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European control Conference (ECC)

作者： Andrej Mosebach Jan Lunze Christoph Kampmeyer Institute of Automation and Computer Control Universitätsstrasse Bochum Germany

The main objective of the synchronization of multi-agent systems is the asymptotic convergence of the agents towards a common trajectory. For practical purposes, it is required that the transient behavior of the synchronization errors satisfies additional criteria, such as requirements on a maximum settling time or a minimum damping. In this paper, it is first analyzed how these specifications on the the synchronization errors can be related to the parameters of the networked system. Secondly, a design method for synchronizing dynamic controllers is presented that ensures the requirements on the networked multi-agent system for arbitrary bidirectional interconnections. The results are demonstrated by its experimental application to the synchronization of the lateral dynamics of mobile robots.

关键词： Synchronization Multi-agent systems Transient analysis Design methodology Vehicle dynamics Damping Laplace equations

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Structural reconfigurability analysis of multirotor UAVs after actuator failures

Structural reconfigurability analysis of multirotor UAVs aft...

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IEEE Annual Conference on Decision and control

作者： Daniel Vey Jan Lunze Institute for Automation and Computer Control Ruhr-Universitat Bochum 44789 Bochum Germany

ISBN: (纸本)9781479978878

The paper presents a reconfigurability analysis of multirotor unmanned aerial vehicles (UAVs) with four and six rotors. A method for structural reconfigurability analysis is introduced, which is then applied to a structural model of the multirotors. The failures lead either to a blockage or to the complete loss of a rotor. The analysis shows that, independent of the systems' parameters, a quadrotor is not able to hover with a failed actuator, while the reconfigurability of hexrotors strongly depends on the configuration of the clockwise and counter clockwise rotating rotors. The results concerning the reconfiguration of a rotor loss in a hexrotor system are evaluated in simulations, where the reconfiguration is performed by using the virtual actuator technique.

关键词： Reconfiguration Unmanned Aerial Vehicle actuators Anticlockwise rotor losses Structural Models system parameter Rotors

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ℒ2-gain analysis of systems with state and input delays

ℒ2-gain analysis of systems with state and input delays

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European control Conference (ECC)

作者： Gábor Rödönyi Gabriella Varga Systems and Control Laboratory Computer and Automation Research Institute of Hungarian Academy of Sciences

Sufficient conditions are presented for a system with input delays having finite ℒ 2 -gain. The bounded real lemma conditions are infeasible when the actual and the delayed values of the input act on the system simultaneously. Considering the actual and delayed inputs as two independent inputs is shown to lead to very high upper-bound of the true ℒ 2 -gain. Several approaches are presented involving a scaling method which is based on upper-bounds of the delayed signal norms; a method which transforms the input delays to state delays with the help of introducing additional dynamics; and a method based on integral quadratic constraints. Both time-invariant and time-varying delays are considered. The methods are evaluated on an example of interconnected vehicles.

关键词： Delays Linear systems control systems Linear matrix inequalities Symmetric matrices Vehicles Delay effects

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Corrigendum to “Road detection algorithm for Autonomous Navigation Systems based on dark channel prior and vanishing point in complex road scenes” [Robot. Auton. Syst. 85 (2016) 1–11]

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Robotics and Autonomous Systems 2017年 88卷 202-202页

作者： Yong Li Weili Ding Xuguang Zhang Zhaojie Ju Laboratory of Pattern Recognition and Intelligent Systems Key Laboratory of Industrial Computer Control Engineering of Hebei Province Department of Automation Institute of Electrical Engineering Yanshan University Qinghuangdao Hebei 066004 China College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China School of Computing University of Portsmouth PO1 3HE UK

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Photoluminescence spectroscopy investigation of epitaxial Si/GaSb nanocrystals/Si heterostructure

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AIP Conference Proceedings 2017年第1期1874卷

