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arXiv 2019年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Johansson, Karl H. Chai, Tianyou Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China

This paper considers the problem of distributed bandit online convex optimization with time-varying coupled inequality constraints. This problem can be defined as a repeated game between a group of learners and an adversary. The learners attempt to minimize a sequence of global loss functions and at the same time satisfy a sequence of coupled constraint functions. The global loss and the coupled constraint functions are the sum of local convex loss and constraint functions, respectively, which are adaptively generated by the adversary. The local loss and constraint functions are revealed in a bandit manner, i.e., only the values of loss and constraint functions at sampled points are revealed to the learners, and the revealed function values are held privately by each learner. We consider two scenarios, one- and two-point bandit feedback, and propose two corresponding distributed bandit online algorithms used by the learners. We show that sublinear expected regret and constraint violation are achieved by these two algorithms, if the accumulated variation of the comparator sequence also grows sublinearly. In particular, we show that O(T θ1 ) expected static regret and O(T 7/4−θ1 ) constraint violation are achieved in the one-point bandit feedback setting, and O(T max{κ,1−κ}) expected static regret and O(T 1−κ/2) constraint violation in the two-point bandit feedback setting, where θ1 ∈ (3/4, 5/6] and κ ∈ (0, 1) are user-defined trade-off parameters. Finally, these theoretical results are illustrated by numerical simulations of a simple power grid example. Copyright © 2019, The Authors. All rights reserved.

关键词： Convex optimization

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An Improved Output Feedback MPC scheme for Constrained Linear Systems

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IFAC-PapersOnLine 2017年第1期50卷 15506-15511页

作者： Subramanian, Sankaranarayanan Lucia, Sergio Engell, Sebastian Process Dynamics and Operations Group DortmundTU United States Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

We propose an output feedback model predictive control (MPC) scheme that is independent of the estimation method employed. The proposed approach is non-conservative by design as the feedback information subject to estimation errors is explicitly considered in the predictions. The proposed scheme is robust to both the plant-model mismatch and the estimation error and avoids the unnecessary conservatism introduced by other existing output feedback MPC approaches in the literature. We achieve this by making use of all the available information at every time-step and formulate a control policy with the assumption that bounds for the estimation error are available at all times. We show that the proposed scheme is recursively feasible and demonstrate its advantages using a double-integrator example. © 2017

关键词： Feedback Errors Estimation Linear systems Model predictive control Predictive control systems Robust control Constrained linear systems Constrained systems Estimation methods Feed back information Multi stage Output feedback Plant model mismatches Robust model predictive control

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Practical PID Hovering control of a Laboratory Quadcopter Using Low-Cost Embedded control Hardware and Software

Practical PID Hovering Control of a Laboratory Quadcopter Us...

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UKACC International Conference on control (control)

作者： Dimitrios Iosifidis Nikolaos Alvanos Christos Yfoulis Simira Papadopoulou C. Galatsopoulos Department of Automation Engineering (DAE) ATEl of Thessaloniki GREECE Department of Automation Engineering ATEI of Thessaloniki GREECE DAE/ATEI of Thessaloniki GREECE Process Control in DAE/A.T.E.I. of Thessaloniki Chemical Process Engineering Research Institute Centre for Research and Technology Thermi Thessaloniki Greece

This paper presents an experimental setup developed mainly in the thesis work of a team of undergraduate students, who designed, built and controlled successfully a laboratory quadcopter. This project focused on the hovering control of a custom-built quadcopter with limited movement along a single vertical post, hence allowing safe operation in a typical laboratory environment, while leaving enough degrees of freedom for useful experimentation with practical PID control laws, which are often disregarded in the educational curriculum of a typical undergraduate control laboratory. The total cost of developing this equipment has been kept particularly low due to the adoption of a modern popular low-cost hardware and software Arduino-based platform and compatible sensors. Interesting future extensions concerning the possibilities offered by this new equipment for teaching, demonstration, project work, as well as research purposes, in the current laboratory practice, are also unfolded.

