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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Shuai Yuan Xiao Yao Zhihua Liu Jingang Shi Jingyi Xing Information & Control Engineering Faculty Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

In atomic force microscopy(AFM) based carbon nanotubes(CNTs) manipulation,the interaction force between AFM tip and CNT has a significant effect on the operation *** this paper,we propose to simulate the contact model between AFM tip and carbon nanotube by using molecular dynamics *** the proposed framework,different contact process(under different tip shapes,tip sizes,and contact positions) are also *** effectiveness of this proposed simulation is verified by comparing the simulation result with the literature *** study explores atomic scale mechanical changes in the AFM tip-CNT interaction,providing a more accurate mechanical basis for AFM based CNT manipulation.

关键词： AFM carbon nanotube interaction force molecular dynamics simulation

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Search-based optimal motion planning for automated driving

arXiv

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arXiv 2018年

作者： Ajanovic, Zlatan Lacevic, Bakir Shyrokau, Barys Stolz, Michael Horn, Martin Virtual Vehicle Research Center Inffeldgasse 21a Graz8010 Austria Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia Herzegovina7100 Bosnia and Herzegovina Department of Cognitive Robotics Delft University of Technology Mekelweg 2 Delft2628 Netherlands Institute of Automation and Control at Graz University of Technology Inffeldgasse 21b Graz8010 Austria

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in urban conditions. This is achieved through several features. Firstly, a convenient geometrical representation of both the search space and driving constraints enables the use of classical path planning approach. Thus, a wide variety of constraints can be tackled simultaneously (other vehicles, traffic lights, etc.). Secondly, an exact cost-to-go map, obtained by solving a relaxed problem, is then used by A∗-based algorithm with model predictive flavour in order to compute the optimal motion trajectory. The algorithm takes into account both distance and time horizons. The approach is validated within a simulation study with realistic traffic scenarios. We demonstrate the capability of the algorithm to devise plans both in fast and slow driving conditions, even when full stop is required. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

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Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

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Comparative Evaluation of a Novel Principle for PID Autotuning

Comparative Evaluation of a Novel Principle for PID Autotuni...

引用

Asian control Conference

作者： Robin De Keyser Clara M. Ionescu Cristina I. Muresan Faculty of Engineering and Architecture Research group on Dynamical Systems and Control Ghent Belgium Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (纸本)9781509015740;9781509015733

PID controllers are still the most widely used controllers in industrial applications. However, industrial reports indicate that 60% of loops are poorly tuned and 25% never fulfill the specifications. Operator training may be not available for re-tuning the loops, or the number of loops may be too large. Despite this, a significant operation time is still based on manually tuned controllers. Hence, efforts to develop autotuning PID methods are still very much justified. In this paper, a novel principle for such autotuning technique is extensively evaluated on typical benchmark processes;comparison to several popular autotuning methods shows its superiority.

关键词： Frequency response Tuning Transfer functions Process control Design methodology Mathematical model Delay effects

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Dielectric cross-shaped resonator based metasurface for vortex beam generation in Mid-IR and THz wavelengths

arXiv

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arXiv 2019年

作者： Dharmavarapu, Raghu Izumi, Ken-Ichi Katayama, Ikufumi Ng, Soon Hock Vongsvivut, Jitraporn Tobin, Mark J. Kuchmizhak, Aleksandr Nishijima, Yoshiaki Bhattacharya, Shanti Juodkazis, Saulius Department of Electrical Engineering Indian Institute of Technology Madras Chennai600036 India Centre for Micro-Photonics Faculty of Science Engineering and Technology Swinburne University of Technology HawthornVIC3122 Australia Melbourne Centre for Nanofabrication ANFF 151 Wellington Road ClaytonVIC3168 Australia Physics Department Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama240-8501 Japan Infrared Microspectroscopy Beamline Australian Synchrotron ClaytonVIC3168 Australia Institute of Automation and Control Processes Far Eastern Branch Russian Academy of Sciences Vladivostok690041 Russia Far Eastern Federal University Vladivostok690090 Russia Department of Electrical and Computer Engineering Graduate School of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama240-8501 Japan Institute of Advanced Sciences Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama240-8501 Japan School of Materials and Chemical Technology Tokyo Institute of Technology 2-12-1 Ookayama Meguro-ku Tokyo152-8550 Japan

