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Artificial Intelligence & Green Energy (ICAIGE), IEEE International Conference on

作者： Raja Jarray Soufiene Bouallègue Research Laboratory in Automatic Control (LARA) of National Engineering School of Tunis Le Belvédère High Institute of Industrial Systems of Gabès (ISSIG) University of Gabès Campus Universitaire Zrig Tunis Tunisia

The increased use of Unmanned Aerial Vehicles (UAVs) in a variety of applications, including illegal activities such as drug trafficking and terrorism, has raised concerns about misuse. To protect special areas against illicit drones operations, UAVs' reconnaissance systems offer a promising solution. Having similar objects in the sky, like birds and airplanes, makes it difficult to detect these UAVs. In this work, a vision-based object recognition system, that uses a deep learning network called You Only Look Once version 5 (YOLOv5), is proposed to recognize drones and distinguish them from birds. The trained model is assessed using a set of performance measures such as mean Average Precision (mAP), precision, recall, F1-score and drone's location detection. A comparison with the YOLOv4 tool is carried out to show the effectiveness and superiority of the proposed YOLOv5 network.

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Path Planning of Quadrotors in a Dynamic Environment Using a Multicriteria Multi-Verse Optimizer

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Computers, Materials & Continua 2021年第11期69卷 2159-2180页

作者： Raja Jarray Mujahed Al-Dhaifallah Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis El ManarTunis1002Tunisia Department of Systems Engineering King Fahd University of Petroleum&MineralsDhahran31261Saudi Arabia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

Paths planning of Unmanned Aerial Vehicles(UAVs)in a dynamic environment is considered a challenging task in autonomous flight control *** this work,an efficient method based on a Multi-Objective MultiVerse Optimization(MOMVO)algorithm is proposed and successfully applied to solve the path planning problem of quadrotors with moving *** a path planning task is formulated as a multicriteria optimization problem under operational *** proposed MOMVO-based planning approach aims to lead the drone to traverse the shortest path from the starting point and the target without collision with moving *** vehicle moves to the next position from its current one such that the line joining minimizes the total path length and allows aligning its direction towards the *** choose the best compromise solution among all the non-dominated Pareto ones obtained for compromise objectives,the modified Technique for Order Preference by Similarity to Ideal Solution(TOPSIS)is investigated.A set of homologous metaheuristics such as Multiobjective Salp Swarm Algorithm(MSSA),Multi-Objective Grey Wolf Optimizer(MOGWO),Multi-Objective Particle Swarm Optimization(MOPSO),and Non-Dominated Genetic Algorithm II(NSGAII)is used as a basis for the performance *** results and statistical analyses show the superiority and effectiveness of the proposed MOMVO-based planning *** obtained results are satisfactory and encouraging for future practical implementation of the path planning strategy.

关键词： Quadrotors path planning dynamic obstacles multi-objective optimization global metaheuristics TOPSIS decision-making Friedman statistical tests

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control and Treatment of Bone Cancer: A Novel Theoretical Study

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Journal of Electronic & Information systems 2023年第2期5卷 35-44页

作者： Ali Soltani Sharif Abadi Mansour Rafeeyan Vahid Abootalebi Institute of Automatic Control and Robotics Faculty of MechatronicsWarsaw University of TechnologyWarsaw00-664Poland Institute of Electronic Systems Faculty of Electronics and Information TechnologyWarsaw University of TechnologyWarsaw00-664Poland Faculty of Mechanics Yazd UniversityYazd***Iran Faculty of Electrical Engineering Yazd UniversityYazd***Iran

The human body has symmetric *** paper uses control engineering concepts to design a suitable controller to synchronize two symmetric bones of the human body to control and treat bone cancer.A Nonsingular Terminal Sliding Mode control(NTSMC)method will be employed to design the proposed control *** control inputs can be the chemical drugs that can be used to treat bone *** dynamical equations of bone cancer will be used to apply the designed control method and test *** testing the designed controller,Simulink/MATLAB software will be *** proposed controller is chattering-free,robust against uncertainties and external disturbances,and finite-time stable in the control engineering *** cancer will be treated for almost one year using the proposed control method.

