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International Conference on Ubiquitous Robots (UR)

作者： Cong Toai Truong Khoa Nguyen Danh Van Tu Duong Thang Dinh Van Dae Hwan Kim Van Nguyendong Huy Hung Nguyen Tan Tien Nguyen National Key Laboratory of Digital Control and System Engineering (DCSELab) Ho Chi Minh City University of Technology (HCMUT) Ho Chi Minh City Viet Nam Faculty of Mechanical Engineering Ho Chi Minh University of Technology (HCMUT) Ho Chi Minh City Viet Nam Viet Nam National University Ho Chi Minh City Ho Chi Minh Viet Nam Pukyong National University Korean Faculty of Electronics and Telecommunication Saigon University HCM VN

The demand for utilizing medical ventilators for inter and intrahospital transport has risen quickly in recent periods of human society due to the consequences of the Covid-19 pandemic. Patients who have suffered during this pandemic need different modes of ventilation as a vital cure for their injured lungs. The development of control modes for medical ventilators requires a mathematical model which is able to represent the behavior of an air compressor accurately. In this paper, a parametric black-box method is used to obtain such a mathematical model, that is Nonlinear AutoRegressive with eXogenous input (NARX) model. This NARX model is constructed by experimental data from the air compressor using the bump-based two double-acting pistons (DAPP). The term selection and parameter estimation process are presented and conducted based on measured data. The identification model is also validated based on statistic criteria in the aspect of one-step-ahead prediction (OSA). The results show great tracking performances of identified NARX model.

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Slip Resistance Test Apparatus of Synthetic Rubber Trackpad on Photovoltaic Surface

Slip Resistance Test Apparatus of Synthetic Rubber Trackpad ...

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International Conference on Ubiquitous Robots (UR)

作者： Anh Duy Hoang Ngoc Cong Toai Truong Minh Tri Nguyen An Nguyen Danh Van Tu Duong Huy Hung Nguyen Tan Tien Nguyen National Key Laboratory of Digital Control and System Engineering (DCSELab) Ho Chi Minh City University of Technology (HCMUT) Ho Chi Minh City Viet Nam Faculty of Mechanical Engineering Ho Chi Minh City University of Technology (HCMUT) Ho Chi Minh City Viet Nam Viet Nam National University Ho Chi Minh City Ho Chi Minh City Viet Nam Faculty of Electronics and Telecommunication Saigon University HCM VN

The increasing development of the solar energy industry in many countries has led to a rising frequency of human and robot presence in this area. To ensure occupational safety, various protective equipment, including rubber material, is commonly used for slip resistance while moving on the surface of solar PV panels. Therefore, the slip resistance test apparatus is built for testing the slip resistance between the synthetic rubber trackpad and the photovoltaic panel (PV) surface. Synthetic rubber is a man-made material, so it is difficult to control the parameters of the mechanical and chemical properties absolutely. Variations in wet/dry working conditions or Shore hardness are factors that make slip computation more challenging. Therefore, an apparatus with the principle of converting the reciprocating motion of the screw and the casters into the rotation of the hinge is introduced to adjust the tilt angle of the upper surface, detect and evaluate the slippage of the rubber trackpad by sensors. Some parameters related to accuracy such as vibration and theoretical-empirical assessment, are also mentioned. In addition to designing a reliable apparatus, the article also succeeded in providing a safety standard for synthetic rubber with Shore A30-A40 when moving on PV surfaces.

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Electromagnetic Force Measurement Apparatus for Electrical Coil Investigation

Electromagnetic Force Measurement Apparatus for Electrical C...

