localization and mapping Loss measurement Optimization Estimation simultaneous localization and mapping loss measurement time measurement Jacobian matrix Cameras Error of prediction monocular camera inertia sensor

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Subspace Identification of Local 1D Homogeneous systems

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IFAC-PapersOnLine 2015年第28期48卷 892-896页

作者： Yu, Chengpu Verhaegen, Michel Hansson, Anders Delft Center for Systems and Control Delft University Delft2628CD Netherlands Division of Automatic Control Department of Electrical Engineering Linkoping University Sweden

This paper studies the local subspace identification of 1D homogeneous networked systems. The main challenge lies at the unmeasurable interconnection signals between neighboring subsystems. Since there are many unknown inputs to the concerned local system, the corresponding identification problem is semi-blind. To cope with this problem, a nuclear norm optimization based subspace identification is presented, which is carried out for solving the Markov parameters of a locally lifted system, followed by determining the system matrices of a single subsystem. In the step of Markov parameter estimation, we form a nuclear norm regularized optimization problem which can well handle the adverse effects of the unknown system inputs as long as the number of unknown system inputs is relatively small. In the step of system realization, we again derive a nuclear norm regularized optimization formulation which can cope with the under-determinedness of the realization problem. In the end, the overall identification algorithm is summarized. © 2015

关键词： Parameter estimation Markov processes Identification algorithms Identification problem Markov parameters Rank constraints Regularized optimization problems Regularized optimizations Subspace identification System realization

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On Topological Conditions to Maintain Leader-Follower Connectivity in Double-Integrator Multi-Agent systems

On Topological Conditions to Maintain Leader-Follower Connec...

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Mediterranean Conference on control and Automation

作者： Philipp N. Kohler Dimos V. Dimarogonas Institute for Systems Theory and Automatic Control (IST) University of Stuttgart ACCESS Linnaeus Center School of Electrical Engineering KTH Royal Institute of Technology

ISBN: (纸本)9781467383479

In this work, a set of sufficient conditions that guarantee consensus towards a pre-specified target state in double-integrator leader-follower proximity-based networks are derived. Since only the leader agents are aware of the global objective and proximity-based communication between agents is considered, the follower agents must not lose contact to the leaders. We establish a connectivity analysis framework which is used to show that the initial network topology is maintained if the ratio of leaders-to-followers and the magnitude of the goal attraction force experienced by the leaders are below certain bounds. Various network topologies are examined, starting from a complete graph and extending to incomplete graphs. The theoretical results are illustrated by simulations.

关键词： Network topology Agents Multi-agent systems Leaders Awareness Connectivity analysis Leadership simulating EARTHQUAKE MAGNITUDE

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