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Mediterranean Conference on control and Automation (MED)

作者： Fotis N. Koumboulis Dimitrios G. Fragkoulis 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)9798350395440

ISBN: (纸本)9798350395457

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application.

关键词： Actuators Automation control design Energy exchange Robot sensing systems Main-secondary Manufacturing

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Fault Diagnosis based on Behavior and State-Awareness Digital Twin of Key Equipment in Power Supply System

Fault Diagnosis based on Behavior and State-Awareness Digita...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Liu, Haifei Zhao, Qin Hao, Jie Tao, Laifa Lu, Chen Beihang University Institute of Reliability Engineering Beijing China Science & Technology on Reliability & Environmental Engineering Laboratory Beijing China Beihang University School of Reliability and Systems Engineering Beijing China AVIC xi'An Flight Automatic Control Research Institute Xi'an China

ISBN: (纸本)9798350337754

With the rapid development of multi-electric and all-electric aircraft, the role of power supply systems in aircraft is becoming increasingly prominent. Traditional fault diagnosis methods have problems such as a single means of sensory modelling and unbalanced fault data. The rapid development of digital twin technology provides an opportunity to overcome these difficulties. However, how to achieve adaptive updating and how to improve the data-and-model-fusion capabilities are also urgent challenges to be solved. To address the lack of existing research, this paper combines time-frequency domain analysis, physical information neural network based on differential-algebraic equation (DAE-PINN) and transient stability analysis of the power supply system based on a digital twin model with dimensions including fault-behavior-twin and (FBT) fault-state-awareness-twin (FSAT). Ultimately, this paper achieves effective digital twin modelling, fault eigenfeature extraction and high accuracy fault diagnosis, reaching fault data balance and complete state characterization and adaptive update of the diagnostic model. © 2023 IEEE.

关键词： Failure analysis

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Vision-based automatic fruit counting with UAV

arXiv

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arXiv 2025年

作者： Szolc, Hubert Wasala, Mateusz Mietla, Remigiusz Iwicki, Kacper Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow al. Mickiewicza 30 Krakow30–059 Poland

The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present a system for automatic fruit counting using UAVs. To detect them, our solution uses a vision algorithm that processes streams from an RGB camera and a depth sensor using classical image operations. Our system also allows the planning and execution of flight trajectories, taking into account the minimisation of flight time and distance covered. We tested the proposed solution in simulation and obtained an average score of 87.27/100 points from a total of 500 missions. We also submitted it to the UAV Competition organised as part of the ICUAS 2024 conference, where we achieved an average score of 84.83/100 points, placing 6th in a field of 23 teams and advancing to the finals. © 2025, CC BY.

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Sustainable Mining in the Era of Artificial Intelligence

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IEEE/CAA Journal of automatica Sinica 2024年第1期11卷 1-4页

作者： Long Chen Yuting Xie Yutong Wang Shirong Ge Fei-Yue Wang IEEE the State Key Laboratory for Management and Control of Complex Systems at the Institute of Automation Chinese Academy of SciencesBeijing 100190China the National Laboratory of Pattern Recognition at the Institute of Automation and Waytous Ltd.China the School of Computer Science and Engineering Sun Yat-Sen UniversityGuangzhou 510275GuangdongChina the School of Mechanical Electronic and Information Engineering China University of Mining and Technology BeijingBejing 100083China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190China

The mining sector historically drove the global economy but at the expense of severe environmental and health repercussions,posing sustainability challenges[1]-[3].Recent advancements on artificial intelligence(AI)are revolutionizing mining through robotic and data-driven innovations[4]-[7].While AI offers mining industry advantages,it is crucial to acknowledge the potential risks associated with its widespread ***-reliance on AI may lead to a loss of human control over mining operations in the future,resulting in unpredictable consequences.

