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International Conference on Information Fusion

作者： Christian Kinzig Irene Corté s Carlos Ferná ndez Martin Lauer Institute of Measurement and Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Department of Computer Science and Engineering Universidad Carlos III de Madrid (UC3M) Madrid Spain

ISBN: (数字)9781737749721

ISBN: (纸本)9781665489416

Autonomous vehicles depend on an accurate perception of their surroundings. For this purpose, different approaches are used to detect traffic participants such as cars, cyclists, and pedestrians, as well as static objects. A commonly used method is object detection and classification in camera images. However, due to the limited field of view of camera images, detecting in the entire environment of the ego-vehicle is an additional challenge. Some solutions include the use of catadioptric cameras or clustered surround view camera systems that require a large installation height. In multi-camera setups, an additional step is required to merge objects from overlapping areas between cameras. As an alternative to these systems, we present a real-time capable image stitching method to improve the horizontal field of view for object detection in autonomous driving. To do this, we use a spherical camera model and determine the overlapping area of the neighboring images based on the calibration. Furthermore, lidar measurements are used to improve image alignment. Finally, seam carving is applied to optimize the transition between the images. We tested our approach on a modular redundant sensor platform and on the publicly available nuScenes dataset. In addition to qualitative results, we evaluated the stitched images using an object detection network. Moreover, the real-time capability of our image stitching method is shown in a runtime analysis.

关键词： Runtime Laser radar Pipelines Merging Object detection Cameras Real-time systems

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High-pulse-energy actively Q-switched polarization-maintaining Tm3+-doped silica fiber laser

High-pulse-energy actively Q-switched polarization-maintaini...

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2020 Mid-Infrared Coherent Sources, MICS 2020 - Part of OSA High-Brightness Sources and Light-Driven Interactions Congress 2020

作者： Schneider, Julian Forster, Patrick Eichhorn, Marc Kieleck, Christelle Gutleuthausstrasse 1 Ettlingen76275 Germany Karlsruhe Institute of Technology Institute of Control Systems Fritz-Haber-Weg 1 Karlsruhe76131 Germany

ISBN: (纸本)9781943580736

关键词： Fiber lasers

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Evaluation System and Correlation Analysis for Determining the Performance of a Semiconductor Manufacturing System

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Complex System Modeling and Simulation 2021年第3期1卷 218-231页

作者： Qingyun Yu Li Li Hui Zhao Ying Liu Kuo-Yi Lin Department of Control Science and Engineering College of Electronics and Information EngineeringShanghai Institute of Intelligent Science and Technologyand also with Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201804China Department of Mechanical Engineering School of EngineeringCardiff UniversityThe ParadeCF243AAUK

Numerous performance indicators exist for semiconductor manufacturing *** studies have been conducted regarding the performance optimization of semiconductor manufacturing ***,because of the complex manufacturing processes,potential complementary or inhibitory correlations may exist among performance indicators,which are difficult to demonstrate *** analyze the correlation between the performance indicators,this study proposes a performance evaluation system based on the mathematical significance of each performance indicator to design statistical *** samples can be obtained by conducting simulation experiments through the performance evaluation *** Pearson correlation coefficient method and canonical correlation analysis are used on the received samples to analyze linear correlations between the performance *** the investigation,we found that linear and other complex correlations exist between the performance *** finding can contribute to our future studies regarding performance optimization for the scheduling problems of semiconductor manufacturing.

关键词： semiconductor manufacturing system system modeling evaluation system correlation analysis

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Higher-order sliding mode observer design for linear time-invariant multivariable systems based on a new observer normal form

arXiv

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arXiv 2021年

作者： Niederwieser, Helmut Tranninger, Markus Seeber, Richard Reichhartinger, Markus Institute of Automation and Control Graz University of Technology Graz Austria BEST - Bioenergy and Sustainable Technologies GmbH Graz Austria Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching condition to be satisfied, rely on the boundedness of the state variables or exhibit an increased observer order of twice the plant order. In this article, a novel observer normal form for strongly observable linear time-invariant multivariable systems is proposed. In contrast to classical normal forms, the proposed approach also takes the unknown inputs into account. The proposed observer normal form allows for the straightforward construction of a higher-order sliding mode observer, which ensures global convergence of the estimation error within finite time even in the presence of unknown bounded inputs. Its application is not restricted to systems which satisfy the aforementioned limitations of already existing unknown input observers. The proposed approach can be exploited for the reconstruction of unknown inputs with bounded derivative and robust state-feedback control, which is shown by means of a tutorial example. Numerical simulations confirm the effectiveness of the presented work. Copyright © 2021, The Authors. All rights reserved.

