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American control Conference (ACC)

作者： Ross Drummond Hamed Taghavian Pablo R. Baldivieso-Monasterios The Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

The problem of learning-to-control relaxation systems from data is considered. It is shown that the equi-librium of the relaxation system's step response defines the solution of a class of robust control problems and provides a good suboptimal solution to a class of linear quadratic regulator problems. These results demonstrate the potential to efficiently learn policies for these control problems from a single, easy-to-implement trajectory data point, being the step response. More broadly, these results highlight how the system structure and problem definition of the control problem can be exploited to generate data efficient learning- to-control methods.

关键词： Robust control Linear systems Regulators System dynamics Optimal control Trajectory

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Development of automatic Cartesian Robot Cannabis Seeder using LabVIEW

Development of Automatic Cartesian Robot Cannabis Seeder usi...

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International ECTI Northern Section Conference on electrical, Electronics, Computer and Telecommunications engineering (ECTI-NCON)

作者： Rujipan Kosarat Keattipoom Sangwai Anan Wongjan Department of Software Engineering Faculty of Engineering Rajamangala University of Technology Lanna Chiangmai Thailand Department of Electronic Engineering and Automatic Control Systems Faculty of Engineering Rajamangala University of Technology Lanna Chiangmai Thailand

ISBN: (数字)9798331543273

ISBN: (纸本)9798331543280

This article describes the invention of autonomous cannabis seeding equipment to reduce contamination and planting time. The automated cannabis seeder employs an NI myRIO control board to operate a y-axis stepper motor attached to a ball screw to move along the breadth of each row of 14 seed trays. Soil drilling and burial Drill all holes at the same depth. This promotes seed germination and lowers human-seed germ contamination. These 7 soil drill heads and 7 seeders use 3D printers to design and shape the workpiece. An 800-watt air pump smokes the cannabis seeds. Linear electric motors function in two rows in the z-axis. The buffer reverses the drowning process from row 14 to the first row, starting from the 3rd row and continuing through the final series of steps until 14 rows in the y-axis are complete. The hardware controls all program activities in LabVIEW. We tested the automated cannabis seeding machine 100 times on average, sowing cannabis seeds into 98 seed trays and dropping 93 seeds at 94.80% efficiency in 10.38 minutes. A 16 percent faster machine than human work is available.

关键词： Technological innovation Motor drives Shape Soil Pulse width modulation Three-dimensional printing Seeds (agriculture) Printers Robots Contamination

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Foreign Object Debris detection at aerodromes using YOLOv5

Foreign Object Debris detection at aerodromes using YOLOv5

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Jakub Suder Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

The latest EASA recommendations from 2024 indicate the possibility of using machine learning techniques in aerodrome monitoring. The aim of the work was to analyze solutions and prepare FOD (Foreign Object Debris) object detection software on aerodromes. In order to implement the issue, a dataset of photos and video recordings for testing algorithms was developed. The dataset consists of 1480 photos showing FOD at aerodromes and photos of the runway itself, according to EASA and FAA recommendations. FOD detection was implemented using a classical, k-means method and effective YOLOv5.

关键词： YOLO Reviews Neural networks Software algorithms Signal processing algorithms Software Real-time systems Video recording Monitoring Testing

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A Primal-Dual SGD Algorithm for Distributed Nonconvex Optimization

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IEEE/CAA Journal of automatica Sinica 2022年第5期9卷 812-833页

作者： Xinlei Yi Shengjun Zhang Tao Yang Tianyou Chai Karl Henrik Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technologyand also affiliated with the Digital FuturesStockholm 10044Sweden Department of Electrical Engineering University of North TexasDentonTX 76203 USA IEEE State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China

The distributed nonconvex optimization problem of minimizing a global cost function formed by a sum of n local cost functions by using local information exchange is *** problem is an important component of many machine learning techniques with data parallelism,such as deep learning and federated *** propose a distributed primal-dual stochastic gradient descent(SGD)algorithm,suitable for arbitrarily connected communication networks and any smooth(possibly nonconvex)cost *** show that the proposed algorithm achieves the linear speedup convergence rate O(1/(√nT))for general nonconvex cost functions and the linear speedup convergence rate O(1/(nT)) when the global cost function satisfies the Polyak-Lojasiewicz(P-L)condition,where T is the total number of *** also show that the output of the proposed algorithm with constant parameters linearly converges to a neighborhood of a global *** demonstrate through numerical experiments the efficiency of our algorithm in comparison with the baseline centralized SGD and recently proposed distributed SGD algorithms.

关键词： Distributed nonconvex optimization linear speedup Polyak-Lojasiewicz(P-L)condition primal-dual algorithm stochastic gradient descent

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Symbolic dynamics for active sets of a class of constrained nonlinear optimal control and MPC problems

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IFAC-PapersOnLine 2024年第18期58卷 181-187页

作者： M. Mönnigmann R. Hill A. Bemporad G. Pannocchia Automatic Control and Systems Theory Ruhr-Universität Bochum Germany Electrical and Electronic Engineering University of Melbourne Australia IMT School for Advanced Studies Lucca Italy Civil and Industrial Engineering University of Pisa Italy

Solutions to optimal control problems are usually understood to provide optimal trajectories. In this paper, we show that the optimal state-space system dynamics induce a dynamics of the active sets. More specifically, given the optimal active set at the solution obtained at the current time, its successor optimal active set (which, in turn, defines the successor solution) can be found with index set operations. These operations do not involve any optimal control (or other optimization or integration) problem, but they can be described with simple rules. These rules constitute the symbolic dynamics for active sets. The present paper treats a particular constrained nonlinear problem class, extending earlier results for the constrained linear-quadratic case.