作者： Dmitry L. Goroshko Alexander V. Shevlyagin Evgeniy A. Chusovitin Sergey A. Dotsenko Anton K. Gutakovskii M. Iinuma Y. Terai Evgeniy Yu. Subbotin Nikolay G. Galkin 1Institute of Automation and Control Processes FEB RAS 5 Radio St. 690041 Vladivostok Russia 2Far Eastern Federal University 8 Sukhanova St. 690950 Vladivostok Russia 3Rzhanov Institute of Semiconductor Physics SB RAS Lavrentieva Ave.13 Novosibirsk Russia 4Kyushu Institute of Technology Department of Computer Science and Electronics 680-4 Kawazu Iizuka Fukuoka 820-8502 Japan

Two-layer heterostructure with GaSb nanocrystals formed by solid phase epitaxy and embedded into the silicon was investigated using low-temperature (10-140 K) photoluminescence and time-resolved photoluminescence spectroscopies. Two characteristic luminescence bands with a maximum of about 0.82 and 0.87 eV were observed. It was found that low-energy peak is associated with D1 dislocation-related luminescence in silicon. Analysis of the decay components together with temperature and power dependencies of the photoluminescence for the high-energy maximum revealed that emission is more likely originated from the combined D2 dislocation centers in silicon and radiative recombination in type–II band alignment Si/GaSb nanocrystals/Si heterostructure. A nonradiative recombination dominates in all temperature range studied.

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A Hybrid Deep Learning Forecasting Model Using GPU Disaggregated Function Evaluations Applied for Household Electricity Demand Forecasting

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Energy Procedia 2016年 103卷 280-285页

作者： Vitor N. Coelho Igor M. Coelho Eyder Rios Alexandre S.T. Filho Agnaldo J.R. Reis Bruno N. Coelho Alysson Alves Guilherme G. Netto Marcone J.F. Souza Frederico G. Guimarães Graduate Program in Electrical Engineering Universidade Federal de Minas Gerais Belo Horizonte Brazil Instituto de Pesquisa e Desenvolvimento de Tecnologias Ouro Preto Brazil Department of Computer Science State University of Rio de Janeiro Rio de Janeiro Brazil Institute of Computer Science Fluminense Federal University Niteroi Brazil Department of Control Engineering and Automation Universidade Federal de Ouro Preto Ouro Preto Brazil Department of Computer Science Universidade Federal de Ouro Preto Ouro Preto Brazil Department of Electrical Engineering Universidade Federal de Minas Gerais BeloHorizonte Brazil

As the new generation of smart sensors is evolving towards high sampling acquisitions systems, the amount of information to be handled by learning algorithms has been increasing. The Graphics Processing Unit (GPU) architectures provide a greener alternative with low energy consumption for mining big-data, harnessing the power of thousands of processing cores in a single chip, opening a widely range of possible applications. Here, we design a novel evolutionary computing GPU parallel function evaluation mechanism, in which different parts of time series are evaluated by different processing threads. By applying a metaheuristics fuzzy model in a low-frequency data for household electricity demand forecasting, results suggested that the proposed GPU learning strategy is scalable as the number of training rounds increases.

关键词： Microgrid Household Electricity Demand Deep Learning Graphics Processing Unit Parallel forecasting model Big Time-series Data

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Results of a real world trial with a mobile social service robot for older adults 16

Results of a real world trial with a mobile social service r...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Jürgen Pripfl Tobias Körtner Daliah Batko-Klein Denise Hebesberger Markus Weninger Christoph Gisinger Susanne Frennert Hakan Eftring Margarita Antona Ilia Adami Astrid Weiss Markus Bajones Markus Vincze Akademie für Altersforschung am Haus der Barmherzigkeit Vienna Austria Zentrum für Geriatrische Medizin und Geriatrische Pflege Donau Universität Krems Krems Austria Department of Design Sciences Lund University Lund Sweden Institute of Computer Science (ICS) Foundation for Research and Technology - Hellas (FORTH) Heraklion Greece Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria

ISBN: (纸本)9781467383707

Robots are an increasingly discussed solution for assistance of seniors. Importance of testing natural interaction therefore becomes crucial. This paper presents first results of a study with an autonomous mobile social service robot prototype that was deployed in 18 private households of senior adults aged 75 years and older for a total of 371 days. Findings show that utility met the users' expectations. However, the robot was rather seen as a toy instead of being supportive for independent living. Furthermore, despite of an emergency function of the robot, perceived safety did not increase. Reasons for this might be the good health conditions of our users, a lack of technological robustness and slow performance of the prototype. However, users believed that a market ready version of the robot would be vital for supporting people who are more fragile and more socially isolated.