关键词： Bone cancer Synchronization Finite-time stability Biomedical engineering

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control Strategy for a Quadrotor Based on a Memetic Shuffled Frog Leaping Algorithm

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Computers, Materials & Continua 2021年第6期67卷 4081-4100页

作者： Nour Ben Ammar Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis EL MANARLe BelvédèreTunis1002Tunisia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

This work presents a memetic Shuffled Frog Leaping Algorithm(SFLA)based tuning approach of an Integral Sliding Mode controller(ISMC)for a quadrotor type of Unmanned Aerial Vehicles(UAV).Based on the Newton–Euler formalism,a nonlinear dynamic model of the studied quadrotor is firstly established for control design *** the main parameters of the ISMC design are the gains of the sliding surfaces and signum functions of the switching control law,which are usually selected by repetitive and time-consuming trials-errors based procedures,a constrained optimization problem is formulated for the systematically tuning of these unknown *** time-domain operating constraints,such an optimization-based tuning problem is effectively solved using the proposed SFLA metaheuristic with an empirical comparison to other evolutionary computation-and swarm intelligence-based algorithms such as the Crow Search Algorithm(CSA),Fractional Particle Swarm Optimization Memetic Algorithm(FPSOMA),Ant Bee Colony(ABC)and Harmony Search Algorithm(HSA).Numerical experiments are carried out for various sets of algorithms’parameters to achieve optimal gains of the sliding mode controllers for the altitude and attitude dynamics *** studies revealed that the SFLA is a competitive and easily implemented algorithm with high performance in terms of robustness and non-premature *** results verified that the proposed metaheuristicsbased approach is a promising alternative for the systematic tuning of the effective design parameters in the integral sliding mode control framework.

关键词： Quadrotor modeling integral sliding mode control gains tuning advanced metaheuristics memetic algorithms shuffled frog leaping algorithm

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Robust Fault-tolerant control of Periodic Piecewise Time-varying systems Based on Matrix Polynomials

Robust Fault-tolerant Control of Periodic Piecewise Time-var...

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Chinese Automation Congress (CAC)

作者： Jiantai Huang Xiaochen Xie James Lam Department of Automation Harbin Institute of Technology Shenzhen Shenzhen China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany Department of Mechanical Engineering The University of Hong Kong Hong Kong China HKU Shenzhen Institute of Research and Innovation Shenzhen China

This paper investigates the robust fault-tolerant control issue for a type of periodic piecewise time-varying systems (PPTVSs). The PPTVS is modeled considering the coexistence of external disturbances, structural parameter perturbations, and actuator failures in the system. Stability analysis is conducted for the considered PPTVS, and a sufficient condition concerning the exponential stability of the closed-loop system is given. Through a matrix polynomial approach capable of decoupling time-varying parameters, the robust fault-tolerant controller synthesis is transformed into a convex optimization problem. Flexible controller gains are enabled through selectable subinterval partitioning parameters. A sufficient condition is presented for maintaining the exponential stability, achieving $H_{\infty}$ disturbance attenuation, and obtaining a tractable robust fault-tolerant controller. Simulation verification using a multi-input multi-output PPTVS model shows that the designed controller can maintain the exponential stability under actuator failures, satisfy the $H_{\infty}$ performance index, and exhibiting robustness against structural parameter perturbations.

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Improving routing efficiency in vehicular AD Hoc Networks

