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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hyo-Byung Jun Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we present the reinforcement learning and distributed genetic algorithm based behavior learning of the distributed autonomous mobile robots. The internal reinforcement signal for the reinforcement learning is generated by fuzzy inference, and dynamic recurrent neural networks are used as action generation module. We adopt the distributed genetic algorithms for the cooperative behavior emergence. We show the validity of the proposed learning and evolution algorithm by computer simulation.

关键词： Mobile robots Learning Genetic algorithms Inference algorithms Signal generators Intelligent robots Animals Mobile communication Education Intelligent systems

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Robot Vision system for Coordinate Measurement of Feature Points on Large Scale Automobile Part

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电子科学学刊（英文版） 2016年第1期14卷 80-86页

作者： Pongsak Joompolpong Pradit Mittrapiyanuruk Pakorn Keawtrakulpong the Department of Control System and Instrumentation Engineering Faculty of Engineering King Mongkut’s University of Technology Thonburi Bangkok 10140 Thailand the Department of Mathematics Faculty of Science Srinakharinwirot University Bangkok 10110 Thailand

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Grid Connected Inverter control by Two-Degree-of-Freedom Robust H_∞ Repetitive

Grid Connected Inverter Control by Two-Degree-of-Freedom Rob...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology

作者： Worasak Sriart Sudchai Boonto Wanchak Lenwari Sumate Naetiladdanon Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Department of Electrical Engineering King Mongkut's University of Technology Thonburi

ISBN: (纸本)9781479929948

This paper presents a robust control strategy for voltage controller of grid-connected inverter. The combining of feedforward control and H_∞ repetitive control is introduced to improve tracking performance and reduce periodic disturbance. The feedforward part of 2DOF controller extends gain and tracking bandwidth of the feedback controller when comparing to 1DOF controller. The proposed controller achieves the robust regulate voltage and tracking performance in dynamic responses. The controller is tested by simulation in MATLAB/SIMULINK. The results show the proposed controller obtains better performance under different scenarios (grid-connected mode and grid frequency variation).

关键词： visual tracking feedback controller controllers robust control strategy Voltage regulators FEEDFORWARD control Inventors Repetitive grids Grid VOLTAGE Gain

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A Flat Pipeline Inspection Robot with Two Wheel Chains

A Flat Pipeline Inspection Robot with Two Wheel Chains

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Young-Sik Kwon Bae Lee In-Cheol Whang Whee-kuk Kim Byung-Ju Yi School of Electrical Engineering and Computer Science Hanyang UniversityKorea Doobae system Korea Department of Control and Instrumentation Engineering Korea UniversityKorea Department of Electronic System Engineering Hanyang UniversityKorea

This paper presents a new pipeline inspection robot that has multiple sensors for inspection of 80-100mm pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.

关键词： Mobile robots Wheels Pipelines Robot vision systems Cameras

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Admissible sets for chance-constrained difference inclusions

Admissible sets for chance-constrained difference inclusions

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American control Conference

作者： James Fleming Mark Cannon Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Civil and Environmental Engineering Department University of Maryland

ISBN: (纸本)9781467386838

We study the Maximal Admissible Set (MAS) of a linear difference inclusion under a chance constraint involving random variables with bounded support. After showing that it is difficult to compute this set in general, we suggest inner and outer approximations that can be computed using existing algorithms. The inner approximations are themselves constraint admissible sets and can be represented by a finite number of chance constraints. We give examples to demonstrate the low level of conservatism of these approximations and to illustrate the potential application in Model Predictive control.

关键词： Random variables Uncertainty Stochastic processes Robustness Predictive control Time factors Probabilistic logic Random variable Probabilistic logic Predictive control Time Factors Markov chain Stochastic Processes Robustness Uncertainty Conservatism

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VVAF - Worst case & safety analysis tools for autonomous rendezvous system

VVAF - Worst case & safety analysis tools for autonomous ren...

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AIAA Guidance, Navigation, and control Conference

作者： Paulino, Nuno Di Sotto, Emanuele Salehi, Sohrab Kron, Aymeric Hamel, Jean-François Wang, Wenfei Menon, Prathyush P. Bates, Declan G. Papachristodoulou, Antonis Maier, Christoph GMV Tres Cantos Madrid Spain Rhea System at ESA-ESTEC Noordwijk Netherlands NGC Aerospace Mouans Sartoux France NGC Aerospace Sherbrooke Canada Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom Department of Engineering Science University of Oxford Oxford United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781600869624

The traditional verification and validation (V&V) process can produce sufficiently safe and reliable systems in the demanding aerospace field. But this comes at great cost and effort, with the necessary simulation of all possible operational conditions for increasingly complex control systems involving substantial autonomy. It is of interest to go beyond the statistical confidence of traditional Monte Carlo methods. New V&V methods need to cope with a large number of mission parameters and mode transitions. They must identify the worst combinations of perturbations, uncertainties and failures. Two classes of frameworks are investigated in the VVAF project: integrated V&V frameworks (IVVF) supported by simulation based analysis techniques, either integrated or with local analysis techniques to establish the global system properties;and enhanced V&V frameworks (EVVF), based on mathematical proof. Two EVVF techniques are explored: Barrier-construction and Reachability-set analysis. These guarantee fulfillment of globally exact safe operation, by the construction of barrier certificates considering nonlinearities, uncertainties and constraints. In addition, two IVVF techniques are developed: Analytical-based (AIVV) and Optimization-based (OIVV). AIVV consists of integrating and embedding frequency domain LFT-based mu-analysis techniques to exclude regions with guaranteed performance and/or identify the most critical areas, within a Monte Carlo simulation based V&V. With as few runs as possible of the non linear time simulator, local analyses can steer the global search towards the worst case. OIVV uses optimization techniques, also linked to the simulator, to identify and characterize the system worst case. Several heuristic techniques are evaluated for global parameters search, which is then refined using local optimization techniques to locate and characterize the worst case. The AIVV can also aid the OIVV by identifying search regions and promising initialization poi

