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23rd International Conference on robotics in Alpe-Adria-Danube Region, IEEE RAAD 2014

作者： Kajan, Slavomír Kozak, Štefán Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia

ISBN: (纸本)9781479967988

The paper deals with a soft computing state control method for multi input - multi output (MIMO) non-linear dynamic model of a robot. Soft methods based on neural networks and genetic algorithms have proven their effectiveness for this application. They are based on quite simple principles, but take advantage of their mathematical nature: non-linear iterative computation solutions. One way of controlling such nonlinear systems is to use of neural networks as effective controllers. In this paper a new methodology is proposed, where neural controller structure and parameters are computed by a genetic algorithm (GA). The proposed approach is represented by a direct neural controller using a multilayer perceptron (MLP) network in the feedback control loop. The training method using GA allows finding optimal adjustment of neural network weights so that high performance is achieved. The proposed control method is realized in Matlab/Simulink and demonstrated on a typical non-linear system with two inputs and two outputs (two-link robot). © 2014 IEEE.

关键词： Genetic algorithms

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Minimal length scale in quantum mechanics from a deformation quantization perspective 28

Minimal length scale in quantum mechanics from a deformation...

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28th International Conference on Integrable Systems and Quantum Symmetries, ISQS 2024

作者： Domański, Ziemowit Poznań University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Mathematics Piotrowo 3A Poznań Poland

We develop a deformation quantization approach to quantum mechanics that exhibits a nonzero minimal uncertainty in position through the modification of commutation relations for the operators of position and momentum. Deformation quantization is a method of quantizing a classical Hamiltonian system by suitably deforming the Poisson algebra of the system. The developed theory of deformation quantization is non-formal. An appropriate integral formula for the star-product is introduced, along with a suitable space of functions on which the star-product is well defined. A C*-algebra of observables and a space of states are constructed. Moreover, an operator representation in momentum space is presented. Finally, an example of states of maximal localization is given in terms of generalized Wigner functions. © 2024 institute of Physics Publishing. All rights reserved.

关键词： Hamiltonians

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 International Conference on Machine Learning, Pattern Recognition and Automation engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

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Journal of Systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Saturated Continuous Twisting Algorithm 15

Saturated Continuous Twisting Algorithm

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15th International Workshop on Variable Structure Systems, VSS 2018

作者： Golkani, M.A. Fridman, L.M. Koch, S. Reichhartinger, M. Horn, M. Faculty of Electrical and Information Engineering Graz University of Technology Institute of Automation and Control Graz Austria Department of Control Engineering and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico D.F. Mexico Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9781538664391

In this paper, a second-order system affected by perturbations is considered. A feedback control law adopting the continuous twisting algorithm is designed such that a saturated and continuous control signal is introduced to the system. In the case that a state variable is not measurable, estimate information obtained through a super-twisting observer is incorporated into the design. For the closed-loops (with and without observer), global finite-time stability properties are established. The feasibility and effectiveness of the strategy is shown employing numerical simulations. © 2018 IEEE.

关键词： Stability

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Influence of power supply on airport navigation lamps photometric test accuracy 26

Influence of power supply on airport navigation lamps photom...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Podbucki, Kacper Suder, Jakub Marciniak, Tomasz Darowski, Adam Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I2C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Lighting

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification 26

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Airports

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control of Discrete Linear Repetitive Processes with Non-causal Dynamics

Control of Discrete Linear Repetitive Processes with Non-cau...

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第二十七届中国控制会议

作者： Cichy B. Galkowski K. Rogers E. Kummert A. Institute of Control and Computation Engineering University of Zielona Gora School of Electronics and Computer Science University of Southampton Faculty of Electrical Information and Media EngineeringUniversity of Wuppertal

ISBN: (纸本)9787900719706

Repetitive processes propagate information propagation in two independent directions and are of both systems theoretic and applications *** cannot be controlled by direct extension of existing techniques from either standard(termed 1D here) or(often) 2D systems *** this paper we propose,motivated by critical features in the dynamics of some examples a model which has non-causal elements and then develop new results on the stability and control of examples which it represents.

关键词： Stability analysis,Rubust control,LMI

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Semi-automated Synthesis of control System Software Through Graph Search 20th

Semi-automated Synthesis of Control System Software Through ...

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20th Polish control Conference, PCC 2020

作者： Gawron, Tomasz Kozlowski, Krzysztof Institute of Automation and Robotics Faculty of Control Robotics and Electrical Engineering Poznan University of Technology ul.Piotrowo 3a Poznań61-138 Poland

ISBN: (纸本)9783030509354

As the field of automation and robotics develops, control software driving the robotic systems becomes more and more complex. Currently, a predominant approach to modularization and structuring of software in the robotics community, which is embodied by ROS (Robot Operating System) and similar frameworks, is to decompose software into a set of functional modules (i.e. nodes, processes, classes). Particular modules comprising the system are chosen manually by the programmer and they exchange data using loosely coupled publish/subscribe communication mechanisms. While such an approach is helpful and currently highly developed, it seems to lack the means of verifying correctness of the whole control software system (i.e. is there a source of data for all input signals of a given module?, are its outputs actually used by other modules in the system?). Manual specification of system structure and verification of its correctness can be tedious and prone to errors. To help alleviate this, we propose a system composition algorithm utilizing graph search methods. It processes a set of modules implemented by the programmer and produces a graph of modules representing the system with input and output signals specified by the programmer. Such an algorithm can be used with nearly arbitrary control software frameworks. © 2020, Springer Nature Switzerland AG.

关键词： C++ (programming language)

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Adaptive control with Heuristic Disturbance Rejection in T1DM: A Performance Assessment

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IFAC-PapersOnLine 2017年第1期50卷 6546-6551页

作者： Rebro M. Tárník M. Murgaš J. Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 Bratislava 812 19 Slovakia

Paper deals with the performance assessment of adaptive control design of glycemia in type 1 diabetes mellitus (T1DM) subjects. Presented controller consists of model reference adaptive control (MRAC) for basal and heuristic adaptive disturbance rejection for bolus insulin administration. control algorithm performance is tested via simulation experiments on virtual T1DM subjects, which are generated from individualized T1DM simulator with its parameters introduced to small random changes. Individualization of T1DM model parameters is done by matching the simulator output to T1DM self-monitoring data obtained from continuous glucose monitoring (CGM) device. Simulation results are evaluated by the means of control variability grid analysis. © 2017

关键词： adaptive control artificial pancreas control diabetes disturbance rejection

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