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Adaptation strategies for tracking constraints under plant-model mismatch

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IFAC-PapersOnLine 2018年第18期51卷 833-838页

作者： Singhal, Martand Faulwasser, Timm Bonvin, Dominique Laboratoire d'Automatique École Polytechnique Fédérale de Lausanne LausanneCH-1015 Switzerland Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Eggenstein-Leopoldshafen76344 Germany

Optimal operating conditions for a process plant are typically obtained via model-based optimization. However, due to modeling errors, the operating conditions found are often sub-optimal or, worse, they can violate critical process constraints. Hence, model corrections become a necessity and are done by exploiting measured process data. To this end, either model parameters are adapted and/or correction terms are added to the model-based optimization problem. The modifier-adaptation methodology does the latter by adding bias and gradient correction terms that are called modifiers. The role of modifiers and model parameters are often seen as competing, and which one of the two is better suited to track the optimality conditions is an open problem. This paper attempts to shed light on finding a synergy between the model parameters and the modifiers in the case when tracking constraints is sufficient for near-optimal performance. We demonstrate through the simulation study of a batch-to-batch optimization problem that a set of model parameters can be selected that mirror the role of modifiers. The modifiers are then added only when there is insufficient number of mirror parameters for independent constraint tracking. © 2018

关键词： Mirrors

Towards Velocity Turnpikes in Optimal Control of Mechanical Systems ⁎

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IFAC-PapersOnLine 2019年第16期52卷 490-495页

作者： Timm Faulwasser Kathrin Flaßkamp Sina Ober-Blöbaum Karl Worthmann Institute for Automation and Applied Informatics Karlsruhe Institute of Technology (KIT) Germany University of Bremen Germany University of Oxford United Kingdom Institut für Mathematik Technische Universität Ilmenau Germany

The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocity steady states, which can be considered as partial steady states, and hyperbolic velocity turnpike properties for analysis and control. We show for a specific example that, for all finite horizons, both the (essential part of the) optimal solution and the orbit of the time-varying turnpike correspond to (optimal) trim solutions. Hereby, the present paper appears to be the first to combine the concepts of trim primitives and time-varying turnpike properties.

关键词： Mechanical systems optimal control (partial) steady state velocity steady state turnpike property trim primitives symmetries

A Parallel Decomposition Scheme for Solving Long-Horizon Optimal Control Problems

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A Parallel Decomposition Scheme for Solving Long-Horizon Opt...

IEEE Annual Conference on Decision and Control

作者： Sungho Shin Timm Faulwasser Mario Zanon Victor M. Zavala Department of Chemical and Biological Engineering University of Wisconsin-Madison Madison WI USA Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany IMT Lucca Lucca Italy

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We present a temporal decomposition scheme for solving long-horizon optimal control problems. The time domain is decomposed into a set of subdomains with partially overlapping regions. Subproblems associated with the subdomains are solved in parallel to obtain local primal-dual trajectories that are assembled to obtain the global trajectories. We provide a sufficient condition that guarantees convergence of the proposed scheme. This condition states that the effect of perturbations on the boundary conditions (i.e., the initial state and terminal dual/adjoint variable) should decay asymptotically as one moves away from the boundaries. This condition also reveals that the scheme converges if the size of the overlap is sufficiently large and that the convergence rate improves with the size of the overlap. We prove that linear quadratic problems satisfy the asymptotic decay condition, and we discuss numerical strategies to determine if the condition holds in more general cases. We draw upon a non-convex optimal control problem to illustrate the performance of the proposed scheme.

关键词： Trajectory Convergence Optimal control Time-domain analysis Sensitivity Economics Manganese

Distributed state estimation for ac power systems using gauss-Newton aladin

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arXiv 2019年

作者： Du, Xu Engelmann, Alexander Jiang, Yuning Faulwasser, Timm Houska, Boris School of Information Science and Technology ShanghaiTech University Shanghai China Institute for Automation and Applied Informatics Karlsruhe Institue of Technology Eggenstein-Leopoldshafen Germany

This paper proposes a structure exploiting algorithm for solving non-convex power system state estimation problems in distributed fashion. Because the power flow equations in large electrical grid networks are non-convex equality constraints, we develop a tailored state estimator based on Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN) method, which can handle the nonlinearities efficiently. Here, our focus is on using Gauss-Newton Hessian approximations within ALADIN in order to arrive at at an efficient (computationally and communicationally) variant of ALADIN for network maximum likelihood estimation problems. Analyzing an IEEE 30-Bus system we illustrate how the proposed algorithm can be used to solve highly nontrivial network state estimation problems. We also compare the method with existing distributed parameter estimation codes in order to illustrate its performance. Copyright © 2019, The Authors. All rights reserved.

