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PID2018 benchmark challenge: Model-based feedforward compensator with a conditional integrator ??

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arXiv 2018年

作者： Yuan, Jie Ates, Abdullah Dehghan, Sina Zhao, Yang Fei, Shumin Chen, YangQuan School of Automation Southeast University Nanjing210096 China Engineering Faculty Computer Engineering Department Inonu University Malatya44280 Turkey Mechatronics Embedded Systems and Automation Lab University of California MercedCA95340 United States School of Science and Engineering Shandong University Jinan250061 China Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China

Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the effciency of PID controllers. Thus, it is essential and inspiring to operate different PID control strategies to the PID2018 Benchmark Challenge. In this paper, a novel control strategy is designed for this refrigeration system, where a feedforward compensator and a conditional integrator are utilized to compensate the disturbances and remove the steady-state error in the benchmark problem, respectively. The simulation results given in the benchmark problem show the straightforward effectiveness of the proposed control structure compared with the existing control methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Disturbance rejection

PID2018 benchmark challenge: Learning feedforward control

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arXiv 2018年

作者： Zhao, Yang Dehghan, Sina Ates, Abdullah School of Control Science and Engineering Center for Robotics Shandong University Jinan Shandong250061 China University of California Merced MercedCA95340 United States School of Automation Southeast University Nanjing210096 China Engineering Faculty Computer Engineering Department Inonu University Malatya44280 Turkey

The design and application of learning feedforward controllers (LFFC) for the one-staged refrigeration cycle model described in the PID2018 Benchmark Challenge is presented, and its effectiveness is evaluated. The control system consists of two components: 1) a preset PID component and 2) a learning feedforward component which is a function approximator that is adapted on the basis of the feedback signal. A B-spline network based LFFC and a low-pass filter based LFFC are designed to track the desired outlet temperature of evaporator secondary flux and the superheating degree of refrigerant at evaporator outlet. Encouraging simulation results are included. Qualitative and quantitative comparison results evaluations show that, with little effort, a high-performance control system can be obtained with this approach. Our initial simple attempt of low-pass filter based LFFC and B-spline network based LFFC give J=0.4902 and J=0.6536 relative to the decentralized PID controller, respectively. Besides, the initial attempt of a combination controller of our optimized PI controller and low-pass filter LFFC gives J=0.6947 relative to the multi-variable PID controller. Copyright © 2018, The Authors. All rights reserved.

关键词： Feedforward control

Methodologies and Intelligent Systems for Technology Enhance...

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Preface

Methodologies and Intelligent Systems for Technology Enhanced Learning, 9th International Conference, 2019 2020年 1007卷 v-vi页

作者： Gennari, Rosella Vittorini, Pierpaolo De la Prieta, Fernando Di Mascio, Tania Temperini, Marco Silveira, Ricardo Azambuja Carranza, Demetrio Arturo Ovalle Computer Science Faculty Free University of Bozen-Bolzano Bolzano Italy Department of Life Health and Environmental Sciences University of L’Aquila L’Aquila Italy Department of Computer Science and Automation Control University of Salamanca SalamancaSalamanca Spain Department of Information Engineering Computer Science and Mathematics University of L’Aquila L’Aquila Italy Dipartimento di Ingegneria Informatica Automatica e Gestionale Sapienza Università di Roma Rome Italy Department of Computer Science and Statistics Federal University of Santa Catarina Florianópolis Brazil Universidad Nacional de Colombia Medellin Colombia

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

Multi-view hybrid embedding: A divide-and-conquer approach

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arXiv 2018年

作者： Xu, Jiamiao Yu, Shujian You, Xinge Leng, Mengjun Jing, Xiao-Yuan Chen, C. L. Philip School of Electronic Information and Communications Huazhong University of Science and Technology Wuhan430074 China Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States Department of Computer Science University of Houston HoustonTX77204 United States State Key Laboratory of Software Engineering School of Computer Wuhan University China Department of Computer and Information Science Faculty of Science and Technology University of Macau Macau99999 China Dalian Maritime University Dalian116026 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

We present a novel cross-view classification algorithm where the gallery and probe data come from different views. A popular approach to tackle this problem is the multiview subspace learning (MvSL) that aims to learn a latent subspace shared by multi-view data. Despite promising results obtained on some applications, the performance of existing methods deteriorates dramatically when the multi-view data is sampled from nonlinear manifolds or suffers from heavy outliers. To circumvent this drawback, motivated by the Divideand-Conquer strategy, we propose Multi-view Hybrid Embedding (MvHE), a unique method of dividing the problem of cross-view classification into three subproblems and building one model for each subproblem. Specifically, the first model is designed to remove view discrepancy, whereas the second and third models attempt to discover the intrinsic nonlinear structure and to increase discriminability in intra-view and interview samples respectively. The kernel extension is conducted to further boost the representation power of MvHE. Extensive experiments are conducted on four benchmark datasets. Our methods demonstrate overwhelming advantages against the stateof-the-art MvSL based cross-view classification approaches in terms of classification accuracy and robustness. Copyright © 2018, The Authors. All rights reserved.

