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arXiv 2023年

作者： Schubert, Richard Nolte, Marcus de La Fortelle, Arnaud Maurer, Markus Institute of Control Engineering TU Braunschweig Braunschweig Germany Institute of Control Eng. TU Braunschweig Braunschweig Germany Centre for Robotics Mines Paris PSL Paris France

Advanced driving functions, for assistance or full automation, require strong guarantees to be deployed. This means that such functions may not be available all the time, like now commercially available SAE Level 3 [1] modes that are made available only on some roads and at law speeds. The specification of such restriction is described technically in the Operational Design Domain (ODD) which is a fundamental concept for the design of automated driving systems (ADS). In this work, we focus on the example of trajectory planning and control which are crucial functions for SAE level 4+ vehicles and often rely on model-based methods. Hence, the quality of the underlying models has to be evaluated with respect to the ODD. Mathematical analyses such as uncertainty and sensitivity analysis support the quantitative assessment of model quality in general. In this paper, we present a new approach to assess the quality of vehicle dynamics models using an ODD-centric sensitivity analysis. The sensitivity analysis framework is implemented for a 10-DoF nonlinear double-track vehicle dynamics model used inside a model-predictive trajectory controller. The model sensitivity is evaluated with respect to given ODD and maneuver parameters. Based on the results, ODD-compliant behavior generation strategies with the goal of minimizing model sensitivity are outlined. Copyright © 2023, The Authors. All rights reserved.

关键词： Sensitivity analysis

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Improved Proximal Policy Optimization Algorithm for Multi-objective Disassembly Line Balancing Considering Hazardous Tasks 21

Improved Proximal Policy Optimization Algorithm for Multi-ob...

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21st International Conference on Networking, Sensing and control, ICNSC 2024

作者： Guo, Zeyu Guo, Xiwang Wang, Jiacun Qin, Shujin Qi, Liang Kang, Qi Liaoning Petrochemical University Information and Control Engineering Fushun China Monmouth University Computer Science and Software Eng. Wes Long BranchNJ United States Shangqiu Normal University Economics and Management Shangqiu China Shandong Technology University Computer Science Department Qingdao China New Jersey Institute of Technology Electrical and Computer Engineering Newark United States

ISBN: (纸本)9798350365221

As disassembly lines evolve, keeping workers safe from all potential dangers has become paramount. This work proposes an improved approach, Proximal Policy Optimization for Disassembly Line(PPO-DL), to address Multi-objective Dis-assembly Line Balancing Problem(MDLBP) that integrates task switching time and hazardous tasks. The MDLBP model aims to optimize disassembly net profit, balance workstation utilization, and mitigate penalties from hazardous tasks. The proposed PPO-DL modifies the action space of PPO to accommodate MD LBP characteristics, ensuring efficient learning by restricting actions to valid ranges through action masking. Comparative experiments with PPO, Q-learning, and A2C demonstrate PPO-DL's superiority in finding near-optimal solutions across various scenarios. © 2024 IEEE.

关键词： Assembly machines

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Improved Dingo Optimization Algorithm for Human-robot Collaborative U-shaped Disassembly Line Balancing Problem

Improved Dingo Optimization Algorithm for Human-robot Collab...

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2024 International Conference on Cyber-Physical Social Intelligence, ICCSI 2024

作者： Li, Jialong Guo, XiWang Wang, Jiacun Qin, ShuJin Qi, Liang Kang, Qi Liaoning Petrochemical University Information and Control Engineering Fushun China Monmouth University Wes Long Branch Computer Science and Software Eng. NJ United States Shangqiu Normal University Economics and Management Shangqiu China Shandong University of Science and Technology Computer Science and Technology Qingdao China New Jersey Institute of Technology Electrical and Computer Engineering Newark United States

ISBN: (纸本)9798350376739

There is increasing attention on remanufacturing, with the primary focus in the industry on recovering reusable products to generate profit. In the process of optimizing remanufacturing, addressing the balance issue in the operation of the disassembly line is crucial. Therefore, this study proposes the use of an improved Dingo Optimization Algorithm (IDOA) and designs a mathematical model for human-robot collaboration to explore how to achieve higher profits under these conditions. Finally, the improved IDOA is experimentally compared with the commercial optimization solver CPLEX and another intelligent optimization method - the Battle Royale Optimization (BRO). The results demonstrate that this method offers high quality and efficiency. © 2024 IEEE.