Metasurfaces are engineered thin surfaces comprising two dimensional (2D) arrays of sub-wavelength spaced and sub-wavelength sized resonators. Metasurfaces can locally manipulate the amplitude, phase and polarization of light with high spatial resolution. In this study, we report numerical and experimental results of a vortex-beam-generating metasurface fabricated specifically for infrared (IR) and terahertz (THz) wavelengths. The designed metasurface consisted of a 2D array of dielectric cross-shaped resonators with spatially varying length, thereby providing desired spatially varying phase shift to the incident light. The metasurface was found to be insensitive to polarization of incident light. The dimensions of the cross-resonators were calculated using rigorous finite difference time domain (FDTD) analysis. The spectral scalability via physical scaling of meta resonators was demonstrated using two vortex generating optical elements operating at 8.8 μm (IR) and 0.78 THz (Terahertz). The vortex beam generated in the mid-IR spectral range was imaged using FTIR imaging miscroscope equipped with a focal plane array (FPA) detector. This design could be used for efficient wavefront shaping as well as various optical imaging applications in mid-IR spectral range, where polarization insensitivity is desired. Copyright © 2019, The Authors. All rights reserved.

关键词： Resonators

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Real Time Simulation of Dynamic Voltage Restorer (DVR) utilizing RTDS and dSPACE 8

Real Time Simulation of Dynamic Voltage Restorer (DVR) utili...

引用

8th IEEE International Symposium on Power Electronics for Distributed Generation Systems, PEDG 2017

作者： Da Silva Junior, Dalmo C. Musse, Bernardo F. Lanes, Matusalem M. De Oliveira, Janaina G. Faculty Electrical Engineering Multi Platform Simulations Laboratory Federal University of Juiz de Fora-MG Juiz de Fora-MG36036-900 Brazil Control and Automation Applied to Electrical Power Systems Group Federal Center for Technological Education of Minas Gerais Leopoldina-MG36700-000 Brazil

ISBN: (纸本)9781509053384

This paper deals with the simulation of a Dynamic Voltage Restorer (DVR) for compensating electric power grid disturbances, in order to protect sensitive loads. The DVR is composed for power electronics converters (AC-DC and DC-AC converters), a serie transformer and a control system. This control system is capable of detecting the disturbances and compensating them. The complete system (grid model, DVR and sensitive load) was simulated on Real-Time Digital Simulator (RTDS), with Hardware in the Loop (HTL) on dSPACE. In RTDS, the power circuits was modeled, and already on dPSACE, the control logic was implemented. In order to analyze the DVR's dynamic behavior, simulation tests have been performed, inserting disturbances with variable amplitude, characterizing a voltage sag, swell and interruption. And finally, the simulation results show a successful compensation for the disturbances inserted in grid, protecting the load. © 2017 IEEE.

关键词： Electric inverters

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Preface

Methodologies and Intelligent Systems for Technology Enhance...

引用

Methodologies and Intelligent Systems for Technology Enhanced Learning, 9th International Conference, 2019 2020年 1007卷 v-vi页

作者： Gennari, Rosella Vittorini, Pierpaolo De la Prieta, Fernando Di Mascio, Tania Temperini, Marco Silveira, Ricardo Azambuja Carranza, Demetrio Arturo Ovalle Computer Science Faculty Free University of Bozen-Bolzano Bolzano Italy Department of Life Health and Environmental Sciences University of L’Aquila L’Aquila Italy Department of Computer Science and Automation Control University of Salamanca SalamancaSalamanca Spain Department of Information Engineering Computer Science and Mathematics University of L’Aquila L’Aquila Italy Dipartimento di Ingegneria Informatica Automatica e Gestionale Sapienza Università di Roma Rome Italy Department of Computer Science and Statistics Federal University of Santa Catarina Florianópolis Brazil Universidad Nacional de Colombia Medellin Colombia

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Multi-objective flexible job shop scheduling problem using differential evolution algorithm

Multi-objective flexible job shop scheduling problem using d...