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International Conference on control, Automation and Information Sciences (ICCAIS)

作者： Quoc Minh Lam Anh Duy Hoang Ngoc Cong Toai Truong Van Tu Duong Huy Hung Nguyen Tan Tien Nguyen Faculty of Mechanical Engineering National Key Laboratory of Digital Control and System Engineering (DCSELab) Ho Chi Minh City University of Technology (HCMUT) 268 Ly Thuong Kiet Street District 10 Ho Chi Minh City Vietnam Vietnam National University Ho Chi Minh City Linh Trung Ward Thu Duc City Ho Chi Minh City Vietnam Faculty of Electronics and Telecommunication Saigon University Ho Chi Minh City Vietnam

Typically, an electromagnet can be used as an electrical actuator to provide contactless forces, it is crucial to identify and govern the characteristics that impact the attraction force between the electromagnet and the target object in order to ensure precision in contactless force control. This research undertakes the development of an electromagnetic force measurement apparatus (EFMA) to investigate the factors affecting electromagnets actively. The paper assesses the influence of both distance and current on the electromagnet attraction force. Several experimental tests were put in place to determine the accuracy of the model and successfully draw conclusions about the relationship between parameters.

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Adaptive Sliding Mode control for Tracked Mobile Robot Under Slip Condition

Adaptive Sliding Mode Control for Tracked Mobile Robot Under...

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International Conference on control, Automation and Information Sciences (ICCAIS)

作者： Xuan Quang Ngo Tri Duc Tran Huy Hung Nguyen Van Tu Duong Hoang Long Phan Tan Tien Nguyen National Key Laboratory of Digital Control and System Engineering (DCSELab) Faculty of Mechanical Engineering Ho Chi Minh City University of Technology (HCMUT) 268 Ly Thuong Kiet Street District 10 Ho Chi Minh City Vietnam Vietnam National University Ho Chi Minh City Linh Trung Ward Thu Duc City Ho Chi Minh City Vietnam Faculty of Electronics and Telecommunication Saigon University Ho Chi Minh Vietnam

Tracked mobile robots have played an essential role in transportation, especially in off-road conditions. The behavior of tracked mobile robots in outdoor off-road conditions is quite different from those working in structured indoor environments. It requires consideration of many challenging issues such as slip and sinkage phenomena. The slipping parameters, which generate a large accumulating positioning error in vehicles, are usually unknown and change suddenly during operating through different terrains or moving from linear lines to curved lines. Therefore, these unknown parameters should be estimated, and the control system of the tracked mobile robot still achieves good tracking performance and robustness, irrespective of how abruptly the slipping parameters vary. This paper proposes the slip parameter adaptive sliding mode controller as the low-level controller for the tracked mobile robot to track a desired trajectory. The adaptive control scheme allows the tracked mobile robot to be controlled accurately without the knowledge of slipping parameters. A simulation is conducted to validate the efficiency of the proposed controller.

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Study on algorithms and path-optimization for USV’s obstacle avoidance 5th

Study on algorithms and path-optimization for USV’s obstacl...

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5th International Conference on Advanced engineering Theory and Applications, AETA 2018

作者： Tran, Ngoc-Huy Pham, Nguyen Nhut-Thanh Ho Chi Minh City University of Technology VNUHCM Ho Chi Minh City Viet Nam National Key Laboratory of Digital Control and System Engineering VNUHCM Ho Chi Minh City Viet Nam

ISBN: (纸本)9783030149062

An unmanned surface vessel indispensable tasks to avoid obstacles when it moves in real environment. In order to solve this problem, it has been classified stationary obstacles and moving obstacles as well as offering many different algorithms each type. Because the structure of the unmanned surface vessel is indispensable in two main components: Guidance and control, in which Guidance will receive waypoints for creating the desired trajectory and then combine the current location of ship to calculate and provide input data for control to drive the ship following the desired trajectory. Therefore an obstacle avoidance algorithms are integrated in the block Guidance to provide the most suitable input data for the controller is essential. In addition, some cases because the priority of avoiding the collision lead to the path will be long and inefficient. This paper will use the Line of Sight (LOS) algorithm with the lookahead distance to design the Guidance as well as propose an obstacle avoidance algorithm to integrate with it. Besides proposing a method to optimize the way while avoiding obstacles. The results as well as the effectiveness of the proposed method will be shown in the MATlab/SIMULINK simulation. © Springer Nature Switzerland AG 2020.

