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Parameter Uncertainty Analysis in Precise Pointing control of Flexible Spacecraft

IFAC-PapersOnLine 2022年第20期55卷 241-246页

作者： János Bezsilla Béla Takarics Bálint Vanek Jian Guo Systems and Control Laboratory ELKH Institute for Computer Science and Control Budapest Hungary Faculty of Aerospace Engineering Delft University of Technology Delft The Netherlands

This article focuses on the validation of a classical PID controller scheme for flexible spacecraft with regards to the effect of parameter uncertainty on system stability and pointing precision. A high-fidelity simulation environment with external disturbances was built in Simulink using a control-oriented model of an Earth-observing satellite with a flexible appendage and on-board microvibration sources in orbit around the planet. Then, a PID control loop was designed with sensor dynamics, time delay behaviour, and a smooth trajectory generator. After declaring the natural frequencies, damping ratio, and rotation angle of the appendage, as well as the propellant tank mass to be uncertain, two worst-case scenarios were identified. Comparing the response of worst-case systems with nominal settings, only a minor drop has been found in the phase margins, with little to no difference in the pointing errors (smaller than ±2 arcsec for both roll and pitch).

关键词： flexible spacecraft nonlinear dynamics attitude tracking precise pointing control PID control parameter uncertainty

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Reinforcement learning-enhanced dynamic multi-objective evolutionary algorithm for cooperative shovel scheduling in open-pit mining

Reinforcement learning-enhanced dynamic multi-objective evol...

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2024 China Automation Congress, CAC 2024

作者： Zhang, Zihao Li, Changhe Yang, Shengxiang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Artificial Intelligence Anhui University of Science & Technology Hefei232001 China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9798350368604

Aiming at the ore blending problem in the open-pit mining scenario, the optimization objective is to minimize the grade variance of the sliding window of the ore flow, and a cooperative shovel scheduling model for real-time ore blending is established. A reinforcement learning-enhanced dynamic multi- objective evolutionary algorithm is proposed, where a Q-learning operator selection mechanism is introduced to reuse the information from the previous environment for tracking the optimal solution in the dynamic environment. Experimental results show that the proposed method can effectively control the grade fluctuation of the ore flow and dynamically respond to external events, and can find a better solution in real time compared with the traditional operator selection algorithm. © 2024 IEEE.

关键词： Open pit mining

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Resilient Angle Stabilization in Converter-Interfaced Microgrids

Resilient Angle Stabilization in Converter-Interfaced Microg...

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European control Conference (ECC)

作者： Mahmood Jamali Mahdieh S. Sadabadi Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom School of Electronic Engineering and Computer Science Queen Mary University of London London United Kingdom

This paper focuses on the problem of resilient phase angle stabilization and frequency synchronization in converter-based microgrids, utilizing phasor measurement units (PMUs), in the presence of false data injection (FDI) cyberattacks. The uniformly bounded cyber-attack signals are inserted to desynchronize converters and violate frequency constraints by manipulating control input channels. To tackle this issue, a resilient and robust cooperative angular control scheme is proposed by modifying the conventional angular control method and incorporating some auxiliary states interconnecting with physical states. By presenting the converter dynamics along with the proposed controller as a port-Hamiltonian (pH) system, the design considerations of the interconnection matrices are outlined. Theoretical analysis using input-output passivity and $H_{\infty}$ norm performance index are carried out to guarantee asymptotic stability and resilient frequency synchronization against FDI attacks. The performance and effectiveness of the proposed control scheme are evaluated through numerical simulations

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An Approach to Formation control of UAVs Based on Applying Adapted Kohonen Neural Network

An Approach to Formation Control of UAVs Based on Applying A...

