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Designing LQR controllers for an active anti-roll bar system with a flexible frame model of a single unit heavy vehicle

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Periodica Polytechnica Transportation Engineering 2021年第3期49卷 199-209页

作者： Vu, Van Tan Tran, Van Da Pham, Quoc Trung Truong, Manh Hung Sename, Oliver Gaspar, Peter Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications 3 Cau Giay Street Hanoi100000 Viet Nam Université Grenoble Alpes P. O. B. 46 Saint-Martin-d'Hères38402 France Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary

Rollover accidents of heavy vehicles often cause serious consequences both in terms of vehicle and environmental damage as well the loss or injury of drivers, passengers and ordinary civilians. Currently, the active anti-roll bar system is considered as the most effective solution in enhancing vehicle roll stability. In this paper, we firstly investigated the role of a flexible frame of a single unit heavy vehicle in the rollover process. This approach is an important step forward in the research of the active anti-roll bar system. Then, the LQR control method is applied in designing controllers for the active anti-roll bar control system with this frame model. The active torque of the anti-roll bar system is considered as the control signal. The simulation results in the frequency and time domains with a double lane change maneuver show that the vehicle's roll stability is improved by over 30 % compared to a vehicle using a passive anti-roll bar system. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Vehicles

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Physico-chemical and biological evaluation of doxycycline loaded into hybrid oxide-polymer layer on Ti-Mo alloy

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Bioactive Materials 2020年第3期5卷 553-563页

作者： Alicja Kazek-Kęsik Agnieszka Nosol Joanna Płonka MonikaŚmiga-Matuszowicz Sebastian Student Monika Brzychczy-Włoch Małgorzata Krok-Borkowicz Elżbieta Pamuła Wojciech Simka Faculty of Chemistry Silesian University of TechnologyB.Krzywoustego Street 644-100GliwicePoland Biotechnology Centre Silesian University of TechnologyKrzywoustego 8 Street44-100GliwicePoland Faculty of Chemistry Silesian University of TechnologyM.Strzody 9 Street44-100GliwicePoland Department of Systems Biology and Engineering Faculty of Automatic ControlElectronics and Computer ScienceSilesian University of TechnologyAkademicka 16 Street44-100GliwicePoland Department of Microbiology Jagiellonian University Medical CollegeCzysta 18 Street31-121KrakowPoland Faculty of Materials Science and Ceramics AGH University of Science and TechnologyMickiewicza Av.3030-059KrakowPoland

Oxide-polymer coatings were formed on the surface of the vanadium-free Ti–15Mo titanium *** Ti alloy surface was modified by the plasma electrolytic oxidation process,and then,the polymer layer of a poly(D,Llactide-co-glycolide)with doxycycline was *** polymer evenly covered the porous oxide layer and filled some of the ***,the microstructure of the polymer surface was completely different from that of the PEO *** surface morphology,roughness and microstructure of the polymer layer were examined by scanning electron microscopy(SEM)and a confocal *** results confirmed the effectiveness of polymer and doxycycline deposition in their stable chemical *** drug analysis was performed by highperformance liquid *** 1H NMR technique was used to monitor the course of hydrolytic degradation of *** was shown that the PLGA layer is hydrolysed within a few weeks,and the polyglycolidyl part of the copolymer is hydrolysed to glycolic acid as first and much faster than the polylactide one to lactic *** paper presents influence of different microstructures on the biological properties of modified titanium *** and bacterial adhesion tests were evaluated using osteoblast-like MG-63 cells and using the reference *** and *** *** results showed that the optimum concentration of doxycycline was found to inhibit the growth of the bacteria and that the layer is still cytocompatible.

关键词： Biomaterials Titanium alloy Plasma electrolytic oxidation Oxide-polymer hybrid coatings Doxycycline

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Multi-objective IGDT-based scheduling of low-carbon multi-energy microgrids integrated with hydrogen refueling stations and electric vehicle parking lots

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Sustainable Cities and Society 2021年 74卷 103197-103197页

作者： Mansour-Saatloo, Amin Ebadi, Ramin Mirzaei, Mohammad Amin Zare, Kazem Mohammadi-Ivatloo, Behnam Marzband, Mousa Anvari-Moghaddam, Amjad Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran Department of Electrical Engineering Sahand University of Technology Tabriz Iran Northumbria University Electrical Power and Control Systems Research Group Ellison PlaceNewcastle upon TyneNE1 8ST United Kingdom Aalborg University Aalborg9220 Denmark Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia

