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International Conference on Fractional Differentiation and Its Applications (ICFDA)

作者： Zhuo Li Tiebiao Zhao Yangquan Chen MESA (Mechatronics Embedded Systems and Automation) Lab University of California Merced CA USA

ISBN: (纸本)9781479925926

This paper introduces a low cost temperature control experimental platform for hardware-in-the-loop simulations. It is developed based on the thermal electronic elements to emulate a temperature control loop in a chemical process. The novel aspect lies in the discovery and discussion of some interesting characteristics of this hardware setup through experiments, which includes the fractional order inverse response behavior, the “open loop linear while closed loop nonlinear” behavior and so forth. These phenomena provide more physical evidences for revealing the value of fractional calculus.

关键词： Heating Mathematical model Heat pumps Heat transfer MATlab

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Fractional-order non-ideal isolation transformer modeling and parameter estimation for flyback power converters

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IFAC-PapersOnLine 2024年第12期58卷 203-208页

作者： Justus Nwoke Jairo Viola YangQuan Chen Mechatronics Embedded Systems and Automation (MESA) Lab Dept. of Mechanical Engineering University of California Merced CA 95343 USA

An accurate component modeling of power electronics converters is crucial to understanding their real performance. Thus, a fractional-order representation of energy storage components like inductors and capacitors could be helpful to refect the hidden dynamics of a power converter in voltage regulation tasks. This paper presents the fractional-order non-ideal modeling and behavioral matching of an isolation transformer used on a flyback converter. A multiphysics simulation model is built to replicate the flyback converter non-ideal dynamics. It is optimized to precisely refect the real converter response by testing various transformer configurations, including ideal, non-ideal, integer and fractional-order. The transformer parameters are adjusted using raw data from the physical power converter. Likewise, the fractional-order energy storage elements are represented using discrete circuit elements for its realization. The results obtained reveal that using a non-ideal fractional-order transformer on the flyback converter with a non-integer inductance provides the maximum ft for the power converter operation.

关键词： Flyback converter non-ideal transformer Fractional-order modeling power electronics

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Will Fractional Order Model Based MPC Save Control Energy?

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IFAC-PapersOnLine 2024年第12期58卷 490-495页

作者： Shiang Cao YangQuan Chen Mechatronics Embedded Systems and Automation Lab (MESA) Dept. of Mechanical Engineering University of California Merced CA 95343 USA

In real-world situations, many complex processes exhibit fractional order dynamic characteristics. In this context, the common integer order modeling methods may not appropriately capture the physics of these processes, leading to a less satisfactory controller design. This paper conducts a comparative analysis between the First order plus time delay (FOPTD) model and the Time Delay with Single Fractional Pole (TDWFP) model. These two modeling methods are employed to characterize a one-dimensional heat propagation process and two model predictive controllers are developed based on the models. The results demonstrate a better fitting performance in both time and frequency response with the TDWFP model. Furthermore, the TDWFP model-based Model Predictive Control exhibits reduced sensitivity to the prediction horizon and requires low control input energy. This indicates the potential of using fractional order model in MPC for improved control energy efficiency in practical applications.

关键词： Fractional Order Modeling Model Predictive Control Energy Efficiency

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Probabilistic Consensus of Multi-agent System under Joint Control of SMC and Minimum Entropy Compensation 2

Probabilistic Consensus of Multi-agent System under Joint Co...

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2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Zhang, Xuerou Wang, Jing Zhou, Jinglin Chen, Yangquan Han, Cunwu College of Information Science and Technology Beijing University of Chemical Technology Beijing China Key Laboratory of Beijing for Fieldbus Technology and Automation North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California Merced United States

ISBN: (纸本)9781728182162

Due to the stochastic of multi-agent systems, it is difficult to achieve strict consensus. In this paper, consensus in the sense of probability is achieved by reducing the output error entropy of multi-agent system. Sliding mode controller is the core to keep the system stability and probability density function(PDF) compensator is used to reduce the chattering effect of sliding mode and compensate the random part of the system. Radial basis function neural network combined with the minimum entropy criterion is used to model the PDF compensator, and the output error entropy of the system is minimized through the training of weights, so as to optimize the control effect. Finally, the simulation results verify the effectiveness of the method. © 2020 IEEE.

关键词： minimum entropy criterion multi-agent system PDF radial basis function neural network slide mode control

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FPGA-Based Digital Twin Implementation for Mechatronic System Monitoring

FPGA-Based Digital Twin Implementation for Mechatronic Syste...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Justus Nwoke Marco Milanesi Jairo Viola Yang Quan Chen Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced Merced CA USA

Digital Twin is a driving technology for Industry 4.0 that enables novel capabilities like smart process control, fault detection, or remaining useful life estimation. Since a Digital Twin is an up-to-date representation of an actual physical process, building this model requires exchanging many datasets from the physical assets. Usually, it is performed on external servers within a cloud-computig architecture that communicates physical assets with the digital twin model. However, the cloud exchange introduces transmission delays and security and data privacy issues that hamper digital asset updates and create safety concerns. Hence, we propose an FPGA-based digital twin implementation where the datasets are taken directly from the physical asset running parallel to the digital asset. This setup eliminates the need for big data and cloud upload, ensuring data privacy and faster, efficient digital twin implementation and update. A case study is implemented to demonstrate embedded Digital Twin capabilities for monitoring mechatronic systems under fault events.

