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Chinese control Conference (CCC)

作者： Shaohu Tang Wei Zhu Xiaoming Liu Jianchun Zheng Chunlin Shang Beijing Research Center of Urban Systems Engineering Beijing China Beijing key lab of urban road traffic intelligent control technology North China University of Technology Beijing China

Urban oversaturated traffic seriously affects the efficiency of road network traffic, causing traffic delays and congestion directly. In this paper, the peak traffic network is divided into oversaturated region and its associated areas, and the grey relational analysis and spectral clustering method are used to divide the associated areas. Then, a traffic cooperative control model of urban oversaturation region and its associated area is proposed. Furthermore, a cooperative optimization solution is put forward. The results show that the proposed method can significantly improve the traffic efficiency of the road network, and help to alleviate the traffic congestion and diffusion during rush hour.

关键词： Correlation Roads Traffic congestion Telecommunication traffic Clustering algorithms Optimization Traffic control

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Low-cost fabrication methods for organic/inorganig hybrid optoelectronic structure on a flexible substrate 21

Low-cost fabrication methods for organic/inorganig hybrid op...

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21st International Conference on Composite Materials, ICCM 2017

作者： Schmidt, David Li, Lin Liu, Yongmin Lin, Yingzi Department of Mechanical and Industrial Engineering Intelligent Human-Machine Systems Lab. College of Engineering Northeastern University 360 Huntington Ave. BostonMA02115 United States Department of Electrical and Computer Engineering Intelligent Human-Machine Systems Lab. College of Engineering Northeastern University 360 Huntington Ave. BostonMA02115 United States

Developments in semiconducting nanostructures and organic polymers have opened new doors for optoelectronic devices. Simple fabrication steps make it easy to create large functional areas of these materials. This has made organic polymers a popular functional layer for organic light emitting diode (OLED) monitors, and quantum dots (QDs), popular for solar panels. Discoveries with both materials continue to be made, which improve their usability and efficiency. This paper presents our work on developing a hybrid organic non-organic functional light emitting device on a flexible substrate outside of a clean room, using only low-cost, benchtop machines. A simple, low-cost process allows for rapid device fabrication, which is more ideal for education and explorative research applications, as well as easier scaling for mass production. Results show characterization of emissive areas and spectrum for the devices. A difference in emission spectra between devices with and without quantum dots is noticeable, proving that optoelectronic devices can be made with MEH-PPV and QDs with simplified fabrication techniques. The work is concluded with a short discussion on how fabrication methods dictate device performance. © 2017 International Committee on Composite Materials. All rights reserved.

关键词： Composite plates Fabrication Flexible substrate Identification Modal analysis

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Intentions of vulnerable road users - Detection and forecasting by means of machine learning

arXiv

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arXiv 2018年

作者： Goldhammer, Michael Köhler, Sebastian Zernetsch, Stefan Doll, Konrad Sick, Bernhard Dietmayer, Klaus Faculty of Engineering University of Applied Sciences Aschaffenburg Aschaffenburg Germany Intelligent Embedded Systems Lab University of Kassel Kassel Germany Institute of Measurement Control and Microtechnology Ulm University Ulm Germany

Avoiding collisions with vulnerable road users (VRUs) using sensor-based early recognition of critical situations is one of the manifold opportunities provided by the current development in the field of intelligent vehicles. As especially pedestrians and cyclists are very agile and have a variety of movement options, modeling their behavior in traffic scenes is a challenging task. In this article we propose movement models based on machine learning methods, in particular artificial neural networks, in order to classify the current motion state and to predict the future trajectory of VRUs. Both model types are also combined to enable the application of specifically trained motion predictors based on a continuously updated pseudo probabilistic state classification. Furthermore, the architecture is used to evaluate motion-specific physical models for starting and stopping and video-based pedestrian motion classification. A comprehensive dataset consisting of 1068 pedestrian and 494 cyclist scenes acquired at an urban intersection is used for optimization, training, and evaluation of the different models. The results show substantial higher classification rates and the ability to earlier recognize motion state changes with the machine learning approaches compared to interacting multiple model (IMM) Kalman Filtering. The trajectory prediction quality is also improved for all kinds of test scenes, especially when starting and stopping motions are included. Here, 37% and 41% lower position errors were achieved on average, respectively. Copyright © 2018, The Authors. All rights reserved.

