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15th International Conference Management of Large-Scale system Development, MLSD 2022

作者： Khrenov, Andrey V. Diane, Sekou A.K. Institute of Control Problems of Russian Academy of Sciences Lab. of System Integration of Control Technologies Moscow Russia

ISBN: (数字)9781665497015

ISBN: (纸本)9781665497015

Setting up classical PID controllers works for systems with a priori known properties and parameters. After changing the characteristics of an object, such regulators may not be able to stabilize its control variables and break the specified limits e.g. when the angular velocity is exceeded as a result of an engine malfunction. This paper presents an algorithm for the neural stabilization of a quadcopter. We use reinforcement learning method to enable adaptation of the agent during the control process. The quadcopter is simulated in a virtual environment and trained in a series of episodes with sequential assessment of its movement efficiency and tuning neural network parameters. A comparison of the transient characteristics of the quadcopter in various conditions showed that the neural network controller surpasses the classical PID controller by several significant criteria. © 2022 IEEE.

关键词： Reinforcement learning

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Hierarchy-based extended CBBA for multi-robot task assignment

Hierarchy-based extended CBBA for multi-robot task assignmen...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Jiajun Xia, Weiguo Li, Fuqiang Wang, Peng China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9781665465335

This paper studies the task assignment problem of a multi-robot system with complex constraints including the robot speed limit, the task execution time window constraints, the arrival time, the trip cost, and different priorities of the tasks. A new bidding function is then designed for each robot. Based on the k-means algorithm, a hierarchy-based extended consensus-based bundle algorithm (CBBA) is proposed to find the optimal solution for the task allocation problem. Finally, simulation examples are presented to show the feasibility of the proposed algorithm and comparisons with existing algorithms show that the proposed algorithm can reduce the task assignment time with guaranteed reward values. © 2022 IEEE.

关键词： Multipurpose robots

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Two-Stage OD Flow Prediction for Emergency in Urban Rail Transit

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IEEE Transactions on Intelligent Transportation systems 2024年第1期25卷 920-928页

作者： Zhu, Guangyu Ding, Jiacun Wei, Yun Yi, Yang Xu, Sendren Sheng-Dong Wu, Edmond Q. Beijing Jiaotong University Key Lab. of Transport Industry of Big Data Application Technologies for Comprehensive Transport The Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing100044 China Beijing Mass Transit Railway Operation Corporation Ltd. Beijing100014 China Yangzhou University College of Information Engineering Yangzhou225127 China National Taiwan University of Science and Technology Automation and Control Center The Graduate Institute of Automation and Control Taipei106335 Taiwan Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China The Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

Urban rail transit (URT) is vulnerable to natural disasters and social emergencies including fire, storm and epidemic (such as COVID-19), and real-time origin-destination (OD) flow prediction provides URT operators with important information to ensure the safety of URT system. However, hindered by the high dimensionality of OD flow and the lack of supportive information reflecting the real-time passenger flow changes, study in this area is at the beginning stage. A novel model consisting of two stages is proposed for OD flow prediction. The first stage predicts the inflows of all stations by Long Short-Term Memory (LSTM) in real time, where the dimension is reduced compared with predicting OD flows directly. In the second stage, the notion of separation rate, namely, the proportion of inbound passengers bounding for another station, is estimated. Finally, The OD flow is predicted by multiplying the inflow and separation rate. Experiments based on Hangzhou Metro dataset show the proposed model outperforms the contrast model in weighted mean average error (WMAE) and weighted mean square error (WMSE). Results also suggest that the proposed prediction model performs better on weekdays than on weekends, and with greater accuracy on larger OD flows. © 2000-2011 IEEE.

关键词： Forecasting

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Multi-module Quadcopter with Autopilot Based on Raspberry PI

Multi-module Quadcopter with Autopilot Based on Raspberry PI

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IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

作者： Andrey V. Khrenov Sekou A. K. Diane Lab. of System Integration of Control Technologies Institute of Control Problems of Russian Academy of Sciences Moscow Russia

ISBN: (数字)9781665404761

ISBN: (纸本)9781665446426

The article presents the structure of the developed quadrocopter, which consists of several modules. This structure allows quickly replacing a broken module or upgrading it separately. Universal software was developed to make this structure applicable to other types of transport. Considered are the issues of building an autopilot for the developed quadcopter and providing a human-machine interface that allows to form a flight task and track the progress of its fulfillment.

