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2021 European control Conference, ECC 2021

作者： Silani, Amirreza Cucuzzella, Michele Scherpen, Jacquelien M. A. Javad Yazdanpanah, Mohammad University of Groningen Jan C. Willems Center For Systems and Control ENTEG Faculty of Science and Engineering Groningen Netherlands University of Tehran Control Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Tehran Iran Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy

ISBN: (纸本)9789463842365

Motivated by the inadequacy of conventional control methods for power networks with a large share of renewable generation, in this paper we study the (stochastic) passivity property of wind turbines based on the Doubly Fed Induction Generator (DFIG). Differently from the majority of the results in the literature, where renewable generation is ignored or assumed to be constant, we model wind power generation as a stochastic process, where wind speed is described by a class of stochastic differential equations. Then, we design a distributed control scheme that achieves load frequency control and economic dispatch, ensuring the stochastic stability of the controlled network. © 2021 EUCA.

关键词： Random processes

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Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion

arXiv

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arXiv 2024年

作者： Gerges, Bishoy Bazzana, Barbara Botteghi, Nicolò Aboudorra, Youssef Franchi, Antonio Robotics and Mechatronics Group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede7500AE Netherlands Department of Applied Mathematics University of Twente Enschede7500AE Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. The latent representation is learned using a Cross-Modal Variational Autoencoder, and used to estimate the return for conditioning the trajectory generation of the DDPM. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach is applicable to any velocity-based controlled platform. We test our method with simulated and real-world experiments using generic multi-rotor Uncrewed Aerial Vehicles (UAVs). A video of our experiments can be found at https://***/yu-aTxqceOA. Copyright © 2024, The Authors. All rights reserved.

关键词： Trajectories

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Tangentially-Magnetized-Slot-PM-Assisted Magnet Saturation Relieving Design for Doubly Salient Reluctance Machine Position Sensorless Drive Electric Propulsion Applications

Tangentially-Magnetized-Slot-PM-Assisted Magnet Saturation R...

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electrical engineering and control Technologies (CEECT), Conference on

作者： Weiyu Wang Xiaodong Zhang Shuangxia Niu Xing Zhao Jianfei Pan Weinong Fu School of Engineering Great Bay University Dongguan China Department of Electrical and Electronic Engineering The Hong Kong Polytechnic University Hong Kong China Department of Electronic Engineering University of York York United Kingdom College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China

ISBN: (数字)9798331528096

ISBN: (纸本)9798331528102

For doubly salient reluctance machines, the magnetic saturation effect easily occurs, thereby the saturated inductance with complex analytical expression brings difficulties to the inductance modeling procedure during position sensorless control. To tackle this issue, a direct solution from electrical machine design is introduced to regulate magnetic flux distribution. The key is to insert tangentially-magnetized-slot-permanent-magnet into stator slots, thus relieving the magnetic saturation in the stator teeth. Consequently, unsaturated inductance characteristics can be acquired through the magnetic saturation relieving effect, thereby the inductance modeling effort can be significantly decreased, and such design is friendly for doubly salient reluctance machine position sensorless drive application.

关键词： Magnetic flux Inductance Analytical models Windings Stator windings Sensorless control Reluctance machines Magnetic analysis Saturation magnetization Load modeling

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A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration

A Signal Temporal Logic Planner for Ergonomic Human–Robot C...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Giuseppe Silano Amr Afifi Martin Saska Antonio Franchi Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente AE Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.

