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Long-term Water Quality Prediction based on Intelligent Optimization and Seasonal-trend Decomposition

Long-term Water Quality Prediction based on Intelligent Opti...

引用

IEEE International Conference on automation Science and engineering (CASE)

作者： Ziqi Wang Xiangxi Wu Jing Bi Haitao Yuan Jia Zhang MengChu Zhou Faculty of Information Technology Beijing Laboratory of Smart Environmental Protection Beijing University of Technology Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Computer Science Lyle School of Engineering at Southern Methodist University Dallas TX USA Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Nowadays, the applications of water quality prediction in the field of regional water environment management are increasing. It refers to predicting the elemental values of the water environment in the future based on past monitoring data, which is essential to realize the real-time evaluation of water quality and dynamic control of pollution sources. However, the water environment indicators are affected by various elements, which have a large volatility and non-linear characteristics. In addition, most of the existing water quality predictions focus on single-step predictive modeling of single elements of the water environment and lack multi-step predictive analysis of multifactor data of the water environment. In this paper, a novel long-term prediction model based on genetic simulated annealing-based particle swarm optimization (GSPSO) with seasonal-trend decomposition using LOESS (STL) is proposed and named GSPSO-STL-Autoformer (GS-Autoformer). It realizes the multi-factor and long-term prediction of water quality time series data. Firstly, the Autoformer’s hyperparameters are optimized by the GSPSO to improve its convergence speed. Secondly, the multi-factor features are decomposed by the STL to make the model more focused on learning feature information of each component. Finally, the long-term prediction is realized by the Autoformer. Comparative experiments with state-of-the-art peers show that the GS-Autoformer can effectively improve the accuracy of multi-factor and long-term predictions.

关键词： Accuracy Time series analysis Water quality Simulated annealing Predictive models Water pollution Data models Predictive analytics Particle swarm optimization Water resources

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An Erasmus+ project: Interactive Course for Control Theory (ICCT) 8

An Erasmus+ project: Interactive Course for Control Theory (...

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47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021

作者： Podrzaj, Primoz Finzgar, Miha Pirnar, Zan Ljubic, Sandi Lanzetta, Michele Pollini, Lorenzo Venturini, Pietro Pizag, Bertalan Urbin, Agnes Korondi, Peter Graff, Jozsef Budai, Csaba University of Ljubljana Laboratory for Mechatronics Production Systems and Automation Faculty of Mechanical Engineering Ljubljana Slovenia University of Rijeka Faculty of Engineering Department of Computer Engineering Rijeka Croatia University of Pisa Department of Industrial Engineering Department of Information Engineering Pisa Italy Budapest University of Technology and Economics Faculty of Mechanical Engineering Department of Mechatronics Optics and Mechanical Engineering Informatics Budapest Hungary

ISBN: (纸本)9781665435543

The paper presents an overview and the main results of the Erasmus+ project titled Interactive Course for Control Theory-ICCT. The project was started by four European Universities when they identified by a survey that students find Control Theory more challenging to understand compared to other subjects. The project's main goal was to develop a platform, which would offer examples from the field of Control Theory in an interactive way-ICCT. Frequently asked questions (FAQ) and test exam questions were added as well. To support the course, an accompanying textbook was prepared. At this point, the course and the accompanying textbook are available in English and the languages of the partner universities;since both of them are publicly available, we assume they will be offered in other languages in future. The benefits of implementing our interactive course are already visible in better survey results and improved grades in Control Theory-related subjects. © 2021 IEEE.

关键词： Python

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On the Complexity of Computing the Maximal Positive Invariant Set

On the Complexity of Computing the Maximal Positive Invarian...

