检索结果-内蒙古大学图书馆

Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory

Field Robotics

引用

Field robotics 2025年 2卷 222-240页

作者： Antonella Barišić Frano Petric Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb Croatia

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results.

关键词： Autonomous aerial vehicles Trajectory Target tracking Cameras Three-dimensional displays Robots Radar tracking Image reconstruction Estimation Detectors

来源：评论

学校读者我要写书评

暂无评论

Autonomous, Mobile Manipulation in a Wall-Building Scenario: Team LARICS at MBZIRC 2020

Field Robotics

引用

Field robotics 2025年 2卷 201-221页

作者： Ivo Vatavuk Marsela Polic Ivan Hrabar Frano Petric Matko Orsag Stjepan Bogdan Laboratory for Robotics and Intelligent Control systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object's global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick's magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms.

关键词： Robots Robot kinematics Navigation Manipulators Cameras Buildings Grippers Automation Service robots Laser radar

来源：评论

学校读者我要写书评

暂无评论

Retinal disorder diagnosis based on hybrid deep learning models

引用

Multimedia Tools and Applications 2025年 1-25页

作者： Sedik, Ahmed El-Shafai, Walid El-Hag, Noha A. El-Banby, Ghada M. Abd El-Samie, Fathi E. Smart Systems Engineering Laboratory College of Engineering Prince Sultan University Riyadh11586 Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Kafr el-Sheikh Egypt Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt The Higher Institute of Commercial Sciences Algarbia Al Mahalla Al Kubra31951 Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtained with several modalities, such as magnetic resonance (MR) and confocal microscopy, need to be classified for anomaly detection. The MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, brain tumors are represented as areas composed of abnormal cells that need to be detected. On the other hand, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye, such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify normal and abnormal cases of both brain tumor and DR diseases. The CNN model is composed of six convolutional layers and six max-pooling layers. A soft-max activation function takes the classification decision. The proposed Conv-LSTM model is composed of three stages: pre-processing, feature extraction, and classification. The deep learning model performance is better than those of traditional networks. The CNN gives an accuracy of 94.26% for DR classification and 95.8% for brain tumor classification, while the Conv-LSTM gives the maximum accuracy of 96.41% for DR classification and 97.4% for brain tumor classification. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Confocal microscopy

来源：评论

学校读者我要写书评

暂无评论

Recommendations and Typical Errors on Usage of Wirewound Resistors in Design of Power Converters

IEEE Open Journal of the Industrial Electronics Society

引用

IEEE Open Journal of the Industrial Electronics Society 2025年 6卷 669-684页

作者： Dianov, Anton Sun, Xiaodong Kang, Ji-Won Demidova, Galina Prakht, Vladimir Tarlavin, Nikolay Xiang, Jiawei Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Dankook University Department of Science and Technology Policy Convergence Yongin16890 Korea Republic of Donghae Engineering & Consultants Technology Research Institute Seoul05203 Korea Republic of ITMO University Faculty of Control Systems and Robotics St. Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620075 Russia Saint Petersburg State University of Veterinary Medicine St. Petersburg196084 Russia Wenzhou University College of Mechanical and Electrical Engineering Wenzhou325035 China

The wirewound resistors (WRs) are one of the most popular passive components in modern power converters. They are used for many purposes, including sensing, current limitation, discharging, and braking, therefore, depending on their main target, they are constructed prioritizing one of its characteristics. At the same time, one of the specifics of WR is significant parasitic reactance, which must be taken into account. This feature significantly impacts the operation of power converters, therefore, all side effects have to be carefully analyzed and countermeasures have to be implemented. In order to eliminate gap in this area, the authors provide a detailed insight into the design of various circuits with WRs in power converters and formalize the design process, highlighting 11 checkpoints. The authors share their 20-years experience in this field and illustrate five the most popular mistakes with oscillograms, which simplifies the misstep localization. It saves at least one iteration of prototyping and saves significant resources. This article is mainly addressed to young researchers, however, it could also be useful for experienced engineers without solid background in design with WRs. © 2020 IEEE.