关键词： Microrobots

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Universal Approximator Approach for Fuzzy Modeling in Thermoelectric Generator 21

Universal Approximator Approach for Fuzzy Modeling in Thermo...

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21st International Multi-Conference on Systems, Signals and Devices, SSD 2024

作者： Derbel, Achraf Trigona, Carlo Baccar, Noura Derbel, Nabil Mediterranean Institute of Technology South Mediterranean University Departement of Computer Systems Eng. Tunisia Università Degli Studi di Catania DIEEI Dipartimento di Ingegneria Elettrica Elettronica e Informatica Italy National Engineering School of Sfax University of Sfax Laboratory of Control & Energy Management ENIS Tunisia

ISBN: (纸本)9798350374131

This study explores the application of fuzzy systems as universal approximators for nonlinear functions, focusing on mono-variable and scalable to multi-variable functions. Ensuring error-free approximations through quadratic terms, our method-ology emphasizes reliability. Shifting to practicality, we investi-gate thermoelectric generators' dynamic response to temperature fluctuations. The research underscores fuzzy systems' precision in modeling TEG behavior, validating applicability and accuracy through diverse temperature scenarios. © 2024 IEEE.

关键词： Fuzzy systems

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Balancing Human-robot Collaborative Disassembly Line by Using Dingo Optimization Algorithm 4

Balancing Human-robot Collaborative Disassembly Line by Usin...

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4th IEEE International Conference on Human-Machine Systems, ICHMS 2024

作者： Guo, Xiwang Zhou, Liangbo Zhou, Meng.hu Wang, Weitian Wang, Jiacun Qi, Liang Liaoning Petrochemical University Information And Control Engineering Fushun China Liaoning Petrochemical University Information And Control Fushun China New Jersey Institute Of Technology Electrical And Computer Engineering NewarkNJ United States Montclair State University School Of Computing Montclair United States Monmouth University Computer Science And Software Eng. West Long BranchNJ United States Shandong University Of Sci. And Tech. Computer Intelligent Sci. And Tech. Qingdao China

ISBN: (纸本)9798350315790

Disassembling and recycling scrapped products play important roles in effectively reducing environmental pollution and improving resource sustainability. A multi-product human-robot collaborative disassembly-line-balancing problem (MHDP) arises from doing so and represents an important yet to be solved in the remanufacturing field. This work explores how to use optimization algorithms to schedule tasks between humans and robots to maximize remanufacturing profit in human-robot collaboration contexts. Specifically, we investigate MHDP and develop a mixed integer programming model considering various system constraints. We propose a dingo optimization algorithm that simulates wild dogs' social hierarchy and chasing processes to solve MHDP. We compare the proposed algorithm with an exact solution finder, i.e., IBM CPLEX and a well-known intelligent optimization method, i.e., Genetic Algorithm to show its competitive performance in terms of solution accuracy and efficiency. © 2024 IEEE.

关键词： Genetic algorithms

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Leveraging Emotion-Mediated Exploration to Adapt Agent Behavior

Leveraging Emotion-Mediated Exploration to Adapt Agent Behav...