Improving routing efficiency in vehicular AD Hoc Networks

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： W. Akermi N. Alyaoui A. B. Guiloufi K. Chabbir N. Nasri Automatic Industrial Systems Department Applied Science and Technology Gafsa University Gafsa Tunisia Laboratory of Modeling Analysis and Control of Systems (MACS) National Engineering School of Gabes (ENIG) Gabes University Gabes Tunisia Computer Science and Telecommunications Department Higher Institute of Applied Science and Technology Gafsa University Gafsa Tunisia Preparatory Institute for Engineering Studies of Gabes Laboratory of Modeling Analysis and Control of Systems (MACS) National Engineering School of Gabes (ENIG) Gabes University Gabes Tunisia Computer Science Department-Gafsa Gafsa University Gafsa Tunisia Laboratory of Smart Systems for Engineering and E-Health Based on Technologies of Image and Telecommunications (SETIT) Sfax University Sfax Tunisia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Vehicular networks, also known as Vehicular Ad Hoc Networks (VANETs), have become a crucial technology for vehicle communication, providing wireless connectivity among vehicles and between vehicles and infrastructure. However, the dynamic and complex nature of these networks presents unique challenges in routing and resource management. In this study, we explore the use of artificial intelligence (AI) to improve the performance of vehicular networks, focusing on two widely used routing protocols: Optimized Link State Routing (OLSR) and Destination-Sequenced Distance Vector (DSDV).We aim to evaluate the performance of these traditional routing protocols within the context of vehicular networks by integrating machine learning techniques such as neural network regression (MLRegression). Our goal is to understand how the integration of artificial intelligence can enhance the prediction and optimization of vehicular network performance. Using MLRegression, we aim to develop accurate prediction models for performance metrics such as latency, throughput, packet delivery rate, and more, based on network parameters and environmental conditions. This comparative evaluation, which involves incorporating an AI-based approach, will allow us to better understand the strengths and weaknesses of each protocol and provide recommendations for improving vehicular networks.

关键词： Measurement Wireless communication Adaptation models Adaptive systems Vehicular ad hoc networks Routing Throughput Routing protocols Vectors Vehicle dynamics

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Execution Time Oriented Design of an Adaptive controller for Mobile Machines

Execution Time Oriented Design of an Adaptive Controller for...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Marius Krüger Birgit Vogel-Heuser Dominik Hujo Christoph Huber Johannes Schwarz Boris Lohmann Fabian Kreutmayr Markus Imlauer Technical University of Munich TUM School of Engineering and Design Institute of Automation and Information Systems Garching near Munich Technical University of Munich TUM School of Engineering and Design Chair of Automatic Control Garching near Munich HAWE Hydraulik SE Aschheim near Munich

Mobile and stationary mechatronic systems are often driven by hydraulic actuators which are controlled using valves. Hydraulic systems have a high power density, are robust and cost-effective in the application and can work reliably under rough environmental conditions. For many years, PID controllers build the state-of-the-technology for valve control. Although PID controllers are easy to synthesize and can be executed on low-performing devices, the demand for more adaptive control approaches to deal with non-linearities in hydraulic circuits is increasing. Adaptive controllers tend to be more computationally expensive than PID controllers, so the capability of common hardware devices to execute the algorithms in real-time must also be considered. This paper contributes a feasibility study examining whether adaptive control approaches can be used for valve control in hydraulic-driven mobile machines. Thus, a literature review on adaptive valve control approaches is conducted and a model-based linear adaptive control approach consisting of system identification and control logic execution is extracted. The adaptive controller is applied to a hydraulic testbed and the controller performance is measured in dependence on the cycle time of the controllers to estimate the worst-case execution time. It is investigated whether common control units in mobile machines can reach the execution times and how many valves can be controlled by one control unit in terms of the execution time.

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Learning to control Linear systems can be Hard

arXiv

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arXiv 2022年

作者： Tsiamis, Anastasios Ziemann, Ingvar Morari, Manfred Matni, Nikolai Pappas, George J. Automatic Control Laboratory ETH Zurich Switzerland School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Department of Electrical and Systems Engineering University of Pennsylvania United States

