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Input and state constrained inverse optimal control with application to power networks

IFAC-PapersOnLine 2023年第2期56卷 5451-5456页

作者： Taouba Kaouther Jouini Zhiyong Sun Venkatraman Renganathan Veit Hagenmeyer Institute of Automation and Applied Informatics (IAI) at Karlsruhe Institute of Technology Germany Department of Electrical Engineering Eindhoven University of Technology Netherlands Department of Automatic Control LTH Lund University Sweden

We study input and state constrained inverse optimal control problems starting from a stabilizing controller with a control Lyapunov function, where the goal is to make the controller an explicit solution of the resulting constrained optimal control problem. For an appropriate cost design and initial states for which a sublevel set of the Lyapunov function is contained in the state constraint set and the initial input lies on an ellipsoid inside the input constraint set, we show that the stabilizing controller solves the constrained optimal control problem. Compared to the state-of-the-art, we avoid solving nonlinear optimization problems evaluated pointwise, i.e., for every state, or in a repetitive fashion, i.e., at each time step. We apply our theoretical results to study the angular droop control studied in (Jouini et al., 2022) of an inverter-based power network. For this, we accommodate the constraints on the angle and power generation and exemplify our approach through a two-inverter case study.

关键词： Optimal control Non-Linear control Systems Networked Systems Power and Energy Systems

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Delivering Improved Care through Remote Health Monitoring Systems by Using Microservices. Case Study: Fall Detection Encompassed into Connected Care 24

Delivering Improved Care through Remote Health Monitoring Sy...

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24th International Conference on control Systems and Computer Science, CSCS 2023

作者： Ianculescu, Marilena Alexandru, Adriana Giura, Ionut-Emanuel Vasilevschi, Ana-Mihaela National Institute for Research and Development in Informatics Communication Digital Applications and Systems Department Bucharest Romania University Politehnica of Bucharest Doctoral School of Automatic Control and Computers Bucharest Romania Counselors Department National Institute for Research and Development in Informatics Târgovişte Romania Faculty of Electrical Engineering Electronics and Information Technology Târgovişte Romania Valahia University of Târgovişte Târgovişte Romania

ISBN: (纸本)9798350313390

Based on today's modern technologies, patient care can be provided remotely, in a connected way, being, at the same time, personalized, patient-centered and proactive. Such an approach can be achieved using Remote Health Monitoring Systems (RHMS). In case of elderly people, dramatic permanent deteriorations of their health status can be caused by falls. The seniors' health and life style monitoring and the detection and/or prevention of falls can be done by such RHMS, an example being the RO-SmartAgeing system developed inside 'Non-invasive Monitoring System and Health Assessment of the Elderly in a Smart Environment (RO-SmartAgeing)' research project. The paper presents the problem of using microservices for optimizing the architecture and functionalities of RO-SmartAgeing system, and the way in which the problems of ensuring the security of patient data can be solved. © 2023 IEEE.

关键词： Fall detection

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Constrained Predictive Current control in dq Frame for a Permanent Magnet Synchronous Machine

Constrained Predictive Current Control in dq Frame for a Per...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Madalin Costin Corneliu Lazar Dept.of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania Dept. of Automatic Control and Electrical Engineering "Dunarea de Jos" University of Galati Galati Romania

In the paper, the design and Simulink implementation of a predictive current control structure in dq frame for a permanent magnet synchronous machine (PMSM) are presented. Starting from the multivariable model of the currents in the dq reference frame, first it is decoupled and through the rejection of the disturbance introduced by the back-EMF, two single-input single-output (SISO) systems result whose dynamics are generated by R-L circuits. For these SISO systems, the model predictive control (MPC) algorithms are designed that allow the consideration of physical limitations through constraints The performances of the current control structure with MPC algorithms are compared with those obtained with the conventional PI controllers.

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Path Planning for Data Collection Multiagent System with Priority and Moving Nodes in a Sensing Field with Obstacles

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2024年第3期68卷 309-318页

作者： Szénási, Sára Harmati, István Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok körútja 2 Budapest1117 Hungary

Nowadays there is a more and more common need for one-off data collection in a specified area. For example, in case of searching for the survivors of disasters or wars, or for skiers who get into trouble. The simplest way of collecting such data is using wireless sensor network (WSN). However, data transmission within the network uses great amount of energy that may significantly reduce the lifetime and operation time of the battery-operated sensors. For this reason, the data transfer between the given sensor nodes is carried out by robots. In order to minimize the latency of data collection, it is possible to use cooperating robots. It frequently occurs that one of the nodes requires more urgent visit than the other ones, for example, the serious injuries require urgent medical attendance. The sensor nodes can also be moved to collect more usable data in a larger field. To solve this, path planning for data collection from priority and moving nodes are also presented here. The algorithm developed here to perform the one-off data collection operates so that the agents start from preliminary determined or random points and then visit all the sensor nodes, download the data from these nodes and after this arrive at a designated point where they upload the collected information. The goal here is the minimization of cost that include not only the walk-through time but also the consequences of the late visit of the higher priority nodes. The optimization is solved using the ant colony optimization. © 2024 Budapest University of Technology and Economics. All rights reserved.

