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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu de Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain The School of Automation Nanjing University of Science and Technology Nanjing210094 China

This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be non-vanishing and are superposition of finite number of sinusoidal and step signals. The formation control objective is achieved by assigning virtual springs between end-effectors, by adding damping terms at joints, and by incorporating internal model-based dynamic compensators to counteract the effect of the disturbances;all of which presents a clear physical interpretation of the proposed approach. Simulation results are presented to illustrate the effectiveness of the proposed approach. © 2021, CC BY.

关键词： End effectors

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Initial Study on Implementation of Smoothing Filters for the Purpose of Bioimpedance Spectroscopy Parameters Classification

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IFAC-PapersOnLine 2022年第4期55卷 393-398页

作者： Aleksandra Kawala-Sterniuk Amir F. Al-Bakri Mariusz Pelc Katarzyna Cichoń Wojciech Chlewicki Stepan Ozana Radek Martinek Jakub Możaryn Volodymyr Khoma Halyna Kenyo Edward Jacek Gorzelańczyk Michał Podpora Jarosław Zygarlicki Opole University of Technology Faculty of Electrical Engineering Automatic Control and Informatics 45-758 Opole Poland Department of Biomedical Engineering College of Engineering University of Babylon 51001 Babylon Iraq University of Greenwich School of Computing and Mathematical Sciences SE10 9LS London UK West Pomeranian University of Technology in Szczecin Faculty of Electrical Engineering 70-313 Szczecin Poland Faculty of Mechatronics Warsaw University of Technology 02-525 Warsaw Poland Lviv Polytechnic National University Institute of Computer Technologies Automation and Metrology Lviv Ukraine Institute of Philosophy Kazimierz Wielki University 85-092 Bydgoszcz Poland Faculty of Mathematics and Computer Science Adam Mickiewicz University in Poznań 61-614 Poznań Poland

Bioimpedance is a commonly used method for various conditions monitoring. In this paper, the authors carried out some research where they implemented various smoothing filters to enable identification of the bioimpedance spectroscopy parameters. The proposed filtering methods may also be used for application on embedded systems, which have smaller computing power but have become recently very popular. The obtained results with the implementation of smoothing filters were promising, however, some of the obtained results were unsatisfactory. This work also contains a brief introduction to bioimpedance spectroscopy and smoothing filters.

关键词： Bioimpedance Spectroscopy smoothing-filtering Savitzky-Golay Filter Median Filtering Moving-Average Filters

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EigenMPC: An Eigenmanifold-Inspired Model-Predictive control Framework for Exciting Efficient Oscillations in Mechanical Systems

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control...

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IEEE Conference on Decision and control

作者： Andre Coelho Alin Albu-Schaeffer Arne Sachtler Hrishik Mishra Davide Bicego Christian Ott Antonio Franchi Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) Oberpfaffenhofen Germany Dextrous Robotics Inc Memphis TN USA Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Automation and Control Institute (ACIN) Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a Nonlinear Model-Predictive control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

关键词： Analytical models Aerospace electronics Energy efficiency Trajectory Mechanical systems Oscillators Robots

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Event-Triggered Sliding Mode control Strategies for Positioning Systems: An Experimental Assessment

Event-Triggered Sliding Mode Control Strategies for Position...

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International Workshop on Advanced Motion control (AMC)

作者： Andrej Sarjaš Martin Steinberger Dušan Gleich Martin Horn Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia Graz University of Technology Institute of Automation and Control Graz Austria

ISBN: (数字)9781728131894

ISBN: (纸本)9781728131900

The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.

关键词： Tracking Computational modeling Real-time systems Stability analysis Robustness Task analysis Sliding mode control

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NTIRE 2023 Challenge on Efficient Super-Resolution: Methods and Results

NTIRE 2023 Challenge on Efficient Super-Resolution: Methods ...

