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Multi-objective Group Decision and Cooperative Planning Based on Preference and Fuzzy Measure 1

7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Ma, Xiwen Xie, Wei Yang, Jingsong Zhang, Weidong Lu, Jinhui School of Oceanography Shanghai Jiao Tong University Shanghai China State Key Laboratory of Satellite Ocean Environment Dynamics Second Institute of Oceanography Ministry of Natural Resources Hangzhou China Department of Automation Shanghai Jiao Tong University Shanghai China Zhuhai China School of Information and Communication Engineering Hainan University Hainan Haikou China National Engineering Research Center of Ship and Shipping Control System Shanghai China Crossocean of Suzhou technology No. 218 East Oingdao Road Suzhou China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

To pursue interest balance and improve collaboration efficiency, this paper proposes a multi-agent cooperation method integrating decision-making and planning. Based on preference and fuzzy measures, this method can balance individual and group benefits under fuzzy uncertain environment. The equilibrium solution of a multi-agent multi-objective game, namely group decision-making (GDM) solution, can be obtained by the Gaussian oscillation particle swarm optimization (GOPSO) algorithm, which overcomes the dilemma of a multi-objective group game and improves the computational efficiency. Considering the smoothness and continuity of the trajectory, a heuristic motion planning (MP) generation model that satisfies the kinematic constraints and minimizes differential thrust is proposed, which improves the cooperation efficiency. To verify the performance of this proposed method, simulation results are presented and some comparative statements are given. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Decision making

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Cell-free biosynthesis meets dynamic optimization and control: a fed-batch framework

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IFAC-PapersOnLine 2022年第23期55卷 92-97页

作者： Sebastián Espinel-Ríos Nicolas Huber Edgar Alberto Alcalá-Orozco Bruno Morabito Thomas F.T. Rexer Udo Reichl Steffen Klamt Rolf Findeisen Laboratory for System Theory and Automatic Control Otto von Guericke University Magdeburg Germany Analysis and Redesign of Biological Networks Max Planck Institute for Dynamics of Complex Technical Systems Germany Bioprocess Engineering Max Planck Institute for Dynamics of Complex Technical Systems Germany Control and Cyber-Physical Systems Laboratory TU Darmstadt Germany

Cell-free biosynthesis uses the machinery of cells, such as the metabolic reactions, to carry out conversion processes in vitro. This can be more beneficial than in vivo approaches like fermentations. Some advantages of these synthetic biology processes include higher product yields, rates and titers, and more flexibility in pathway design. Cell-free biosynthesis is still in early stages and, unlike in vivo production, there are very few examples of model-based optimization. Moreover, we encounter static optimizations in most cases, neglecting the dynamic nature of the processes. We present an optimal control framework to maximize the efficiency of cell-free biosynthesis. We focus on fed-batch setups as they allow enhancing the reaction rates via the feeding, extending production processes for longer times, and minimizing the potential negative effects of enzyme kinetics with substrate inhibition. Our framework can in principle handle several cost functions and exploit both static and dynamic degrees of freedom. An aspect that can hinder model-based optimization is model uncertainty, which can arise due to uncertain parameters, oversimplified model assumptions or unknown reaction mechanisms. To counteract this, we propose the use of model predictive control during the process operation. In addition, we outline the use of moving horizon estimation as an observer in the case of unmeasured states. We consider the de novo cell-free synthesis of uridine diphosphate-N-acetylglucosamine as a biomedical relevant case study, where we were able to maximize the volumetric productivity in simulations, and indirectly also the titer and enzyme efficiency use.