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Experiment@ International Conference (exp.at)

作者： Gustavo Assunção Miguel Castelo-Branco Paulo Menezes Dept. of Electrical & Computer Eng. Institute of Systems and Robotics University of Coimbra Coimbra Portugal Institute for Biomedical Imaging and Translational Research University of Coimbra Coimbra Portugal

ISBN: (数字)9798350314403

ISBN: (纸本)9798350314410

True autonomy of artificial agents is a self-evident goal of AI research, yet to be achieved. While various aspects impact autonomy, adaptability is key both structurally and cognitively. This latter characteristic is largely affected by emotion in living beings, on which it links environmental appraisal with behavioral versatility. Taking advantage of this bio-inspiration, similar correlations can be achieved in artificial intelligence by replicating the conditions under which they are promoted in real life, and later exploited for furthering agent adaptability in terms of learning and behavior. Such agents would certainly boast greater autonomy and all the benefits it entails. As a demonstration, this work presents a task-agnostic agent which learned to associate exploration with the emotion of surprise, based on previous analytic experiences, and employs this knowledge for adaptive broadening of its familiarity with user facial features in real-time. This functionality reiterates the usability of emotion as a learning/behavioral metaparameter and also the importance of considering biological traits when designing artificial agents.

关键词： Correlation Learning (artificial intelligence) Real-time systems Biology Appraisal Usability Task analysis

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Digital Map Generation Workflow Demonstrated on ZalaZONE Automotive Proving Ground Elements 36

Digital Map Generation Workflow Demonstrated on ZalaZONE Aut...

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36th IEEE/IFIP Network Operations and Management Symposium, NOMS 2023

作者： Somogyi, Árpád Tettamanti, Tamás Varga, Pál Szalay, Zsolt Baranyai, Dániel Lovas, Tamás Budapest University of Technology and Economics Fac. of Civil Engineering Dept. of Photogrammetry and Geoinformatics Budapest Hungary Institute for Computer Science and Control The Eötvös Loránd Research Network Systems and Control Laboratory Budapest Hungary Budapest University of Technology and Economics Fac. of Electrical Engineering and Informatics Dept. of Telecommunications and Media Informatics Budapest Hungary Budapest University of Technology and Economics Fac. of Transportation Eng. and Vehicle Eng. Dept. of Automotive Technologies Budapest Hungary

ISBN: (纸本)9781665477161

One major goal of digital twin technology applied in the Architecture, eng.neering, and Construction (AEC) Industry is the mapping of roads and road environments with their associated information. Such digital twins can support cost-effective testing, simulations, and the production of mapping backgrounds for automated vehicles and generally for Cooperative, Connected and Automated Mobility (CCAM) developments. The efficient workflow that leads from data acquisition to finished products depends on a number of requirements and knowledge sets. The main contribution of the paper is a general methodology of creating HD-map from point cloud and image data set. Accordingly, the most widely used survey techniques are presented and the requirements for the objects to be derived are summarized. The paper then outlines a general implementation procedure as an expert knowledge through a real-life example, where the results obtained for the ZalaZONE Automotive Proving Ground are demonstrated. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Development of an Efficient Charging control System for Pico-Hydro Power Generation Utilizing Multiple Impact Water Wheel (MIWW) with MPPT control

Development of an Efficient Charging Control System for Pico...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Yusuke Asami Hiroshi Takami Fuminori Ishibashi Shota Kawate Hidemi Kurita Masaki Shimizu Graduate School of Electrical Eng. and Computer Science Shibaura Institute of Technology Tokyo Japan Dept. of Electrical Eng. and Robotics Course College of Engineering Shibaura Institute of Technology Tokyo Japan Dept. of Electrical Eng. Faculty of Engineering Shibaura Institute of Technology Tokyo Japan Koa Electronics Co. Ltd. Nagano Japan Harmony with Nature Technology Laboratory Nagano Japan Souken Group Nagano Japan

