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2024 IEEE International Conference on Advanced Telecommunication and Networking Technologies, ATNT 2024

作者： Mirdanies, Midriem Saputra, Roni Permana Yazid, Edwar Rashid, Rozeha A. Telecommunication Software and Systems Research Group Faculty of Electrical Engineering Johor Johor Bahru Malaysia Research Center for Smart Mechatronics Bandung Indonesia

ISBN: (纸本)9798350353501

This paper describes the implementation of a learning-based lane detection algorithm on an autonomous mobile robot. More specifically, it explores the implementation of the Ultra Fast Lane Detection algorithm for real-time application on the SEATER (Single-passenger Electric Autonomous Transporter) prototype using a camera, with an emphasis on optimizing its performance on a Jetson Nano platform. Multi-core processing on the CPU and GPU has been implemented in this paper to optimize the application program and avoid delays or buffering. Preliminary experiments have been conducted to evaluate the algorithm's performance in terms of data processing speed and accuracy using two datasets: a public dataset for the outdoor environment and another dataset collected from the indoor area of the Workshop Building at BRIN Bandung. The experimental results show that after conversion to TensorRT, the algorithm achieves significantly improved performance on the Jetson Nano platform compared to the ONNX model, with processing speeds of approximately 101 ms using CULane and 105 ms using TuSimple-about 22 times faster than the previous model. While the algorithm demonstrates good accuracy on the public outdoor dataset, its performance falls short on the indoor dataset. Future work should focus on transfer learning and fine-tuning to improve indoor lane detection accuracy. © 2024 IEEE.

关键词： Mobile robots

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Distributed Hamiltonian Adaptive Disturbance Rejection control with Actuator Dynamics

Distributed Hamiltonian Adaptive Disturbance Rejection Contr...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Nguyen, Nhan Technical Group Lead of Advanced Control and Evolvable Systems Group Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents a distributed Hamiltonian control of a class of Lagrangian infinite-dimensional systems with adaptive disturbance rejection control in presence of actuator dynamics. The distributed Hamiltonian control is formulated as a linear quadratic optimal control in a semigroup abstraction. Two adaptive disturbance estimation is based on a model prediction approach combined with two different adaptation strategies. The model prediction is based on disturbance measurements using look-ahead sensors. When used in con junction with an adaptive estimation of the disturbance signal or with an adaptive parameter estimation of the disturbance dynamics, the performance of the disturbance rejection is further improved. A demonstration problem of a flexible HALE aircraft illustrates the effectiveness of the proposed adaptive disturbance rejection control strategies in the presence of actuator dynamics. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Disturbance rejection

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Analytical Flight Dynamic Model Development for eVTOL Aircraft

Analytical Flight Dynamic Model Development for eVTOL Aircra...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Nguyen, Nhan Webb, Benjamin Technical Group Lead of Advanced Control and Evolvable Systems Group Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents an analytical flight dynamic model development method for a multirotor eVTOL aircraft in hover and transition flight. The method captures the analytical stability and control sensitivities of rotor unsteady aerodynamic loads about a trim solution generated by a rotorcraft aeromechanics comprehensive analysis tool. The rotor aerodynamic forces include circulatory and non-circulatory components to account for unsteady aerodynamics. The circulatory forces are corrected for unsteady aerodynamics using the time-domain approximation of Theodorsen's function. The integrated flight dynamic model includes the rigid-body aircraft flight dynamics, inflow dynamics, unsteady aerodynamics, and blade pitch and rotor actuator dynamics. Stability analyses shows that the Lift+Cruise aircraft is statically unstable in roll and yaw axes and also dynamically unstable in hover. Closed-loop feedback control is necessary for stable hover flight. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flight dynamics

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Asymptotic behavior of the nonautonomous Arrow-Hurwicz differential system 63

Asymptotic behavior of the nonautonomous Arrow-Hurwicz diffe...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Niederlander, Simon K. Research Group Autonomous Systems and Control Siemens Technology Center Garching Friedrich-Ludwig-BauerStr 3 Garching85748 Germany

ISBN: (纸本)9798350316339

In a real Hilbert space setting, we investigate the asymptotic behavior of the solutions of the nonautonomous Arrow-Hurwicz differential system. We show that its solutions weakly converge in average towards a saddle point of some limiting closed convex-concave bifunction provided that the associated gap function vanishes sufficiently fast. If, in addition, the limiting saddle function verifies a strict convexity-concavity condition, we find that the solutions of the nonautonomous Ar-row-Hurwicz differential system not only converge in an ergodic sense, but in fact admit a weak limit. Numerical experiments illustrate our theoretical findings. © 2024 IEEE.