关键词： Sustainable mining consequences

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Optimal Synthesis of LTI Koopman Models for Nonlinear systems with Inputs

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IFAC-PapersOnLine 2022年第35期55卷 49-54页

作者： Lucian C. Iacob Roland Tóth Maarten Schoukens Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

A popular technique used to obtain linear representations of nonlinear systems is the so-called Koopman approach, where the nonlinear dynamics are lifted to a (possibly infinite dimensional) linear space through nonlinear functions called observables. In the lifted space, the dynamics are linear and represented by a so-called Koopman operator. While the Koopman theory was originally introduced for autonomous systems, it has been widely used to derive linear time-invariant (LTI) models for nonlinear systems with inputs through various approximation schemes such as the extended dynamics mode decomposition (EDMD). However, recent extensions of the Koopman theory show that the lifting process for such systems results in a linear parameter-varying (LPV) model instead of an LTI form. As LTI Koopman model based control has been successfully used in practice and it is generally temping to use such LTI descriptions of nonlinear systems, due to the simplicity of the associated control tool chain, a systematic approach is needed to synthesise optimal LTI approximations of LPV Koopman models compared to the ad-hoc schemes such as EDMD, which is based on least-squares regression. In this work, we introduce optimal LTI Koopman approximations of exact Koopman models of nonlinear systems with inputs by using ℓ 2 -gain and generalized H 2 norm performance measures. We demonstrate the advantages of the proposed Koopman modelling procedure compared to EDMD.

关键词： Nonlinear systems Koopman operator Linear Parameter-Varying systems

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Decoupling parameter variation from noise: Biquadratic Lyapunov forms in data-driven LPV control

arXiv

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arXiv 2024年

作者： Verhoek, Chris Eising, Jaap Dörfler, Florian Tóth, Roland Control Systems Group Eindhoven University of Technology Netherlands Institut für Automatik ETH Zürich Switzerland Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

A promising step from linear towards nonlinear data-driven control is via the design of controllers for linear parameter-varying (LPV) systems, which are linear systems whose parameters are varying along a measurable scheduling signal. However, the interplay between uncertainty arising from corrupted data and the parameter-varying nature of these systems impacts the stability analysis and limits the generalization of well-understood data-driven methods available for linear time-invariant systems. In this work, we decouple this interplay using a recently developed variant of the Fundamental Lemma for LPV systems and the concept of data-informativity, in combination with biquadratic Lyapunov forms. Together, these allow us to develop novel linear matrix inequality conditions for the existence of scheduling-dependent Lyapunov functions, incorporating the intrinsic nonlinearity. Appealingly, these results are stated purely in terms of the collected data and bounds on the noise, and they are computationally favorable to check. © 2024, CC BY-NC-SA.

关键词： Lyapunov functions

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A Globally Convergent Method for Computing B-stationary Points of Mathematical Programs with Equilibrium Constraints

arXiv

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arXiv 2025年

作者： Nurkanovic, Armin Leyffer, Sven Systems Control and Optimization Laboratory Department of Microsystems Engineering University of Freiburg Germany Mathematics and Computer Science Division Argonne National Laboratory United States

This paper introduces a method that globally converges to Bstationary points of mathematical programs with equilibrium constraints (MPECs) in a finite number of iterations. B-stationarity is necessary for optimality and means that no feasible first-order direction improves the objective. Given a feasible point of an MPEC, B-stationarity can be certified by solving a linear program with equilibrium constraints (LPEC) constructed at this point. The proposed method solves a sequence of LPECs, which either certify B-stationarity or provide an active-set estimate for the complementarity constraints, and nonlinear programs (NLPs) - referred to as branch NLPs (BNLPs) - obtained by fixing the active set in the MPEC. A BNLP is more regular than the MPEC, easier to solve, and with the correct active set, its solution coincides with the solution of the MPEC. The method has two phases: the first phase identifies a feasible BNLP or certifies local infeasibility, and the second phase solves a finite sequence of BNLPs until a B-stationary point of the MPECis found. The paper provides a detailed convergence analysis and discusses implementation details. In addition, extensive numerical experiments and an open-source software implementation are provided. The experiments demonstrate that the proposed method is more robust and faster than relaxation-based methods, while also providing a certificate of B-stationarity without requiring the usual too-restrictive *** Codes 90C30, 90C33, 49M37, 65K10, 90C11 © 2025, CC BY.