引用

2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Yang Cao Haibo Shi Zhonghua han College of Information Science and Engineering Northeastern University Department of Digital Factory Shenyang Institute of AutomationCAS University of Chinese Academy of Sciences Key Laboratory of Networked Control CAS Faculty of Information and Control Engineering Shenyang Jianzhu University

Flexible job shop scheduling problem(FJSP) is very complex to be controlled,and it is a problem which inherits job shop scheduling problem(JSP) *** has two sub-problems: routing sub-problem and scheduling *** this paper,improved differential evolution(DE) algorithm is presented for multi-objective *** of three objective functions includes maximum completion time,workload of the most loaded machine and total workload of all *** improved algorithm has a well-designed mutation and crossover operator,and uses a Pareto non-dominated sorting *** simulations and comparisons demonstrate the effectiveness of the proposed improved DE algorithm.

关键词： flexible job shop scheduling problem differential evolution algorithm multi-objective optimization

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Random asynchronous iterations in distributed coordination algorithms

arXiv

引用

arXiv 2018年

作者： Chen, Yao Xia, Weiguo Cao, Ming Lü, Jinhu Department of Computer Science Southwestern University of Finance and Economics Chengdu611130 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China Faculty of Science and Engineering ENTEG University of Groningen Groningen9747 AG Netherlands School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Distributed coordination algorithms (DCA) carry out information processing processes among a group of networked agents without centralized information fusion. Though it is well known that DCA characterized by an SIA (stochastic, indecomposable, aperiodic) matrix generate consensus asymptotically via synchronous iterations, the dynamics of DCA with asynchronous iterations have not been studied extensively, especially when viewed as stochastic processes. This paper aims to show that for any given irreducible stochastic matrix, even non-SIA, the corresponding DCA lead to consensus successfully via random asynchronous iterations under a wide range of conditions on the transition probability. Particularly, the transition probability is neither required to be independent and identically distributed, nor characterized by a Markov chain. Copyright © 2018, The Authors. All rights reserved.

关键词： Stochastic systems

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The effects of parameter variation in open-loop and closed-loop control scheme for an electro-hydraulic actuator system

International Journal of Control and Automation

引用

International Journal of control and automation 2016年第11期9卷 283-294页

作者： Soon, C.C. Ghazali, R. Jaafar, H.I. Hussien, S.Y.S. Sam, Y.M. Rahmat, M.F. Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Hang Tuah Jaya Melaka76100 Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

It is well known that the electro-hydraulic actuator (EHA) system is exposed to the disturbances, uncertainties, and parameter variations which are caused by the changes in operating conditions for instance, total moving mass, supply pressure, servo-valve gain, bulk modulus, leakage coefficient, and friction. These problems pose to a great challenge in modelling and controller development for an EHA system. Degradation of the desired performance can be imposed if an improper control strategy is utilized. This paper discusses the fundamental study on the significant effect that leads to degradation of EHA system performance due to variation in the system parameters. A nonlinear EHA system model is developed and implemented in the simulation studies in open-loop and closed-loop control configuration. The finding shows that the servo-valve gain resulted the most influential parameters to the EHA system performance as compared to the total moving mass and supply pressure parameters. In order to overcome these issues, the utilized controller should be robust enough to overcome the entire operating range that against such disturbances, uncertainties, and parameter variations. Therefore, a nonlinear and the intelligent control approach may be necessary to be designed in order to overcome these difficulties. © 2016 SERSC.

关键词： Closed loop control systems

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