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Ural Symposium on Biomedical Engineering, Radioelectronics and Information Technology (USBEREIT)

作者： Mikhail Khachumov Intelligent Control Laboratory Ailamazyan Program Systems Institute of RAS Pereslavl-Zalessky Russia Federal Research Center” Computer Science and Control” of RAS Moscow Russia

The paper gives a statement and considers the solution of an urgent scientific problem of formation control for a group of unmanned aerial vehicles (UAVs) operating in an unstable environment. To construct the reference trajectories and allocate UAVs to positions of a given structure, an original approach is proposed based on the adapted Kohonen neural network with a set of metrics, including Euclidean, Mahalanobis and Euclidean-Mahalanobis distances. To implement the movement of a UAV group in a complex environment, we apply the principles of intelligent-geometric control, which allows to combine flexible intelligent and precise geometric control methods within one concept. When moving along a given route, UAVs use a set of allowable control strategies. The developed modeling scheme is designed to take into account wind loads and possibly dangerous rapprochement of vehicles. To reflect the dynamics of UAVs, a special module is used that contains transfer functions integrated into a single stabilization system with an autopilot. The proposed approach has shown promise when simulating a series of formation control problems.

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Making children read more and better by integrating natural language processing and gamification techniques into mobile applications

Making children read more and better by integrating natural ...

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International Conference on control systems and computer science (CSCS)

作者： George Cătălin Voicu Sorin N. Ciolofan Monica Drăgoicea Manager eMAG Bucharest Romania Department of Computer Science Politehnica University of Bucharest Bucharest Romania Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania

It is well known that nowadays children tend to spend lot of time playing games on mobile devices at the expense of reading books. The current research aims to explore ways to design and develop a mobile application, attractive for children, that uses voice recognition technology and gamification techniques to help children read more and better and to track the progress of reading. The application is implemented with Flutter, Dart and Firebase and is addressed to children, the books being made available in encyclopedia format. By integrating technologies such as NLP and gamification the application aims to improve reading fluency among children, but also to give them the opportunity to accumulate new and exciting information in the same time.

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Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

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Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

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All-optical logic gates based on hierarchical photonic crystal modulated photoluminescence of perovskite nanocrystals

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science China(Technological sciences) 2023年第9期66卷 2735-2742页

作者： WANG Yun ZHA YanFang YANG YunYi LIU CiHui DI YunSong CAO GuiYuan WEI ShiBiao CHEN ZhiHui GAN ZhiXing Center for Future Optoelectronic Functional Materials School of Computer and Electronic InformationSchool of Artificial IntelligenceNanjing Normal UniversityNanjing 210023China Centre for Translational Atomaterials School of ScienceSwinburne University of TechnologyHawthorn VIC 3122Australia Nanophotonics Research Center Shenzhen Key Laboratory of Micro-Scale Optical Information TechnologyShenzhen UniversityShenzhen 518060China Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education and Shanxi ProvinceCollege of Electronic Information and Optical EngineeringTaiyuan University of TechnologyTaiyuan 030024China

Halide perovskites exhibit high performance in all sorts of optoelectronic and photonic areas, suggesting their huge potential in integrated photonic devices. However, until now, all optical logic gates based on perovskites are still rarely explored, hindering the development of all-optical networks and computing. Herein, a new concept of all-optical logic gates is proposed based on the modulation of photoluminescence(PL) from perovskite nanocrystals(PNCs). A hierarchical photonic crystal(Hie PhC) is developed by self-assembling polystyrene(PS) and SiO2nanoparticles, which exhibit a higher PL enhancement than that of a monolayer PhC. Moreover, the light-controlled PL is realized by taking advantage of the high thermal response of the PL from PNCs/Hie PhC on polyethylene(PE) substrate, assisted by a graphene layer for light-heat conversion. Consequently, optical diode and triode are achieved based on the modulated PL, which exhibit contrast ratios(CR) of 24.7 and 74.0 dB, ***-optical logic gates, including “AND”, “OR” and “NOT”, are realized based on the optical diode and triode.