关键词： Multivariable systems

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Trajectory planning of a manipulator based on the DDPG algorithm

Trajectory planning of a manipulator based on the DDPG algor...

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2022 International Workshop on Automation, control, and Communication Engineering, IWACCE 2022

作者： Jing, Xiangyu Zang, Chuanzhi Liu, Yuqi Liu, Yu Xia, Changqing Shenyang University of Technology No. 111 Shenliao West Road Economic and Technological Development Zone Shenyang110870 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781510660915

Trajectory planning is one of the key technologies in the manipulator motion system, and the effectiveness of the manipulator as a whole is directly influenced by this technology. Thus, accurate and effective trajectory planning is crucial. In this study, a reinforcement learning system is used to plan a manipulator's trajectory. A trajectory planning of a manipulator based on the deep deterministic policy gradient (DDPG) method, which is easier to converge on than the Actor-Critic (AC) approach, is proposed in order to address the issue that the AC algorithm is difficult to converge on. A guiding reward function is provided in the reward function area to address the issue that the manipulator can't contact the target rapidly due to blind exploration. This can help the manipulator touch the target more quickly. In this paper, a twodegree of freedom manipulator is selected as the experimental object. The obstacle avoidance reward function based on the AC algorithm, the obstacle avoidance reward function based on the DDPG algorithm, and the obstacle avoidance reward function and guiding reward function based on the DDPG algorithm are compared. The findings demonstrate that the DDPG method converges easier than the AC algorithm, and that the directed reward function can help the manipulator avoid obstacles. © 2022 SPIE. All rights reserved.

关键词： Manipulators

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Statistical Learning Theory for control: A FINITE SAMPLE PERSPECTIVE

arXiv

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arXiv 2022年

作者： Tsiamis, Anastasios Ziemann, Ingvar Matni, Nikolai Pappas, George J. The Dept. of Information Technology and Electrical Engineering ETH Zürich Zürich Switzerland The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden The Dept. of Electrical and Systems Engineering University of Pennsylvania Philadelphia United States

This vances tutorial in statistical survey provides learning an theory overview relevant of recent to control ad- and system identification featuring non-asymptotics. While there has been substantial progress across all areas of control, the theory is most well-developed when it comes to linear system identification and learning for the linear quadratic regulator, which are the focus of this manuscript. From a theoretical perspective, much of the labor underlying these advances has been in adapting tools from modern high-dimensional statistics and learning theory. While highly relevant to control theorists interested in integrating tools from machine learning, the foundational material has not always been easily accessible. To remedy this, we provide a self-contained presentation of the relevant material, outlining all the key ideas and provide an overview of the technical machinery that underpin recent results. We also present a number of open problems and future directions. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear systems

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Linear Encryption Techniques for Counteracting Information-based Stealthy Attacks

Linear Encryption Techniques for Counteracting Information-b...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Jun Shang Hanwen Zhang Weixiong Rao Yiguang Hong Department of Control Science and Engineering National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Institute of Intelligent Sci-ence and Technology Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China School of Software Engineering Tongji University Shanghai China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This study explores linear encryption techniques to protect against information-based stealthy attacks on re-mote state estimation. Utilizing smart sensors equipped with local Kalman filters, the system transmits innovations rather than raw measurements via wireless networks. However, this transmission is susceptible to malicious data interception and manipulation by attackers. To safeguard against these stealthy threats, encryption and decryption modules are integrated into the system. This research aims to assess the effectiveness of the encryption strategy when faced with information-based stealthy attacks. A key contribution of this paper is the adoption of the most comprehensive attack models, moving away from the conventional reliance on innovation-based linear attack models. Our results demonstrate that the proposed linear encryption approach effectively mitigates stealthy attacks under certain mild conditions. The efficacy of the encryption is further validated through numerical examples, corroborating the theoretical advancements presented in this paper.

关键词： Technological innovation Automation Wireless networks Encryption Numerical models Kalman filters State estimation Robots Intelligent sensors

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ANALYSIS OF THE MULTI-MODE OSCILLATIONS OF OFFSHORE WIND FARMS 18

ANALYSIS OF THE MULTI-MODE OSCILLATIONS OF OFFSHORE WIND FAR...

