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The Arbitrated Networked control systems Approach to Designing Cyber-Physical systems *

IFAC Proceedings Volumes 2012年第26期45卷 174-179页

作者： Anuradha Annaswamy Samarjit Chakraborty Damoon Soudbakhsh Dip Goswami Harald Voit Active-adaptive Control Laboratory MIT Cambridge MA USA Institute for Real-time Systems TU Munich Germany

The domain of networked control systems (NCS) has traditionally been concerned with modeling and designing distributed controllers in the presence of control message loss, varying delay and jitter. Here, the characteristics of the network are assumed to be given and the focus has largely been on the controller. While this is meaningful in the context of control over wireless networks, where the network is assumed to be predesigned, in many other domains there is considerable flexibility in designing the network itself. For example, in an automotive architecture, distributed controllers are implemented on multiple electronic control units (ECUs) that communicate over CAN or FlexRay buses. The network design problem in this case consists of mapping control tasks to ECUs, and determining both the scheduling parameters for the ECUs as well as those for the communication buses. Given a choice of these parameters, the controller design problem is similar to that studied in NCS, i.e., that of designing/analyzing the controller. However, the joint design and optimization of the network and the controller gives rise to new research questions, that have neither been studied within the NCS, nor within the embedded systems domain. We refer to such systems as arbitrated networked control systems (ANCS) to emphasize the fact that the arbitration policy in the network also needs to be determined, and discuss recent results that have been obtained in the literature in this context.

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Towards an architecture for reactive systems using an active real-time database and standardized components

Towards an architecture for reactive systems using an active...

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International Symposium on Database Engineering and Applications (IDEAS)

作者： A. Munnich M. Birkhold G. Farber P. Woitschach Laboratory for Process Control and Real-Time Systems Technische Universität München Munchen Germany Rohde & Schwarz GmbH and Company KG Munchen Germany

Component-based concepts are being increasingly used in software design since they allow high-quality software to be generated within a short time and hence at low costs. By contrast, component technologies haven't yet provided the means of composing software from components without additional programming. The reason for this lies in the combined transfer of control and data flow and the fact that there is no standardized control flow. An architecture model is presented that separates the transfer of the two information flows. The data flow is transferred via an active real-time database (ARTDB) and the control flow reduced to a few, indispensable commands. In this way it is possible to design applications simply by combining and configuring components without any additional code development. Initial positive experience with this architecture was gained from its industrial application. It was possible to demonstrate the suitability for systems with soft deadlines.

关键词： real time systems Databases Application software Read only memory Laboratories process control Costs Logic programming Software packages Problem-solving

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A Novel Adaptive Gradient Descent Based Parameter Estimation Algorithm for the Single Particle Model of a Lithium-Ion Battery

A Novel Adaptive Gradient Descent Based Parameter Estimation...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Toshan Wickramanayake Kamyar Mehran Real-Time Power and Control Systems Laboratory Queen Mary University of London London United Kingdom

ISBN: (数字)9798350387599

ISBN: (纸本)9798350387605

Lithium-ion batteries (LiBs) have seen wide adoption for several applications, and in turn, the implementation of accurate battery models in battery management systems (BMSs) has seen growing research interest. The Single Particle Model (SPM) is a high-fidelity battery model, that while robust and accurate, is challenging to parameterise for BMS platforms. Hence, in this work, we propose a novel application of the adaptive gradient descent (Adagrad) optimisation algorithm for parameter estimation (PE) of the Single Particle Model. The proposed algorithm is the first implementation of Adagrad optimisation for a physics model of a LiB and requires only a single voltage discharge curve as experimental data. Using a novel multi-objective optimisation criterion, the PE algorithm generates parameter sets of reasonable accuracy with fast estimation speeds, enabling online parameter estimation on BMS platforms.

关键词： Lithium-ion batteries Adaptation models Parameter estimation Accuracy Sensitivity Estimation Voltage

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What can be learned from human reach-to-grasp movements for the design of robotic hand-eye systems?

What can be learned from human reach-to-grasp movements for ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Hauck M. Sorg G. Farber T. Schenk Laboratory Process Control & Real-Time Systems Technische Universität München Munich Germany Department of Neurology Ludwig-Maximilians-Universitaet Muenchen Munich Germany

In the field of robot motion control, visual servoing has been proposed as the suitable strategy to cope with imprecise models and calibration errors. Remaining problems such as the necessity of a high rate of visual feedback are deemed to be solvable by the development of real-time vision modules. However, human grasping, which still outshines its robotic counterparts especially with respect to robustness and flexibility, definitely requires only sparse, asynchronous visual feedback. We therefore examined current neuroscientific models for the control of human reach-to-grasp movements with the emphasis lying on the visual control strategy used. From this, we developed a control model that unifies the two robotic strategies look-then-move and visual servoing, thereby compensating the problems that each strategy shows when used alone.

关键词： Humans Robot control Visual servoing Calibration Robot motion Motion control Error correction Robustness Manipulators Robot sensing systems

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Towards interprocess communication and interface synthesis for a heterogeneous real-time rapid prototyping environment 98

Towards interprocess communication and interface synthesis f...