关键词： Monte Carlo methods

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Multi-party secure communication using blockchain over 5G

Multi-party secure communication using blockchain over 5G

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International Conference on Artificial Intelligence, Blockchain, Computing and Security, ICABCS 2023

作者： Archana, K. Kareem, Z.H. Al-Farhani, Liwa H. Bagyalakshmi, K. Jenvi, Ignatia K. Majella Kumar, Ashok Department of Computer Engineering Pimpri Chinchwad College of Engineering and Research Maharashtra Pune India Medical Instrumentation Techniques Engineering Department Al-Mustaqbal University College Babylon Iraq System Analysis Control and Information Processing dep Academy of Engineering RUDN University Moscow Russia Sri Ranganathar Institute of Engineering and Technology Coimbatore India Mathematics Department Saveetha School of Engineering SIMATS Saveetha Nagar Chennai India Department of Computer Science Banasthali Vidyapith Rajasthan Banasthali India

ISBN: (纸本)9781032669663

One of the most critical problems facing the blockchain technology industry right now is how to protect the privacy of users’ data on the blockchain in a way that is both effective and cheap. Based on the Pedersen commitment and the Schnorr protocol, this study comes up with a secure multi-party computing protocol (BPLSM). By making the structure of the protocol and doing formal proof calculations, it has been shown that the protocol can be used in the blockchain network to combine private messages for efficient signing while keeping people’s identities secret. Furthermore, by looking at the nature and security of the protocol, it is also possible to find that the BPLSM protocol on the blockchain has a low cost of computing and a high level of information secrecy. Furthermore, it was found that the BPLSM protocol takes less time to check than the current mainstream BLS signature in a simple multi-party transaction with a fixed number of participants. © 2024 The Author(s).

关键词： Blockchain

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Sliding mode controller with nonlinear sliding surface for a second order system with input saturation

Sliding mode controller with nonlinear sliding surface for a...

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Annual Conference of Industrial Electronics Society

作者： Sohee Han Byungsun Cho Sung-Han Son Kang-Bak Park T. Tsuji Department of Control and Instrumentation Engineering Korea University South Korea Graduate School of Life Science & System Engineering Kyushu Institute of Technology Japan

In this paper, a sliding mode controller for a second order system with input saturation is proposed. The proposed method uses a nonlinear sliding surface to ensure that the control signal generated by the controller ... 详细信息

关键词： Nonlinear control systems Sliding mode control control systems Equations Signal generators Time varying systems Uncertainty Vectors Instruments systems engineering and theory

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Genetic Algorithm Based Speed controller Design of IPMSM Drive for EV

Genetic Algorithm Based Speed Controller Design of IPMSM Dri...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology

作者： Pakorn Chottiyanont Mongkol Konghirun Wanchak Lenwari Department of Electrical Engineering King Mongkut's University of Technology Thonburi Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi

ISBN: (纸本)9781479929948

In recent years, the development of the electrical vehicle (EV) in particular the performance enhancement of speed control has been widely attention. To ensure fast dynamic response and stable operation, the design of speed controller is critical and requires considerable effort. This paper proposes an automated design employed genetic algorithm (GA) to optimize PI speed controller of interior permanent magnet synchronous motor (IPMSM) used in the EV. The drive control system is designed on the basis of vector control scheme incorporated with the maximum torque per ampere (MTPA) control strategy to improve the drive performance. The optimization method provides an optimum solution in terms of both speed response and steady-state error. The simulation results verify the effectiveness of the proposed approach.

关键词： Genetic algorithm (GA) MTPA IPMSM Electric vehicle (EV)

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Position and attitude estimation of a mobile robot in Lie group

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Journal of Institute of control, Robotics and systems 2020年第12期26卷 1099-1108页

作者： Jeong, Da Bin Ko, Nak Yong Song, Gyeongsub You, Sung Hyun Department of IT-Bio Convergence System Electronics Engineering Graduate School Chosun University Korea Republic of Department of IT-Bio Convergence System Electronics Engineering Chosun University Korea Republic of Department of IT-Bio Convergence System Control and Instrumentation Engineering Graduate School Chosun University Korea Republic of Department of Electronics Engineering Chosun University Korea Republic of

In this paper, the Lie group theory is used to estimate the position and attitude of a mobile robot. In the proposed method, a Kalman filter (KF) is implemented in a Lie group, specifically in a two-dimensional special Euclidean group SE(2). Position and attitude are represented as variables in SE(2). State transition is modeled using the exponential of the Lie algebra se(2), which corresponds to SE(2). Covariance of the estimates and correction of the predicted state are calculated using Lie algebra se(2). The performance of the proposed method is tested by conducting a simulation and is compared with the conventional extended KF, where Cartesian space coordinates and heading angle are used as state variables. The test results verify that the proposed method provides estimates that have smaller errors than those provided by the conventional extended KF. The Kalman gain and measurement innovation of the proposed method have superior convergence performance than the usual extended KF. © ICROS 2020.

关键词： Kalman filters

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