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Remote Labolatory with Modular Inertial Measuring Unit Platform

Procedia engineering 2014年 96卷 345-354页

作者： Lukáš Palkovič Jozef Rodina Ľuboš Chovanec Anežka Chovancová Peter Hubinský Faculty of Electrical Engineering and Information Technology Institute of Control Engineering and Industrial Informatics Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovakia

The document describes the usage of an inertial measurement unit platform in a remote laboratory. The platform is based on widely used modern MEMS components, such as accelerometers and gyroscopes, in combination with digital signal processing and web technologies. Students can work on the real device from anywhere in the world. They can measure data from a real process remotely and subsequently train various signal processing techniques using this data. They can also get familiar with the properties and drawbacks of the inertial sensors used on the remotely controlled device.

关键词： Remote laboratory Teaching aids Inertial Measuring Unit MEMS sensors Sensor fusion

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Using AdaBoost-based Multiple Functional Neural Fuzzy Classifiers Fusion for Classification Applications

Using AdaBoost-based Multiple Functional Neural Fuzzy Classi...

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3rd International Conference on Inventions, ICI 2017

作者： Jhang, Jyun-Yu Lee, Chin-Ling Lin, Cheng-Jian Lin, Chin-Teng Young, Kuu-Young Institute of Electrical and Control Engineering National Chiao-Tung University Hsinchu300 Taiwan National Taichung University of Science and Technology Taichung411 Taiwan Department of Computer Science and Information Engineering National Chin-Yi University of Technology Taichung411 Taiwan Department of Electrical and Control Engineering National Chiao Tung University Hsinchu300 Taiwan Faculty of Engineering and Information Technology University of Technology Sydney Sydney2007 Australia

In this study, two intelligent classifiers, the AdaBoost-based incremental functional neural fuzzy classifier (AIFNFC) and the AdaBoost-based fixed functional neural fuzzy classifier (AFFNFC), are proposed for solving the classification problems. The AIFNFC approach will increase the amount of functional neural fuzzy classifiers based on the corresponding error during the training phase;while the AFNFC approach is equipped with a fixed amount of functional neural fuzzy classifiers. Then, the weights of AdaBoost procedure are assigned for classifiers. The proposed methods are applied to different classification benchmarks. Results of this study demonstrate the effectiveness of the proposed AIFNFC and AFFNFC methods. © The Authors, published by EDP Sciences, 2018.

关键词： Adaptive boosting

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Design of Neuro-controllers for Nonlinear Continuous-time Systems using Evolutionary Algorithm*

Design of Neuro-controllers for Nonlinear Continuous-time Sy...

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International Conference on control, Decision and information Technologies (CoDIT)

作者： Ivan Sekaj Ivan Kenický Filip Zúbek Jaromír Skirkanič Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Slovak Republic

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper presents the design of controllers for nonlinear continuous-time dynamic systems based on neuroevolution. The controller employs an artificial neural network of the MLP type, with network elements of weights and thresholds, parameterized by a genetic algorithm by minimization of a selected criterion function, which measures the closed-loop's performance index. Two distinct neural network architectures are introduced: a feedforward neural network and a proposed summation-differentiation recurrent neural network. Experimental comparisons are made between the two neural controllers and a conventional PID controller. This study employs a parallel genetic algorithm for neural network learning to address the challenge of finding (sub-)optimal neural network parameters, which is able to eliminate the convergence in some weak local optima. Despite increased computational complexity, these architectures deliver high performance, reliable and robust results.

关键词： Weight measurement Recurrent neural networks Computer architecture Artificial neural networks Search problems Performance analysis Reliability Optimization Genetic algorithms Convergence

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Convergence Analysis of the Short-Memory Principle for Fractional Models

Convergence Analysis of the Short-Memory Principle for Fract...

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European control Conference (ECC)

作者： Oliver Stark Felix Strehle Sören Hohmann Faculty of Electrical Engineering and Information Technology Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

This paper deals with the convergence analysis of a closed-form solution for fractional models with the short-memory principle. Fractional models are increasingly used to describe complex physical, chemical, or biological systems. However, calculating the output signal of a fractional model necessitates an actual closed-form solution, which in turn requires the system to be at rest at the beginning of the simulation. In this work, we drop the restriction of a system at rest by presenting a closed-form solution based on the short-memory principle. This extension then allows, for example, to perform parameter identification during run time. The second contribution is the convergence analysis of the closed-form solution with the short-memory principle. A necessary property regarding the fractional order is derived such that the closed-form solution with the short-memory principle converges to the closed-form solution of the system at rest.