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2023 IEEE/CVF Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Li, Yawei Zhang, Yulun Timofte, Radu Van Gool, Luc Yu, Lei Li, Youwei Li, Xinpeng Jiang, Ting Wu, Qi Han, Mingyan Lin, Wenjie Jiang, Chengzhi Luo, Jinting Fan, Haoqiang Liu, Shuaicheng Wang, Yucong Cai, Minjie Li, Mingxi Zhang, Yuhang Fan, Xian-Jun Sheng, Yankai Mao, Yanyu Zhang, Nihao Wang, Qian Zheng, Mingjun Sun, Long Pan, Jinshan Dong, Jiangxin Tang, Jinhui Yang, Zhongbao Wang, Yan Pan, Erlin Cai, Qixuan Dai, Xinan Zhussip, Magauiya Kalyazin, Nikolay Vyal, Dmitry Zou, Xueyi Yan, Youliang Chung, Heaseo Zhang, Jin Yu, Gaocheng Zhang, Feng Wang, Hongbin Liao, Bohao Du, Zhibo Wu, Yu-Liang Shi, Gege Peng, Long Wang, Yang Cao, Yang Zha, Zhengjun Huang, Zhi-Kai Chen, Yi-Chung Chiang, Yuan-Chun Yang, Hao-Hsiang Chen, Wei-Ting Chang, Hua-En Chen, I-Hsiang Hsieh, Chia-Hsuan Kuo, Sy-Yen Liu, Xin Pan, Jiahao Yu, Hongyuan Yu, Weichen Ge, Lin Dong, Jiahua Zou, Yajun Wu, Zhuoyuan Han, Binnan Zhang, Xiaolin Zhang, Heng Yin, Xuanwu Zuo, Kunlong Deng, Weijian Yuan, Hongjie Lu, Zengtong Ouyang, Mingyu Ma, Wenzhuo Liu, Nian Zheng, Hanyou Zhang, Yuantong Zhang, Junxi Chen, Zhenzhong Gendy, Garas Sabor, Nabil Hou, Jingchao He, Guanghui Zhu, Yurui Wang, Xi Fu, Xueyang Zha, Zheng-Jun Yin, Daheng Liu, Mengyang Chen, Baijun Li, Ao Luo, Lei Jin, Kangjun Zhu, Ce Zhang, Xiaoming Xie, Chengxing Li, Linze Meng, Haiteng Zhang, Tianlin Li, Tianrui Zhao, Xiaole Zhang, Zhao Li, Baiang Zheng, Huan Zhao, Suiyi Gao, Yangcheng Ren, Jiahuan Hu, Kang Shi, Jingpeng Wu, Zhijian Huang, Dingjiang Zhu, Jinchen Li, Hui Xv, Qianru Liu, Tianle Weng, Shizhuang Wu, Gang Jiang, Junpeng Liu, Xianming Jiang, Junjun Zhang, Mingjian Hu, Jing Wu, Chengxu Fan, Qinrui Feng, Chengming Luo, Ziwei Hu, Shu Lyu, Siwei Wu, Xi Wang, Xin Computer Vision Lab ETH Zurich Switzerland Computer Vision Lab University of Würzburg Germany Megvii Technology China MicroBT China College of Computer Science and Electronic Engineering Hunan University China Attrsense Xian University of Posts and Telecommunications Xi'an China National Engineering Laboratory for Cyber Event Warning and Control Technologies China Nanjing University of Science and Technology China Nankai University China University of Electronic Science and Technology of China China Tianjin University China Noah's Ark Lab Huawei Technologies McMaster University Canada Espresomedia Korea Republic of AntGroup China University of Science and Technology of China China Department of Electrical Engineering National Taiwan University Taiwan Graduate Institute of Communication Engineering National Taiwan University Taiwan Graduate Institute of Electronics Engineering National Taiwan University Taiwan ServiceNow United States China Mobile Research Institute China Chongqing University of Technology China Multimedia Department Xiaomi Inc. China Institute of Automation Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China School of Information and Communication Engineering Communication University of China China Smart Classroom Division Ruijie Networks Co. Ltd. China School of Remote Sensing and Information Engineering Wuhan University China Micro-Nano Electronics Department Shanghai Jiao Tong University Shanghai200240 China Electrical Engineering Department Faculty of Engineering Assiut University Assiut71516 Egypt Southeast University China University of Electronic Science and Technology of China Chengdu China Chongqing University of Posts and Telecommunications Chongqing China Information Technology Co. Ltd Hangzhou China Southwest Jiaotong University China National Space Science Center Chinese Academy of Science China Hefei University of Technology Hefei China Anhui University China Fried Ric