关键词： Brushless DC motors Permanent magnet motors Pulse width modulation Synchronous motors PI control

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A rigorous model for evaluating moving window soft sensors for industrial distillation processes

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Chemical engineering Transactions 2018年 69卷 487-492页

作者： Torgashov, Andrei Skogestad, Sigurd An, Dmitry Process Control Laboratory Institute of Automation and Control Process FEB RAS 5 Radio Str. Vladivostok Russia Department of Chemical Engineering Norwegian University of Science and Technology TrondheimNO-7491 Norway Gazpromneft-Omsk Refinery JSC 1 Pr. Gubkina Omsk644040 Russia

ISBN: (纸本)9788895608662

Traditionally, soft sensors are developed based on measurement data only, but here we consider a moving window (MW) soft sensor (SS) that uses data generated from a calibrated, rigorous model of the distillation columns of an FFC unit at Gazpromneft-Omsk Refinery. The contribution of the paper is that a procedure is developed for MW SS design that incorporates a priori knowledge, which is especially suitable when the training sample is small and contains measurement errors. In addition, we propose a continuous adaptation of all model parameters based on new data, instead of the usual procedure of only updating the bias. The accuracy of the predicted product quality is investigated by calculating the coefficient of determination (R2) and root mean squared error (RMSE) for the test sample. Several approaches were considered, and we found that a constrained optimization approach was superior. The constraints on the model parameters of SSs are derived from a calibrated, rigorous distillation unit model. The improved estimator quality resulted in the successful industrial application of advanced process control (APC) systems. © Copyright 2018, AIDIC Servizi S.r.l.

关键词： Distillation columns

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Determination the installation efficiency of the evaporative air cooling in the greenhouse by temperature-moisture regime

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IOP Conference Series: Earth and Environmental Science 2020年第1期614卷

作者： A Anarbaev O Tursunov R Zakhidov D Kodirov U Vakhidov E Bozorov G Tuhtaeva A Babaev Department of Power Supply and Renewable Energy Sources Tashkent Institute of Irrigation and Agricultural Mechanization Engineers 100000 Tashkent Uzbekistan School of Mechanical and Power Engineering Shanghai Jiao Tong University 200240 Shanghai China Research Institute of Forestry 111104 Tashkent Uzbekistan Department of Automation and Control of Technology Process Tashkent Institute of Irrigation and Agricultural Mechanization Engineers 100000 Tashkent Uzbekistan Department of Hydrology and Ecology Bukhara branch of Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Bukhara Uzbekistan

The results of theoretical studies and experiments of the developed exhaust ventilation system with direct evaporative air- cooling with using 'wet mats' are given. It has shown sufficient efficiency with increasing quality of flower cutting in the summer months. The effect of moisture on the operation of this system was studied. It is established that the heat absorption capacity of air directly depends on its temperature and relative humidity. It is also determined that the temperature of leaves and flowers in summer is usually 2 ÷ 7 °C greater than the air temperature in the greenhouses. In an experimental greenhouse, according to the results of experiments, the effectiveness of the developed installation for evaporative cooling of its operation was determined.

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Results of a pilot experiment on monitoring the condition of buildings and structures using unmanned aerial vehicles

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IOP Conference Series: Earth and Environmental Science 2021年第1期939卷

作者： M Yu Narkevich O S Logunova P I Kalandarov A N Kalitaev G V Tokmazov P Yu Romanov O Alimov Department of Design of Buildings and Building Structures Magnitogorsk State Technical University named after G.I. Nosov Magnitogorsk Russia Department of Computer Engineering and Programming Magnitogorsk State Technical University named after G.I. Nosov Magnitogorsk Russia Department of Automation and Control of Technological Process and Production Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Tashkent Uzbekistan Department of Higher Mathematics Admiral F.F. Ushakov State Maritime University Novorossiysk Russia Department of Applied Mathematics and Computer Science Magnitogorsk State Technical University named after G.I. Nosov Magnitogorsk Russia Jizzakh Polytechnic Institute Jizzakh Uzbekistan