关键词： Embeddings

Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

Visual Navigation Method for Indoor Mobile Robot Based on Extended BoW Model

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Visual Navigation Method for Indoor Mobile Robot Based on Ex...

第十二届中国智能机器人大会

作者： Xianghui Li Xinde Li Mohammad Omar Khyam Chaomin Luo Yingzi Tan Key Laboratory of Measurement and Control of CSE (Ministry of Education) School of Automation Sout Department of Electrical and Computer Engineering Faculty of Engineering National University of Si Department of Electrical and Computer Engineering University of Detroit Mercy Michigan USA

This paper proposes a new navigation method for mobile robots based on an extended BoW (Bag of Words) model for general object recognition in indoor *** SIFT (Scale-invariant Feature Transform) detection algorithm with the GPU (Graphic Processing Unit) acceleration technology is used to describe feature vectors in this ***,in order to add some redundant image information,statistical information of the spatial relationships of all the feature points in an image,i.e.,relative distances and angles,is used to extend the feature vectors in the original BoW ***,the unsupervised SVM (Support Vector Machine) classifier is used to classify ***,in order to navigate conveniently in unknown and dynamic indoor environments,a type of human-robot interaction method based on a hand-drawn semantic map is *** experimental results show that this new navigation technology for indoor mobile robots is very robust and highly effective.

关键词： general object recognition Bag of Words model mobile robot visual navigation

Dielectric cross-shaped resonator based metasurface for vortex beam generation in Mid-IR and THz wavelengths

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arXiv 2019年

作者： Dharmavarapu, Raghu Izumi, Ken-Ichi Katayama, Ikufumi Ng, Soon Hock Vongsvivut, Jitraporn Tobin, Mark J. Kuchmizhak, Aleksandr Nishijima, Yoshiaki Bhattacharya, Shanti Juodkazis, Saulius Department of Electrical Engineering Indian Institute of Technology Madras Chennai600036 India Centre for Micro-Photonics Faculty of Science Engineering and Technology Swinburne University of Technology HawthornVIC3122 Australia Melbourne Centre for Nanofabrication ANFF 151 Wellington Road ClaytonVIC3168 Australia Physics Department Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama240-8501 Japan Infrared Microspectroscopy Beamline Australian Synchrotron ClaytonVIC3168 Australia Institute of Automation and Control Processes Far Eastern Branch Russian Academy of Sciences Vladivostok690041 Russia Far Eastern Federal University Vladivostok690090 Russia Department of Electrical and Computer Engineering Graduate School of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama240-8501 Japan Institute of Advanced Sciences Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama240-8501 Japan School of Materials and Chemical Technology Tokyo Institute of Technology 2-12-1 Ookayama Meguro-ku Tokyo152-8550 Japan

Metasurfaces are engineered thin surfaces comprising two dimensional (2D) arrays of sub-wavelength spaced and sub-wavelength sized resonators. Metasurfaces can locally manipulate the amplitude, phase and polarization of light with high spatial resolution. In this study, we report numerical and experimental results of a vortex-beam-generating metasurface fabricated specifically for infrared (IR) and terahertz (THz) wavelengths. The designed metasurface consisted of a 2D array of dielectric cross-shaped resonators with spatially varying length, thereby providing desired spatially varying phase shift to the incident light. The metasurface was found to be insensitive to polarization of incident light. The dimensions of the cross-resonators were calculated using rigorous finite difference time domain (FDTD) analysis. The spectral scalability via physical scaling of meta resonators was demonstrated using two vortex generating optical elements operating at 8.8 μm (IR) and 0.78 THz (Terahertz). The vortex beam generated in the mid-IR spectral range was imaged using FTIR imaging miscroscope equipped with a focal plane array (FPA) detector. This design could be used for efficient wavefront shaping as well as various optical imaging applications in mid-IR spectral range, where polarization insensitivity is desired. Copyright © 2019, The Authors. All rights reserved.

关键词： Resonators

Random asynchronous iterations in distributed coordination algorithms

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arXiv 2018年

作者： Chen, Yao Xia, Weiguo Cao, Ming Lü, Jinhu Department of Computer Science Southwestern University of Finance and Economics Chengdu611130 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China Faculty of Science and Engineering ENTEG University of Groningen Groningen9747 AG Netherlands School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Distributed coordination algorithms (DCA) carry out information processing processes among a group of networked agents without centralized information fusion. Though it is well known that DCA characterized by an SIA (stochastic, indecomposable, aperiodic) matrix generate consensus asymptotically via synchronous iterations, the dynamics of DCA with asynchronous iterations have not been studied extensively, especially when viewed as stochastic processes. This paper aims to show that for any given irreducible stochastic matrix, even non-SIA, the corresponding DCA lead to consensus successfully via random asynchronous iterations under a wide range of conditions on the transition probability. Particularly, the transition probability is neither required to be independent and identically distributed, nor characterized by a Markov chain. Copyright © 2018, The Authors. All rights reserved.

关键词： Stochastic systems