关键词： optimal control nonlinear model predictive control

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An Interacting Multiple Model Correntropy Kalman Filter Approach for Unmanned Aerial Vehicle Localisation 16

An Interacting Multiple Model Correntropy Kalman Filter Appr...

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16th International Conference on INnovations in Intelligent systems and Applications, INISTA 2022

作者： Candan, Fethi Beke, Aykut Shen, Chen Mihaylova, Lyudmila University of Sheffield Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Aselsan Department of Control Systems Design Ankara06750 Turkey 310018 China

ISBN: (数字)9781665498104

ISBN: (纸本)9781665498104

This paper compares a conventional interacting multiple model Kalman filter (IMM-KF) filter and an interacting multiple models with maximum correntropy Kalman filter (IMM-MCKF). A nonlinear UAV dynamics model was used to compare these two methods. The compared filters estimated the position of the UAV under the noise distribution. Although KF has reliable accuracy, MCKF has got better results under non-Gaussian or mixed distributions. At this point, these filters have been investigated under maneuver and non-maneuver motion, and it is known that better advantages will be shown when both filters are used in the IMM. These filters have been compared under non-Gaussian distributions, and the Student's-T distribution has been selected as a non-Gaussian type. The performance validation and testing stages are carried out with variable degrees of freedom, and scaling matrix factors for the Student's-T distributions have been used. Results from simulation tests from 3000 independent Monte-Carlo runs are presented. In these experiments, UAV models and UAV trajectory results have been used. © 2022 IEEE.

关键词： Kalman filters

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On the Linear control of a Dynamically Feedback Linearizable Rocket System: An ADRC Approach

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IFAC-PapersOnLine 2023年第2期56卷 4551-4556页

作者： Brian C. Gómez-León Mario A. Aguilar-Orduña Hebertt J. Sira-Ramírez Ruben A. Garrido-Moctezuma Automatic Control Department Cinvestav-IPN Mexico City Mexico Electrical Engineering Department Cinvestav-IPN Mexico City Mexico

This work illustrates the use of an Active Disturbance Rejection control (ADRC) scheme for flat multivariable nonlinear systems. After a preliminary suitable dynamic extension of the system's control inputs, guided by the flatness property, we focus on the resulting input-output coupling matrix simplification that preserves the required closed-loop performance. A rather general methodology is presented that simplifies the severe nonlinearities commonly appearing in the dynamic feedback linearization control scheme; linear ADRC controllers are proposed to achieve robustness. Numerical simulations of a non-trivial rocket control example are presented; a clear simplification of the nonlinear dynamic feedback controller is achieved without compromising the performance of a rest-to-rest trajectory tracking task.

关键词： Active Disturbance Rejection control Differential Flatness nonlinear MIMO systems

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Development of automatic Cartesian Robot Cannabis Seeder using LabVIEW 10

Development of Automatic Cartesian Robot Cannabis Seeder usi...

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10th International Conference on Digital Arts, Media and Technology and 8th ECTI Northern Section Conference on electrical, Electronics, Computer and Telecommunications engineering, ECTI DAMT and NCON 2025

作者： Kosarat, Rujipan Sangwai, Keattipoom Wongjan, Anan Rajamangala University of Technology Lanna Faculty of Engineering Department of Software Engineering Chiangmai Thailand Rajamangala University of Technology Lanna Faculty of Engineering Department of Electronic Engineering and Automatic Control Systems Chiangmai Thailand

ISBN: (纸本)9798331543273

关键词： Stepping motors

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Optimal MBU positioning under fault scenario for distribution networks with high PV Penetration

Optimal MBU positioning under fault scenario for distributio...

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14th Mediterranean Conference on Power Generation Transmission, Distribution and Energy Conversion (MEDPOWER 2024)

作者： Cedric Caruana Somesh Bhattacharya Reiko Raute Alexander Micallef Kenneth Scerri Department of Electrical Engineering Faculty of Engineering University of Malta Msida Malta Department of Systems and Control Faculty of Engineering University of Malta Malta

ISBN: (数字)9781837242689

Faults on distribution networks due to abnormal weather events can lead to disruption and can cause high socio-economic losses. In line with the rising frequency of such events, the paper proposes an algorithm for the optimal deployment of mobile battery units to restore sections of the network. The considered battery units are rated at 1MVA to keep them realistic for the mobi le application. The placement algorithm is formulated as a mixed integer mathematical optimisation problem. Sectionalising / tie switches are assumed on each branch of the network in order to increase the restoration configuration flexibility. Photovoltaic systems, distributed along the network, are allowed to contribute to the restored network sections. A number of critical loads are defined and these are prioritised in the restoration process. The objective function also considers the reduction of the overall renewable energy curtailment. The performance of the algorithm is tested on the IEEE 33 bus network with four tie lines. Scenarios with increasing levels of PV power are considered and the effect of incorporating the PV power is studied.

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