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Risk Assessment Based Time-adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs

IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Hai Li, Baoquan Yin, Haolin Zhang, Xuebo Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion planning to achieve safe and fast flight. Firstly, based on parameterization for uniform B-spline trajectories, relationship of knot spans and UAV speeds is analyzed, and an iterative velocity restrict algorithm is introduced to tackle nonexecutable flight. Subsequently, combining start and target points in local planning, an evaluation criterion function is designed with control points of the above trajectory and directions of collision avoidance. On this basis, risk assessment is conducted according to surrounding environments, where four phases of passing obstacles is constructed by considering risk level variation. Then, the weight function in each phase is determined by relationship of obstacle and planned local trajectory. Moreover, time intervals of B-spline trajectories are adjusted to obtain nonuniform trajectories, so as to affect UAV speeds. Simulation and experiment are conducted with comparison to verify performance of the proposed method. © 2025 IEEE.

关键词： Risk assessment

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Active Distribution Network Energy Storage Planning Model for Reliability Requirements 3

Active Distribution Network Energy Storage Planning Model fo...

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3rd Asia Power and electrical Technology Conference, APET 2024

作者： Sun, Yaqi Wu, Wenchuan Zhao, Haotian Sheng, Yujie Tsinghua University State Key Laboratory of Power Systems Department of Electrical Engineering Beijing China State Grid Fujian Electric Power Dispatching and Control Center State Grid Fujian Electric Power Co. Ltd Fuzhou China

ISBN: (纸本)9798350367690

The integration of renewable energy sources into the power grid introduces significant volatility, which presents new challenges to maintaining reliable power supply. This increased volatility amplifies the demand for energy storage solutions within distribution networks. To address these challenges, this paper first develops an analytical reliability assessment model and embeds it into an energy storage configuration model. Then the model is converted into a Mixed-Integer Linear Programming (MILP) model for efficient solution. Case studies demonstrate that this approach can be used for energy storage planning according to different reliability requirements. © 2024 IEEE.

关键词： Power distribution reliability

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Model Predictive Bang-Bang controller Synthesis via Approximate Value Functions

arXiv

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arXiv 2024年

作者： Jones, Morgan Nie, Yuanbo Peet, Matthew M. Department of Automatic Control and Systems Engineering The University of Sheffield United Kingdom School for the Engineering of Matter Transport and Energy Arizona State University TempeAZ85298 United States

In this paper, we propose a novel method for addressing Optimal control Problems (OCPs) with input-affine dynamics and cost functions. This approach adopts a Model Predictive control (MPC) strategy, wherein a controller is synthesized to handle an approximated OCP within a finite time horizon. Upon reaching this horizon, the controller is re-calibrated to tackle another approximation of the OCP, with the approximation updated based on the final state and time information. To tackle each OCP instance, all non-polynomial terms are Taylor-expanded about the current time and state and the resulting Hamilton-Jacobi-Bellman (HJB) PDE is solved via Sum-of-Squares (SOS) programming, providing us with an approximate polynomial value function that can be used to synthesize a bang-bang controller. Copyright © 2024, The Authors. All rights reserved.

关键词： controllers

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A Novel Rotor Switching Theory for Optimizing Small Vertical Axis Wind Turbine Performance: Insights from Experimental Study

A Novel Rotor Switching Theory for Optimizing Small Vertical...

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electrical, Computer and Energy Technologies (ICECET), International Conference on

作者： Elysa Nensy Irawan Ken-Ichiro Yamashita Goro Fujita Functional Control Systems Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Salesian Polythecnic Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