关键词： Constrained optimization

Science with the Global Cosmic-ray Observatory (GCOS) 38

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Science with the Global Cosmic-ray Observatory (GCOS)

38th International Cosmic Ray Conference, ICRC 2023

作者： Batista, Rafael Alves Ahlers, M. Alves Batista, R. Assis, P. Battisti, M. Bellido, J.A. Bhatnagar, S. Bismark, K. Bister, T. Bohacova, M. Caccianiga, L. Caruso, R. Carvalho, W. Castellina, A. Colalillo, R. Convenga, F. Dawson, B. De Mitri, I. de Palma, F. Deval, L. di Matteo, A. DuVernois, M. Engel, R. Eser, J. Fitoussi, T. Flaggs, B. Fujii, T. Garzelli, M.V. Gkika, V. Hamal, P. Hariharan, B. Haungs, A. Hnatyk, B. Hörandel, J. Horváth, P. Hrabovsky, M. Huege, T. Ikeda, D. Isar, P.G. James, R. Johnsen, J. Kampert, K.-H. Kleifges, M. Koundal, P. Liu, J. Longo, F. Mandat, D. Mariş, I.C. Matthews, J. Mayotte, E. Medina-Tanco, G. Mulrey, K. Muzio, M.S. Nellen, L. Niechciol, M. Ogio, S. Oikonomou, F. Ostrowski, M. Pont, B. Porcelli, A. Rautenberg, J. Rieger, F. Risse, M. Roth, M. Sako, T. Salamida, F. Santangelo, A. Santos, E. Sarazin, F. Saveliev, A. Schimp, M. Schmidt, D. Schröder, F. Sergijenko, O. Sigl, G. Soldin, D. Spiczak, G. Tameda, Y. Unger, M. van Vliet, A. Vorobiov, S. Wibig, T. Wundheiler, B. Yushkov, A. Zotov, M. Instituto de Física Teórica UAM-CSIC C Nicolás Cabrera 13-15 Madrid28049 Spain Departamento de Física Teórica Universidad Autónoma de Madrid M-15 Madrid28049 Spain Niels Bohr Institute Copenhagen Denmark Instituto de Física Teórica UAM-CSIC Madrid Spain Universidad Autónoma de Madrid Departamento de Física Teórica Madrid Spain Universidade de Lisboa Instituto Superior Técnico Lisboa Portugal Universidade de Lisboa Laboratório de Instrumentação e Física Experimental de Partículas Lisboa Portugal Université de Paris Astroparticule et Cosmologie Paris France The University of Adelaide Physics Department Adelaide Australia Dayalbagh Educational Institute Department of Physics and Computer Science Agra India Institute for Experimental Particle Physics Karlsruhe Germany Radboud University Institute for Mathematics Astrophysics and Particle Physics Nijmegen Netherlands Amsterdam Netherlands Institute of Physics The Czech Academy of Sciences Prague Czech Republic Sezione di Milano Milan Italy Department of Physics and Astronomy "E. Majorana" University of Catania Catania Italy Sezione di Catania Catania Italy Sezione di Torino Turin Italy Turin Italy Università degli Studi di Napoli "Federico II" Naples Italy Sezione di Napoli Naples Italy Università dell’Aquila Dipartimento di Scienze Fisiche e Chimiche L’Aquila Italy Laboratori Nazionali del Gran Sasso L’Aquila Assergi Italy Gran Sasso Science Institute L’Aquila Italy Università del Salento Dipartimento di Matematica e Fisica "E. De Giorgi" Lecce Italy Institute for Astroparticle Physics Karlsruhe Germany University of Wisconsin-Madison Department of Physics MadisonWI United States University of Wisconsin-Madison Wisconsin IceCube Particle Astrophysics Center MadisonWI United States The University of Chicago Department of Astronomy and Astrophysics ChicagoIL United States University of Delaware Bartol Research Institute NewarkDE United States Osaka Metropolitan Univers

The Global Cosmic-ray Observatory (GCOS) is a proposed large-scale observatory for studying ultra-high-energy cosmic particles, including ultra-high-energy cosmic rays (UHECRs), photons, and neutrinos. Its primary goal is to characterise the properties of the highest-energy particles in Nature with unprecedented accuracy, and to identify their elusive sources. With an aperture at least a ten-fold larger than existing observatories, this next-generation facility should start operating after 2030, when present-day detectors will gradually cease their activities. Here we briefly review the scientific case motivating GCOS. We present the status of the project, preliminary ideas for its design, and some estimates of its capabilities. © Copyright owned by the author(s) under the terms of the Creative Commons.

