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Development and control of Underwater Gliding Robots:A Review

IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

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Multi-Objective Optimal control of Wastewater Treatment Processes Constrainted by Energy-Saving and Effluent Qualities 6

Multi-Objective Optimal Control of Wastewater Treatment Proc...

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6th International Conference on Robotics, control and automation engineering, RCAE 2023

作者： Zhang, Jing Yan, Haoming Chen, Hongtian Xu, Shuiqing Liu, Yiqi School of Automation Science & Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China College of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China

ISBN: (纸本)9798350315301

Considering the high energy consumption problem in the wastewater treatment process, this paper proposes a multi-objective optimization control scheme based on NSGA-II algorithm. The proposed scheme can not only ensures meet effluent quality requirements but also can achieves energy cost savings. This method takes the aeration energy consumption and pumping energy consumption of the system as the optimization goal with the effluent water quality being the constraint condition. At the same time, the adaptive fuzzy PID controller is designed to ensure the control accuracy and stability of the controlled system. The results of simulation experiments validated in benchmark simulation platform, BSM1, show that, compared with PI control and single-objective optimization control, the proposed optimization scheme in this paper can achieve the desired quality of the effluent water withmore energy-saving. © 2023 IEEE.

关键词： Energy utilization

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Event-triggered learning of Euler-Lagrange systems: A Koopman operator framework 63

Event-triggered learning of Euler-Lagrange systems: A Koopma...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zheng, Kaikai Shi, Dawei Li, Shilei Shi, Yang Beijing Institute of Technology Miit Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Victoria Faculty of Engineering Department of Mechanical Engineering VictoriaBCV8N 3P6 Canada

ISBN: (纸本)9798350316339

Euler-Lagrange (EL) systems represent a crucial and large class of dynamical systems, and a precise model of the true system would be beneficial in planning and tracking problems. This work aims to learn an unknown EL system using noisy measurement data to achieve improved data utilization efficiency. Specifically, for the considered EL system, a linear representation of the system is constructed using the Koopman operator, which is further characterized by sample data using Willems' fundamental lemma. Moreover, an event-triggered learning mechanism is proposed to improve data utilization efficiency, and it is designed based on the analysis of the learning error bounds. The effectiveness of the proposed event-triggered learning approach is validated through a manipulator example. © 2024 IEEE.

关键词： Lagrange multipliers

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Investigating Optimal Tracking Intervals for Solar Tracking systems to Enhance Efficiency and Performance

Investigating Optimal Tracking Intervals for Solar Tracking ...

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2024 IEEE International Conference on Artificial Intelligence and Green Energy, ICAIGE 2024

作者： Dahli, Khadidja Ilinca, Adrian Benallal, Abdellah Cheggaga, Nawel University of Blida 1 Electrical and Remote Control Systems Laboratory LabSET Faculty of Technology Blida Algeria Ecole de Technologie Superieure Department of Mechanical Engineering MontrealQC Canada University of Quebec at Rimouski Wind Energy Laboratory RimouskiQC Canada

ISBN: (纸本)9798350389838

Conventional solar trackers continuously adjust solar panels to optimize energy production, a process that can consume significant energy, potentially surpassing the energy gained. This research examines the most effective tracking interval for solar tracking systems to mitigate this issue. Through testing with intervals ranging from 5 minutes to 5 hours, it was determined that setting tracking intervals no shorter than 1 hour and no longer than 2 hours and 30 minutes is recommended to achieve a balance between energy efficiency and production. Additionally, this study suggests that elevation and azimuth angles should not be tracked using the same time periods;instead, a 2-hour interval for elevation tracking and a 3-hour interval for azimuth angle tracking are advised for optimal performance. The proposed discrete tracking method consumes less than 0.15% of the energy produced, thereby enhancing energy efficiency, reducing unnecessary energy consumption, and improving the overall reliability and lifespan of solar tracking systems. This approach has the potential to significantly impact the future of solar power by enhancing the efficiency and reliability of solar tracking systems, thereby increasing the viability and appeal of solar energy as a primary renewable resource. © 2024 IEEE.

关键词： discrete tracking energy efficiency renewable resource solar power solar trackers

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Quality Monitoring of RSW Processes. The impact of vibrations

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Procedia CIRP 2023年 118卷 895-900页

作者： Alexios Papacharalampopoulos Kyriakos Sabatakakis Panagiotis Stavropoulos Laboratory for Manufacturing Systems and Automation (LMS) Department of Mechanical Engineering and Aeronautics University of Patras Rio Patras 26504 Greece

Resistance Spot Welding (RSW) has been a process of a central position in industry, especially in automotive. Quality monitoring of RSW, in particular, has been the topic of many pieces of literature, driving forward a multi-disciplinary research area. Herein, the robotized version of RSW is discussed with respect to the relationship between occurring vibrations and quality monitoring. This is a two-fold study, as firstly, the vibrations are regarded as quality predictors, and secondly, the impact of vibrations on other monitoring methods is studied. Interesting results from empirical and theoretical models are shown.