关键词： Cell-free fed-batch optimization control state estimation UDP-GlcNAc

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Soft sensor for monitoring dynamic changes in cell composition

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IFAC-PapersOnLine 2022年第23期55卷 98-103页

作者： Sebastián Espinel-Ríos Bruno Morabito Katja Bettenbrock Steffen Klamt Rolf Findeisen Laboratory for System Theory and Automatic Control Otto von Guericke University Magdeburg Germany Analysis and Redesign of Biological Networks Max Planck Institute for Dynamics of Complex Technical Systems Germany Bioprocess Engineering Max Planck Institute for Dynamics of Complex Technical Systems Germany Control and Cyber-Physical Systems Laboratory TU Darmstadt Germany

Precise and accurate online monitoring methods are needed to enable smart biomanufacturing and automation. Most of the sensors available focus on process parameters such as metabolite and dissolved gas concentrations, cell density or viability, among other variables like pH, temperature, etc. In this work, we develop a soft sensor algorithm to estimate the cell composition online, a very important aspect often overlooked in the bioprocess monitoring literature. Our strategy is based on full information estimation, an optimization-based estimator that takes into account the dynamics of the cell metabolism and considers all the available measurements from the beginning of the process, thus it has a memory effect. Being able to track dynamic changes in cell composition can open the door to promising applications, e.g., predictive control and automation of biosystems. As a case study, we consider the Escherichia co li’ s metabolism growing on glycerol under different levels of oxygen supply. We compare the performance of our soft sensor method against resource balance analysis, a previously proposed estimator based on steady-state assumptions. Overall, the presented full information estimator was able to track the dynamic changes in cell composition significantly more accurately. We also discuss how our estimation strategy can be transformed into a moving horizon estimation, where only the available measurements in a fixed and moving window are considered, thereby reducing possible computational burdens.

关键词： Cell composition soft sensor full information estimation resource balance analysis dynamic enzyme-cost flux balance analysis

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IEEE VTS Motor Vehicles Challenge 2023: A Multi-physical Benchmark Problem for Next Generation Energy Management Algorithms

IEEE VTS Motor Vehicles Challenge 2023: A Multi-physical Ben...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jonathan Brembeck Ricardo De Castro Jakub Tobolář Iman Ebrahimi German Aerospace Center (DLR) Institute of System Dynamics and Control (SR) Oberpfaffenhofen Germany Dept. of Mechanical Engineering University of California Merced

ISBN: (纸本)9781665475884

This article presents a benchmark problem that researchers can use to evaluate the performance of energy management algorithms for multi-energy source and multimotor electric vehicles. The model makes use of Modelica, an open source, a-causal, object-oriented language for modeling cyber-physical systems in multi-domains (e.g. electrical, mechanical, thermal) of the vehicle components. The model also includes the aspect of three-dimensional mechanics, which enables completely new degrees of freedom in the controller design in comparison to one-dimensional approaches. To support interoperability among multiple design tools, the Modelica vehicle model is provided as a Functional Mockup Unit, an industry standard for exchange of simulation models. A set of standardized input-output interfaces and key performance metrics is also provided in the benchmarking problem, enabling the systematic ranking of multiple energy management strategies.

关键词： Solid modeling systematics Object oriented modeling Heuristic algorithms Benchmark testing Propulsion Energy management

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On an exact solution to the nonlinear heat equation with a source

On an exact solution to the nonlinear heat equation with a s...

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2020 Dynamic systems and Computer Science: Theory and Applications, DYSC 2020

作者： Kazakov, A.L. Lempert, A.A. Spevak, L.F. Matrosov Institute for System Dynamics and Control Theory SB RAS 134 Lermontov Str. Irkutsk664033 Russia Institute of Engineering Science UB RAS 34 Komsomolskaya str. Ekaterinburg620049 Russia

The paper is devoted to the study of a singular nonlinear second-order parabolic equation, which is called the porous medium equation or the nonlinear heat equation. One of the important classes of its solutions is heat waves propagating over a zero background with a finite velocity. This property is not typical for parabolic equations and is a consequence of singularity. The main object of study is exact solutions of mentioned type. A new way of separating variables is used to represent them. We obtain conditions when it is possible to make a reduction to the Cauchy problem for an ordinary second-order differential equation with a singularity. It is shown that the Cauchy problemdescribes a heat wave whose front moves exponentially. We construct a solution to the Cauchy problem as a power series and determine the cases when the series breaks off, i.e. the solution has the form of a polynomial, and the corresponding heat wave can be written explicitly. If the Cauchy problem cannot be explicitly integrated, the solution is constructed numerically. An algorithm based on the boundary element method is proposed. We perform a computational experiment and conclude the properties of the found solutions. Besides, the accuracy of the calculation results is analyzed. © Published under licence by IOP Publishing Ltd.