ISBN: (纸本)9798350302493

This paper reviews the NTIRE 2023 challenge on efficient single-image super-resolution with a focus on the proposed solutions and results. The aim of this challenge is to devise a network that reduces one or several aspects such as runtime, parameters, FLOPs, activations, memory footprint, and depth of RFDN while at least maintaining the PSNR of 29.00dB on DIV2K validation datasets. The challenge had 272 registered participants, and 35 teams made valid submissions. They gauge the state-of-the-art for efficient single-image super-resolution. © 2023 IEEE.

关键词： Optical resolving power

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Comparing of transfer process data in PLC and mcu based on IoT 5th

Comparing of transfer process data in PLC and mcu based on I...

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5th International Conference on Advanced Engineering Theory and Applications, AETA 2018

作者： Gavlas, Antonin Koziorek, Jiri Rakay, Robert Department of Cybernetics and Biomedical Engineering Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava 17. listopadu 15 Ostrava70833 Czech Republic Department of Automation Control and Human Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Park Komenského 8 Košice042 00 Slovakia

ISBN: (纸本)9783030149062

An article is based on comparing of data processing within PLC and MCU with using Cloud platforms. The last advances in computation and communication technologies are taking shape in the form of IoT (Internet of Things), M2M (Machine to Machine) technology, Industry 4.0 and Cyber Physical Systems. Internet of Things connects an enormous number of devices. Devices within IoT need small number of sensors and control data, but with numerous messages. Today Cloud services work with the volume of these data and support large scale IoT systems. In this paper we would like to represent a comparison of solutions Industrial and Commercial IoT. The proposed systems use one of the newest communication protocols MQTT. © Springer Nature Switzerland AG 2020.

关键词： Internet of things

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The Energy Efficiency of a Prosumer in a Photovoltaic System

The Energy Efficiency of a Prosumer in a Photovoltaic System

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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Marius-Alexandru Dobrea Stefan Bichiu Ioana Opris Mihaela Vasluianu Faculty of Automatic Control and Computer Science UPB Bucharest Romania Faculty of Power Engineering UPB Bucharest Romania Collective of Automation and Applied Informatics Faculty of Hidrotehnics UTCB Bucharest Romania

ISBN: (数字)9781728175065

ISBN: (纸本)9781728175072

This article aims to calculate the net income achieved by a prosumer for an existing On-Grid system of photovoltaic panels consisting of a set of 12 poly crystalline panels with a nominal power of 250 Wand 60 cells and an On-Grid inverter (StecaGrid model) with a maximum power of 3000 W. The prosumer is located in southern Romania, Ilfov County. Modeling of the photovoltaic panel in Matlab / SIMULINK was performed using a mathematical model, and it was compared with a real data set. Next, an analysis was made of the energy produced by the photovoltaic system, and the energy consumed by the prosumer, the excess energy being introduced in the national energy system. We have achieved a net income saving for March, so the analyzed photovoltaic system has energy efficiency that can significantly reduce electricity costs over time. Thus, using the Matlab / Simulink model, photovoltaic systems can be designed to satisfy the needs of prosumers.