关键词： Neural networks

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Dynamics Modeling and Performance Analysis of RoboWalk

Dynamics Modeling and Performance Analysis of RoboWalk

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mahdi Nabipour S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces are taken into account and mapped into joint space of the robot using the jacobian matrices of interaction points. This method of modeling is then compared and verified by the numerical Recursive Newton Euler Algorithm. Since the numerical method is more efficient and has less computational complexities, it can be used in implementing the control algorithms on the robot. After the model is verified, a control strategy for assisting the user is designed and implemented on the developed model of RoboWalk. The performance of this control strategy is evaluated by comparing the floor reaction force and user joint torques if using Robowalk or not. Finally, the actuator's specification to fulfill our requirements is discussed.

关键词： Robot kinematics Kinematics Exoskeletons Mathematical model Legged locomotion Pelvis

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Residential Energy Management with Deep Reinforcement Learning

Residential Energy Management with Deep Reinforcement Learni...

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International Joint Conference on Neural Networks

作者： Zhiqiang Wan Hepeng Li Haibo He Department of Electrical Computer and Biomedical Engineering University of Rhode Island RI USA Lab. of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

A smart home with battery energy storage can take part in the demand response program. With proper energy management, consumers can purchase more energy at off-peak hours than at on-peak hours, which can reduce the electricity costs and help to balance the electricity demand and supply. However, it is hard to determine an optimal energy management strategy because of the uncertainty of the electricity consumption and the real-time electricity price. In this paper, a deep reinforcement learning based approach has been proposed to solve this residential energy management problem. The proposed approach does not require any knowledge about the uncertainty and can directly learn the optimal energy management strategy based on reinforcement learning. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： Batteries Computer architecture Energy management Load modeling Microprocessors Feature extraction

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Soundscape categorisation and the self-assessment Manikin 20

Soundscape categorisation and the self-assessment Manikin

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20th International Conference on Digital Audio Effects, DAFx 2017

作者： Stevens, Francis Murphy, Damian T. Smith, Stephen L. Audio Lab. Department of Electronic Engineering University of York York United Kingdom Intelligent Systems Group Department of Electronic Engineering University of York York United Kingdom

This paper contains the results of a study making use of a set of B-format soundscape recordings, presented in stereo UHJ format as part of an online listening test, in order to investigate the relationship between soundscape categorisation and subjective evaluation. Test participants were presented with a set of soundscapes and asked to rate them using the Self-Assessment Manikin (SAM) and in terms of three soundscape categories: natural, human, and mechanical. They were also asked to identify the important sound sources present in each soundscape. Results show significant relationships between soundscape categorisation and the SAM, and indicate particularly significant sound sources that can affect these ratings.

关键词： Acoustic generators

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FCS – MPC and Feedback Quantizer applied to a Multi-Cell AFE Rectifier

FCS – MPC and Feedback Quantizer applied to a Multi-Cell AF...

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CHILEAN Conference on Electrical, Electronics engineering, Information and Communication Technologies (CHILECON)

作者： Eduardo Espinosa Pedro Melin José Espinoza Carlos Baier Javier Muñoz Marco Rivera Galina Mirzaeva Raúl Gregor Department of Environment and Energy Universidad Católica de la Santísima Concepción Concepción Chile Department of Electrical and Electronic Engineering Universidad del Bío – Bío Concepción Chile Department of Electrical Engineering Universidad de Concepción Concepción Chile Department of Electrical Engineering Universidad de Talca Curicó Chile School of Electrical Engineering and Computer Science The University of Newcastle Newcastle Australia Lab. of Power and Control Systems Universidad Nacional de Asunción Asunción Paraguay

In this paper is presented a proposal of control strategy based on Finite control Set - Model Predictive complemented with Feedback Quantizer. Finite control Set - Model Predictive is a control scheme widely used in power converters. The advantages of this control are, among others, (i) the nonlinearities and constraints of the converter's operation, (ii) the natural discrete operation of power converters, and (iii) the rapid response to changes in references or disturbances. Yet, one drawback to be mentioned in the Finite control Set - Model Predictive control would be the non-fixed switching frequency, which results in a dispersed harmonic spectrum, generating resonance or saturation in transformers. The proposed control strategy, improve the harmonic spectrum of input current and PWM voltage of the power cell in a Multi-Cell AFE Rectifier. Simulation results confirm the validity of the proposal.