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European Control Conference (ECC)

作者： Bogdan Gheorghe Florin Stoican Ionela Prodan Faculty of Automation Control and Computer Science National University of Science and Technology Politehnica Bucharest Romania Grenoble INP LCIS Univ. Grenoble Alpes Institute of Engineering and Management Univ. Grenoble Alpes Valence France

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Computing the maximal (robust) positive invari-ant (M(R)PI) set for linear dynamics and a polyhedral constraint set is well-known in the literature but, the effects and limitations of the different methods employed are not sufficiently clear, especially for high dimensional systems. In this paper we propose a systematic analysis of the existing techniques as well as the application of new ideas to accelerate the computation of the MPI set. This includes new stop conditions for the set recurrence that spans it. We analyze and compare these variations over a dynamical system whose dimension can be arbitrarily increased to draw conclusions about their relative strengths and weaknesses.

关键词： Systematics Europe Complexity theory Dynamical systems Predictive control

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Energy-based Control of Three-Link Planar Robot with Last Active Link

Energy-based Control of Three-Link Planar Robot with Last Ac...

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Chinese automation Congress (CAC)

作者： Yongjia Wang Xin Xin Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

This paper studies the energy-based control for a 3-link planar robot with last active link, for which the angle between the last link and the vertical is actuated. The swing-up and stabilizing task around the robot’s upright equilibrium point (UEP) is investigated. An energy-based controller is derived to control both its overall energy and actuated variable. By presenting a property of the robot that holds under arbitrary physical parameters, this paper proves that almost all initial states converge to an invariant set where the last link is upright and the robot’s overall energy equals its value at the UEP, providing certain requirements on control gains are satisfied. This paper provides simulation verification for the obtained theoretical results, in which a local stabilizing controller is utilized to accomplish stabilization at the UEP.

关键词： Analytical models automation Switches Control systems Trajectory Task analysis Robots

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A Multi Soft-sensor Approach for the Development of Emergencies Detection Units on the Edge

A Multi Soft-sensor Approach for the Development of Emergenc...

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Workshop on Metrology for Industry 4.0 and IoT

作者： Franklin Oliveira Daniel G. Costa Flávio Assis Ivanovitch Silva Graduate Program in Mechatronics Federal University of Bahia Salvador Brazil INEGI Faculty of Engineering University of Porto Porto Portugal Department of Computer Engineering and Automation Federal University of Rio Grande do Norte Natal Brazil

The adoption of multi-sensor hardware units to detect different types of emergencies in complex scenarios such as Industry 4.0 and Smart Cities is a recent development trend, which have demanded research efforts to optimize the way these units are assembled, configured, and deployed. However, although their expected advantages, usual multi-sensors emergency-oriented approaches may be constrained by the tight association between physical sensor devices and the emergency detection process. Therefore, this paper proposes an innovative approach to concurrently detect multiple emergencies exploiting the concept of soft-sensor modules, which are implemented on Emergency Detection Units (EDUs) as concurrent tasks along with a high-priority emergency alerting task. The soft-sensor concept defines physical sensors as ordinary input data streams, which will be processed according to the defined algorithms by each particular soft-sensor, allowing detection decisions to be performed on the edge. In order to support the practical exploitation of this concept, a formal specification based on Petri Nets is defined, modeling the concurrent operation of the tasks within an EDU. A proof of concept is also designed based on the affordable Raspberry Pi Pico microcontroller, demonstrating how the proposed approach would behave when two soft-sensors are implemented in a typical detection unit.

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Energy-based Swing-up Control with Parameter Optimization for a Rings Gymnastic Robot

Energy-based Swing-up Control with Parameter Optimization fo...

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Chinese automation Congress (CAC)

作者： Jiangyong Hu Xin Xin Yuhang Yan Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study a ring gymnastic robot, which is a planar robot with three links moving in the vertical plane with only the last joint activated. First, we use the energy-based strategy to study the swing-up control task of the rings gymnastic robot, and obtain the sufficient and necessary condition for non-existence of singularities in the energy-based controller. Second, we derive the invariant set approached by the closed-loop system. Third, we propose an optimization algorithm to obtain the parameters of the energy-based controller to swing up the rings gymnastic robot into a close neighbourhood of a desired equilibrium point. Fourth, we check on the feasibility of the devised controller and parameter optimization algorithm through simulation.