关键词： perovskite nanocrystals photonic crystals all-optical logic gates modulation of photoluminescence

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A Test Suite and An Optimizer for Dietary Nutrition Optimization Problem: From Constrained Many-Objective Perspective

A Test Suite and An Optimizer for Dietary Nutrition Optimiza...

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2023 IEEE Congress on Evolutionary Computation, CEC 2023

作者： Ti, Yaqi Li, Changhe Yang, Shengxiang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9798350314588

With increasing people who suffer from diet-related diseases, providing suggestions for personal daily nutrient-dense intake is highly expected. However, current dietary nutrition models are less precise, and dietary nutrition optimizers usually fail to give satisfactory solutions. Therefore, we construct a constrained many-objective nutrition model with more precise nutrient assessments and a scalable constrained many-objective benchmark set. This test suite has great flexibility in evaluating algorithms' performance on high dimensional search and objective spaces with some feasible region fragments. We also propose a kd-tree based dynamic constrained many-objective evolutionary algorithm to search for customized food combinations according to personal daily consumption and intake preference. Experiments show that our algorithm has better diversity maintenance ability in high dimension space. © 2023 IEEE.

关键词： Nutrition

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Continual Learning of a Time Series Model Using a Mixture of HMMs with Application to the IoT Fuel Sensor Verification 18

Continual Learning of a Time Series Model Using a Mixture of...

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18th Conference on computer science and Intelligence systems, FedCSIS 2023

作者： Glomb, Przemyslaw Cholewa, Michal Foszner, Pawel Bularz, Jakub Institute of Theoretical and Applied Informatics Polish Academy of Sciences Batycka 5 Gliwice44-100 Poland Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A Gliwice44-100 Poland Aiut Sp. Z O.o. ul. Wyczókowskiego 113 Gliwice44-109 Poland

ISBN: (纸本)9788396744784

This paper presents an application of a mixture of Hidden Markov Models (HMMs) as a tool for verification of IoT fuel sensors. The IoT fuel sensors report the level of fuel in tanks of a petrol station, and are a key component for monitoring system reliability (billing), safety (fuel/oil leak detection) and security (theft prevention). We propose an algorithm for learning a mixture of HMMs based on a continual learning principle, i.e. it adapts the model while monitoring a sensor over time, signalling unexpected or anomalous sensor reports. We have tested the proposed approach on a real-life data of 15 fuel tanks being monitored with the FuelPrime system, where it has shown a very good performance (average area under ROC curve of 0.94) of detecting anomalies in the sensor data. Additionally we show that the proposed method can be used for trend monitoring and present qualitative analysis of the short and long term learning performance. The proposed method has promising performance score, the resulting model has a high degree of explainability, limited memory and computation requirements and can be easily generalized to other domains of sensor verification. © 2023 Polish Information Processing Society.

关键词： Hidden Markov models

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Multi-Resolution Planar Region Extraction for Uneven Terrains

Multi-Resolution Planar Region Extraction for Uneven Terrain...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yinghan Sun Linfang Zheng Hua Chen Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China School of Computer Science University of Birmingham UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing approaches have shown promising results in effectively extracting planar regions from the environment, they often suffer from issues such as low computational efficiency or loss of resolution. To address these issues, we propose a multi-resolution planar region extraction strategy in this paper that balances the accuracy in boundaries and computational efficiency. Our method begins with a pointwise classification preprocessing module, which categorizes all sampled points according to their local geometric properties to facilitate multi-resolution segmentation. Subsequently, we arrange the categorized points using an octree, followed by an in-depth analysis of nodes to finish multi-resolution plane segmentation. The efficiency and robustness of the proposed approach are verified via synthetic and real-world experiments, demonstrating our method’s ability to generalize effectively across various uneven terrains while maintaining real-time performance, achieving frame rates exceeding 35 FPS.

关键词： Point cloud compression Deep learning Accuracy Octrees Noise Robustness Real-time systems

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