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Reinforcement Learning and Its Applications in Modern Power and Energy Systems: A Review

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Journal of Modern Power Systems and Clean Energy 2020年第6期8卷 1029-1042页

作者： Di Cao Weihao Hu Junbo Zhao Guozhou Zhang Bin Zhang Zhou Liu Zhe Chen Frede Blaabjerg the Wide-area Measurement and Control Sichuan Provincial Key Laboratory School of Mechanical and Electrical EngineeringUniversity of Electronic Science and Technology of ChinaChengduChina the Department of Electrical and Computer Engineering Mississippi State UniversityStarkvilleMississippiUSA the Department of Energy Technology Aalborg UniversityAalborgDenmark

With the growing integration of distributed energy resources(DERs),flexible loads,and other emerging technologies,there are increasing complexities and uncertainties for modern power and energy *** brings great challenges to the operation and ***,with the deployment of advanced sensor and smart meters,a large number of data are generated,which brings opportunities for novel data-driven methods to deal with complicated operation and control *** them,reinforcement learning(RL)is one of the most widely promoted methods for control and optimization *** paper provides a comprehensive literature review of RL in terms of basic ideas,various types of algorithms,and their applications in power and energy *** challenges and further works are also discussed.

关键词： Reinforcement learning deep reinforcement learning power system operation and control optimization

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A Topology for Five-Level Active Neutral Point-Clamped Inverter

SSRN

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SSRN 2023年

作者： Obe, Emeka Simon Mtengi, Bokani Amuhaya, Lilian Livutse Obe, Pauline Ijeoma Ugwuishiwu, Helen Chikodili Odeh, Charles Ikechukwu Department of Electrical Engineering University of Nigeria Nsukka Nigeria Department of Electrical Computer and Telecommunications Engineering Botswana International University of Science and Technology Palapye Botswana Department of Industrial Technical Education University of Nigeria Nsukka Nigeria Department of Computer Science University of Nigeria Nsukka Nigeria Department of Electric Drives and Energy Conversions Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland

A combination of two shared input splitting capacitor banks and varying number of individualized inverter-leg flying-capacitors characterized topological feature of a large group of 5L ANPC inverters configurations. The inconveniences in the provision of these per phase flying-capacitors make these configurations less attractive in most applications. The 5L E-type inverter, characterized by four shared input capacitor banks, becomes a viable alternative topology. However, the high blocking-voltage rating of the constituent switches still places restrictions on the use of the 5L E-type inverter within this voltage range. In view of this, this paper presents a reconfiguration of the 5L E-type inverter. To lessen the voltage stress on the switching devices used here, the common node of the E-type inverter’s bidirectional switch is investigated. Inverter costs and losses are influenced by the decreased voltage stress. The carrier-overlapped pulse-width modulation, or COPWM, perspective serves as the foundation for the inverter control technique. Simulated results of the inverter performances are presented together with an analysis of the cost competitiveness of the proposed inverter power circuit. A 17.68% reduction in loss dissipation and a 13.61% cost savings were recorded by using the proposed power circuit. © 2023, The Authors. All rights reserved.

关键词： Pulse width modulation

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Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment

Differential Flatness and Manipulation of Elasto-flexible Ca...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

This work considers a system composed of two quadrotors manipulating a deformable and extensible cable. The dynamic model is presented, and it is based on a discrete representation of the cable, which is decomposed into lumped masses interconnected by linear springs through passive spherical joints. A set of flat outputs is found for the system. The flatness is exploited to design a method to manipulate the cable, which is then tested through numerical simulations.

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IEEE Transactions on Instrumentation and measurement 2024年 1-1页

作者： Wu, Jin Wang, Chaoqun Li, Chong Jiang, Yi Zhang, Chengxi Huang, Yulong Qi, Yuhua Xue, Bohuan Jiao, Jianhao Fan, Rui Zhang, Wei Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China School of Control Science and Engineering Shandong University Jinan China Department of Automation and Measurement Ocean University of China Qingdao China Department of Electrical Engineering City University of Hong Kong Hong Kong China School of Internet of Things Jiangnan University Wuxi China Department of Automation Harbin Engineering University Harbin China School of Systems Science and Engineering Sun Yat-Sen University China College of Electronics and Information Engineering Tongji University Shanghai China