关键词： Ships

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A Fair and Effective Approach to Managing Distributed Energy Resources Through Peer-to-Peer Energy Trading with Load Prioritization Among Smart Homes

SSRN

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SSRN 2023年

作者： Ahmed, Syed Adrees Huang, Qi Amin, Waqas Afzal, Muhammad Hussain, Fazal Haider, Muhammad Husnain 1Sichuan Provincial Key Lab of Power System Wide-Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Sichuan China Chengdu University of Technology China National University of Sciences and Technology Pakistan Superior University Pakistan School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Sichuan China

This paper proposes a novel approach to managing distributed energy resources (DERs) through peer-to-peer (P2P) energy trading among smart homes, incentivizing peers to trade surplus energy to maximize social welfare. The proposed day-ahead demand-side management (DSM) technique considers load prioritization based on users' needs. It utilizes an energy allocation method that incentivizes peers to buy energy at a reduced price and sell energy at a higher price. This method maximizes the time of energy traded to higher-priority loads, followed by lower-priority loads while considering user choice. The proposed method results in an average reduction in energy costs from 14.8% to 2.82% for all consumers and an average increase in revenues from 17.35% to 9.07% for all prosumers compared to the grid and previously proposed studies. The simulation results show significant economic benefits for all market participants, improved community self-sufficiency, and reduced dependence on the main grid. The proposed methodology provides an effective and fair solution for managing DERs through P2P energy trading by prioritizing the load in smart homes, which describes its potential to create a sustainable and efficient energy ecosystem. © 2023, The Authors. All rights reserved.

关键词： Automation

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Distributed Online Convex Optimization with Time-Varying Constraints: Tighter Cumulative Constraint Violation Bounds under Slater's Condition

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IEEE Transactions on Automatic control 2025年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Hong, Yiguang Chai, Tianyou Johansson, Karl H. National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Institute of Intelligent Science and Technology China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems China Massachusetts Institute of Technology Lab for Information & Decision Systems CambridgeMA02139 United States Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Nanyang Technological University School of Electrical and Electronic Engineering 50 Nanyang Avenue 639798 Singapore Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online convex optimization with time-varying constraints. In this setting, a network of agents makes decisions at each round, and then only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize static network regret and network cumulative constraint violation. A novel distributed online algorithm with a vanishing stepsize is proposed and it achieves an O(Tmax {c,1-c}) static network regret bound and an O(T1-c/2) network cumulative constraint violation bound, where T is the number of rounds and c∈ (0,1) is a user-defined trade-off parameter. When Slater's condition holds (i.e, there is a point that strictly satisfies the inequality constraints), the network cumulative constraint violation bound is reduced to O(T1-c). Moreover, if the loss functions are strongly convex, then static network regret bound is reduced to O(log (T)), and the network cumulative constraint violation bound is reduced to O(√log (T)T) and O(log (T)) without and with Slater's condition, respectively. To the best of our knowledge, this paper is the first to achieve tighter (network) cumulative constraint violation bounds for (distributed) online convex optimization with time-varying constraints under Slater's condition. Finally, the theoretical results are verified through numerical simulations. © 1963-2012 IEEE.

关键词： Convex optimization

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Hybrid Adaptive control for Series Elastic Actuator of Humanoid Robot

arXiv

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arXiv 2022年

作者： Luu, Anh Khoa Lanh Duong, Van Tu Nguyen, Huy Hung Kim, Sang Bong Nguyen, Tan Tien National Key Laboratory of Digital Control and System Engineering Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Vanuatu Department of Mechatronics Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Vanuatu Faculty of Electronics and Telecommunication Saigon University Vanuatu Pukyong National University Busan Korea Republic of