关键词： Software algorithms Reliability engineering Software Autopilot Software reliability Task analysis Robots

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Algorithms for Intelligent control of Multi-Link Walking Robots with Self-Learning Capabilities 22

Algorithms for Intelligent Control of Multi-Link Walking Rob...

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22nd International Conference on Digital Signal Processing and its Applications, DSPA 2020

作者： Danilov, Vladimir Diane, Sekou Gonchareko, Vladimir Artamonov, Alexander Moscow Aviation Institute National Research University Dept. of Systems of Automatic and Intelligent Control Moscow Russia Lab. of System Integration of Control Technologies Institute of Control Problems Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781728175287

The main types of structures of walking robots are considered and the choice of the design of the implemented layout of a six-legged insectomorphic robot is justified. Based on the results of the analysis of known approaches to the design of walking systems and the selected type of robot, solutions of forward and reverse kinematics problems for its joints are described. Kinematic and dynamic models of a six-legged walking robot are calculated and implemented programmatically. A computer simulation model of a six-legged walking robot is constructed that combines a 3d representation of the robot and the dynamics of its movement. The procedure for adjusting the control algorithms for a multilink structure is suggested to adapt for the uncertainties in the robot construction and the surrounding environment. Verification of the proposed mathematical models was carried out on virtual and hardware samples of walking robots. © 2020 IEEE.

关键词： Kinematics

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A 4-Channel Ultrafast Wavelength-Swept REC-DFB Laser Array for Fiber Bragg Grating Interrogation

A 4-Channel Ultrafast Wavelength-Swept REC-DFB Laser Array f...

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2023 Asia Communications and Photonics Conference/2023 International Photonics and Optoelectronics Meetings, ACP/POEM 2023

作者： Meng, Lingxin Dai, Pan Ban, Qilu Xu, Kaichuan Wang, Jiacheng Li, Zhen Wang, Feng Zeng, Jie Li, Shaobo Ma, Xiang Chen, Xiangfei Res. Center of Precision Photonics Integration and System Application of the Ministry of Education College of Engineering and Applied Sciences Nanjing University Key Lab. of Intelligent Optical Sensing and Manipulation of the Ministry of Education Engineering National Laboratory of Solid State Microstructures Nanjing210023 China Nanjing University of Aeronautics and Astronautics State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016 China The 54th Research Institute of China Electronics Technology Group Corporation Optical Communication Research and Development Center Shijiazhuang050081 China

ISBN: (纸本)9798350312614

We present a four-channel ultrafast wavelength-swept distributed feedback (DFB) semiconductor laser array based on the reconstruction-equivalent-chirp (REC) technique using instantaneous injection current modulation. With the aid of our designed laser driving circuit system consists of the microcontroller unit (MCU), field-programmable gate array (FPGA) and negative metal-oxide-semiconductor field effect transistors (n-MOSFETs), the precise pulse driving current for the 4-channel wavelength-swept REC-DFB laser array can be generated and a fast tuning of 16.424 nm within 10 μs is achieved. To further investigate the tuning performance of the proposed wavelength-swept laser source, we then applied it to the fiber Bragg grating (FBG) interrogation system and four FBG temperature sensor arrays were successfully demodulated. The development of high-efficient optical sensing systems heavily relies on the significance of the ultrafast wavelength-swept laser source, which has the potential to greatly enhance FBG interrogator performance in the future. © 2023 IEEE.

关键词： DFB laser array fast wavelength-swept fiber Bragg grating interrogation REC technique

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Algorithms for Intelligent control of Multi-Link Walking Robots with Self-Learning Capabilities

Algorithms for Intelligent Control of Multi-Link Walking Rob...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Vladimir Danilov Sekou Diane Vladimir Gonchareko Alexander Artamonov Moscow Aviation Institute (National Research University) Moscow Russia Lab. of System Integration of Control Technologies Institute of Control Problems of Russian Academy of Sciences Moscow Russia

ISBN: (数字)9781728175287

ISBN: (纸本)9781728175294

关键词： multi-link robots walking robots gait synthesis self-learning automatic control walking robots Unsupervised learning automatic control Intelligent control multilink Robot kinematics algorithms