In this paper, we study the statistical difficulty of learning to control linear systems. We focus on two standard benchmarks, the sample complexity of stabilization, and the regret of the online learning of the Linear Quadratic Regulator (LQR). Prior results state that the statistical difficulty for both benchmarks scales polynomially with the system state dimension up to system-theoretic quantities. However, this does not reveal the whole picture. By utilizing minimax lower bounds for both benchmarks, we prove that there exist non-trivial classes of systems for which learning complexity scales dramatically, i.e. exponentially, with the system dimension. This situation arises in the case of underactuated systems, i.e. systems with fewer inputs than states. Such systems are structurally difficult to control and their system theoretic quantities can scale exponentially with the system dimension dominating learning complexity. Under some additional structural assumptions (bounding systems away from uncontrollability), we provide qualitatively matching upper bounds. We prove that learning complexity can be at most exponential with the controllability index of the system, that is the degree of underactuation. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear systems

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WARA-PS:a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation

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Autonomous Intelligent systems 2021年第1期1卷 104-134页

作者： Olov Andersson Patrick Doherty Mårten Lager Jens-Olof Lindh Linnea Persson Elin A.Topp Jesper Tordenlid Bo Wahlberg Department of Computer and Information Science Linköping UniversityLinköpingSweden Saab Kockums MalmöSweden Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Department of Computer Science Lund UniversityLundSweden Saab Combitech AB LinköpingSweden Division of Automatic Control Department of Electrical EngineeringLinköping UniversityLinköpingSweden

A research arena(WARA-PS)for sensing,data fusion,user interaction,planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is *** objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal *** enabler is a computational infrastructure with a core system architecture for industrial and academic *** includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial *** motivating application for the demonstration is marine search and rescue operations.A state-of-art delegation framework for the mission planning together with three specific applications is also *** first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface *** second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles,and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine *** research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test *** would be most difficult to do experiments on this large scale without the WARA-PS research ***,these demonstrator activities have resulted in effective research dissemination with high public visibility,business impact and new research collaborations between academia and industry.

关键词： Autonomous systems Intelligent system architectures Research demonstration arena Autonomous drones Autonomous marine vessels Public safety and security Collaborative robotics

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RTLAB-Based Performance Validation of PV- Powered Single-Phase Asynchronous Motor Pumps

RTLAB-Based Performance Validation of PV- Powered Single-Pha...

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International Conference on Advanced Electrical engineering (ICAEE)

作者： Fezazi Omar Abdelkader Semmak Hasan Köten Mohammed Abd El Djalil Djehaf Ayad Ahmed Nour El Islam Biswadip Basu Mallik ICEPS Laboratory (Intelligent Control & Electrical Power Systems) Djillali Liabes University Sidi Bel-Abbes Algeria Department of Automatic Control Faculty of Electrical Engineering Djillali Liabes University Sidi Bel-Abbes Algeria Mechanical Engineering Department Mechanical Engineering Department Engineering Faculty Istanbul Medeniyet University North Campus Uskudar Istanbul TURKEY Kasdi merbah university Ouargla Algeria Department of Basic Science and Humanities Institute of Engineering & Management University of Engineering & Management Kolkata West Bengal India

ISBN: (数字)9798350349351

ISBN: (纸本)9798350349368

In this paper, a comprehensive investigation of the performance evaluation and validation of a single-phase asynchronous motor pump system coupled with a photovoltaic (PV) power source is presented. The purpose of this study was to evaluate the practicality and effectiveness of this configuration for pumping applications. The RTLAB platform, which enables real-time simulation and emulation of dynamic systems, includes important components, such as the use of a single-phase asynchronous motor as the pump's power source, the incorporation of a PV system to supply renewable energy, and the use of RTLAB for real-time validation. Through rigorous simulation and experimentation, the motor response performance, such as speed, torque, and current response, was analyzed under varying solar irradiance and load conditions. In addition, the PV power and DC bus voltage were supervised after motor driving. This research fills the knowledge gap between the theoretical analysis and real-world applications of single-phase asynchronous motor pump systems combined with PV sources. This approach, which validates the results using RTLAB, provides a validation method to evaluate the performance and guide design choices for effective and environmentally friendly pumping solutions. Keywords- Single-phase asynchronous motors, PV, RTLAB validation, SimPower System MATLAB.

关键词： Maximum power point trackers Solar irradiance Renewable energy sources Radiation effects Torque systems operation Motors Real-time systems Stability analysis Robustness

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