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Flatness and normal forms of mechanical systems with 3 DOF and 2 inputs

IFAC-PapersOnLine 2024年第6期58卷 250-255页

作者： Florentina Nicolau Marcin Nowicki Witold Respondek Quartz EA7393 Laboratory ENSEA France Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland Institute of Automatic Control Lodz University of Technology Lódź Poland. Emeritus Professor at Normandie Université INSA de Rouen France

This paper introduces a new notion of Differential flatness for mechanical control systems, that we call mechanical flatness, and we study its relations with the mechanical structure of systems and with several variations of the notion of flatness. For the simplest nontrivial case of 3 DOF and 2-inputs, we give a complete Classification result in terms of normal forms, examining the interplay between mechanical flatness, config-flatness, and static mechanical feedback linearization.

关键词： mechanical systems flatness Differential difference normal forms

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How to Teach Fractional Calculus Inspired Electronics Remotely? 9

How to Teach Fractional Calculus Inspired Electronics Remote...

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9th IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2022

作者： Bauer, Waldemar Kucharska, Edyta Baranowski, Jerzy Kapoulea, Stavroula Bertsias, Panagiotis Psychalinos, Costas AGH University of Science and Technology Department of Automatic Control Robotics Krakow Poland University of Patras Electronics Laboratory Rio Patras Physics Department GR26504 Greece

ISBN: (数字)9781665489904

ISBN: (纸本)9781665489904

In this paper we consider the problem of teaching fractional calculus concepts, applied to practice, remotely. This advanced concepts require both appropriate tools and proper project planning. In this paper we discuss both. Especially we present a high level case study as an example of interlocking multiple parts of advanced project. © 2022 IEEE.

关键词： E-learning

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Modelling and control of a Parametric Wafer Manufacturing Process 15

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. Mparkas, Dimitrios Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science National and Kapodistrian University of Athens Euripus Campus 34400 Greece Core Department National and Kapodistrian University of Athens Euripus Campus 34400 Greece

ISBN: (纸本)9798350314182

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event Systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers. ©2023 IEEE.

关键词： Discrete Event Systems Supervisory control Wafer Manufacturing Units

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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

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Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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Supervisory control for Smart Manufacturing Using FIWARE

Supervisory Control for Smart Manufacturing Using FIWARE

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Nikolaos D. Kouvakas Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools.

关键词： Cloud computing Actuators Web services Computational modeling Supervisory control Data models Sensor systems Intelligent sensors Smart manufacturing Milling machines

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent Systems

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

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Mediterranean Conference on control and Automation (MED)

作者： Michael G. Skarpetis Fotis N. Koumboulis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator.

关键词： State feedback Uncertain systems Sufficient conditions Uncertainty Automation Hydraulic actuators control systems

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A FIWARE based Input-Output Supervisor control Implementation

A FIWARE based Input-Output Supervisor Control Implementatio...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Michael G. Skarpetis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed.

关键词： Actuators Supervisory control Belts Motors Data models Discrete-event systems Manufacturing automation

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Pedestrian detection with high-resolution event camera

TechRxiv

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TechRxiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by traditional cameras is often prone to problems such as motion blur or degraded image quality due to challenging lighting conditions. In addition, the frame rate – typically 30 or 60 frames per second – can be a limiting factor in certain scenarios. Event cameras (DVS – Dynamic Vision Sensor) are a potentially interesting technology to address the above mentioned problems. In this paper, we compare two methods of processing event data by means of deep learning for the task of pedestrian detection. We used a representation in the form of video frames, convolutional neural networks and asynchronous sparse convolutional neural networks. The results obtained illustrate the potential of event cameras and allow the evaluation of the accuracy and efficiency of the methods used for high-resolution (1280 x 720 pixels) footage. © 2023, CC BY.

关键词： Cameras

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Pedestrian detection with high-resolution event camera

arXiv

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arXiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

关键词： Cameras

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