关键词： Nonlinear programming

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Decoupling parameter variation from noise: Biquadratic Lyapunov forms in data-driven LPV control

Decoupling parameter variation from noise: Biquadratic Lyapu...

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IEEE Conference on Decision and control

作者： Chris Verhoek Jaap Eising Florian Dörfler Roland Tóth Control Systems Group Eindhoven University of Technology The Netherlands Institut für Automatik ETH Zürich Switzerland Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

关键词： Linear systems Uncertainty Noise Stability analysis Robustness Trajectory Linear matrix inequalities Noise measurement Output feedback Lyapunov methods

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Active Sensing for Target Tracking: A Bayesian Optimisation Approach

Active Sensing for Target Tracking: A Bayesian Optimisation ...

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International Conference on Information Fusion

作者： Xingchi Liu Lyudmila Mihaylova Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Scientific Computing Department Rutherford Appleton Laboratory Science and Technology Facilities Council UK

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

Active sensing plays an essential role in searching and tracking a target without initial target state information. This paper studies the active sensing approach for sensor management problems using multiple unmanned aerial vehicles based on the received signal strength measurements of the target. A Bayesian optimisation-based approach is proposed which adopts the Gaussian process method to model the received signal strength in an area over time and then the expected improvement acquisition function is leveraged to decide where to take new measurements considering the uncertainty of the Gaussian process. A unique contribution of this paper consists of the designed spatial-temporal composite kernel function that accounts for the time-varying nature of the signal strength. Numerical results obtained from different measurement noise levels and varying initial Bayesian optimisation settings demonstrate that the proposed approach can efficiently schedule multiple unmanned aerial vehicles to locate the target within a minimum number of initial data. Particularly, it achieves at most $57 \%$ lower tracking error and $46 \%$ lower lost-track probability as compared to the benchmark approach.

关键词： Target tracking Atmospheric measurements Gaussian processes Particle measurements Autonomous aerial vehicles Sensors Bayes methods Kernel Vehicle dynamics Optimization

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Application of Petri Nets for Modeling Ore Flows to Create Dynamic Management and Quality control System in Mineral Resource Complexes

Application of Petri Nets for Modeling Ore Flows to Create D...

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2024 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2024

作者： Larichev, Pavel Tynchenko, Vadim Nekrasov, Ivan Institute Of Computer Science And Telecommunications Reshetnev Siberian State University Of Science And Technology Information-Control Systems Department Krasnoyarsk Russia Bauman Moscow State Technical University Artificial Intelligence Technology Scientific And Education Center Moscow Russia Federal Univercity Laboratory Of Biofuel Composition Siberian Krasnoyarsk Russia

ISBN: (纸本)9798350395013

The article discusses the issue of creating a dynamic system for managing and monitoring the quality of ore flow in mineral resource complexes using simulation modeling. The purpose of this study is to adapt the mathematical apparatus of Petri nets to such modeling. The article describes the choice and justification of the simulation modeling apparatus and provides a conceptual representation of the ore flow model in the form of an adaptation of a continuous Petri net. An architectural solution is proposed that covers a number of processes, such as geological exploration, mining, moving loads in the business processes of enterprises, but also to support the rock mass. The proposed architecture is being coordinated with information systems and software and hardware of mining enterprises, which makes it possible to identify data needs for the formation of technical specifications for the correction of business processes. The proposed control system will make it possible to implement simulation modeling both in model and real time for timely and adequate assessment of the progress of work being carried out and clarifying the reasons for the lag behind planned schedules using a Petri net. © 2024 IEEE.

关键词： Petri nets

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