关键词： Cosmic rays

General hand guidance framework using microsoft HoloLens

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arXiv 2019年

作者： Puljiz, David Stöhr, Erik Riesterer, Katharina S. Hein, Björn Kröger, Torsten Intelligent Process Automation and Robotics Lab Karlsruhe Institute of Technology Karlsruhe Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots intuitively. Going beyond, a robot can learn tasks by user demonstrations through kinesthetic teaching, enabling robots to generalise tasks and further reducing the need for reprogramming. However, hand guidance is still mostly relegated to collaborative robots. Here we propose a method that doesn't require any sensors on the robot or in the robot cell, by using a Microsoft HoloLens augmented reality head mounted display. We reference the robot using a registration algorithm to match the robot model to the spatial mesh. The in-built hand tracking and localisation capabilities are then used to calculate the position of the hands relative to the robot. By decomposing the hand movements into orthogonal rotations and propagating it down through the kinematic chain, we achieve a generalised hand guidance without the need to build a dynamic model of the robot itself. We tested our approach on a commonly used industrial manipulator, the KUKA KR-5. Copyright © 2019, The Authors. All rights reserved.

关键词： Collaborative robots

Concepts for End-to-end Augmented Reality based Human-Robot Interaction Systems

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arXiv 2019年

作者： Puljiz, David Hein, Björn Intelligent Process Automation and Robotics Lab Karlsruhe Institute of Technology Karlsruhe Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available programming environments and better connectivity, the possible application space expanded significantly. Here we present concepts and systems currently being developed at our lab to enable a truly end-to-end application of AR in HRI, from setting up the working environment of the robot, through programming and finally interaction with the programmed robot. Relevant papers by other authors will also be overviewed. We demonstrate the use of such technologies with systems not inherently designed to be collaborative, namely industrial manipulators. By trying to make such industrial systems easily-installable, collaborative and interactive, the vision of universal robot co-workers can be pushed one step closer to reality. The main goal of the paper is to provide a short overview of the capabilities of HMD-based HRI to researchers unfamiliar with the concepts. For researchers already using such techniques, the hope is to perhaps introduce some new ideas and to broaden the field of research. Copyright © 2019, The Authors. All rights reserved.

关键词： Human robot interaction

Towards a FAIR-DICE IAM: Combining DICE and FAIR Models

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IFAC-PapersOnLine 2018年第5期51卷 126-131页

作者： Faulwasser, Timm Nydestedt, Robin Kellett, Christopher M. Weller, Steven R. Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Eggenstein-Leopoldshafen76344 Germany Department of Mathematics Royal Institute of Technology Lindstedtsvägen 25 Stockholm Sweden School of Electrical Engineering and Computing University of Newcastle CallaghanNew South Wales2308 Australia

The estimation of the Social Cost of Carbon Dioxide (SC-CO2) is one of the essential purposes of Integrated Assessment Models (IAMs) used in the economics of climate change. One of the most widely used IAMs in this context is DICE. However, the DICE geophysical subsystem fails to account for feedback from the climate subsystem to the carbon subsystem, an effect recently observed in climate physics. This paper investigates how to combine the recently proposed FAIR climate model with the socioeconomic subsystem of DICE. Based on an analysis of its differential-algebraic structure, we propose an efficient discretization of FAIR that provides a new discrete-time hybrid of DICE and FAIR denoted as FAIR-DICE. Finally, we compare estimates of the SC-CO2 obtained with DICE2013 with those obtained via FAIR-DICE. © 2018

关键词： Climate models Algebra Carbon dioxide Climate change Differential equations Economics DICE Differential algebraic equations FAIR Integrated assessment models Optimal controls

Measurement of the 2νββ decay rate and spectral shape of 100Mo from the CUPID-Mo experiment