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Proceedings of the 6th international workshop on Hardware/software codesign

作者： Franz Fischer Annette Muth Georg Fäber Laboratory for Process Control and Real-Time Systems Prof. Dr.-Ing. Georg Färber Technische Universität München Germany

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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real-time self-localization in unknown indoor environment using a panorama laser range finder

Real-time self-localization in unknown indoor environment us...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： T. Einsele Laboratory for Process Control and Red-Time Systems Dr.-Ing. Georg Farber Technische Universitat Munchen Germany

This paper deals with self-localization of a mobile robot on the condition that no a-priori knowledge about the environment is available. The applied method features accurate, robust, independent of any artificial landmarks and feasible with such a moderate computational effort that all necessary tasks can be executed in real-time on a standard PC. The perception system used is a panorama laser range finder which takes scans of its present environment. A modified dynamic programming algorithm provides pattern matching and pattern recognition on the preprocessed panorama scans and thereby renders a qualitative fusion of the sensory data. For an exactly quantitative estimate of the robot's current position, a robust localization module is employed. The knowledge gained on the environment is stored in a self-growing, graph based map which combines geometrical information and topological restrictions. Preliminary experiments in an ordinary office environment proved the reliability and efficiency of the system.

关键词： Indoor environments Robustness Mobile robots real time systems Laser fusion Laser modes Dynamic programming Heuristic algorithms Pattern matching Pattern recognition

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Cause Identification of Single-line-to-ground Fault in Distribution System

Cause Identification of Single-line-to-ground Fault in Distr...

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2021 International Conference on Power System Technology, POWERCON 2021

作者： Liu, Kun Ren, Xuan Wang, Bin Power Dispatch Control Center of Guangdong Power Grid Co. Ltd Key Lab for Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Co. Ltd. Guangzhou China Tsinghua University Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electric Engineering Beijing China

ISBN: (纸本)9781665407373

Cause identification of single-line-to-ground fault in the distribution system is of great significance to the electric workers for fault isolation and rapid maintenance. The key of fault cause identification is to accurately and quickly distinguish human electric shock faults from non-biological faults. In this paper, human electric shock faults and non-biological faults are modeled and fault characteristics are analyzed. Based on the differences between shape and rotation characteristic of the volt-ampere characteristic curves, a fault cause identification method which can distinguish human electric shock faults from non-biological faults is proposed. Simulations show the effectiveness of the method. © 2021 IEEE.

关键词： Electric grounding

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A neural network based Wide Area Monitor for a power system

A neural network based Wide Area Monitor for a power system

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2005 IEEE Power Engineering Society General Meeting

作者： Li, Xiaomeng Venayagamoorthy, Ganesh K. IEEE Real-Time Power and Intelligent Systems Laboratory University of Missouri Rolla MO 65409 United States Department of Electrical and Computer Engineering University of Missouri Rolla United States South African Institute of Electrical Engineers IEEE St. Louis Computational Intelligence Department of Task Force on Intelligent Control Systems Secretary of the Intelligent Systems Subcommittee IEEE Power Engineering Society

ISBN: (纸本)078039156X

With the deregulation of power industry, many tie lines between control areas are driven to operate near their maximum capacity, especially those serving heavy load centers. Wide area controllers (WACs) using wide-area or global signals can provide remote auxiliary control signals to local controllers such as automatic voltage regulators, power system stabilizers, etc to damp out inter-area oscillations. The power system is highly nonlinear system with fast changing dynamics. In order to have an efficient WAC, an online system monitor/predictor is required to provide inter-area information to the WAC from time to time. This paper presents the design of an online Wide Area Monitor (WAM) using a neural network called the Wide Area Neuroidentifier (WANI). The WANI is used to predict ahead the speed deviations of generators in the different areas using phasor measurement unit (PMU). Results are presented to show the effectiveness of the wide area monitor for different disturbances. © 2005 IEEE.

关键词： Wide area networks

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Automatic generation of realistic training data for learning parallel-jaw grasping from synthetic stereo images

Automatic generation of realistic training data for learning...

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International Conference on Advanced Robotics (ICAR)

作者： Justus Drögemüller Carlos X. Garcia Elena Gambaro Michael Suppa Jochen Steil Máximo A. Roa Technical University of Braunschweig Institute of Robotics and Process Control Technical University of Munich (TUM) Chair of Robotics Artificial Intelligence and Real-time Systems Roboception GmbH German Aerospace Center (DLR)

ISBN: (纸本)9781665436854

This paper proposes a novel approach to automatically generate labeled training data for predicting parallel-jaw grasps from stereo-matched depth images. We generate realistic depth images using Semi-Global Matching to compute disparity maps from synthetic data, which allows producing images that mimic the typical artifacts from real stereo matching in our data, thus reducing the gap from simulation to real execution. Our pipeline automatically generates grasp annotations for single or multiple objects on the synthetically rendered scenes, avoiding any manual image pre-processing steps such as inpainting or denoising. The labeled data is then used to train a CNN-model that predicts parallel-jaw grasps, even in scenarios with large amount of unknown depth values. We further show that scene properties such as the presence of obstacles (a bin, for instance) can be added to our pipeline, and the training process results in grasp prediction success rates of up to 90%.

关键词： Training Annotations Computational modeling Pipelines Noise reduction Training data Manuals

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