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18th International Conference on AC and DC Power Transmission, ACDC 2022

作者： Fan, Yupeng Dong, Wenkai Li, Peng Qin, Yi Jiang, Haojie Xie, Xiaorong Datang Guoxin Binhai Offshore Wind Power Generation Co. Ltd Jiangsu Province Yancheng224000 China State Key lab of Control and Simulation of Power Systems and Generation Equipment Dept. of Electric Engineering Tsinghua University Beijing100084 China China Datang Corporation Science and Technology General Research Institute Ltd Beijing100040 China

ISBN: (数字)9781839537615

ISBN: (纸本)9781839537615

Multi-mode oscillation (MMO) is more prone to happen in the offshore wind farm (OWF) than the onshore, which seriously impacts the safe operation of the system. In this paper, the mechanism for the MMO of the OWF is analytically studied. First, the impedance model (IM) of a grid-connected OWF is derived with the AC submarine cable modelled as a distributed parameter circuit (DPC). Second, since the DPC of N n sections can be approximately seen as composed of N identical capacitances in daisy-chain connection, based on the consistent control theory for homogeneous systems, the IM of the DPC is decoupled into N subsystems, each of which is composed of a x circuit. The IM of the DPC is the weighted sum of the IMs of the N subsystems. As each x circuit has one tip (jump between ±90°) in the amplitude(phase)-frequency characteristics (APFC), the IM of the cable will have N tips (jumps) in the APFC and is much more prone to intersect with the IM of the OWF. Thus, resonance is more likely to happen at multiple frequency points. Finally, effectiveness of the methods proposed and conclusions drawn is validated via study cases. © ACDC 2022. All rights reserved.

关键词： Offshore wind farms

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Feedback control Design Maximizing the Region of Attraction of Stochastic systems Using Polynomial Chaos Expansion ⁎

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IFAC-PapersOnLine 2020年第2期53卷 7197-7203页

作者： Eva Ahbe Petr Listov Andrea Iannelli Roy S. Smith Automatic Control Laboratory Swiss Federal Institute of Technology (ETH Zurich) Switzerland Automatic Control Laboratory École Polytechnique Fédérale de Lausanne (EPFL) Switzerland

A feedback control design is proposed for stochastic systems with finite second moment which aims at maximising the region of attraction of the equilibrium point. Polynomial Chaos (PC) expansions are employed to represent the stochastic closed loop system by a higher dimensional set of deterministic equations. By using the PC expanded system representation, the available information on the uncertainty affecting the system explicitly enters the control design problem. Further, this allows Lyapunov methods for deterministic systems to be used to formulate the stability criteria certifying the region of attraction. These criteria are parametrized by the feedback gain and formulated in a polynomial optimization program which is solved using sum-of-squares methods. This approach offers flexibility in the choice of the stochastic feedback law and accounts for input constraints. The application is demonstrated by two numerical examples.

关键词： Stochastic Nonlinear systems Feedback control Design Region of Attraction Sum-of-Squares

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Teaching MPC: Which way to the promised land?

arXiv

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arXiv 2021年

作者： Faulwasser, Timm Lucia, Sergio Darup, Moritz Schulze Mönnigmann, Martin Institute of Energy Systems Energy Efficiency and Energy Economics TU Dortmund University Dortmund Germany Laboratory of Process Automation Systems TU Dortmund University Dortmund Germany Control and Cyberphysical Systems TU Dortmund University Dortmund Germany Automatic Control and Systems Theory Ruhr University Bochum Bochum Germany

Since the earliest conceptualizations by Lee and Markus, and Propoi in the 1960s, Model Predictive control (MPC) has become a major success story of systems and control with respect to industrial impact and with respect to continued and wide-spread research interest. The field has evolved from conceptually simple linear-quadratic (convex) settings in discrete and continuous time to nonlinear and distributed settings including hybrid, stochastic, and infinite-dimensional systems. Put differently, essentially the entire spectrum of dynamic systems can be considered in the MPC framework with respect to both-system theoretic analysis and tailored numerics. Moreover, recent developments in machine learning also leverage MPC concepts and learning-based and data-driven MPC have become highly active research areas. However, this evident and continued success renders it increasingly complex to live up to industrial expectations while enabling graduate students for state-of-the-art research in teaching MPC. Hence, this position paper attempts to trigger a discussion on teaching MPC. To lay the basis for a fruitful debate, we subsequently investigate the prospect of covering MPC in undergraduate courses;we comment on teaching textbooks;and we discuss the increasing complexity of research-oriented graduate teaching of MPC. Copyright © 2021, The Authors. All rights reserved.

关键词： Model predictive control

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