关键词： Prototypes Safety Service robots Mobile communication Usability Aging

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Three-dimensional Non-holonomic Integrator control Design Applied to Induction Motors

Three-dimensional Non-holonomic Integrator Control Design Ap...

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第27届中国控制与决策会议

作者： Boja Grcar Peter Cafuta Gorazd Stumberger Anton Hofer University of Maribor Faculty of Electrical Engineering and Computer Science TU Graz Institute for Control and Automation

ISBN: (纸本)9781479970186

In the contribution new results in a control design of a general three-dimensional non-holonomic integrator(NHI) including drift terms is *** global asymptotic stability(GAS) proposed non-linear controller assure also minimal input norm during transients and in steady states and high dynamic in output response for a piecewise constant reference *** to appropriate input modulation internal states follow natural periodic orbits necessary to fulfill non-holonomic *** a non-linear transformation that describe error dynamics feedback stability is proven by using Lyapunov *** value of the proposed design is illustrated on the example of induction machine torque control along with a simulation and experimental results.

关键词： Three-dimensional non-holonomic integrator,Drift,Non-linear control,Minimal input norm,Non-linear transformations,Global stability,Lyapunov function,Induction motors control

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Further development on the LPV fault tolerant control for vehicle dynamics

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IFAC-PapersOnLine 2015年第21期48卷 24-29页

作者： Fergani, S. Seríame, O. Dugard, L. Gaspar, P. GIPSA-lab Control Systems Dept CNRS-Grenoble INP ENSE3 BP 46 F-38402 St Martin d'H‘eres cedex France Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary

This paper aims at presenting the efficiency of the Linear Parameter Varying method for vehicle dynamics control, in particular when some actuators may be in failure. The case of the suspension actuators failure and braking actuators failure are presented. The main objective is to enhance the vehicle dynamics even with faulty actuators through the suspension control (for comfort and road holding improvements) and the braking/steering control (for road handling and safety) Indeed, the LPV/H∞ fault tolerant MIMO gain-scheduled Vehicle Dynamic control (VDSC) involves the steering actuators, rear brakes and four suspension systems, and aims at enhancing the yaw stability, lateral and vertical car performances (see Poussot-Vassal et al. (2011b), Doumiati et al. (2013), This strategy is scheduled by 3 varying parameters (°b, °s and °l). These parameters depend on a special monitoring system defined to evaluate the impact of braking/suspension actuator failures on the vehicle dynamical performances. The proposed LPV control structure then allows to handle such failures by an online adaptation of the control input distribution. Simulation results performed on a nonlinear model experimentally validated on a vehicle Renault Mégane Coupé MIPS (Mulhouse) subject to critical driving situations show that the proposed methodology is effective and robust. © 2015

关键词： Steering

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Three-dimensional non-holonomic integrator control design applied to induction motors

Three-dimensional non-holonomic integrator control design ap...

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Chinese control and Decision Conference, CCDC

作者： Boja Grčar Peter Cafuta Gorazd Štumberger Anton Hofer Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia TU Graz Institute for Control and Automation Austria

In the contribution new results in a control design of a general three-dimensional non-holonomic integrator (NHI) including drift terms is proposed. Beside global asymptotic stability (GAS) proposed non-linear controller assure also minimal input norm during transients and in steady states and high dynamic in output response for a piecewise constant reference input. Due to appropriate input modulation internal states follow natural periodic orbits necessary to fulfill non-holonomic constraints. Introducing a non-linear transformation that describe error dynamics feedback stability is proven by using Lyapunov argumentation. Practical value of the proposed design is illustrated on the example of induction machine torque control along with a simulation and experimental results.

关键词： Torque Rotors Steady-state Stators Inductance control design Induction motors

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