ISBN: (数字)9798350395914

ISBN: (纸本)9798350395921

In recent years, research on hybrid Savonius-Darrieus has significant attention within the wind energy sector. According to earlier research, this hybrid can produce higher torque at low tip speed ratios than a solo Darrieus model. However, as tip speed ratio increase, hybrids tend to perform lower than solo Darrieus. This study introduces an innovative paradigm termed rotor switching theory. It suggests switching from hybrid to solo Darrieus rotation at higher tip speed ratio for the turbine. Current study is conducted experimentally using testing models of small hybrid Savonius-Darrieus and solo Darrieus turbines. The internal rotor consists of two stages of Savonius turbines with a 0.2 overlap and a bucket angle of $\boldsymbol{135}^{\circ}$ , each having two blades. The external rotor features a NREL S809 Darrieus airfoil with a 5 cm cord length and three blades. Outer radius is 10 cm and its height is 15.4 cm. The experiments are conducted within an open-circuit wind tunnel with the wind speed variations of 3 - 12 m/s. Based on the results, the intersection of the moment and power coefficient graphs for both the hybrid and solo Darrieus occurs at TSR 1.7. When reaching this condition, switching the turbine rotation state from hybrid to solo Darrieus can offer advantages. By employing this concept, the turbine will achieve an expected initial power coefficient that is 150% better than the solo Darrieus and a maximum power coefficient that is 21% greater than the hybrid model.

关键词： Torque Wind speed Blades Wind tunnels Rotors Switches Hybrid power systems Wind turbines Wind energy conversion Testing

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Multi-talker Verbal Interaction for Humanoid Robots

Multi-talker Verbal Interaction for Humanoid Robots

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bartlomiej Klin Ryszard Beniak Michal Podpora Arkadiusz Gardecki Joanna Rut Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Department of Computer Science Opole University of Technology Faculty of Production Engineering and Logistics Opole University of Technology

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Working in multi-talker mode is viable under certain conditions, such as the fusion of audio and video stimuli along with smart adaptive beamforming of received audio signals. In this article, the authors verify part of the researched novel framework, which focuses on adapting to dynamic interlocutor’s location changes in the engagement zone of humanoid robots during the multi-talker conversation. After evaluating the framework, the authors confirm the necessity of a complementary and independent method of increasing the interlocutor’s signal isolation accuracy. It is necessary when video analysis performance plummets. The authors described the leading cause as insufficient performance during dynamic conversations. The video analysis cannot derive a new configuration when the interlocutor’s speech apparatus moves beyond the expected margin and the video frame rate drops.

关键词： Automation Accuracy Array signal processing Humanoid robots Oral communication Human factors

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Design of Signal Conditioner for Sensor Equipment of Human Body Surrogate for Forensic Crash Testing 10

Design of Signal Conditioner for Sensor Equipment of Human B...

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10th International Conference on engineering and Emerging Technologies, ICEET 2024

作者： Vestenicky, Peter Kolla, Eduard University of Žilina Faculty of Electrical Engineering and Information Technology Department of Control and Information Systems Univerzitn 8215/1 Žilina010 26 Slovakia Institute of Forensic Research and Education University of Žilina Univerzitn 8215/1 Žilina01026 Slovakia

ISBN: (纸本)9798331532895

This paper describes design and measurements of signal conditioner used for amplification of signals from accelerometers intended to use in human body surrogate for forensic crash testing. The design consists of instrumentation amplifier, Bessel low pass antialiasing filter and final gain stage. The characteristics of conditioner (frequency response, impulse response) are measured and compared with professional amplifier Endevco 136. Final testing of the conditioner together with sensor Endevco 7264H-2K is performed on the drop weight impact tester and the results are compared with Endevco 136, too. © 2024 IEEE.

关键词： Impulse response

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Research of Electromagnetic and Electromechanical Processes in High-Voltage Soft Start Devices with Gate Turn-Off Thyristors 5

Research of Electromagnetic and Electromechanical Processes ...