关键词： Analytical models Closed-form solutions Parameter estimation Biological system modeling Europe Linear programming Error correction codes

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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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Decentralized controller Design: Subsystem Robust Stabilization Approach

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IFAC Proceedings Volumes 2011年第1期44卷 2541-2545页

作者： D. Rosinová V. Veselý Institute of Control and Industrial Informatics Slovak University of Technology Faculty of Electrical Engineering and Information Technology Bratislava Slovak Republic

Abstract This paper studies decentralized control design problem for uncertain linear system. Decentralized control design procedure is proposed for static output feedback control which is based on solving robust control design problems of subsystems’ size. The presented approach uses so called equivalent subsystems to consider the interactions in the local robust controller design. The resulting decentralized control scheme has been successfully tested on the linearized model of three interconnected boiler-turbine subsystems.

关键词： decentralized control robust stability bilinear matrix inequalities

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A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

A Guideline for Humanoid Leg Design with Oblique Axes for Bi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Konrad Fründ Anton Leonhard Shu Florian Christoph Loeffl Christian Ott German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany Faculty of Electrical Engineering and Information Technology TU Wien Automation and Control Institute Vienna Austria

ISBN: (纸本)9798350309805

The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.

关键词： Legged locomotion Musculoskeletal system Actuators Torque Robot kinematics Humanoid robots Kinematics

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Bias-free Parameter Identification for Non-Commensurable Fractional Systems

Bias-free Parameter Identification for Non-Commensurable Fra...

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European control Conference (ECC)

作者： Oliver Stark Martin Pfeifer Stefan Krebs Sören Hohmann Faculty of Electrical Engineering and Information Technology Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

This paper deals with the parameter identification for non-commensurable fractional systems under noisy observations of the output signal. Fractional systems are increasingly used to describe complex systems or memory effects. Actual identification methods can not handle noisy observations of the output signal if the system is not at rest. In this paper, an approach is proposed which uses a combination of the modulating function method and the instrumental variable method. The instrumental variable method yields unbiased estimates without knowing anything about the noise which corrupts the output signal. To calculate the instrumental variables, an algorithm to calculate the closed-form solution of a fractional system is also extended by the short-memory principle. The presented approach is compared to the common least-squares method by a numerical simulation.

关键词： Closed-form solutions Instruments Noise measurement Fractional calculus Time-domain analysis Splines (mathematics) Complex systems

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Fuzzy direct adaptive sliding mode control of interconnected large-scale systems

Fuzzy direct adaptive sliding mode control of interconnected...

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2002 IEEE International Conference on Systems, Man and Cybernetics

作者： Zhang, Yanxin Dimirovski, Georgi M. Jing, Yuanwei Zhang, Siying Institute of Control Science Faculty of Information Sci. and Eng. Northeastern University P.O. Box 321 Shenyang Liaoning 110004 China Department of Computer Engineering DOGUS University Faculty of Engineering Acibadem Zemaet Sk. 21 Kadikoy TR-81010 Istanbul Turkey ASE Institute Faculty of Electrical Engineering SS Cyril and Methodius University MK-1000 Skopje Macedonia

Fuzzy direct adaptive sliding mode control design for a class of interconnected large-scale nonlinear systems with unknown functions has been resolved. It makes use of the fuzzy control method via fuzzy logic approximation with fuzzy sliding mode control to approximate the ideal controller synthesised. Fuzzy sliding mode control is introduced to attenuate the fuzzy approximation errors. The (sub)system parameters are being regulated on-line by adaptive laws and stabilised by virtue of Lyapunov's second method applied.

关键词： Large scale systems

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Securing the Future after Pager Bombs:Lifecycle Protection of Smart Devices via Blockchain Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2355-2358页

作者： Fei Lin Qinghua Ni Jing Yang Juanjuan Li Nan Zheng Levente Kovács Radu Prodan Mariagrazia Dotoli Qing-Long Han Fei-Yue Wang the Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBei-jing 100049China IEEE Obuda University John von Neumann Faculty of InformaticsBecsi Str.96/bH-1034 BudapestHungary the Institute of Information Technology University of Klagenfurt9020 Klagenfurt am WortherseeAustria the Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190

THE Lebanese wireless device explosion incident has drawn widespread attention,involving devices such as pagers,walkie-talkies,and other common devices[1].This event has revealed and highlighted the security vulnerabilities in global supply chains from raw material manufacturing and distribution to the usage of devices and equipment,signaling the onset of a new wave of"supply chain warfare"[2].

关键词： Smart cycle chains

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