关键词： Hilbert spaces

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Seamless Functional Design for an Autonomous Vehicle using a Low-Cost RCP Platform 10

Seamless Functional Design for an Autonomous Vehicle using a...

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10th IEEE International Symposium on systems Engineering, ISSE 2024

作者： Jacobitz, Sven Liu-Henke, Xiaobo Becker, Uwe Ostfalia University of Applied Sciences Research Group for Control Engineering and Vehicle Mechatronics Wolfenbüttel Germany Technical University of Braunschweig Institute for Intermodal Transport and Logistics Systems Braunschweig Germany

ISBN: (纸本)9798350353723

The advancement of cooperative autonomous vehicles has seen significant progress, often necessitating the use of high-cost tools. This paper investigates the utilization of a low-cost Rapid control Prototyping (RCP) platform, LoRra, for the development of autonomous vehicle functionalities. A modular prototyping vehicle equipped with Mecanum wheels was designed to operate within a cyber-physical laboratory test field, enabling the exploration of intelligent driving functions. The LoRra platform facilitates seamless model-based development, encompassing modeling, function design, automatic code generation, and real-time implementation. The effectiveness of the LoRra platform in developing and validating autonomous driving functions is demonstrated through extensive simulations and real-time experiments. This study highlights the successful application of LoRra in the speed control of traction motors and trajectory-following control, underscoring its potential as a cost-effective and versatile tool for research and development in intelligent mobility. © 2024 IEEE.

关键词： Speed control

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A mixed-coordination electron trapping-enabled high-precision touch-sensitive screen for wearable devices

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Bio-Design and Manufacturing 2024年第4期7卷 413-427页

作者： Xi Zhang Junchi Ma Hualin Deng Jinming Zhong Kaichen Xu Qiang Wu Bo Wen Dongfeng Diao Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310058China Shenzhen University General Hospital Shenzhen 518055China Research Center of Medical Plasma Technology Shenzhen UniversityShenzhen 518060China

Touch-sensitive screens are crucial components of wearable *** such as reduced graphene oxide(rGO),carbon nanotubes(CNTs),and graphene offer promising solutions for flexible touch-sensitive ***,when stacked with flexible substrates to form multilayered capacitive touching sensors,these materials often suffer from substrate delamination in response to deformation;this is due to the materials having different Young’s modulus *** results in failure to offer accurate touch screen *** this work,we demonstrate an induced charge-based mutual capacitive touching sensor capable of high-precision touch *** is enabled by electron trapping and polarization effects related to mixed-coordinated bonding between copper nanoparticles and vertically grown graphene ***,we used an electron cyclotron resonance system to directly fabricate graphene-metal nanofilms(GMNFs)using carbon and copper,which are firmly adhered to flexible *** being subjected to 3000 bending actions,we observed almost no change in touch *** screen interaction system,which has a signal-to-noise ratio of 41.16 dB and resolution of 650 dpi,was tested using a handwritten Chinese character recognition trial and achieved an accuracy of 94.82%.Taken together,these results show the promise of touch-sensitive screens that use directly fabricated GMNFs for wearable devices.

关键词： Flexible touch-sensitive screen Graphene-metal nanofilms Mixed coordination Wearable device

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Tightly-Coupled Factor Graph Formulation For Radar-Inertial Odometry

Tightly-Coupled Factor Graph Formulation For Radar-Inertial ...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jan Michalczyk Julius Quell Florian Steidle Marcus G. Müller Stephan Weiss Control of Networked Systems Group University of Klagenfurt Austria Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this paper, we present a Radar-Inertial Odometry (RIO) method based on the nonlinear optimization of factor graphs in a sliding window fashion. Our method makes use of a light-weight, low-power, inexpensive and commonly available hardware enabling easy deployment on small Unmanned Aerial Vehicles (UAV)s. We keep the state estimation problem bounded by employing partial marginalization of the oldest states, rendering the method real-time capable. We compare the implemented approach to the state-of-the-art multi-state Extended Kalman Filter (EKF)-based method in a one-to-one fashion. That is, we implemented in a single custom C++ RIO framework both estimation back-ends with all other parts shared and thus identical for a fair direct comparison. In the real-world flight experiments, we compare the two methods and show that both perform similarly in terms of accuracy when the linearization point is not far from the true state. Upon wrong initialization, the factor graph approach heavily outperforms the EKF approach. We also acknowledge that the influence of undetected outliers can overwhelm the inherent benefits of the nonlinear optimization approach leading to the insight that the estimator front-end has an important (and often underestimated) role in the overall performance. The open source code and datasets can be found here: https://***/aau-cns/aaucns_rio.