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A metric for evaluating 3D reconstruction and mapping performance with no ground truthing

arXiv

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arXiv 2021年

作者： Zhang, Guoxiang Chen, YangQuan Mechatronics Embedded Systems and Automation Lab. University of California Merced Merced United States

It is not easy when evaluating 3D mapping performance because existing metrics require ground truth data that can only be collected with special instruments. In this paper, we propose a metric, dense map posterior (DMP), for this evaluation. It can work without any ground truth data. Instead, it calculates a comparable value, reflecting a map posterior probability, from dense point cloud observations. In our experiments, the proposed DMP is benchmarked against ground truth-based metrics. Results show that DMP can provide a similar evaluation capability. The proposed metric makes evaluating different methods more flexible and opens many new possibilities, such as self-supervised methods and more available datasets. Copyright © 2021, The Authors. All rights reserved.

关键词： Benchmarking

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Gradient-Free High-Order Accelerated Self Optimizing Control of Processes with Time Delay

Gradient-Free High-Order Accelerated Self Optimizing Control...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Justus Nwoke Jairo Viola YangQuan Chen Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced Merced CA USA

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

A self-optimizing controller (SOC) adds an upper optimization layer to closed-loop systems, enhancing self-awareness and improving performance during repetitive tasks. However, most SOC optimization algorithms use only the current and previous cost function evaluations to determine the next optimal parameters (first-order optimization methods). This paper introduces a high-order self-optimizing controller (HOSOC) that accelerates the optimization algorithm's convergence by utilizing the history of optimal parameters within a sliding window. A modified version of the Globalized Constrained Nelder Mead optimization method is implemented to account for the past centroids within a memory window to compute the upcoming solution. The algorithm is tested on a general delay-aware First-Order plus Dead Time (FOPDT) system with varying lag, balanced, and delay time dynamics. Results show that the high-order SOC controller speeds up convergence and meets the desired performance specifications effectively.

关键词： Heuristic algorithms Delay effects Optimization methods Process control Cost function Delays History Closed loop systems Artificial intelligence Convergence

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FPGA-Based Digital Twin Implementation for Power Converter System Monitoring

FPGA-Based Digital Twin Implementation for Power Converter S...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Justus Nwoke Marco Milanesi Jairo Viola YangQuan Chen Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced Merced CA USA

Implementing closed-loop control requires ensuring a robust system response against undesired disturbances and random fault events. To overcome these challenges, the controllers must be able to detect and adapt the process behavior against undesired events by adjusting its parameters accordingly. Developers have utilized the concept of a digital twin—a real-time representation of the physical process—to design and update the physical controller effectively. However, traditional digital twin implementations often involve significant data exchange between the digital system and the real asset through cloud platforms, leading to data latency and privacy issues. To mitigate these concerns, we propose an FPGA-based digital twin implementation where the information is directly sourced into the Digital Twin from the physical asset, which runs in parallel with the real system. This setup eliminates the need for big data transfers and cloud uploads, ensuring enhanced data privacy and facilitating a faster and more efficient digital twin implementation and update process. To demonstrate the capabilities of embedded Digital Twin, we present a case study involving monitoring a power converter system during a sensor fault scenario.

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Fractional order robust visual servoing control of a quadrotor UAV with larger sampling period

Fractional order robust visual servoing control of a quadrot...

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2016 International Conference on Unmanned Aircraft systems, ICUAS 2016

作者： Shang, Bo Liu, Jianxin Zhao, Tiebiao Chen, Yangquan Q. College of Information Science and Engineering Northeastern University Shenyang China School of Mechanical Engineering Xihua University Chengdu Sichuan China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States

ISBN: (纸本)9781467393331

Unmanned aerial vehicles (UAVs) are widely applied in both civil and military fields, such as rescue, surveillance, exploration, navigation, precision agriculture and etc., because of small size, low cost and easy maintenance. However the autonomous flight of UAVs under unstructured environment is still open, especially when GPS is unavailable or indoor task is scheduled. Furthermore, GPS-based navigation accuracy needs to be improved. To deal with these limitations, in this paper, we provide an engineering-oriented solution of precise hovering based on visual servoing and fractional order proportional-integral-derivative (PID) controller without GPS information. First, the mathematical speed model of a quadcopter is obtained by step response experiments. Then, fractional order PID controller algorithm is designed to improve its hovering accuracy and robustness. In our work, the position reference is extracted with an on-board color based target recognition algorithm instead of GPS. Both simulation and field experimental results demonstrate that the proposed scheme can achieve a better performance in terms of hovering accuracy and robustness to disturbances. In particular, for the first time, we show that, the sampling period can be bigger than usual when using fractional order control algorithm, relaxing costly hardware requirement for fast real-time vision-based feedback. © 2016 IEEE.

关键词： Controllers

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An Efficient Defect Detection System for Printed Circuit Boards with Edge-Cloud Fusion Computing 3

An Efficient Defect Detection System for Printed Circuit Boa...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Wu, Yi Wang, Jing Chen, Yang-Quan Beijing University of Chemical Technology College of Information Science and Technology Beijing China University of Technology School of Electrical and Control Engineering Beijing China University of California Mechatronics Embedded Systems and Automation Lab MercedCA95343 United States

ISBN: (纸本)9781665435178

Many intelligent methods have been proposed and applied in the field of autonomous manufacturing inspection. These advanced algorithms with high requirements on computing power and network may lead to time delay, high cost and energy consumption in practical applications with massive data to be processed. We carry out an efficient defect detection system in an end-edge-cloud architecture with the concept of edge computing to process the big data quickly and effectively. A branchy deep learning model with early exit capability of inference is proposed to detect the category and location of the defect in printed circuit boards. We offload part of the computing tasks to the edge nodes by segmenting and deploying the DL model. Therefore, our system has high detection efficiency and makes real-time defect detection possible. © 2021 IEEE.

关键词： Printed circuit boards

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