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arXiv 2023年

作者： Augier, C. Barabash, A.S. Bellini, F. Benato, G. Beretta, M. Bergé, L. Billard, J. Borovlev, Yu.A. Cardani, L. Casali, N. Cazes, A. Celi, E. Chapellier, M. Chiesa, D. Dafinei, I. Danevich, F.A. De Jesus, M. Dixon, T. Dumoulin, L. Eitel, K. Ferri, F. Fujikawa, B.K. Gascon, J. Gironi, L. Giuliani, A. Grigorieva, V.D. Gros, M. Helis, D.L. Huang, H.Z. Huang, R. Imbert, L. Johnston, J. Juillard, A. Khalife, H. Kleifges, M. Kobychev, V.V. Kolomensky, Yu.G. Konovalov, S.I. Kotila, J. Loaiza, P. Ma, L. Makarov, E.P. de Marcillac, P. Mariam, R. Marini, L. Marnieros, S. Navick, X.-F. Nones, C. Norman, E.B. Olivieri, E. Ouellet, J.L. Pagnanini, L. Pattavina, L. Paul, B. Pavan, M. Peng, H. Pessina, G. Pirro, S. Poda, D.V. Polischuk, O.G. Pozzi, S. Previtali, E. Redon, Th. Rojas, A. Rozov, S. Sanglard, V. Scarpaci, J.A. Schmidt, B. Shen, Y. Shlegel, V.N. Šimkovic, F. Singh, V. Tomei, C. Tretyak, V.I. Umatov, V.I. Vagneron, L. Velázquez, M. Ware, B. Welliver, B. Winslow, L. Xue, M. Yakushev, E. Zarytskyy, M. Zolotarova, A.S. Univ Lyon Université Lyon 1 CNRS IN2P3 IP2I-Lyon VilleurbanneF-69622 France National Research Centre "Kurchatov Institute" Kurchatov Complex of Theoretical and Experimental Physics Moscow117218 Russia Dipartimento di Fisica Sapienza Università di Roma P.le Aldo Moro 2 RomeI-00185 Italy INFN Sezione di Roma P.le Aldo Moro 2 RomeI-00185 Italy INFN Laboratori Nazionali del Gran Sasso AQ AssergiI-67100 Italy INFN Gran Sasso Science Institute L’AquilaI-67100 Italy University of California BerkeleyCA94720 United States Université Paris-Saclay CNRS IN2P3 IJCLab Orsay91405 France Nikolaev Institute of Inorganic Chemistry Novosibirsk630090 Russia Dipartimento di Fisica Università di Milano-Bicocca MilanoI-20126 Italy INFN Sezione di Milano-Bicocca MilanoI-20126 Italy Institute for Nuclear Research of NASU Kyiv03028 Ukraine INFN Sezione di Roma Tor Vergata Via della Ricerca Scientifica 1 RomeI-00133 Italy IRFU CEA Université Paris-Saclay Gif-sur-YvetteF-91191 France Karlsruhe Institute of Technology Institute for Astroparticle Physics Karlsruhe76021 Germany Lawrence Berkeley National Laboratory BerkeleyCA94720 United States Fudan University Shanghai200433 China Massachusetts Institute of Technology CambridgeMA02139 United States Karlsruhe Institute of Technology Institute for Data Processing and Electronics Karlsruhe76021 Germany National Research Centre Kurchatov Institute Institute of Theoretical and Experimental Physics Moscow117218 Russia Department of Physics University of Jyväskylä PO Box 35 JyväskyläFI-40014 Finland Finnish Institute for Educational Research University of Jyväskylä P.O. Box 35 JyvaäskyläFI-40014 Finland Center for Theoretical Physics Sloane Physics Laboratory Yale University New HavenCT06520-8120 United States Physik Department Technische Universität München GarchingD-85748 Germany Department of Modern Physics University of Science and Technology of China Hefei230027 China LSM Laboratoir

Neutrinoless double beta decay (0νββ) is a yet unobserved nuclear process which would demonstrate Lepton Number violation, a clear evidence of beyond Standard Model physics. The process two neutrino double beta decay (2νββ) is allowed by the Standard Model and has been measured in numerous experiments. In this letter, we report a measurement of 2νββ decay half-life of 100Mo to the ground state of 100Ru of (7.07 ± 0.02 (stat.) ± 0.11 (syst.)) × 1018 yr by the CUPID-Mo experiment. With a relative precision of ± 1.6 % this is the most precise measurement to date of a 2νββ decay rate in 100Mo. In addition, we constrain higher-order corrections to the spectral shape which provides complementary nuclear structure information. We report a novel measurement of the shape factor ξ3,1 = 0.45 ±0.03 (stat.) ±0.05 (syst.), which is compared to theoretical predictions for different nuclear models. We also extract the first value for the effective axial vector coupling constant obtained from a spectral shape study of 2νββ decay. © 2023, CC BY.

关键词： Ground state