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Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems ⁎

IFAC-PapersOnLine 2020年第2期53卷 3348-3353页

作者： Leonardo Colombo Patricio Moreno Mengbin Ye Héctor Garcia de Marina Ming Cao Institute of Mathematical Sciences (ICMAT) Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.

关键词： Shape control Distributed control Multi-agent systems Forced variational integrators

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Steady state analysis of switched reluctance motor with modified geometry of the stator designed for an electric bike

Steady state analysis of switched reluctance motor with modi...

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2018 International Symposium on Electrical Machines, SME 2018

作者： Gabor, Rafal Kowol, Marcin Kolodziej, Janusz Mynarek, Piotr Opole University of Technology Faculty of Electrical Engineering Automatic Control and Computer Science Opole Poland

ISBN: (纸本)9781538652107

The paper contains a proposition of the application of a SRM motor with a modified stator geometry for an electric drive, in particular in an electric bicycle. The study involved a comparison of the cyclicity of the electromagnetic torque and self-inductance in the function of the rotor angle in 2D and 3D models based on the application of the finite element method. © 2018 IEEE.

关键词： Finite element method

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Smart Contracts for Research Data Rights Management over the Ethereum Blockchain Network

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Science and Technology Libraries 2018年第3期37卷 235-245页

作者： Pãnescu, Adrian-Tudor Manta, Vasile Faculty of Automatic Control and Computer Engineering "Gheorghe Asachi" Technical University of Iași Iași Romania Research & Development figshare London United Kingdom

This article presents a new method for managing digital reuse rights of research data, which leverages technologies such as the blockchain and smart contracts. This allows, on one hand, the creation of a permanent record on the agreements between the authors of the data and the reusers, with the possibility of verifying compliance at any time, and on the other hand, a higher level of granularity on defining the conditions of reuse. A practical implementation of such a workflow using the Solidity smart contract language is included, along with a brief analysis over the Ethereum blockchain network. © 2018, Published with license by Taylor & Francis Group, LLC. © 2018 Adrian-Tudor Pãnescu and Vasile Manta. © 2018, © 2018 Adrian-Tudor Pãnescu and Vasile Manta.

关键词： Smart contract

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Nonnegative Solutions for a Riemann-Liouville Fractional Boundary Value Problem

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Open Journal of Applied Sciences 2019年第10期9卷 749-760页

作者： Rodica Luca Alexandru Tudorache Department of Mathematics Gh. Asachi Technical University Iasi Romania Faculty of Computer Engineering and Automatic Control Gh. Asachi Technical University Iasi Romania

We investigate the existence of nonnegative solutions for a Riemann-Liouville fractional differential equation with integral terms, subject to boundary conditions which contain fractional derivatives and Riemann-Stieltjes integrals. In the proof of the main results, we use the Banach contraction mapping principle and the Krasnosel’skii fixed point theorem for the sum of two operators.

关键词： Riemann-Liouville Fractional Differential Equations Nonlocal Boundary Conditions Nonnegative Solutions Existence

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Multi-person remote heart-rate measurement from human faces - a CNN based approach

Multi-person remote heart-rate measurement from human faces ...

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IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)

作者： Thomas Pursche Marcel Walz Roland Clauß Robert Roth Bernd Tibken Reinhard Möller School of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automation/Computer Science University of Wuppertal Wuppertal Germany

The conventional heart rate measurement techniques using electrocardiogram, wrist belts and so on, are attached with some disadvantages like discomfort, irritation of the skin and even more. From this starting point various video based heart rate measurement techniques were developed in the last years. All of these techniques use video data of the human faces to extract information to estimate the heart rate of the person in front of the camera. Most of them work with the detection of minimal changes in the color spectrum of the recorded video data. With these extracted information and multiple concluding steps, they are able to estimate the heart rate of the person sitting in front of the camera. All of these approaches have some big disadvantages, they are only able to measure the heart rate of one person - and in a small number of cases up to three persons. So the main objective of this work is to adapt and enhance existing research approaches of processing visual biological signals. The focus is set on the design and deployment of a new system, which is able to process visual data as well as detect and localize human faces by using artificial neural networks and calculate each individuals heart rate from the processed data's information. For the first time in this research area, different scenarios with more than three observed participants are being analyzed to calculate the heart rate for each of them separately. It will be shown that by using the applied technical architecture and technologies, it is possible to deploy a comparable and qualitatively competitive system. In addition, the implemented system proves the feasibility of processing various faces' signals and calculating the respective heart rates simultaneously within an acceptable range of tolerance.

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LoRA based, low power remote monitoring and control solution for Industry 4.0 factories and facilities

LoRA based, low power remote monitoring and control solution...

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Roedunet International Conference (RoEduNet)

作者： George-Cristian Pătru Dumitru-Cristian Trancă Ciprian-Marian Costea Daniel Rosner Răzvan-Victor Rughiniş Computer Science and Engineering Department University POLITEHNICA of Bucharest Bucharest Romania Faculty of Automatic Control and Computer Science University POLITEHNICA of Bucharest Bucharest Romania

Over the years, industrial automation has repeatedly been impacted by the continuous and tremendous evolution in the fields of computer systems, electronics and data transmission. Industry 4.0, the current wave of the industrial revolution- dubbed the data revolution -, integrates these advances in communication and computational systems with the Internet, resulting in a paradigm shift towards the (Industrial) Internet of Things. Automation systems and remote data acquisition systems evolved over the last years from classic solutions based on wired infrastructure to modern, flexible solutions bringing together wireless communications, battery powered devices and wireless sensors networks. In this paper we first define the main problems encountered in modern wireless automation systems - small distance limitations of wireless communication solutions, weak security or complete lack of security in data transmission, and high energy consumption of battery powered remote data acquisition systems. In order to address these limitations, we propose, implement, trial-run and benchmark a novel low power LoRa-based flexible hardware architecture for use in industrial remote monitoring and control. We obtain a LoS capability above 3km and a calculated autonomy of about 10 years, exceeding the capabilities of current State of the Art solutions.