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Ontology Driven Development of Rule-Based Expert systems

Ontology Driven Development of Rule-Based Expert Systems

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Russia and Pacific Conference on Computer Technology and Applications (RPC)

作者： Nikita O. Dorodnykh Aleksandr Y. Yurin Alexander B. Stolbov Lab. of Information technologies for the study of natural and technogenic safety Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences (ISDCT) Irkutsk Russian Federation Lab. of System analysis and computational methods Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences (ISDCT) Irkutsk Russia

ISBN: (纸本)9781538675328

An ontology-driven development process of rule-based expert systems and knowledge bases is described. The process is based on a redefined approach, namely, a model-driven development (MDD). The main feature of the proposed process is the use of ontology as a computation-independent model (CIM). At the same time, ontology is created by analyzing the conceptual models of a subject domain, in particular, UML class diagrams presented in XML-based formats. The Rule Visual Modeling Language (RVML) is used as the extension of a UML for the development of a platform-independent and platform-specific models, and also the C language integrated production system (CLIPS) is used as the target platform. The formalized descriptions of the approach stages and model transformations are considered. The approach proposed allows one: to eliminate programming errors through the automatic code generation; to reduce a time of identification, conceptualization, and formalization stages due to the use of ontologies. The Knowledge Base Development system (KBDS) and the Personal Knowledge Base Designer (PKBD) implement processes and algorithms described and they intend for the rapid development of prototypes of rule-based expert systems and knowledge bases.

关键词： Unified modeling language Ontologies OWL Knowledge based systems Tools Visualization Software

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Aerothermal design of the Hexafly-INT glider

Aerothermal design of the Hexafly-INT glider

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AIAA Space and Astronautics Forum and Exposition, SPACE 2016

作者： Scigliano, Roberto Pezzella, Giuseppe Marini, Marco Di Benedetto, Sara Steelant, Johan CIRA Italian Aerospace Research Center Thermal Structures and Thermal Control Technologies and Design Via Maiorise CapuaCE81043 Italy ESA-ESTEC European Space Agency Aerothermodynamics Analysis and extrapolation to Flight Lab Keplerlaan 1 Noordwijk2200 AZ Netherlands Space Department Technology Integration Aeronautics - System Engineering Netherlands

ISBN: (数字)9781624104275

ISBN: (纸本)9781624104275

Over the last years, innovative concepts of civil high-speed transportation vehicles were proposed. These vehicles have a strong potential to increase the cruise range efficiency at high Mach numbers, thanks to efficient propulsion units combined with high-lifting vehicle concepts. In this framework the Hexafly-INT project has the scope to test in free-flight conditions an innovative gliding vehicle with several breakthrough technologies on-board. This work describes the aero-thermal design processes of the Hexafly-INT Experimental Flight Test Vehicle, namely EFTV. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Free flight

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Investigation into influence factors of synchronous movement of multi-cylinders

Investigation into influence factors of synchronous movement...

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IEEE International Conference on Aircraft Utility systems (AUS)

作者： Chao Hu Pengfei Zhang Xiaoping Ouyang Houtao Ku Qinghe Zhou Enxiao Zhang State Key Lab. of Fluid Power Transmission and Control Zhejiang University Hangzhou China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing China The High School Attached to Zhejiang University Hangzhou China

ISBN: (纸本)9781509010882

Seal is one of the most important characteristics for cylinders and suitable seal configuration will guarantee the long life cycle of the seal and the cylinder. Experiment is the only way which can demonstrate the best seal configuration in applications. In this paper, one approach is brought forward for testing the seal performance of cylinders with different seals configurations at the same load working condition for saving the test time. In the test-rig, the synchronization of cylinders is one of the key technologies. The test system is modelled in the AMESim software. The effect caused by the changes of the different physical parameters is analyzed, such as load stiffness, viscous damping coefficient of cylinder, dead volume of cylinder and internal leakage coefficient. The experiment is carried out and test results agree with the simulation results. Finally, the appropriate solution is proposed for improving the synchronization of the multi-cylinders further.

关键词： Synchronization Valves Seals Damping Load modeling Springs Servomotors

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