There is little room for doubt that distributed generation systems including renewable energy, microgrids (MGs), combined heat and power (CHP) units and storage systems have been of particular importance in sustaining low-carbon and cost-effective operations due to the tremendous increase in greenhouse gas emissions in recent years. Additionally, hydrogen-based power technologies have earned a great deal of publicity that hydrogen can serve as a zero-emission fuel for electrical power and thermal energy production. In this regard, the current paper proposes an optimal energy management strategy for a combined hydrogen, heat, and power MG (CHHP-MG) with hydrogen fueling stations (HFSs) for hydrogen vehicles (HVs), electric vehicle parking lots (EVPLs) and fuel cell micro-CHP (FC-MCHP) units to meet power and heat requirements. In order to reduce the regular operating expense, the presented CHHP-MG could also communicate with both electricity and hydrogen markets. In addition, to compensate for the associated heat and hydrogen requirements, power-to-X technologies such as the power to heat (P2HT) and power to hydrogen (P2H) are integrated. In order to improve flexibility and build a low carbon MG, multi-energy storage (MES) system along with heat and power demand response (HPDR) programs will be taken into consideration. As the uncertainties associated with the predicted wind and photovoltaic power have a major impact on the energy management of the CHHP-MG, a multi-objective information gap decision theory (IGDT)-based robust approach is applied as an effective non-probabilistic modeling technique for handling such uncertainties. The empirical results show that the proposed model can efficiently handle the uncertainties and reduce the overall operation cost by 76.35%. © 2021 Elsevier Ltd

关键词： Energy management

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On a network SIS model with opinion dynamics 21st

On a network SIS model with opinion dynamics

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21st IFAC World Congress 2020

作者： Xuan, Weihao Ren, Ruijie Paré, Philip E. Ye, Mengbin Ruf, Sebastian Liu, Ji School of Mechanical Engineering University of Leeds United Kingdom Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Faculty of Science and Engineering ENTEG University of Groningen Netherlands Center for Complex Networks Research Department of Psychology Northeastern University United States Department of Electrical and Computer Engineering Stony Brook University United States

This paper proposes a network continuous-time susceptible-infected-susceptible (SIS) model coupled with individual opinion dynamics, where the opinion dynamics models an individual's perceived severity of illness or perceived susceptibility. The effects of opinion dynamics on the network SIS model are studied by analyzing the limiting behaviors of the system model, equilibria of the system and their stability. Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license

关键词： Dynamics

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Decision support system based on pattern detection in iterative dermoscopic screening

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computer Methods and Programs in Biomedicine 2025年 269卷

作者： Natalia Salwowska Aleksander Kempski Piotr Zielonka Paweł Pietkiewicz Damian Borys Department of Dermatology School of Medicine Medical University of Silesia Katowice Poland Department of Systems Biology and Engineering Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Dermatology Private Practice Polish Dermatoscopy Group Poznań Poland Biotechnology Centre Silesian University of Technology Gliwice Poland

Background and Objective: Videodermoscopy is the gold standard in melanoma diagnosis. A new research trend aims to support specialists’ work by automating this examination method, but most research focuses on developing detectors to replace dermatologists. Our study aims to present a novel idea which focuses on supporting the examination process instead of completely automating it. Instead of detecting and classifying all naevi each time, our approach focuses on full screening at the first visit and shortening the examination at subsequent visits. During the following examinations, images of all naevi are taken by supporting staff and are compared with previously taken images using feature-matching or co-registration-based algorithms. An unmatched naevus needs to be checked by the specialist, meaning that a new naevus appeared or an old one had changed. Methods: The similarity between images (ranging from 0% to 100%) was obtained with characteristic points searching (ORB method) and co-registration-based methods. No dataset presenting changes of naevi over time exists, so augmenting the images from PH2 and HAM10000 datasets was required to simulate the time flow. Results: The decision bound was set, so the true positive rate of each method was equal to 99%, giving the specificity of ORB equal to 97% (PH2) and 89% (HAM10000). Similar tests were performed using a co-registration algorithm giving specificity equal to 23% (PH2) and 19% (HAM10000). Conclusions: We believe that employing our approach will allow supporting staff to perform screening without experts’ help, decreasing examination time and costs and increasing the accessibility of dermoscopic examinations.

关键词： Dermoscopy Template matching Pattern recognition Machine vision Melanoma

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A spectral small-gain condition for input-to-state stability of infinite networks

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IFAC-PapersOnLine 2020年第2期53卷 5303-5308页

作者： Christoph Kawan Andrii Mironchenko Abdalla Swikir Navid Noroozi Majid Zamani Institute of Informatics Ludwig Maximilian University Munich Germany Faculty of Computer Science and Mathematics University of Passau Germany Department of Electrical and Computer Engineering Technical University of Munich Germany Otto-von-Guericke University Magdeburg Laboratory for Systems Theory and Automatic Control Germany Computer Science Department University of Colorado Boulder USA

This paper presents a tight small-gain theorem for networks composed of infinitely many finite-dimensional subsystems. Assuming that each subsystem is exponentially input-to-state stable, we show that if the gain operator, collecting all the information about the internal Lyapunov gains, has a spectral radius less than one, the overall infinite network is exponentially input-to-state stable. We illustrate the effectiveness of our result by applying it to traffic networks.