关键词： Photovoltaic systems Mathematical model Solar power generation Software packages Inverters Temperature Temperature measurement

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Distributed Nash Equilibrium Seeking in Coalition Games for Uncertain Euler-Lagrange Systems With Application to USV Swarm Confrontation

arXiv

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arXiv 2025年

作者： Yuwen, Cheng Wen, Guanghui Zhou, Jialing Luan, Meng Huang, Tingwen School of Automation Southeast University Nanjing210096 China State Key Laboratory of CNS/ATM Beijing Institute of Technology Beijing519088 China Department of System Science School of Mathematics Southeast University Nanjing211189 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen218055 China

In this paper, a coalition game with local and coupling constraints is studied for uncertain Euler-Lagrange (EL) systems subject to disturbances with unknown bounds. In the coalition game, each agent collaborates with other agents within the same coalition to optimize its coalition’s cost function while simultaneously competing against agents in other coalitions. Under a distributed framework where each agent has access only to its own action, cost function, and constraint parameters, a distributed strategy is proposed to seek the Nash equilibrium (NE). By combining adaptive methods and sign functions, model uncertainties and disturbances with unknown bounds in the EL system are compensated and suppressed, respectively. Furthermore, an integration of adaptive methods and consensus protocols is employed to update the Lagrange multipliers of both local and coupling constraints. A dynamic average consensus is employed to estimate the gradient of coalition function, while the leader-following protocol is adopted to estimate the actions of other agents. By leveraging Lyapunov theory, the NE is proven to be asymptotically stable. Moreover, an unmanned surface vehicle swarm confrontation is meticulously modeled and analyzed in the coalition game framework. A diverse array of tasks, including formation, encirclement, and interception, are systematically formulated. A numerical example demonstrates the effectiveness of the proposed algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Lagrange multipliers

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Pinning boundary sampled-data synchronization of coupled reaction-diffusion neural networks

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Neurocomputing 2025年

作者： Zi-Peng Wang Bo-Ming Chen Junfei Qiao Biao Luo Huai-Ning Wu Tingwen Huang Guangwei Chen School of Information Science and Technology Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System and Beijing Institute of Artificial Intelligence Beijing University of Technology Beijing 100124 China School of Automation Central South University Changsha 410083 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen 518107 China

In this paper, the pinning boundary sampled-data (SD) synchronization problem of coupled reaction–diffusion neural networks (CRDNNs) with SD-based couplings is investigated under boundary and distributed SD measurements. First, a pinning boundary SD controller is designed to effectively address the synchronization problem of CRDNNs, utilizing boundary and distributed SD measurements and requiring only a small number of sensors and actuators. Then, linear matrix inequalities provide adequate conditions that ensure exponential stability of the synchronization error system by using the designed pinning boundary SD controller, derived through inequality techniques and Lyapunov functionals. Finally, we present a numerical example to showcase the practical applicability and effectiveness of the proposed pinning boundary SD synchronization method.

关键词：

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MODELING AND FUZZY control OF PERMANENT MAGNET SYNCHRONOUS MOTORS

MODELING AND FUZZY CONTROL OF PERMANENT MAGNET SYNCHRONOUS M...

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The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)

作者： D.-K. Jukić T. Varga T. Benšić V. J. Štil M. Barukčić Automation and Control Institute TU Wien Vienna Austria Faculty of Electrical Engineering Computer Science and Information Technology Osijek Josip Juraj Strossmayer University of Osijek Osijek Croatia

This paper deals with Permanent Magnet Synchronous Motor modeling and control. The derived nonlinear dq model is a combination of Finite Element Method simulation data with the classical dq model. The so derived model keeps the precision of the Finite Element Method simulations and also the fast execution times of the dq model. The Finite Element Method data is included in the dq model using Artificial Neural Networks. The derived model is also used for controller design. The chosen controller is a PI like Fuzzy Logic controller, which is tuned using Genetic Algorithm optimization. The Permanent Magnet Synchronous Motor with Fuzzy Logic controller operation is tested using Real-Time (Model-in-the-Loop) simulations.

关键词： fuzzy control finite element analysis genetic algorithms neural nets permanent magnet motors machine control synchronous motors nonlinear control systems PI control electric machine analysis computing

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