关键词： Motion planning

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Cardiovascular Model Identification Using Neural ODE

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IFAC-PapersOnLine 2024年第24期58卷 374-379页

作者： Bálint Szabó Ákos Antal Ákos Szlávecz Béla Paláncz Katalin Kovács Liam Murphy James Cushway Nicolas Davey Cong Zhou J. Geoffrey Chase Balázs Benyó Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary Department of Oral Diagnostics Faculty of Dentistry Semmelweis University Budapest Hungary Budapest University of Technology and Economics Faculty of Civil Engineering Department of Geodesy and Surveying Budapest Hungary University of Canterbury Christchurch NZ Széchenyi István University Faculty of Mechanical Engineering Informatics and Electrical Engineering Department of Informatics Győr Hungary University of Liege (ULg) GIGA-in silico medicine Liege Belgium

Acute circulatory failure (ACF) is a clinical syndrome when the heart and circulatory circulation cannot provide adequate blood supply to meet metabolic needs of the organs. ACF affects 30%- 50% of intensive care unit (ICU) patients. Fluid resuscitation is the primary treatment of ACF. However, it fails in a significant proportion (about 50%) of cases due to lack of clinically feasible non-invasive perfusion markers to assess the efficacy of the fluid therapy. Unfortunately, unsuccessful fluid therapy negatively affects patient outcome, increasing ICU length of stay and costs. Recent studies show identifying Stressed Blood Volume (SBV) of the cardiovascular system can be used to assess the potential efficacy of fluid therapy. The development of the diagnostic method requires the identification of the central arterial pressure curve based on the femoral arterial pressure, which is clinically available. This central arterial pressure curve can be used to identify the cardiovascular system parameters. In this study, the main goal was to develop a parameter-identification method for the Tube-load model-based transfer function connecting the femoral and central arterial pressure curve by using the so-called Physics-informed Neural Network methodology, namely the Neural ODE method. The study presents the adaptation of the Neural ODE method to the given parameter identification problem and the validation of the developed identification method. The robustness of the developed identification method was tested and used on a series of measurement data recorded in animal experiments.

关键词： personalized model-based medical therapy methods cardiovascular system physiological system modelling parameter identification transfer function Neural ODE intensive care

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Digital Twin and Cloud Based Remote control of Vehicles

Digital Twin and Cloud Based Remote Control of Vehicles

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Mobility, Operations, Services and Technologies (MOST), IEEE International Conference on

作者： Andras Rovid Viktor Tihanyi Márton Cserni Mihaly Csontho Adam Domina Viktor Remeli Zsolt Vincze Matyas Szanto Matyas Szalai Szabolcs Nagy Zsolt Szalay Department of Automotive Technologies Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics

ISBN: (数字)9798350307733

ISBN: (纸本)9798350307740

Cloud-based, centralized control system architectures have been published in recent years, examining the applications, structure and validity of the idea of controlling a vehicle, or multiple vehicles directly from the cloud. The literature presents possible advantages and disadvantages of control as a Service (CaaS), as well as multiple viable applications, however no real-car real-world implementation exists to the best of our knowledge. In our experiments, we demonstrate a real-life and real-time vehicle control method that runs in the cloud and reacts adaptively to the vehicle’s surroundings. In the presented tests, acquisition of the vehicle and environment state is performed from a collective perception-based digital twin that is also produced in our cloud-based Central System using data streams from our distributed sensor network. We conduct real-world physical vehicle tests, and establish that cloud-based centralized control is a viable solution, and an interesting research direction. We test our vehicle control in one mixed reality, and two real-world scenarios on the ZalaZONE proving ground in Hungary, Zalaegerszeg. Our experiments prove that cloud-based low-level vehicle control is feasible.

关键词： Cloud computing Atmospheric measurements Virtual reality Position measurement Particle measurements Digital twins Task analysis

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Non-Invasive Device for Hearing Rehabilitation

Non-Invasive Device for Hearing Rehabilitation

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E-Health and Bioengineering Conference (EHB)

作者： Daniela Goldan Mihai Aron Teofil Ilie Ursache Gladiola Petroiu Cristian Rotariu Dept. of Biomedical Sciences Faculty of Medical Bioengineering Grigore T. Popa University of Medicine and Pharmacy of Iasi Iași Romania Dept. of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University Iași Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

Hearing loss impacts over 5% of the world's population, a percent rising due to aging populations, noise exposure, and chronic health conditions. To address this, we developed a non-invasive hearing device designed for individuals with hearing challenges that limit the use of hearing aids. The proposed device integrates a set of Bluetooth headphones with a smartphone, that process the ambient sound in real time through a software application and delivers to the hear impaired patient via bone conduction, bypassing traditional auditory pathways. Laboratory tests confirmed that the proposed device effectively replicates auditory perception. The developed device offers an accessible and user-friendly alternative to patients who cannot use traditional hearing aids.