关键词： Sensors Hardware Batteries Wireless sensor networks Power demand Protocols Industries

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A Concept of an Adaptive Luminaire with Variable Luminous Intensity Distribution 7

A Concept of an Adaptive Luminaire with Variable Luminous In...

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7th Lighting Conference of the Visegrad Countries, LUMEN V4 2018

作者： Lesko, Marcin Wachta, Henryk Baran, Krzysztof Rozowicz, Antoni Faculty of Electrical and Computer Engineering Rzeszow University of Technology Rzeszow Poland Automatic Control and Computer Science Kielce University of Technology Faculty of Electrical Engineering Kielce Poland

ISBN: (纸本)9781538679234

The article presents an innovative concept of adaptive luminaire with variable luminous intensity distribution. It enables adjustment of photometric characteristic of luminaire to variable arrangement of the facility, including the quantitative regulation of luminous flux and spatial distribution. A solution presented in this paper was developed as part of a research project titled 'Development of the Intelligent Light Distribution System SOLLS ACTIVE SKY' and is the subject of patent application. The authors present the results of simulation tests in terms of the possibility of obtaining different luminous intensity distribution and lighting parameters on the working plane, with variable position relative to the arrangement of the luminaires. The use of a luminaire with variable luminous intensity distribution as part of an adaptive lighting system allows for quick and cost-free introduction of changes in the lighting of selected functional zones inside the facility. It is possible to adjust the lighting in case of changes in the size or position of the working plane, while the position of luminaire is constant. © 2018 IEEE.

关键词： Optical systems

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Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems

arXiv

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arXiv 2020年

作者： Colombo, Leonardo Moreno, Patricio Ye, Mengbin de Marina, Héctor Garcia Cao, Ming Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

关键词： Multi agent systems

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Fuzzy queries on relational databases

Fuzzy queries on relational databases

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2018 International Interdisciplinary PhD Workshop, IIPhDW 2018

作者： Nowakowski, Grzegorz Cracow University of Technology Department of Automatic Control and Information Technology Faculty of Electrical and Computer Engineering Cracow Poland

ISBN: (纸本)9781538661437

This article presents various forms of fuzzy queries, a detailed analysis of these queries and their conversion into standard SQL queries by means of Oracle 11g XE. A qualitative and quantitative study about the use of fuzzy queries on relational databases has been included in this article, as well. Given that fuzzy queries arrange results according to the degree in which they meet the conditions of the query, it is easier to analyze the results and the risk of obtaining an empty result is reduced thanks to an extended interpretation of the conditions of the query. The provided examples of conversion of fuzzy queries into standard SQL queries by means of Oracle 11g XE point to easy to implement methods of obtaining fuzzy information from the database, and thereby expand its functionality. © 2018 IEEE.

关键词： Fuzzy logic

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Comparison of the Effectiveness of Various Structures of Regulators for controlling an Object of the Sixth Order

Comparison of the Effectiveness of Various Structures of Reg...

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2019 International Multi-Conference on engineering, computer and Information Sciences, SIBIRCON 2019

作者： Zhmud, Vadim Dimitrov, Lubomir Nosek, Jaroslav Roth, Hubert Novosibirsk State Technical University Dept. of Automation Novosibirsk Russia Technical University of Sofia Sofia Bulgaria Technical University of Liberec Faculty of Mechatronics Computer Science and Interdisciplinary Research Liberec Czech Republic University of Siegen Department of Automatic Control Engineering Siegen Germany Germany

ISBN: (纸本)9781728144016

Object control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of the problem of controlling a linear object of the sixth order, the parameters of which are such that this high order significantly and negatively affects the possibilities of successfully managing this object. Using the traditional approach to the design problem of the controller (regulator) allows us to formally solve the problem;however, the result of this solution is not satisfactory. The use of additional derivation does not give any noticeable improvement. A solution to this problem is proposed by using pseudo-local feedback, moreover, this connection is supposedly most effective if it covers one of two identical links in the object model. This allows for a smoother attenuation of the frequency response of the object in the region where the action of these two links begins to affect. For pseudo-local communication, an additional PID controller is used, the coefficients of which are also determined by the method of numerical optimization. The optimization result allows us to conclude that the presence of an integral element in this controller is optional. The calculation result of such a composite controller meets the most stringent requirements for the quality of control, since in such a system the speed is increased at least twice, the oscillations, which were about 10% in amplitude, are completely eliminated, the robustness of the system is ensured, which is verified by changing all the controller coefficients by 5% up and down, and also by changing the time constant of the element of the pseudolocal loop by 10% up and down, changes in the transition process of the system in this case remain are acceptable. © 2019 IEEE.

关键词： Feedback

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