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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Corrigendum to “Event-triggered H ∞ filtering control for a class of distributed parameter systems with Markovian switching topology”

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Journal of the Franklin Institute 2019年第8期356卷 4747-4747页

作者： Huihui Ji He Zhang Baotong Cui Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi 214122 China School of IoT Engineering Jiangnan University Wuxi 214122 China School of Automation Nanjing University of Science and Technology Nanjing 210094 China

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Hybrid Consensus-based Algorithm for Distributed Economic Dispatch Problem

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IFAC-PapersOnLine 2017年第1期50卷 177-182页

作者： Liu X.-K. Wang Y.-W. Yan H. Wang X. Hu X. School of Automation Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education China Key Laboratory of Advanced Control Optimization for Chemical Process of Ministry of Education China School of Information Science and Engineering East China University of Science and Technology 130 Meilong Road Shanghai 200237 China

Economic dispatch is one of the fundamental problems in the power system research. The existing algorithms are either discrete iterative algorithms or continuous-time dynamical algorithms. By virtue of the hybrid techniques, a hybrid consensus-based algorithm is proposed in this paper, which consists of a finite-time continuous-time algorithm and a discrete-time interacted scheme. Moreover, inspired by the cluster synchronization and the benefit of the projection operator, a supervised strategy is carried out to ensure that each generator unit will work within its power generation constraint. For a better understanding of the supervised hybrid distributed algorithm, the detailed pseudo-code is presented. Finally, a numerical example is given to illustrate the effectiveness of the algorithm. © 2017

关键词： consensus protocol distributed optimization economic dispatch hybrid system smart grid

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Oil-water two-phase flow velocity measurement with Continuous wave ultrasonic Doppler

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Journal of Physics: Conference Series 2018年第9期1065卷

作者： Weiling Liu Chao Tan Feng Dong Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

Oil-water two-phase flow exists widely in many industries. Accurate measurement of flow velocity is of significance for quantify the volume or mass flow rate as well as monitor the operation safety. A non-intrusive one-side Continuous Wave Ultrasonic Doppler (CWUD) sensor is presented for measuring the overall superficial velocity of oil-water two-phase flow. The one-side CWUD sensor consists of two-chip transducer with resonant frequency of 1MHz, both of which are installed at the bottom of test pipe, and the sample volume cover the whole radial direction of pipe cross-section. The Doppler shift signal collected by ultrasonic sensor is directly related to the average velocity of dispersed phase within the sample volume of CWUD. The overall superficial flow velocity is derived by a linear correction of measured average velocity, based on the analysis of average Doppler shift properties in different flow conditions, i.e. water continuous flow and oil continuous flow. Dynamic experiments were conducted at a horizontal oil-water two-phase flow loop. It can be found that the average Doppler shift within the sample volume increases with overall superficial flow velocity, however, varies with different continuous phases at the same overall superficial flow velocity. The results show that the mean relative error of overall superficial flow velocity is 3.45%.

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Anti-windup compensator synthesis for saturated systems via event-triggered scheme 35

Anti-windup compensator synthesis for saturated systems via ...

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第35届中国控制会议

作者： LI Hongchao ZUO Zhiqiang LI Qingsong WANG Yijing Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9789881563910

In this paper, the anti-windup compensator design using event-triggered strategy for linear systems subject to actuator saturation is investigated. Different from the existing result with prescribed anti-windup compensator gain, the main contribution of this paper is that a sufficient condition is presented for anti-windup compensation with event-triggered control and an iterative algorithm is formulated to obtain the anti-windup gain. Moreover, an event-triggering condition involving an exponential term is introduced in order to avoid Zeno behavior when using output feedback control. Numerical example is given to show the validity of the proposed method and the trade-off between the size of the domain of attraction and communication resources saving.

关键词： Anti-windup compensation Event-triggered control actuator saturation

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Particle Size Estimate of Grinding processes using Robust Regularized RVFLN

Particle Size Estimate of Grinding Processes using Robust Re...

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第28届中国过程控制会议（CPCC 2017）暨纪念中国过程控制会议30周年

作者： Wei Dai Qixin Chen Xiaoping Ma Tianyou Chai School of Information and Control Engineering China University of Mining and Technology State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

As the production quality index of grinding processes,particle size(PS) is hard to be measured in real *** achieve the PS estimation,this paper proposes a novel random vector functional link networks(RVFLN),namely,robust regularized *** incorporating the weighted least squares(WLS) and regularization techniques into the original RVFLN and further adopting a nonparametric kernel density estimation(NKDE) method to choose the weighted term,the generalization and robustness of network have been *** order to ensure the quality and computational load of network in online application,the different online learning versions are presented according to the various time scales of data sampling,*** experimental studies are first carried out based on the UCI and Statlib standard data *** last,the actual industrial grinding operation data are used to verify the effectiveness of the proposed method in term of PS estimation.