关键词： Irrigation Noise Auditory system Ear Receivers Hearing aids Propagation losses Real-time systems Software Testing

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Multi-dimensional Quantile Regression Using Polynomial Function Fitting for Insulin Sensitivity Forecasting

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IFAC-PapersOnLine 2024年第24期58卷 327-331页

作者： Bálint Szabó Petra Pintér Ákos Antal Ákos Szlávecz J. Geoffrey Chase Balázs Benyó Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Hungary Department of Oral Diagnostics Faculty of Dentistry Semmelweis University Hungary University of Canterbury Christchurch New Zealand

A significant portion of patients in the intensive care unit experience hyperglycemia, meaning abnormally high blood sugar levels. Prolonged hyperglycemia poses numerous risks, leading to organ damage in the medium-term and potentially life-threatening conditions. Therefore, insulin dosing is essential to regulate the blood sugar levels of hyperglycemic patients. The STAR protocol is an insulin dosing support, a so-called tight glycemic control protocol that uses insulin sensitivity among the patient's physiological parameters to characterize their current state. Estimating the patient's future SI is crucial for determining optimal treatment. Various methods exist for this estimation, and different metrics are available for evaluating these methods. The challenge in the estimation task is to determine not the expected value of future SI but its 90% confidence interval, which is necessary for implementing clinical protocols. The research presented in the article developed SI estimation methods using quantile regression, polynomial fitting, and neural network-based approaches. Multiple previous insulin sensitivity values were used as input parameters to improve prediction accuracy.

关键词： Five to ten keywords preferably chosen from the IFAC keyword list

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Robotics in Modern Agriculture Applications Implemented by Inwebit in Cooperation with Scientific and Research Institutions - Robotisation of Hemp Growth and Apple Harvesting

Robotics in Modern Agriculture Applications Implemented by I...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Wojciech Bałtruszewicz Dominik Belter Michał Bidziński Jakub Codogni Krzysztof Ćwian Błażej Gawęcki Marcin Gendek Michael Grabowski Marek Kraft Adam Krawczyk Bartłomiej Krysiak Barłomiej Kulecki Tomasz Łukomski Mikołaj Łysakowski Kamil Młodzikowski Marcin Paradowski Mariusz Paszkiewicz Mateusz Piechocki Dominik Pieczyński Bartosz Ptak Krzysztof Stężała Karol Szychulski Eryk Wadyl Inwebit LLC Poznan Poland Faculty of Automatic Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

The article presents the latest achievements of the Inwebit company obtained in cooperation with scientific and research entities in the field of implementation of robots in agriculture. The results of the research and implementation project on robotic support of hemp cultivation using a novel robotic system consisting of a mobile platform with a manipu-lator will be presented. In addition, the results of the first stage of a research and implementation project on automation of apple harvesting using cartesian manipulators will be discussed. In both cases, the main results of the research work will be covered, the robotic systems developed, and the results of the experimental work will be presented.

关键词： Robot motion Spraying Companies Production Programming Robot sensing systems Agriculture

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Cardiac Condition Detection Model Using Alexnet and Time-Frequency Representation of ECG Signals

Cardiac Condition Detection Model Using Alexnet and Time-Fre...

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E-Health and Bioengineering Conference (EHB)

作者： Mihai Aron Teofil Ilie Ursache Gladiola Petroiu Cristian Rotariu Dept. of Biomedical Sciences Grigore T. Popa University of Medicine and Pharmacy of Iasi Faculty of Medical Bioengineering Iaşi Romania Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University Faculty of Automatic Control and Computer Engineering Iaşi Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

Cardiac conditions are one of the leading causes of death worldwide. To address this, we designed a model that can detect cardiac conditions from a patient's electrocardiogram (ECG). This will convert the 1D ECG signal into a 2D scalogram using wavelet transforms with Morlet wavelets. With the help of a network based on the AlexNet convolutional neural network, it distinguishes between a normal ECG signal and one indicative of arrhythmia or congestive heart failure. The resulting model performs well, achieving a classification accuracy of 92.20% and providing a robust approach for detecting cardiac conditions.

关键词： Wavelet transforms Training Time-frequency analysis Accuracy Biological system modeling Electrocardiography Predictive models Congestive heart failure Convolutional neural networks Biomedical engineering

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