The purpose of the experimental study presented in the paper is to generate new knowledge about the possibility of using unmanned aerial vehicles to survey buildings and structures for subsequent extraction of information about their condition in hard-to-reach or remote places. As objects for the pilot experiment, the following were selected: a residential building in an urban environment that has been destroyed during operation; an object of unfinished construction; a roadway on the carriageway. An unmanned aerial vehicle of the model: DJI Mavic Air was used to survey the objects. The results of the study of objects are recorded in the form of photo and video streams for each object. Comparison of the results of the inspection of objects by experts and unmanned aerial vehicles showed the possibility and necessity of using new means to collect information about the condition of buildings and structures. The primary processing of the obtained images revealed their features: the effect of illumination on the color characteristics of the object of study; the presence of a textural component that complicates the process of separating the defect from the background; the presence of objects in the image that are not related to the elements of surface destruction; the change in the initial size of the object over time. The detected features of the images allow the use of standard algorithms and processing and require the synthesis of unique trajectories of their application.

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State-based control of process services within modular process plants

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Procedia CIRP 2018年 72卷 1088-1093页

作者： Henry Bloch Stephan Hensel Mario Hoernicke Katharina Stark Anna Menschner (neé Hahn) Alexander Fay Leon Urbas Torsten Knohl Jens Bernshausen Institute of Automation Technology Helmut-Schmidt-University Holstenhofweg 85 22043 Hamburg Germany Chair of Process Control Systems and Process Systems Engineering Group Technische Universität Dresden 01062 Dresden Germany ABB Corporate Research Opertions Management Wallstadter Straße 59 68526 Bayer AG 51386 Leverkusen Germany INVITE GmbH 51386 Leverkusen Germany

The modularization of process plants is an approach to cope with the changing requirements of the process industry, such as highly volatile markets and shorter product lifecycles. Each module offers services as encapsulated process functions to the superior control system for the orchestration. These services are controlled in a state-based way. The encapsulation of these services in a reasonable way is a difficult task, because aspects of process and automation engineering must be considered. This contribution introduces an approach for the encapsulation of process functions in services from an automation point of view. Furthermore, the operation modes of modules, services and field devices are discussed. Additionally, possible solutions for the orchestration based on recipe models are introduced. The developed concepts have been tested within a simulation environment.

关键词： Modular process automation Microservices Orchestration State-based control Operating modes Service-oriented architectures

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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A continuous-time formulation for refinery production scheduling problems involving operational transitions in mode switching

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Chinese Journal of Chemical engineering 2016年第8期24卷 1020-1031页

作者： Lei Shi Yongheng Jiang Ling Wang Dexian Huang Institute of Process Control Engineering Department of Automation Tsinghua University Tsinghua National Laboratory for Information Science and Technology Tsinghua University

In the refinery scheduling, operational transitions in mode switching are of great significance to formulate dynamic nature of production and obtain efficient schedules. The discrete-time formulation meets two main challenges in modeling: discrete approximation of time and large size of mixed-integer linear problem(MILP).In this article, a continuous-time refinery scheduling model, which involves transitions of mode switching, is presented due to these challenges. To reduce the difficulty in solving large scale MILPs resulting from the sequencing constraints, the global event-based formulation is chosen. Both transition constraints and production transitions are introduced and the numbers of key variables and constraints in both of the discrete-time and continuous-time formulations are analyzed and compared. Three cases with different lengths of time horizons and different numbers of orders are studied to show the efficiency of the proposed model.

关键词： Refinery scheduling Operational transitions Continuous-time representation

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Distributed Least Squares Solver for Network Linear Equations

arXiv

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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

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