关键词： Polynomials

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MOREALIS – A HOLISTIC APPROACH TO ENHANCE SAFETY FOR MICRO-AIRCRAFT OPERATIONS 34th

MOREALIS – A HOLISTIC APPROACH TO ENHANCE SAFETY FOR MICRO-...

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34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024

作者： Kuchar, R.O. Scholz, W. Dörfler, B. Herrmann, P. Jamakatel, P. Karger, J. Kiam, J.J. Klennert, J. Klennert, M. Lindlar, M. May, M.S. Milz, D. Mumm, N. Nospes, D. Peter, L. Looye, G. Schulte, A. Stütz, P. Institute of System Dynamics and Control Münchener Strasse 20 Weßling82234 Germany SFL GmbH Baumwiesenweg 6b Stuttgart70569 Germany Rödel Aircraft Systems Lausangerweg 4 Tussenhausen86874 Germany University of the Bundeswehr Munich Professorship of Aircraft Dynamics and Flight Guidance Werner-Heisenberg-Weg 39 Neubiberg85579 Germany University of the Bundeswehr Munich Professorship for Aeronautical Engineering Werner-Heisenberg-Weg 39 Neubiberg85579 Germany Institute of Aerospace Medicine Linder Hoehe Cologne51147 Germany STAR Healthcare Management GmbH Pierstraße 8 Cologne50997 Germany Amazilia Aerospace GmbH Nymphenburger Str. 84 München80636 Germany

Introduced by various European Union member states in recent years, the very lightweight, single-seat microlight aircraft category (the German "Leichte Luftsportgeräte"-class), with an empty mass of up to 120 kg gained broad popular interest. This is probably caused due to the fact that this class envisions the basic ideas of recreational flight: simplicity through strict weight limitation and low administrative effort, thus low acquisition and operational costs. Furthermore, "LL" aircraft are not required to undergo annual inspections, whereas pilots of this aircraft category are not obliged to pass annual medical examinations, but remain self-responsible for these matters. Despite massive improvement in safety features for general aviation over the last decades, serious or even fatal accidents remain one of the major concerns and require constant improvement. Taking these conditions into account, the MOREALIS project aims towards increasing safety for "LL" aircraft configurations by means ranging from improved structural concepts of the airframe, aircraft and pilot health monitoring up to fault-tolerant flight control laws and finally a dedicated automatic emergency landing procedure. This paper therefore presents an overview of the employed methods and respective partner contributions. © 2024, International Council of the Aeronautical Sciences. All rights reserved.

关键词： Fault tolerance

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Generalized Multi-kernel Maximum Correntropy Kalman Filter for Disturbance Estimation

arXiv

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arXiv 2023年

作者： Li, Shilei Shi, Dawei Lou, Yunjiang Zou, Wulin Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Xeno Dynamics Control Department Xeno Dynamics Co. Ltd Shenzhen518055 China

Disturbance observers have been attracting continuing research efforts and are widely used in many applications. Among them, the Kalman filter-based disturbance observer is an attractive one since it estimates both the state and the disturbance simultaneously, and is optimal for a linear system with Gaussian noises. Unfortunately, The noise in the disturbance channel typically exhibits a heavy-tailed distribution because the nominal disturbance dynamics usually do not align with the practical ones. To handle this issue, we propose a generalized multi-kernel maximum correntropy Kalman filter for disturbance estimation, which is less conservative by adopting different kernel bandwidths for different channels and exhibits excellent performance both with and without external disturbance. The convergence of the fixed point iteration and the complexity of the proposed algorithm are given. Simulations on a robotic manipulator reveal that the proposed algorithm is very efficient in disturbance estimation with moderate algorithm complexity. Copyright © 2023, The Authors. All rights reserved.

关键词： Kalman filters

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SOIL FLOW ANALYSIS FOR PLANETARY ROVERS BASED ON PARTICLE IMAGE VELOCIMETRY AND DISCRETE ELEMENT METHOD 20

SOIL FLOW ANALYSIS FOR PLANETARY ROVERS BASED ON PARTICLE IM...

