The use of multiobjective optimization procedures for control tuning has been constantly explored, presenting satisfactory results, and generating significant contributions to controlengineering. In this way, the fie...
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The use of multiobjective optimization procedures for control tuning has been constantly explored, presenting satisfactory results, and generating significant contributions to controlengineering. 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.
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 ...
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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, d...
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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.
作者：
Kawashita, MishioKawashita, WakakoMathematics 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 enclosu...
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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 ...
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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 d...
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.
作者：
Kawashita, MishioKawashita, WakakoMathematics 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 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 han...
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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 ...
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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 conve...
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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 cente...
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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.
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