关键词： Printed circuit design

来源：评论

学校读者我要写书评

暂无评论

Three-factor assessment of rutting factor of modified asphalt binders and mastics in the ageing process

引用

Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第3期73卷

作者： Mielczarek, Marta Andrzejczak, Karol Slowik, Mieczyslaw Poznan University of Technology Faculty of Civil and Transport Engineering Institute of Civil Engineering Piotrowo 5 Poznań60-965 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Mathematics Piotrowo 3A Poznań60-965 Poland

This paper discusses the research and multivariate analyses of the rheological properties of asphalt binders and mastics containing various mineral fillers and SBS copolymer-modified bitumen. In the experimental design employed, three types of mineral filler were used: limestone, basalt, or granodiorite. To determine the effect of ageing processes on the rheological properties of the obtained mastics, all asphalt binders tested were subjected to short-term (technological) ageing simulated under laboratory conditions using the RTFOT method. The main aim of this study was to evaluate the rutting resistance of modified binders and asphalt mastics depending on such factors as: the type of mineral filler, the percentage of SBS copolymer, temperature, and the influence of the ageing process. A three-way ANOVA was used to test for rutting resistance. The results of laboratory tests and statistical analyses made it possible to assess the significance of the factors examined in the research on the rutting resistance of asphalt binders and mastics, both before and after short-term ageing. © 2025 The Author(s).

关键词： Analysis of variance (ANOVA)

来源：评论

学校读者我要写书评

暂无评论

Design and comparison of PI and boundary-based predictive controller for control of aeration in activated sludge bioreactor – Simulation and laboratory research

引用

Journal of Process control 2025年 151卷

作者： Ujazdowski, Tomasz Piotrowski, Robert Nocoń, Witold Stebel, Krzysztof Pośpiech, Jakub Faculty of Electrical and Control Engineering Gdańsk University of Technology G. Narutowicza 11/12 Gdańsk80-233 Poland Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

In this paper, a classical PI and an on/off predictive boundary-based predictive controller (BBPC) algorithms are compared and verified using an ASM3-based model of an activated sludge system with a reactor and secondary settler. A laboratory-scale activated sludge setup is modelled in MATLAB/Simulink and verified using experimental data. BBPC and PI algorithms are compared in two scenarios of batch and continuous operation of the activated sludge process. To accommodate the on/off nature of the actuator, a pulse-width modulation (PWM) module is added to the PI controller, but a modification in the computation of control error is still needed for the PI to control the process properly. The BBPC, on the other hand, while its implementation is complex, proves to be superior in its ability to limit the control costs, the number of switching of the actuator and most importantly, in its ability to instantaneously compensate for the changes in process load. © 2025 Elsevier Ltd

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

Hybrid adaptive Sine Cosine Algorithm with Finite-Time Prescribed Performance PID control for pneumatic servo systems

引用

IFAC Journal of Systems and control 2025年 32卷

作者： Irawan, Addie Suid, Mohd Helmi Ismail, R.M.T. Raja Jusof, Mohd Falfazli Mat Azahar, Mohd Iskandar Putra Nasir, Ahmad Nor Kasruddin Robotics Intelligent Systems and Control Engineering (RiSC) research group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pahang Pekan 26600 Malaysia

This paper addresses the challenge of enhancing pressure regulation in pneumatic servo systems, specifically for proportional valve-controlled double-acting pneumatic cylinders (PPVDC). A Hybrid Nonlinear Sine Cosine Algorithm (HNSCA) is proposed to optimize a Finite-Time Prescribed Performance control (FT-PPC) integrated with a PID controller. The HNSCA combines the Nonlinear Sine Cosine Algorithm (NSCA) with Adaptive Safe Experimentation Dynamics (ASED) to fine-tune FT-PPC-PID parameters, achieving rapid transient response and system stability. Simulation results demonstrate significant improvements over other optimization variants like ESCA and ASCA, including a 96% faster rise time, 61.9% reduction in settling time, and 6.4% lower overshoot. Additionally, HNSCA reduced pressure oscillations by 25%–30%, lowered power consumption by 20%–30%, and achieved up to a 50% reduction in energy consumption under a 10 kg load. It also enhanced subsonic flow stability by 10%–15% under choked flow conditions. These advancements offer practical benefits for industries utilizing pneumatic systems, such as manufacturing and robotics, by providing more precise control, reducing energy costs, and extending equipment lifespan. The findings highlight the effectiveness of the proposed approach in error minimization and long-term stability for pneumatic servo systems. © 2025 Elsevier Ltd