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

This paper introduces an advanced charging control system for a Multiple Impact Water Wheel (MIWW) used in pico-hydropower generation. The control system maximizes energy conversion efficiency by employing a Maximum Power Point Tracking (MPPT) algorithm, which dynamically adjusts the system's operation based on real-time voltage and current measurements. Unlike traditional methods that rely on monitoring rotational speed, this approach simplifies the system by eliminating the need for speed sensors, thereby reducing costs and enhancing reliability. The control system is structured into four main operational phases: the water turbine acceleration phase, optimal control (MPPT) phase, drooping characteristic suppression phase, and overvoltage protection phase. Each phase is designed to optimize distinct aspects of system performance, ensuring stable and efficient power generation under varying water flow conditions. Experimental validation was conducted by subjecting the system to three different water pressure levels (0.036 MPa, 0.048 MPa, and 0.042 MPa). The results demonstrate that the system successfully maintained stable voltage and current, even during rapid fluctuations in water pressure, confirming the effectiveness of the proposed MPPT algorithm. By addressing the challeng.s of droop characteristics and overvoltage conditions, the control system ensures the reliability and efficiency of pico-hydropower systems. This research contributes to the development of cost-effective, efficient, and sustainable energy solutions, especially in regions lacking conventional power infrastructure.

关键词： Maximum power point trackers Water Fluctuations Heuristic algorithms Velocity control Wheels Sensor systems Voltage control Power generation Turbines

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Harmonics Analysis and Evaluation for Active LC-LPF Attached PMSM Drive by IRM-ILQ control Through Experiments

Harmonics Analysis and Evaluation for Active LC-LPF Attached...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Kazuki Abe Yoshiki Sasaki Hiroshi Takami Fuminori Ishibashi Koji Shibasaki Maruwa Takumi Ebara Graduate School of Electrical Eng. and Computer Science Shibaura Institute of Technology Koto-ku Tokyo Japan Dept. of Electrical Eng. and Robotics Course College of Engineering Shibaura Institute of Technology Koto-ku Tokyo Japan Dept. of Electrical Eng. Faculty of Engineering Shibaura Institute of Technology Koto-ku Tokyo Japan Electronic Inc. Kashiwa-shi Chiba Japan Maruwa Electronic Inc. Kashiwa-shi Chiba Japan

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

This paper describes analysis and evaluation of harmonics reduction for Active LC Low Pass Filter (LC-LPF) attached Surface Permanent Magnet Synchronous Motor (SPMSM) drive operated by IRM-ILQ (Inverse Reference Model - Inverse Linear Quadratic) current control. Harmonics due to high-speed switching of inverter should be reduced since it brings not only low efficiency motor drive such as torque ripple, also cause electromagnetic interference (EMI) problems. Those problems will be solved by appending LC-LPF though, LC resonant phenomena against inverter's carrier frequency and motor's operating frequency should be considered. The IRM-ILQ control is classified into modern control methods and simultaneously transacts multiple variables. Owing to it, stable motor drive can be realized even though LC-LPF is attached. In experiments, degrees of the harmonics reduction by Active LC-LPF are evaluated via Fast Fourier Transform (FFT) analysis and Total Harmonic Distortion (THD) and confirmed 2 % of voltage distortion on average in rated speed region.

关键词： Current control Motor drives Total harmonic distortion Fast Fourier transforms Electromagnetic interference Switches Harmonic analysis Distortion Voltage control Power harmonic filters

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In-flight Capture Maneuver of Drones Using Model Predictive control

In-flight Capture Maneuver of Drones Using Model Predictive ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Diogo Oliveira Bruno J. Guerreiro Dep. of Electrical and Computer Eng. CTS-Uninova and LASI NOVA University Lisbon Caparica Portugal Institute for Systems and Robotics (ISR) LARSyS Instituto Superior Técnico Universidade de Lisboa Portugal

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a model predictive control (MPC) strategy to enable a rotary-wing shuttle drone to cooperatively capture a fixed-wing target drone during flight and place it in the ground safely. Simplified models of the two types of drones are presented, along with simple controller for the each vehicle. The developed strategy defines a simple nonlinear MPC problem that models the relative dynamics between the two drones, enabling the capture maneuver without a preassigned trajectory or rendezvous point. Simulation results demonstrate the capabilities of the proposed cooperative capture strategy, whereas experimental trials with a real shuttle and a simulated target validate the hardware and software integration of the developed system, showing promising performance.

关键词： Simulation System integration Software Hardware Trajectory Vehicle dynamics Wireless fidelity

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