Similarity transformation problems are important in robotic instrumentation and computer vision based measurements since in many cases the information of visually observed scene scale is unknown and must be restored for accurate 3-dimensional reconstruction. In existing solvers, the scale is often considered as a scalar, i.e., isotropic, which may be invalid for anisotropic-scale setups. This paper exploits some mathematical coincidences that will lead to efficient solution to these problems. Possible further applications also include hand-eye calibration and structure-from-motion. We revisit pose estimation problems within the framework of similarity transformation, the one that considers scale-stretching, rotation and translation simultaneously. Two major problems are taken into account, i.e., the scale-stretching point-cloud registration and perspective-n-points (PnP). It has been found out that these two problems are quite similar. Moreover, we solve the anisotropic-scale registration problem that is important and is a remaining unsolved one in previous literatures. To compute the globally optimal solution of these non-convex problems, algebraic solution is obtained to compute all local minima using computationally efficient methods. The designed algorithm is deployed for robotic-arm pose estimation. We also extend the algorithm for solving the problem of robust magnetometer calibration. Visual pose experiments verify the superiority of the proposed method compared with representatives, including P3P, Lambda-Twist P3P and EPnP, which can be reproduced by repository in https://***/zarathustr/APnP. IEEE

关键词： Calibration

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Passivity of nonlinear time-delay systems

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IFAC-PapersOnLine 2023年第2期56卷 8568-8573页

作者： Yu Kawano Saeed Ahmed Michele Cucuzzella Jacquelien M.A. Scherpen Graduate School of Advanced Science and Engineering Hiroshima University Higashi-hiroshima 739-8527 Japan Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen The Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia 27100 Pavia Italy

This paper presents passivity-based control of nonlinear systems with retarded delays in the state. To this end, we first show that the standard passivity concept can naturally be generalized to time-delay systems, which readily implies that a feedback interconnection (with or without communication delays) of passive time-delay systems is also passive. Then, we propose a storage functional for passivity analysis and further use it for stability analysis of controlled-passive time-delay systems. In particular, invoking an invariance principle for retarded functional differential equations, we show that a passive time-delay system can always be stabilized by a static output feedback controller under a delayed version of the zero-state detectability assumption.

关键词： Passivity nonlinear systems time-delay systems retarded functional differential equations stabilizing control

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Highly Efficient 3D Human Pose Tracking from Events with Spiking Spatiotemporal Transformer

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IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Zou, Shihao Mu, Yuxuan Ji, Wei Wang, Zi-An Zuo, Xinxin Wang, Sen Si, Weixin Cheng, Li Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Guangdong Shenzhen China University of Alberta Department of Electrical and Computer Engineering ABT6G 1H9 Canada Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Guangdong Shenzhen China

Event camera, as an asynchronous vision sensor capturing scene dynamics, presents new opportunities for highly efficient 3D human pose tracking. Existing approaches typically adopt modern-day Artificial Neural Networks (ANNs), such as CNNs or Transformer, where sparse events are converted into dense images or paired with additional gray-scale images as input. Such practices, however, ignore the inherent sparsity of events, resulting in redundant computations, increased energy consumption, and potentially degraded performance. Motivated by these observations, we introduce the first sparse Spiking Neural Networks (SNNs) framework for 3D human pose tracking based solely on events. Our approach eliminates the need to convert sparse data to dense formats or incorporate additional images, thereby fully exploiting the innate sparsity of input events. Central to our framework is a novel Spiking Spatio-temporal Transformer, which enables bi-directional spatio-temporal fusion of spike pose features and provides a guaranteed similarity measurement between binary spike features in spiking attention. Moreover, we have constructed a largescale synthetic dataset, SynEventHPD, that features a broad and diverse set of 3D human motions, as well as much longer hours of event streams. Empirical experiments demonstrate the superiority of our approach over existing state-of-the-art (SOTA) ANN-based methods, requiring only 19.1% FLOPs and 3.6% energy cost. Furthermore, our approach outperforms existing SNN-based benchmarks in this task, highlighting the effectiveness of our proposed SNN framework. © 1991-2012 IEEE.

关键词： Motion picture cameras

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