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Multiobjective Robust PI Synthesis in Plants with Uncertain Poles

IFAC-PapersOnLine 2024年第7期58卷 174-179页

作者： Ricardo Massao Kagami Roberto Zanetti Freire Gilberto Reynoso-Meza Industrial and Systems Engineering Graduate Program (PPGEPS) Pontifícia Universidade Católica do Paraná (PUCPR) Brazil Industrial and Systems Engineering Graduate Program (PPGEPS) Universidade Tecnológica Federal do Paraná (UTFPR) Brazil Control Systems Optimization Laboratory (LOSC) PUCPR Brazil

The use of multiobjective optimization procedures for control tuning has been constantly explored, presenting satisfactory results, and generating significant contributions to control engineering. In this way, the field of robust control can benefit significantly from the integration of multiobjective optimization design procedures for robust Proportional-Integral-Derivative (RPID) controller synthesis, enabling innovative solutions to complex control challenges. Due to this fact, this paper explores an approach to utilize multiobjective optimization algorithms in a simplified procedure, considering uncertain systems in the form of interval plants with uncertain poles, the Kharitonov theorem is used to obtain a region of stability as search space for the multiobjective algorithm, being the optimization process performed over a nominal system model. Two numerical cases and a flexible actuator model were used to demonstrate the procedure for RPI synthesis, resulting in robustly stable controllers with optimized performance over error and control signal effort measures.

关键词： Robust control multiobjective optimization robust stability Kharitonov theorem PI controller

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Relationship Between Mechanical Deformation and Contact Force Applied by Catheter Tip on Cardiac Muscle: Experimentation and Computer Modeling 5

Relationship Between Mechanical Deformation and Contact Forc...

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5th IEEE Eurasia Conference on Biomedical engineering, Healthcare and Sustainability, ECBIOS 2023

作者： Ijima, Yukako Masnok, Kriengsak Perez, Juan J. Gonzalez-Suarez, Ana Berjano, Enrique Watanabe, Nobuo Master's Program Global Course of Engineering and Science Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Saitama Japan Universitat Politecnica de Valencia BioMIT Department of Electronic Engineering Valencia Spain School of Engineering University of Galway Translational Medical Device Lab Galway Ireland Functional Control Systems Graduate School of Engineering and Science College of Systems Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Department of Bio-Science and Engineering Saitama Japan

ISBN: (纸本)9798350320978

The cardiac muscle is elastic and deformable. Pushing a catheter in contact with the cardiac muscle surface to conduct focal energy-based ablative therapies, such as RF ablation, requires an adequate electrode-tissue contact surface to transfer the energy to the target site. In this regard, the relationship between the contact force (CF) and the resulting mechanical response is still unclear, in particular, the insertion depth (ID) and the diameter of the surface deformation. The objective of this study was to quantify these relationships using an ex vivo model and a computational model. A rigid bar with a 2.3 mm diameter blunt tip (mimicking a 7Fr standard ablation catheter) was placed at a perpendicular orientation on a fragment of the porcine heart. CF values ranged from 10 to 80g. We used ANSYS to build a Mooney-Rivlig model of 3 parameters based on hyperelastic material and to simulate the same conditions as in the experiments. The experimental results showed a strong linear correlation between CF and insertion depth ID ($\mathrm{R}^{2}=0.97, \mathrm{P} © 2023 IEEE.

关键词： Catheters

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controller tuning with multi-objective optimization: benchmark definitions for SISO linear systems: A PI controller case ⁎

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IFAC-PapersOnLine 2024年第7期58卷 126-131页

作者： Gilberto Reynoso-Meza Ricardo Massao Kagami Industrial and Systems Engineering Graduate Program (PPGEPS) Pontifical Catholic University of Paraná (PUCPR) Control Systems Optimization Laboratory (LOSC) Pontifícia Universidade Católica do Paraná (PUCPR)

Multi-objective optimization techniques are practical techniques for controller tuning purposes. A wide variety of papers use such an approach or propose new algorithms to approximate the Pareto front. Nevertheless, despite the expressive volume of works dealing with it, there is no standard benchmark testbed that could be used as a baseline comparison among different techniques. This work addresses such a gap, with a first step proposing a linear-SISO testbed with guidelines and rules and providing a basic example for a PI controller. Such a benchmark is expected to promote further research on the topic.