关键词： RSW welding quality monitoring vibrations

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Robust-Tube Model Predictive control for Piezoelectrically Actuated Fast mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and automation control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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A Digital Shadow for Design and Operation in Food Production

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Procedia CIRP 2023年 118卷 300-305页

作者： Dimitris Mourtzis John Angelopoulos Nikos Balkamos Nikos Panopoulos Laboratory for Manufacturing Systems and Automation (LMS) Department of Mechanical Engineering and Aeronautics University of Patras Rio Patras 26504 Greece

The food market poses a very dynamic and competitive landscape in the global market, facing challenges such as, increasing product variety and short life cycle of the final products, highly volatile and seasonal customer demand. Therefore, in this research work a Discrete Event Simulation model of a food industry is presented. The model simulates the operation of the factory and creates a set of performance measures, which enable the user to evaluate the operation of the food industry. A set of experiments based on the utilization of real-life data, coming from a Typical Food Industry (TFI) have been conducted in order to validate and test the developed simulation model. The simulation model will facilitate the production managers to digitize and digitalize the factory under the framework of Industry 4.0.

关键词： Industry 4.0 Virtual Factory Virtual Reality Digital Shadow

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Integration of Industry 5.0 requirements in digital twin-supported manufacturing process selection: a framework

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Procedia CIRP 2023年 119卷 545-551页

作者： Alexios Papacharalampopoulos Panagis Foteinopoulos Panagiotis Stavropoulos Laboratory for Manufacturing Systems and Automation (LMS) Department of Mechanical Engineering and Aeronautics University of Patras Rio Patras 26504 Greece

Process selection has been an integral part of manufacturing design and operation, with a close link to manufacturing process modeling. Throughout the years, it has been enriched with many criteria, such as energy efficiency, emissions, resources, and sustainability in general, increasing its complexity in terms of modeling and optimization. Herein, process selection is coupled with (a) the capabilities of the digital twins, (b) the criteria introduced by Industry 5.0 (I5.0) in terms of sustainability and human inclusion, and (c) the opportunities offered by key enabling technologies. A framework is presented capable to implement automated process selection and potentially scheduling through a specific set of integrated technologies, utilizing the concept of the microfactory as a basis in terms of implementation. A case study for the evaluation of two parts, using Additive Manufacturing and laser welding, in different scenarios is presented. It was concluded that the inclusion of the I5.0 criteria not only increases the well-being of the workers but also the energy and time efficiency of the production line, increasing the profit margin.

关键词： Process planning Industry 4.0 Industry 5.0, Manufacturing processes modelling digital twins

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Dynamic Hard Shoulder Running Lane control

Dynamic Hard Shoulder Running Lane Control

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Rodrigo Castelan Carlson Eduardo Rosa de Lima Eduardo Rauh Müller Felipe Augusto de Souza Konstantinos Ampountolas Department of Automation and Systems Federal University of Santa Catarina Florianópolis Brazil Energy Systems Argonne National Laboratory Lemont IL USA Department of Mechanical Engineering Automatic Control & Autonomous Systems Laboratory University of Thessaly Volos Greece

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This work presents a novel and practical real-time switching control policy for the dynamic hard shoulder running lane control on motorways. Using the hard shoulder as a running lane in peak traffic periods increases the motorway capacity at bottlenecks, increasing throughput and avoiding the onset of congestion. The proposed policy enables a smooth switching on of the hard shoulder lane at peak periods. It is based on properties of the fundamental diagram of motorway traffic with easy and unambiguous interpretation and implementation by traffic operators. Simulation analysis on a 5 km-long motorway stretch with three lanes and one hard shoulder lane using the AIMSUN microscopic simulator is demonstrated. The results have showed that the proposed switching control improves the motorway throughput compared to rival control schemes.

关键词： State feedback Sensitivity System performance Roads Switches control systems Throughput Real-time systems Safety Vehicle dynamics

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Deep Reinforcement Learning or Lyapunov Analysis?A Preliminary Comparative Study on Event-Triggered Optimal control

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1702-1704页

作者： Jingwei Lu Lefei Li Qinglai Wei Fei-Yue Wang IEEE the Department of Industrial Engineering Tsinghua UniversityBeijing 100084China The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Dear Editor,This letter develops a novel method to implement event-triggered optimal control(ETOC) for discrete-time nonlinear systems using parallel control and deep reinforcement learning(DRL), referred to as Deep-ETOC. The developed Deep-ETOC method introduces the communication cost into the performance index through parallel control, so that the developed method enables control systems to learn ETOC policies directly without triggering conditions.

关键词： Deep letter enable

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