关键词： Grinding Particle Size Random Vector Functional Link Networks Robustness Regularization Technique Nonparametric Kernel Density Estimation

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Flow Velocity Measurement Based on Ultrasonic Cross-correlation Technique in Oil-water Two-phase Flow 35

Flow Velocity Measurement Based on Ultrasonic Cross-correlat...

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第35届中国控制会议

作者： SHI Xuewei DONG Xiaoxiao TAN Chao DONG Feng Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781509009107

For the velocity measurement of oil-water two-phase flow in horizontal pipeline,a measuring method based on ultrasonic cross-correlation technique is *** pairs of ultrasonic probes are installed in the upstream and downstream within a certain distance to obtain the flow signal of two-phase *** flow velocity is calculated by the cross-correlation method,and the influence of flow patterns and phase distribution are taken into *** combining the cross-correlation algorithm,drift-flux model and kinematic wave theory,the overall superficial velocity measurement model is *** parameters of this model were calculated in different flow *** experimental results show that the flow velocity calculated by this model is in good agreement with the actual flow *** relative error is less than ± 5%.

关键词： Oil-water two-phase flow superficial velocity cross-correlation drift-flux model kinematic wave

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A novel tube-based output feedback MPC for constrained linear systems

A novel tube-based output feedback MPC for constrained linea...

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American control Conference

作者： Sankaranarayanan Subramanian Sergio Lucia Sebastian Engell Process Dynamics and Operations Group TU Dortmund Germany Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

ISBN: (纸本)9781509045839

Model Predictive control (MPC) is an advanced strategy for the control of multi-variable and constrained dynamical systems. Tube-based MPC is a robust control technique that handles uncertainties present in the model. Since full state information is seldom available in practical systems, the estimation error must also be taken into account in addition to model uncertainties to achieve closed-loop stability and constraint satisfaction despite estimation and model errors. In this paper, we propose a novel strategy for the design of a tube-based output feedback MPC which is independent of the estimation method employed. We formulate a control policy by choosing a candidate estimate that is consistent with the reachable sets of the system under control. The proposed method can be combined with any estimation scheme as long as the assumed error bounds are satisfied. We show that the proposed method is recursively feasible, robustly exponentially stable, and performs better than other available strategies.

关键词： Maximum Allowable Concentration Linear system control strategy Output feedback constraint satisfaction problems model error control technology model uncertainty Statistical analysis

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Experimental Study on Multiple Odor Sources Mapping by a Mobile Robot in Time-varying Airflow Environment 35

Experimental Study on Multiple Odor Sources Mapping by a Mob...

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第35届中国控制会议

作者： LI Ji-Gong SUN Biao ZENG Fan-Lin LIU Jia YANG Jing YANG Li School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University School of Information Technology Engineering Tianjin University of Technology and Education

ISBN: (纸本)9781509009107

This paper addresses the experimental study on mapping multiple odor sources using the proposed algorithm based on Dempster-Shafer(D-S) theory in outdoor environments where the airflow almost always be strong and change with time both in direction and *** the proposed algorithm,by using the time series of the measurements from an anemometer and twelve gas sensors,the robot estimates the air-mass path to compute the belief mass function,and iteratively updates a grid map with D-S inference at each time step,mapping the distribution of two odor sources when the robot is cruising in the given search *** the air-mass path is defined as the historical trajectory most likely taken by the air mass contacting with the gas sensor mounted on the mobile robot,and an air mass might contain odor molecules,or just be a mass of clean *** the grid map,each cell has two possible states,being occupied by an odor source,or *** order to cut the calculation of the proposed algorithm,only the cells covered by the estimated air-mass path are *** were carried out in outdoor nature environments,and the results illustrate that the proposed algorithm based on D-S theory can be applied to map multiple odor sources online.

关键词： Multiple odor sources localization D-S theory outdoor environment mobile robot

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Dead-Time Compensator for Multi Time-delay Systems:the Scalar Case

Dead-Time Compensator for Multi Time-delay Systems:the Scala...

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第36届中国控制会议

作者： Pedro Albertos Pedro García Qiang Chen Xiaoli Luan Fei Liu Department of Systems Engineering and Control Instituto de Automática e Informática Industrial Universitat Politècnica de València Key Laboratory of Advance Process Control for Light Industries Institute of Automation Jiangnan University

This paper deals with the control of simple process models where multiple time-delays appear. These delays can be input, output or state delays. For the case of input/output time-delays, a general solution is retrieved from the *** state time-delays, the scalar case is considered and a precompensator is used to cancel the delay. The proposed algorithms are applied to the control of a simple academic example.

关键词： Input/output time-delays State time-delays Unstable delayed systems

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