关键词： Accuracy Uncertainty Autonomous aerial vehicles Software Real-time systems Vectors Trajectory Odometry Optimization Convergence

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Discrete Sliding Mode Predictive control of Networked control systems 42

Discrete Sliding Mode Predictive Control of Networked Contro...

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42nd Chinese control Conference, CCC 2023

作者： Chi, Chuanguo Liu, Guo-Ping Ionescu, Clara-Mihaela Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Center for Control Science and Technology Southern University of Science and Technology Shenzhen518055 China Ghent University Research Group on Dynamical Systems and Control GhentB-9052 Belgium

ISBN: (纸本)9789887581543

This article studies the application of discrete sliding mode predictive control (SMPC) in networked control systems, introducing sliding mode control (SMC) into model predictive control (MPC), and prediction the state and output vector based on sliding mode control. By combining the strong robustness of sliding mode control and the advantage of model predictive control in dealing with communication constraints in network control, an incremental SMPC trajectory tracking control scheme based on a state observer is designed. The effectiveness and practicability of the designed control scheme is verified by tracking experiments on reference inputs in a dSPACE-based networked lighting control system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Sliding mode control

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Combined Path and Trajectory Planning for Energy-Efficient Coordination of Automated Vehicles in Confined Areas

Combined Path and Trajectory Planning for Energy-Efficient C...

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European control Conference (ECC)

作者： Stefan Kojchev Jonas Hellgren Robert Hult Jonas Fredriksson Volvo Autonomous Solutions and the Mechatronics Group Systems and Control Chalmers University of Technology Research Institutes of Sweden (RISE) Göteborg Sweden Volvo Autonomous Solutions Göteborg Sweden Mechatronics Group Systems and Control Chalmers University of Technology Göteborg Sweden

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, we present a framework for combined path and motion trajectory planning for the purpose of coordinating fully automated vehicles in confined sites. The path planning component utilizes a Monte-Carlo tree search approach for computing the vehicle paths and the motion trajectory component utilizes a two-stage optimization-based algorithm that optimizes the state and input trajectories for all vehicles while avoiding inter-vehicle conflicts. The motion trajectories are tracked by a low-level controller and both the path and motion trajectories are recomputed based on the feedback signals. The performance of the framework is validated through numerical simulations and results show both improved energy efficiency and productivity.

关键词： Productivity Monte Carlo methods Trajectory planning Tracking Europe Numerical simulation Energy efficiency

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ITSC Fault Detection in Induction Motor using a Cosine Filter and a CNN Architecture

ITSC Fault Detection in Induction Motor using a Cosine Filte...

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2024 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2024

作者： Morales-Perez, Carlos Amezquita-Sanchez, Juan Pablo Valtierra-Rodriguez, Martin Rangel-Magdaleno, Jose Cerezo-Sanchez, Jorge Leon-Bonilla, Ambrosio ENAP-Research Group CA-Sistemas Dinamicos y Control Facultad de Ingenieria Campus San Juan del Rio Queretaro Mexico Instituto Nacional de Astrofisica Optica y Electronica Electronics Department-Digital Systems Group Puebla Mexico Universidad Tecnologica de Puebla Division of Mechatronics Engineering Puebla Mexico

ISBN: (纸本)9798331530525

Detecting faults in rotating electrical machinery is necessary due to current industrial demands. This is because operations of these machines with unattended faults can lead to high electricity consumption, operational inefficiency, and unexpected breakdowns in the worst cases. One of the most common faults in induction motors tends to be stator faults, specifically the inter-turn short circuit (ITSC), which typically do not exhibit apparent symptoms in the early stages. However, these faults can be detected without physical motor intervention, as spectral signatures of faults can be identified through phase current measurements. In this way, only the sensors' installation in the motor phase is needed to diagnose the motor health correctly. The challenge lies in selecting and designing an appropriate methodology for these purposes. So, this study introduces a technique based on constructing images from current signals, where the fundamental frequency has been suppressed to highlight fault spectral signatures. These generated images are subsequently fed into a convolutional neural network (CNN), which develops a classification stage according to the given features of the fault conditions in previous training stages, allowing the identification of the ITSC fault. Finally, tests were conducted under three mechanical loading conditions and four short-circuit damage conditions in the stator, achieving an accuracy of 98.62 %. © 2024 IEEE.

关键词： Stators

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