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Intracranial brain motion measurement in frontal sled tests by using a new anthropometric test dummy head capable of direct brain motion evaluation and visualisation

Intracranial brain motion measurement in frontal sled tests ...

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2017 International Research Council on the Biomechanics of Injury Conference, IRCOBI 2017

作者： Miyazaki, Y. Railkar, A. Awamori, S. Kokeguchi, A. Amamori, I. Katagiri, M. Yoshii, K. Department of Control and Systems Engineering Tokyo Institute of Technology Japan Miyazaki Lab. Tokyo Institute of Technology Japan Takata Corporation Japan

Existing anthropometric test device heads use a rigid body structure. Therefore, the objective of this study was to model a new anthropometric test device head incorporating skull-brain structure, conduct sled tests for investigating the head's usability, evaluate the head's performance at measuring brain-skull relative motion. The new anthropometric test device head was constructed based on geometry obtained from an adult human male medical image. Sled tests corresponding to frontal crashes with the new anthropometric test device head mounted on a AM50 Hybrid III dummy were carried out. Moreover, a finite element model of the human head was developed and validated against post-mortem human subject experiments, and the was validated from the results of corresponding brain node motion obtained from sled tests simulations. Although the brain node motion of the ATD head correlated with the simulation model, the maximum displacement of the ATD head were significantly larger than the human head FE model. Therefore, the novel ATD head showed a potential as a first concept of a new ATD head incorporating skull and brain structures which is capable of direct measurement and visualisation of intracranial brain motion, however, the biofidelity is needed to be improved. © 2017 International Research Council on the Biomechanics of Injury. All rights reserved.

关键词： Brain

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Outer-linearization-based optimization algorithm for decentralized control design in flexure-linked H-gantry

Outer-linearization-based optimization algorithm for decentr...

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2018 IEEE/ASME International Conference on Advanced intelligent Mechatronics, AIM 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Li, Xiaocong Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National Universit of Singapore Singapore117583 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China

ISBN: (纸本)9781538618547

The dual-drive H-gantry (DHG) is widely used for high-speed high-precision Cartesian motion control applications. Compared with the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is allowed. Nevertheless, the flexure-linked design possibly induces the resonance of the gantry because of the chattering of control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the availab.e ones and optimize the decentralized feedback controller parameters under parametric uncertainties. The mechatronic design problem is formulated as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, from here, numerical procedures are developed to obtain the global optimum by means of an outer-linearization-based optimization algorithm. Experiments are carried out and the results successfully validate the optimality and the robustness of the proposed design approach. © 2018 IEEE.

关键词： Feedback control

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Decentralized controller design in flexure-linked gantry by H2 guaranteed cost optimization approach 18

Decentralized controller design in flexure-linked gantry by ...

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18th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Teo, Chek Sing Tay, Arthur Al Mamun, Abdullah Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315201 China

ISBN: (纸本)9780995775121

Dual-drive H-gantry is widely used in many industrial processes that require high-speed and high-precision Cartesian motion. Unlike the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is possible. However, the flexure-linked design may induce the resonant modes of the gantry because of high frequency control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the availab.e ones while optimizing the decentralized feedback controller parameters under model uncertainties. In this way, good tracking performance is achieved without costly system re-design. In this work, we formulate the mechatronic design problem as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, and the global optimum is obtained by means of an outer-linearization-based algorithm. Experiments are conducted and the results successfully validate the effectiveness of the proposed design approach. © 2018 CURRAN-CONFERENCE. All rights reserved.

关键词： Convex optimization Dual-drive H-gantry Flexure Mechatronic design Optimal control Parallel mechanism

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