Purpose - Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant series elastic actuators (SEA) for driving humanoid's joints have proved the capability in many aspects so far. However, despite being widely applied in the biped robot research field, the stable control problem for a humanoid powered by the SEAs, especially in the walking process, is still a challenge. This paper proposes a model reference adaptive control (MRAC) combined with the back-stepping algorithm to deal with the parameter uncertainties in a humanoid's lower limb driven by the SEA system. This is also an extension of our previous research (Lanh et al., 2021). Design/methodology/approach - Firstly, a dynamic model of SEA is obtained. Secondly, since there are unknown and uncertain parameters in the SEA model, a model reference adaptive controller (MRAC) is employed to guarantee the robust performance of the humanoid's lower limb. Finally, an experiment is carried out to evaluate the effectiveness of the proposed controller and the SEA mechanism. Findings - This paper proposes an effective control algorithm that can be widely applied for the humanoid-SEA system. Besides, the effect of the coefficients in the control law is analyzed to further improve the response's quality. Research limitations/implications - Even though the simulation shows promising results with stable system response, the practical experiment has not been implemented to fully evaluate the quality of the controller. Originality/value - The MRAC is applied to control the humanoid's lower limb, and the back-stepping process is utilized to combine with an external SEA system but still maintain stabilization. The simplified model of the lower-limb system proposed in the paper is proven to be appropriate and can be taken for further research in the future

关键词： Model reference adaptive control

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Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Learning

Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Lea...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Weipeng Cao Xuyang Yao Zhiwu Xu Yinghui Pan Yixuan Sun Dachuan Li Bohua Qiu Muheng Wei Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen) Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Stony Brook University New York United States Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China ZhenDui Industry Artificial Intelligence Co. Ltd Shenzhen China Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Realizing Generalized Zero-Shot Learning (GZSL) based on large models is emerging as a prevailing trend. However, most existing methods merely regard large models as black boxes, solely leveraging the features output by the final layer while disregarding potential performance enhancements from other layers. Indeed, numerous researchers have visually depicted variations in the features learned across different layers of neural networks. Motivated by this observation, we propose a Vision Transformer (ViT)-based GZSL method named Depth-Aware Multi-Modal ViT (DAM2ViT), which exploits multi-level features of ViT. DAM2ViT incorporates a multi-modal interaction block to align semantic information of categories across multiple layers, thereby augmenting the model's capacity to learn associations between visual and semantic spaces. Extensive experiments conducted on three benchmark datasets (i.e., CUB, SUN, AWA2) have showcased that DAM2ViT achieves competitive results compared to state-of-the-art methods.

关键词： Visualization Adaptation models Semantics Zero shot learning Neural networks Termination of employment Transformers Market research Sun Optimization

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Stability Optimization and Verification Based on SPTG of Constant Distance control Strategy in Train-Train Communication Train control system

Stability Optimization and Verification Based on SPTG of Con...

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第33届中国控制与决策会议

作者： Wanli Lu Jidong Lv Haixia Dong Hongjie Liu Ming Chai Shuai Su Xiwang Guo National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University State Key Lab of Rail Traffic Control Safety Beijing Jiaotong Universal Computer and Communication Engineering College Liaoning Shihua University

Next Generation Train control system(NGTC) based on train-train communication can efficiently realize train tracking control through constant distance *** to ensure the stability of the platoon with the control strategy is very crucial since the leader train action is random in the platoon *** on Stochastic Priced Timed Game(SPTG),we propose a train-train communication control strategy modeling and verification ***,according to the control strategy's requirements,a platoon control model including a leader train and follower trains are established and the stability are verified by SPTG ***,using time expansion as the cost function,the optimal operation strategy of the platoon is obtained through combination of the cooperative game of the platoon's SPTG automata model and ***,the stability optimization objection of the platoon is simulated in single-train operation,two-train operation and multi-train operation tracking *** with the random operation of the platoon,the result shows that this method can make the platoon stability error smaller.

关键词： Train-Train communication Train control system SPTG Stability Modeling and Verification

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