关键词： automation Numerical models Closed loop systems Task analysis Robots Optimization

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Swing-Down Control of a Rings Gymnastic Robot

Swing-Down Control of a Rings Gymnastic Robot

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Chinese automation Congress (CAC)

作者： Zhijie Jin Xin Xin Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the swing-down control of a rings gymnastic robot, which is a 3-link planar robot moving in a vertical plane with only the last joint being actuated. The control objective is to swing the rings gymnastic robot from the DUU (Down–Up–Up) equilibrium point to the DDD (Down–Down– Down) equilibrium point and stabilize it around the latter. We present an SD (sinusoidal-derivative) controller, which is linear feedback of sinusoidal function of the angle of the actuated joint and linear feedback of its angular velocity. We analyze globally the motion of the rings gymnastic robot under the proposed controller, and provide a sufficient condition for achieving the control goal. We study how to find control gains to achieve an exerllent control performance, and verify the effectiveness of the proposed control via simulation.

关键词： Sufficient conditions automation Stability analysis Angular velocity Robots

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Balance Control for a Class of Underactuated Systems via Compensation Signals

Balance Control for a Class of Underactuated Systems via Com...

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Chinese automation Congress (CAC)

作者： Yue Li Xin Xin Yuhang Yan School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

As a typical underactuated experimental platform for robotics and control theory, the rotary inverted pendulum (RIP) system is nonlinear, multi-variable, and strongly coupled. We study the swing-up and balance control for the RIP system with system uncertainty. The classical energy-based swing-up control without compensation for the uncertainty and the signal compensation-based balance control are adopted. In the balance control, from the linearized state-space model near the upright equilibrium point (UEP) and the estimated discrete-time model, a signal compensation-based balance control is constructed to eliminate and suppress the system uncertainty. Simulation results verify the effectiveness of the controllers.

关键词： Uncertainty automation Simulation Control systems State-space methods Control theory Robots

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Trajectory Planning and Tracking Control for the Pendubot

Trajectory Planning and Tracking Control for the Pendubot

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Chinese automation Congress (CAC)

作者： Bin Xu Xin Xin Yuhang Yan Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the trajectory planning and tracking control for the Pendubot, which is a two-link robot has a single actuator at the base joint of the first link. We realize a fast swing-down control under the sinusoidal-derivative (SD) controller which introduces a damper and spring, and obtain a desired trajectory of the state and the control input by using the swing-down controller and the time-reversal method. To track such a trajectory, we derive the linearized time-varying model of the Pendubot around the trajectory, and design a linear state feedback control along with a feedforward term determined by the trajectory of the control input. We study several obtained trajectories and focus on two issues: 1) the linear controllability of the corresponding linearized time-varying model for each trajectory; 2) the sufficient condition in the literature for checking the stability of the tracking control of the linearized time-varying model. Through our numerical investigation, we find that we have to choose appropriate control gains of the SD controller to guarantee the linear controllability, and that the sufficient condition is difficult to be satisfied.

关键词： Sufficient conditions State feedback Trajectory planning Trajectory tracking Controllability Stability analysis Trajectory

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Strong stabilization of two-link underactuated planar robots

Strong stabilization of two-link underactuated planar robots

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Chinese automation Congress (CAC)

作者： Ziyu Wang Xin Xin Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Janpan

Strong stabilization refers to designing stable feedback controllers that stabilize a given plant. The second-order stable stabilizing controller design of two-link underactuated planar robots around their UEP (Upright Equilibrium Point) is concerned in this paper. The proposed method can obtain explicit transfer function of the controller by solving a set of inequalities, which is relatively more concise and the final set of stable controllers is larger than the existing results. Simulation results of both the Acrobot and the Pendubot are presented to verify the effectiveness and robustness of proposed stabilizing controllers.

关键词： automation Simulation Transfer functions Robustness Adaptive control Robots

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