关键词： Multi-objective optimization Parametric optimization Evolutionary Algorithms

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Asymptotic behavior of the indicator function in the inverse problem of the wave equation for media with multiple types of cavities

arXiv

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arXiv 2024年

作者： Kawashita, Mishio Kawashita, Wakako Mathematics Program Graduate School of Advanced Science and Engineering Hiroshima University Higashihiroshima739-8526 Japan Electrical Systems and Control Engineering Program Graduate School of Advanced Science and Engineering Hiroshima University Higashihiroshima739-8527 Japan

In this paper, the inverse problem of the wave equation by the enclosure method for a medium with multiple types of cavities is discussed. In the case considered here, the sign of the indicator function of the enclosure method is not determined and sign cancellation may occur, resulting in loss of information. By examining the top terms of the indicator function in detail, we show that the shortest distance to the cavities can be obtained even in such a *** Codes 35R30, 35L05, 35B40, 78A46 Copyright © 2024, The Authors. All rights reserved.

关键词： Wave equations

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Modular Safety-Critical control of Legged Robots

arXiv

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arXiv 2023年

作者： Tosun, Berk Samur, Evren Graduate Program in Systems and Control Engineering Bogazici University Istanbul Turkey Department of Mechanical Engineering Bogazici University Istanbul Turkey

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study presents a modular safety filter to improve the safety of a legged robot, i.e., reduce the chance of a fall. The prerequisite is the availability of a robot that is capable of locomotion, i.e., a nominal controller exists. During locomotion, terrain properties around the robot are estimated through machine learning which uses a minimal set of proprioceptive signals. A novel deep-learning model utilizing an efficient transformer architecture is used for the terrain estimation. A quadratic program combines the terrain estimations with inverse dynamics and a novel exponential control barrier function constraint to filter and certify nominal control signals. The result is an optimal controller that acts as a filter. The filtered control signal allows safe locomotion of the robot. The resulting approach is generalizable, and could be transferred with low effort to any other legged system. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

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Hardware Implementation of a Sliding Detection Algorithm for Robotic Hands Using Force Sensors

Hardware Implementation of a Sliding Detection Algorithm for...

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Symposium on Integrated Circuits and systems Design (SBCCI)

作者： Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Systems Graduate Program Automation and Control Group/GRACO Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.

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The shortest lengths and the enclosure method for time dependent problems

arXiv

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arXiv 2023年

In this article, the role of "shortest length" is discussed concerning the inverse problems with the time dependent enclosure method. In the beginning, the inclusions embedded in a non-layered medium are handled. The argument for the above case reveals why the "shortest length" is important. Next, the case where the inclusions are embedded in a two-layered medium is explained in view of the previous works by Ikehata and the authors. In addition, the regularity assumptions for the boundaries of the inclusions are *** Codes 35R30, 35L05, 35B40, 78A46 Copyright © 2023, The Authors. All rights reserved.

关键词： Enclosures

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A preliminary discussion of digital transformation and semantic interoperability to support the information exchange in the business process 28

A preliminary discussion of digital transformation and seman...