关键词： Metaheuristic Nonlinear sine cosine algorithm Pneumatic actuator Prescribed performance control Safe experimentation dynamics

来源：评论

学校读者我要写书评

暂无评论

Effect of Electromagnetic Microwaves on Migration of Undesirable Compounds into Food

SSRN

引用

SSRN 2025年

作者： Bronczyk, Karolina Dąbrowska, Agata Dąbrowski, Adam Konieczka, Adam Department of Trace Analysis Faculty of Chemistry Adam Mickiewicz University Uniwersytetu Poznanskiego 8 Poznan61-614 Poland Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3A Poznan60-965 Poland

Food contact materials (FCMs) may be responsible for migration of contaminants into food, especially during heating. This article describes the effect of electromagnetic microwaves used to heat food on the migration of organic contaminants into neutral, and acidic food. An untargeted analysis (GC-MS) was performed to determine groups of organic compounds, which can be released most quickly from FCMs into heated food. Low-molecular-weight carbonyl compounds are particularly important migrants, as they can affect the quality and sensory properties of foods. It makes them suitable for use as markers in migration studies. A targeted analysis was performed to determine the factors determining the intensity of migration processes. The derivatization method using the reagent 2,3,4,5,6-pentafluorobenzylhydroxylamine (PFBOA) was used, which allows the use of gas chromatography coupled with an electron capture detector (GC-ECD). The study showed that plant-based FCMs lead to greater contamination of food with undesirable carbonyls than glass and plastics. Short-term storage of food in a refrigerator promotes the migration of carbonyls to food. Longer storage reduces the total concentration of carbonyls in neutral food. However, aldehydes and ketones are more biologically stable in acidic food. Additionally, plant-based FCMs can affect the sensory profile of food heated briefly with the microwave radiation. © 2025, The Authors. All rights reserved.

关键词： Acetone

来源：评论

学校读者我要写书评

暂无评论

Event-triggered memory sliding mode load frequency control of power system with BESSs against frequency-based deception attacks

引用

Journal of the Franklin Institute 2025年第7期362卷

作者： Qiao, Siwei Liu, Xinghua Wen, Shiping Xiao, Gaoxi Chen, Badong Ge, Shuzhi Sam Department of Power Grid Information and Control Engineering the School of Electrical Engineering Xi'an University of Technology Xi'an710048 China Faculty of Engineering and Information Technology Australian AI Institute University of Technology Sydney UltimoNSW2007 Australia School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore

An event-triggered memory sliding mode load frequency control (LFC) approach is proposed to address the cyber-security issue of multi-area power systems with battery energy storage systems (BESSs). To reveal the impact of cyber-attacks on the security and stability of multi-area power systems with BESSs, a frequency-based deception attack is considered as a contamination of the communication network. Attackers are assumed to determine the time of cyber-attacks by monitoring the operation status of the power systems with BESSs and designing the attack released condition with historical frequency. An event-triggered mechanism is investigated to reduce the communication pressure. In order to improve the triggering performance, a Lyapunov-based term is introduced in the triggering scheme. To ensure the stability of the power system under deception attacks, a memory sliding mode control (SMC) method is proposed in which the sliding mode surface is designed with a more effective structure. Based on integral inequality and Lyapunov's theorem, the stability conditions of the multi-area power systems with BESSs under historical frequency-based deception attacks are obtained by linear matrix inequality (LMI). The effectiveness of the proposed approach is discussed and confirmed by numerical simulations. © 2025 The Franklin Institute

关键词： Cyber attacks

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：