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Observability is sufficient for the design of globally exponentially convergent state observers for state-affine nonlinear systems

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arXiv 2021年

作者： Wang, Lei Ortega, Romeo Bobtsov, Alexei Australia Centre for Field Robotics The University of Sydney Australia Departamento Académico de Sistemas Digitales ITAM Mexico Faculty of Control Systems and Robotics ITMO University Russia

In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of observability of the system. To the best of the authors' knowledge this is the first time such a result is reported in the literature. © 2021, CC BY-NC-ND.

关键词： Observability

Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution

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Two approaches (GC-ECD and electrochemical sensors signals p...

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Karolina Brończyk Michał Adamski Agata Dąbrowska Adam Konieczka Adam Dąbrowski Department of Trace Analysis Faculty of Chemistry Adam Mickiewicz University Poznań Poland Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m 3 ) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples.

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Parameter Estimation of Two Classes of Nonlinear systems with Non-separable Nonlinear Parameterizations

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arXiv 2022年

作者： Ortega, Romeo Bobtsov, Alexey Costa-Castelló, Ramon Nikolaev, Nikolay Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico Department of Control Systems and Robotics ITMO University Saint-Petersburg Russia Spain

In this paper we address the challenging problem of designing globally convergent estimators for the parameters of nonlinear systems containing a non-separable exponential nonlinearity. This class of terms appears in many practical applications, and none of the existing parameter estimators is able to deal with them in an efficient way. The proposed estimation procedure is illustrated with two modern applications: fuel cells and human musculoskeletal dynamics. The procedure does not assume that the parameters live in known compact sets, that the nonlinearities satisfy some Lipschitzian properties, nor rely on injection of high-gain or the use of complex, computationally demanding methodologies. Instead, we propose to design a classical on-line estimator whose dynamics is described by an ordinary differential equation given in a compact precise form. A further contribution of the paper is the proof that parameter convergence is guaranteed with the extremely weak interval excitation requirement. © 2022, CC BY-NC-ND.

关键词： Nonlinear systems

Induction Motor Bearing Currents - Causes and Damages

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Induction Motor Bearing Currents - Causes and Damages

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Karolina Kudelina Toomas Vaimann Anton Rassõlkin Ants Kallaste Bilal Asad Galina Demidova Tallinn University of Technology Tallinn Estonia Aalto University Espoo Finland Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781665414562

ISBN: (纸本)9781665447607

Bearing damages make the biggest proportion of faults affecting AC electrical motors. There are various subdivisions of the bearing faults but one of them is the induced bearing and shaft currents in the machines. These currents cannot be fully avoided, yet with the development of power electronic control of the machines, the number of machines affected by potentially more dangerous and damaging frequency converter induced bearing and shaft currents is growing rapidly. This paper is opening the background of the nature and types of bearing currents, lists the damages inflicted by these currents and addresses problem as well as stresses the necessity of taking those currents into account for ensuring more efficient and longer lifespan of industrial electrical machines.

关键词： Shafts Induction motors Current measurement Frequency conversion Power electronics Loss measurement Frequency measurement

Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

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arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment. © 2023, CC BY-NC-SA.

关键词： Iterative methods

Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface 1

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Optical Evanescent Field for Direct Observation of Sub-100nm...

1st International Conference on robotics, Engineering, Science, and Technology, RESTCON 2024

作者： Khajornrungruang, Panart Permpatdechakul, Thitipat Suzuki, Keisuke Blattler, Aran Terayama, Yutaka Goto, Daiki Phaisalpanumas, Pipat Bun-Athuek, Natthaphon Phunopas, Amornphun Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Division Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Fukuoka Japan Kyushu Institute of Technology Iizuka-Shi Mechanical Information Science and Technology Division Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Production and Robotics Engineering Bangkok Thailand Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Course Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Industiral Engineering Bangkok Thailand King Mongkut's University of Technology North Bangkok Bangsue College of Industrial Technology Dept. of Mechanical Engineering Technology Bangkok Thailand

ISBN: (纸本)9798350348842

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes. © 2024 IEEE.

关键词： Visualization

Autonomous Navigation Algorithms Based on Cognitive Technologies and Machine Learning

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Autonomous Navigation Algorithms Based on Cognitive Technolo...

2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Demidova, Kristina Logichev, Michail Zhilenkova, Elena Dang, Binh St. Petersburg State Marine Technical University Department of Marine Electronics Saint-Petersburg Russia ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia

A research project to create an intelligent autonomous navigation system is being considered. The system is implemented on the basis of cognitive technologies and machine learning. The system makes a decision by analy... 详细信息

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157610

关键词： Machine learning

Comparative Analysis of Modeling of a Magnus Effect-Based Wind Energy System

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Comparative Analysis of Modeling of a Magnus Effect-Based Wi...

2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Babayeva, Marina Abdullin, Artur Polyakov, Nikolay Konstantin, Gorshkov IFMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728157610

In the present work, we consider a model of the electric drive of a wind generator based on the Magnus effect with a load. A brief explanation of the use of the Magnus effect for electricity-generating is presented. The physical implementation of a wind generator based on the Magnus effect is explained. The integration of the developed 3D model of the generator into the Matlab environment is carried out. An analytical mathematical model is developed using Matlab Simulink. A comparative analysis of the work of two variants of mathematical models is carried out. An analysis of the performance of the electrical generator and the minimum required wind flow to cover the generator's own costs is made. © 2020 IEEE.

关键词： Energy efficiency

Feedback-feedforward Signal control with Exogenous Demand Estimation in Congested Urban Road Networks

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arXiv 2023年

作者： Pedroso, Leonardo Batista, Pedro Papageorgiou, Markos Control Systems Technology section Eindhoven University of Technology Netherlands Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Dynamic Systems and Simulation Laboratory Technical University of Crete Chania Greece Faculty of Maritime and Transportation Ningbo University Ningbo China

To cope with uncertain traffic patterns and traffic models, traffic-responsive signal control strategies in the literature are designed to be robust to these uncertainties. These robust strategies still require sensing infrastructure to implement traffic-responsiveness. In this paper, we take a novel perspective and show that it is possible to use the already necessary sensing infrastructure to estimate the uncertain quantities in real time. Specifically, resorting to the store-and-forward model, we design a novel network-wide traffic-responsive strategy that estimates the occupancy and exogenous demand in each link, i.e., entering (exiting) vehicle flows at the origins (destinations) of the network or within links, in real time. Borrowing from optimal control theory, we design an optimal linear quadratic control scheme, consisting of a linear feedback term, of the occupancy of the road links, and a feedforward component, which accounts for the varying exogenous vehicle load on the network. Thereby, the resulting control scheme is a simple feedback-feedforward controller, which is fed with occupancy and exogenous demand estimates, and is suitable for real-time implementation. Numerical simulations for the urban traffic network of Chania, Greece, show that, for realistic surges in the exogenous demand, the proposed solution significantly outperforms tried-and-tested solutions that ignore the exogenous demand. © 2023, CC BY-NC-ND.

关键词： Traffic signals