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20th International and 9th Americas Conference of the International Society for Terrain-Vehicle systems, ISTVS 2021

作者： Ono, Shoko Lichtenheldt, Roy Yoshida, Kazuya Department of Aerospace Engineering Tohoku University Aoba 6-6-01 Sendai980-8579 Japan Institute of System Dynamics and Control Münchener Straße 20 Weßling82234 Germany

ISBN: (纸本)9781942112525

Planetary rovers commonly have grouser wheels to improve locomotion performance on deformable terrains such as the surfaces of the Moon or Mars. The biggest difference between the wheel with grousers and without grousers is soil behavior underneath the wheel since the grousers shovel the sand. Hence, analyzing soil flow gives us beneficial information on wheel-soil interaction. The detailed investigation for micro-scale soil behavior and gravity effect, which are difficult to see in the laboratory test, contributes to further understanding of wheel-soil interaction mechanics. This paper presents a two-dimensional discrete element method (DEM) simulation to analyze soil flow beneath the grouser wheel. The soil flow in the simulation is validated by comparing it with that of the measurements, which is visualized by particle image velocimetry (PIV). The comparison results are discussed from four perspectives: 1) wheel slip ratio, 2) traces formed behind the wheel travels, 3) entrance and leaving angles of the grousers, 4) soil velocity field. The results indicate that DEM could describe the soil deformation. This work would contribute to further investigations of the state inside the soil by using developed DEM simulation. © ISTVS 2021. All rights reserved.

关键词： Velocity measurement

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Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles

Experimental Validation of Online Motion Planning for Semi-A...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Christoph Winter Ricardo De Castro Tilman Bünte Institute of System Dynamics and Control German Aerospace Center (DLR) Oberpfaffenhofen Germany Department of Mechanical Engineering University of California Merced Merced United States of America

ISBN: (纸本)9781665475884

This work describes the optimization of paths and velocity profiles for the usage in semi-autonomous vehicles. The focus of the optimization lies on an energy efficient motion while considering the driver’s longitudinal demands. The trade-off between travel time and energy consumption of the vehicle can be directly chosen by the driver. With help of a nonlinear model predictive control framework the global optimum of the velocity optimization with nonlinear constraints based on the vehicle’s physical limits is found. The online path planner together with the online velocity planner provide the input to the underlying vehicle’s control modules, as a basis for automated driving. The effectiveness of the proposed approach is shown via hardware-in-the-loop tests and real-world driving tests.

关键词： Energy consumption Propulsion Programming Energy efficiency Planning Optimization Vehicles

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A stabilizing reinforcement learning approach for sampled systems with partially unknown models

arXiv

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arXiv 2022年

作者： Beckenbach, Lukas Osinenko, Pavel Streif, Stefan The Laboratory for Automatic Control and System Dynamics Technische Universität Chemnitz Chemnitz09107 Germany The Digital Engineering Center Skolkovo Institute of Science and Technology Moscow121205 Russia

Reinforcement learning is commonly associated with training of reward-maximizing (or cost-minimizing) agents, in other words, controllers. It can be applied in model-free or model-based fashion, using a priori or online collected system data to train involved parametric architectures. In general, online reinforcement learning does not guarantee closed loop stability unless special measures are taken, for instance, through learning constraints or tailored training rules. Particularly promising are hybrids of reinforcement learning with "classical" control approaches. In this work, we suggest a method to guarantee practical stability of the system-controller closed loop in a purely online learning setting, i. e., without offline training. Moreover, we assume only partial knowledge of the system model. To achieve the claimed results, we employ techniques of classical adaptive control. The implementation of the overall control scheme is provided explicitly in a digital, sampled setting. That is, the controller receives the state of the system and computes the control action at discrete, specifically, equidistant moments in time. The method is tested in adaptive traction control and cruise control where it proved to significantly reduce the *** Codes 93D15 © 2022, CC BY-NC-ND.

关键词： Reinforcement learning

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