关键词： Nonlinear systems small-gain theorems infinite-dimensional systems input-to-state stability Lyapunov methods large-scale systems

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Distributing Potential Games on Graphs Part I. Game formulation

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IFAC-PapersOnLine 2020年第2期53卷 6697-6702页

作者： Mohamed I. El-Hawwary Jonas Mårtensson Division of Decision and Control Systems School of Electrical Engineering & Computer Science KTH Royal Institute of Technology SE-100 44 Stockholm Sweden Department of Electrical Power Engineering Faculty of Engineering Cairo University Giza 12613 Egypt

The paper presents the problem of distributing potential games over communication graphs. Suppose a potential game can be designed for a group of agents (players) where each has access to all others’ actions (strategies). The paper shows how to design a corresponding potential game for these agents if the full information assumption is replaced with communication over a network depicted by undirected graphs with certain properties. A state-based formulation for potential games is utilized. This provides degrees of freedom to handle the previous information limitation. Notions of Nash’s equilibria for the developed game (called here distributed potential game) are presented, and relations between these equilibria and those of the full information game are studied. In part II of the paper learning Nash equilibria for the newly developed game is studied. The development focuses on providing a way to utilize available algorithms of the full information game. The motivation for the results comes from a platoon matching problem for heavy duty vehicles. Utilizing the newly developed distributed game, recent results based on potential games can be extended, providing a basis for an on-the-go strategy where platoon matching on road networks can be solved locally.

关键词： Potential games distributed optimization multi-agents

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Distributing Potential Games on Graphs Part II. Learning with application to platoon matching

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IFAC-PapersOnLine 2020年第2期53卷 6703-6708页

In part I of the paper the problem of distributing potential games over undirected graphs was formulated. A restricted information potential game was designed using state-based formulation. Here, learning Nash equilibria for this game is studied. An algorithm is developed with mainly two phases, an estimation phase and a learning phase. The setting allows for available learning methods of the full information game to be directly incorporated in the learning phase. The result matches the outcome (i.e. converges to the same equilibria) of the full information game. In addition, the design takes into account considerations of convergence time, and synchrony of actions update. The developed distributed game and learning algorithm are used to solve a platoon matching problem for heavy duty vehicles. This serves two objectives. First, it provides a motivation for the presented gaming results. Second, the problem addressed can facilitate platoon matching where it provides a basis for an on-the-go strategy.

关键词： Potential games distributed optimization multi-agents platoon matching

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Possibilities of vehicle state estimation using big data approaches 16

Possibilities of vehicle state estimation using big data app...

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16th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2018

作者： Fényes, Dániel Németh, Balázs Gáspár, Péter Asszonyi, Máté Systems and Control Laboratory Computer and Automation Research Institute Kende u. 13-17 Budapest Hungary Department of Control for Transportation and Vehicle Systems Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Stoczek u. 2 BudapestH-1111 Hungary

Nowadays, the development of the autonomous vehicles is one of the most important challenges for the automotive industry. In general, these vehicles are equipped with numerous sensors, such as onboard-camera, lidar, radar, ultrasonic sensor, accelerometer and gyroscope. These sensors provide information about the environment and other vehicles. This information is not only processed and used directly on the car but also can be stored on internal or cloud-based memory. This collected data might contain hidden information about the motion and the dynamical behaviour of the car. This hidden information can be brought out of the datasets by using big data-based data mining approaches. The aim of the paper is to create a vehicle state estimation model based on the collected sensor data and using data mining tools. In the paper, the sensor data is collected from a high-fidelity simulation software, CarSim. The estimation model is created by the machine-learning software Weka. Finally, the created model is validated through several CarSim simulations. © 2019 Budapest University of Technology and Economics. All rights reserved.

关键词： computer software

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From data to reduced-order models via generalized balanced truncation

arXiv

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arXiv 2021年

作者： Burohman, Azka Muji Besselink, Bart Scherpen, Jacquelien M.A. Camlibel, M. Kanat The Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence University of Groningen Nijenborgh 9 Groningen9747 AG Netherlands University of Groningen Nijenborgh 4 Groningen9747 AG Netherlands University of Groningen Groningen Netherlands The Jan C. Willems Center for Systems and Control Faculty of Science and Engineering University of Groningen Netherlands

This paper proposes a data-driven model reduction approach on the basis of noisy data. Firstly, the concept of data reduction is introduced. In particular, we show that the set of reduced-order models obtained by applying a Petrov-Galerkin projection to all systems explaining the data characterized in a large-dimensional quadratic matrix inequality (QMI) can again be characterized in a lower-dimensional QMI. Next, we develop a data-driven generalized balanced truncation method that relies on two steps. First, we provide necessary and sufficient conditions such that systems explaining the data have common generalized Gramians. Second, these common generalized Gramians are used to construct projection matrices that allow to characterize a class of reduced-order models via generalized balanced truncation in terms of a lower-dimensional QMI by applying the data reduction concept. Additionally, we present alternative procedures to compute a priori and a posteriori upper bounds with respect to the true system generating the data. Finally, the proposed techniques are illustrated by means of application to an example of a system of a cart with a double-pendulum. © 2021, CC BY.

关键词： Error analysis

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