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28th ISTE International Conference on Transdisciplinary engineering, TE 2021

作者： Nakano, Lucas Yoshio Bertoldi, Pedro Henrique Szejka, Anderson Luis Canciglieri Junior, Osiris Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Brazil Automation and Control Engineering Program Pontifical Catholic University of Parana Curitiba Brazil

ISBN: (纸本)9781643682082

The development of interoperability is more and more an essential task for all kinds of organizations. It needs to be measured, verified, and continuously improved. With the advent of the Internet of Things, Industry 4.0, Digital Transformation, as well as all technologies it brings, such as big data, cloud computing, and mobile applications, this subject become quite ordinary and necessary, not only in a manufacturing scenario but also in a business process. As crucial benefits, it can bring possible gains for developers and users, also reduce the efforts to communicate multiple and different platforms. Like all new implementations, there are significant challenges that have to be overcome to allow satisfactory results. In this paper, after a systematic literature review to better understand the technologies and this new situation, we conduct a study involving a case in a business process, presenting some actions that can be executed and technologies that can be implemented to reach a well interoperable environment. For instance, to analyze the interoperability maturity level and to adopt ontologies as an alternative to integrate heterogeneous systems. Finally, in the last part of the paper, we give conclusions and perspectives for futures works. © 2021 The authors and IOS Press.

关键词： Interoperability

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Adaptive control Applied to Half-Bridge Synchronous Buck Converter using LCL Filter for Charging Batteries 16

Adaptive Control Applied to Half-Bridge Synchronous Buck Con...

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16th Seminar on Power Electronics and control, SEPOC 2024

作者： Rodrigues, Vinicius Descovi Merlo, Joao Vitor Tibola, Jonas Roberto Tambara, Rodrigo Varella Federal University of Santa Maria Research and Development Center in Electrical Engineering NUPEDEE Santa Maria Brazil Federal University of Santa Maria Graduate Program in Electrical Engineering PPGEE Santa Maria Brazil Federal University of Santa Maria Research and Development Center in Electrical and Computational Systems GSEC Santa Maria Brazil Federal University of Santa Maria Group of Power Electronics and Control GEPOC Santa Maria Brazil

ISBN: (纸本)9798350379419

This paper proposes a discrete-time Model Reference Adaptive controller (MRAC), applied to a Half-Bridge synchronous buck converter for charging batteries. The system uses an LCL filter that interfaces the power converter and the batteries. A virtual plant method is proposed for better transitory response of the adaptive control system. The model reference utilizes a reduced order, to simplify the project of the adaptive controller. Simulation results are presented for validation of the control project. © 2024 IEEE.

关键词： Buck converter

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Magnetoelastic coupling driven magnon gap in a honeycomb antiferromagnet

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Physical Review B 2024年第10期110卷 104419页

作者： Jeongheon Choe Andrey Baydin Gaihua Ye Bowen Ma Cynthia Nnokwe Martin Rodriguez-Vega David Lujan Swati Chaudhary Fuyang Tay Jiaming He Hiroyuki Nojiri Jianshi Zhou Gregory A. Fiete Junichiro Kono Rui He Xiaoqin Li Department of Physics Center of Complex Quantum Systems Center for Dynamics and Control of Materials Department of Electrical and Computer Engineering Smalley–Curl Institute Department of Physics Applied Physics Graduate Program Smalley–Curl Institute Department of Mechanical Engineering Institute for Materials Research Department of Physics and Astronomy Department of Materials Science and NanoEngineering

Cobalt titanate, CoTiO3, is a honeycomb antiferromagnet recently confirmed experimentally to host Dirac magnons, topological spin-orbit excitons, and chiral phonons. Here, we investigate a magnon gap at the zone center which calls for a refined spin Hamiltonian. We propose a microscopic model for the magnon gap and attribute it to a lattice-distortion (phonon)-induced higher-order spin interaction. Strong magnetoelastic coupling in CoTiO3 is also evident in Raman spectra, in which the magnetic order exerts a stronger influence on phonons corresponding to in-plane ionic motions than those with out-of-plane motions. We further examine the evolution of the zone-center magnons in a high magnetic field up to 18.5 T via THz absorption spectroscopy measurements. Based on this field dependence, we propose a spin Hamiltonian that not only agrees with magnon dispersion measured by inelastic neutron scattering but also includes fewer exchange constants and a realistic anisotropy term. Our work highlights the broad implications of magnetoelastic coupling in the study of topologically protected bosonic excitations.

关键词： Magnetism Magnons Topological materials Raman spectroscopy Terahertz spectroscopy

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