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5th IEEE International Conference on Modern electrical and Energy System, MEES 2023

作者： Busher, Victor Chornyi, Oleksii Tytiuk, Valerii Glazeva, Oksana Shestaka, Anatoliy Melnikova, Lubov National University 'Odessa Maritime Academy' Dept. of Electrical Engineering and Electronics Odessa Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Ukraine Kryvyi Rih National University Kryvyi Rih Ukraine Odessa State Polytechnic University Dept. Electromechanical Engineering Odessa Ukraine

ISBN: (纸本)9798350359787

The purpose of the work is to investigate the possibilities of soft-start devices with gate turn-off thyristors in electric drives of bow thrusters with adjustable propeller pitch to increase reliability, reduce mechanical shocks and currents, and improve electromagnetic compatibility with the ship's electrical power plant. The characteristic features of these drives are operation on fan load and the need for a smooth start in a sufficiently short time to reduce impact torque in the mechanism. As a result of the analysis, a solution with a shunt capacitor is proposed, which provides high accuracy of regulation of the 1st harmonic of the voltage on the motor according to the given law. The minimum value of the capacitor capacity was found, which for the ABB/AMD710L8T motor with a capacity of 2.7 MW is 150-250 μF at switching frequencies from 500 to 1000 Hz. For the first time, the dependences of the GTO switching frequency on the capacitor capacity and the coefficient of harmonic distortion of the current in the stator phase of the selected motor were found. Frequencies are obtained that correspond to the actual physical characteristics of the GTO (500-1000 Hz). At such switching frequencies, the characteristics of the soft start device practically do not differ from the ideal regulator of the phase voltage of an asynchronous motor. This makes it possible to synthesize closed systems with stabilization of the main coordinates of soft starter electric drive, two-circuit systems with the formation of a given tachogram with torque limitation. All this makes it feasible to implement soft start devices based on gate turn-off thyristors. © 2023 IEEE.

关键词： Electric drives

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Study of Discrete Analog Filters with Pole Frequency Adjustment Using General Feedback Resistors

Study of Discrete Analog Filters with Pole Frequency Adjustm...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Darya Denisenko Nikolay Prokopenko Nikolay Butyrlagin Yuri Ivanov Department of scientific research Department of Automatic Control Systems Don State Technical University Southern Federal University Rostov-on-Don Russia Department of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia Department of Automatic Control Systems Southern Federal University Rostov-on-Don Russia

Three new modifications of second-order low-frequency discrete analog filters (DAFs) based on switched capacitors have been developed and studied. A distinctive feature of the DAFs under consideration is the presence of two resistors in the general feedback circuit. This allows, at constant values of the capacitances of the frequency-setting capacitors and a fixed switching frequency of electronic switches, to control the frequency of the DAF pole by changing the resistance ratio of these resistors. The basic equations for the low-pass filter gain at zero frequency, the low-pass filter gain at the pole frequency, as well as formulas for calculating the pole frequency and pole attenuation are given. In the Micro-Cap environment, computer simulation of the proposed modifications of the DAF was performed, which shows that the considered circuit solutions perform the functions of a low-pass filter.

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Explaining complex systems: a tutorial on transparency and interpretability in machine learning models (part II)

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IFAC-PapersOnLine 2024年第15期58卷 497-501页

作者： Donatello Materassi Sean Warnick Cristian Rojas Maarten Schoukens Elizabeth Cross Department of Electrical and Computer Engineering University of Minnesota US Department of Homeland Security Science and Technology Directorate EECS/Division of Decision and Control Systems KTH Royal Institute of Technology Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands Department of Mechanical Engineering University of Sheffield

In the second segment of the tutorial, we transition from the granularity of local interpretability to a broader exploration of eXplainable AI (XAI) methods. Building on the specific focus of the first part, which delved into Local Interpretable Model-Agnostic Explanations (LIME) and SHapley Additive exPlanations (SHAP), this section takes a more expansive approach. We will navigate through various XAI techniques of more global nature, covering counterfactual explanations, equation discovery, and the integration of physics-informed AI. Unlike the initial part, which concentrated on two specific methods, this section offers a general overview of these broader classes of techniques for explanation. The objective is to provide participants with a comprehensive understanding of the diverse strategies available for making complex machine learning models interpretable on a more global scale.

关键词： eXplainable AI

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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

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Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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