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第三十九届中国控制会议

作者： Ricardo Cajo Shiquan Zhao Douglas Plaza Robain De Keyser Clara Ionescu Ghent University Research group on Dynamical Systems and Control Harbin Engineering University College of Automation Technical University of Cluj-Napoca Department of Automatic Control

This article addresses the consensus problem in multi-agent systems modeled with double-integrator dynamics under constant disturbances. Therefore, a fractional control protocol to enhance the convergence speed and robustness of the system is proposed. The communication topology of the system is represented by an undirected connected graph. In addition, the convergence of the system is analyzed with the stability boundary locus method, through which analytical expressions are deduced to ensure the stability of the agents group. Finally, an example is provided to illustrate the validity of the theoretical results.

关键词： Multi-agents Consensus problem Fractional calculus Distributed control Double-integrator dynamics

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Numerical Investigation of Localized Surface Plasmon Resonance (LSPR) based Sensor for Glucose Level Monitoring

Numerical Investigation of Localized Surface Plasmon Resonan...

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First International Symposium on Instrumentation, control, Artificial Intelligence, and Robotics (ICA-SYMP)

作者： Kawintida Santavanond Charusluk Viphavakit Wisarn Patchoo Hala El-Khozondar Waleed Mohammed Faculty of Engineering International School of Engineering Chulalongkorn University Bangkok Thailand Faculty of Engineering International School of Engineering Intelligent Control Automation of Process Systems Research Unit Chulalongkorn University Bangkok Thailand The Bangkok University Center of Research in Optoelectronics Communications and Computational Systems School of Engineering Bangkok University Pathumthani Thailand Islamic University of Gaza Gaza Palestine The Bangkok University Center of Research in Optoelectronics Communications and Computational Systems School of Engineering Bangkok University Pathumthani Thailand

ISBN: (数字)9781728187600

ISBN: (纸本)9781728187617

This study aims to apply Localized Surface Plasmon Resonance (LSPR), Maxwell Garnett's formula, and Fabry-Perot theory together to design and develop a LSPR enhanced gold colloidal nanoparticles (AuNPs) sensor to be used in biomedical applications such as detection of glucose level in urine for early stage screening of diabetic patients. In this work, the LSPR based sensor has been designed and studied numerically to detect the glucose level from the change in the effective index resulting in a red shift of the absorption peak. The sensors were designed to have various sizes of the gold nanoparticles in a range between 20 nm and 100 nm by having different molar ratio with Trisodium Citrate (TSC) which acts as stabilizer in the synthesis. The maximum possible sensitivity of the sensor can be achieved with 70 nm diameter of gold nanoparticles at 0.2 volume fraction of AuNP to glucose solution.

关键词： Nanoparticles Gold Sensitivity Robot sensing systems Glucose Optical sensors Surface plasmons

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Sustainability and Predictive Accuracy Evaluation of Gel and Embroidered Electrodes for ECG Monitoring

SSRN

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SSRN 2024年

作者： Othman, Ghada Ben Kumar, Atal Anil Hassine, Faten Ben Copot, Dana Sidhom, Lilia Kamavuako, Ernest N. Trabelsi, Mohamed Ionescu, Clara Mihaela Chihi, Inès Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde9052 Belgium Department Of Engineering Faculty of Science Technology and Medicine University of Luxembourg Kirchberg Luxembourg Faculty of Sciences of Tunis Tunis Tunisia National Engineering School of Bizerte Carthage University Tunis LAPER- Faculty of Sciences of Tunis El Manar University Tunis Tunisia Technical University of Cluj-Napoca Department of Automation Memorandumului no. 28 Cluj-Napoca400114 Romania Department of Informatics King’s College London London United Kingdom Electronics and Communications Engineering Department Kuwait College of Science and Technology Kuwait City Kuwait

Despite standards on electrocardiogram (ECG) monitoring in medical diagnostics, signal acquisition is prone to noisy artefacts and rely greatly on the quality of skin contact and signal transducing interference. Electrodes, serving as indispensable conduits in ECG signal acquisition, act as the crucial interface between the human body and recording instrumentation. The usage of traditional gel electrodes may provoke skin irritation, by contrast, the advent of embroidered electrodes, a contemporary innovation, holds the promise of more comfort monitoring. However, the sustainability quotient and predictive precision of these novel electrodes require more in-depth investigation. This paper endeavors a comprehensive evaluation of both gel and embroidered electrodes concerning ECG signal acquisition. Simultaneously, the study aims to construct a polynomial regression model leveraging advanced machine learning (ML) tools. The inferred model predicts embroidered signals based on experimental data obtained from gel electrodes. The methodology encompasses systematic data collection, preprocessing, insightful analysis, and the application of data-driven techniques. The findings of this study highlight the viability of embroidered electrodes as a compelling alternative, transcending traditional paradigms. Employing ML tools, the developed model achieves predictive accuracy, reflected in robust R2 values extending up to 94.9%. © 2024, The Authors. All rights reserved.

关键词： Electrocardiograms

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Implementation of adaptive fault-tolerant tracking control for robot manipulators with integral sliding mode

Research Square

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research Square 2021年

作者： Liu, Linzhi Zhang, Liyin Hou, Yinlong Tang, Dafeng Liu, Hui Xi’an Key Laboratory of Advanced Control and Intelligent Process School of Automation Xi’an University of Posts and Telecommunications Xi’an China China Ship Scientific Research Center China China State Shipbuilding Corporation Limited Xi’an Dong Yi Science Technology and Industry Group Co. Ltd Xi’an China

This paper addresses an adaptive fault-tolerant tracking control for robot manipulators. By fully considering the effects of uncertainties and actuator effectiveness faults (UAEFs), a robust fault-tolerant tracking control combining with an auxiliary function and an integral sliding manifold is first developed for uncertain robot manipulators. Then, an adaptive law for unknown parameters of the upper bounded uncertainties is constructed to obtain a robust fault-tolerant approach with the elimination of the reaching phase of sliding mode control (SMC). The stability of the proposed approaches is accomplished by Lyapunov stable theory. The key contributions of the proposed approach are as follows: i) the reaching phase of SMC is removed in the control design and then the sliding mode starts at very beginning;(ii) the nominal control term is eliminated in the design of integral sliding surface and then the algebraic loop problem is also avoided in the proposed approach for robot manipulators;(iii) the simple control structure with an adaptive law is obtained for improving chattering-restraining ability of the proposed approach and then the effects of time delay and computational burden are also restrained from the proposed approach. Simulation and experimental comparisons have been accomplished for verifying the effectiveness of the proposed approach. © 2021, CC BY.

关键词： Sliding mode control

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Internal Model control: Efficient Disturbance Rejection for Dead-Time process Models with Validation on an Active Suspension System

Internal Model Control: Efficient Disturbance Rejection for ...

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European control Conference (ECC)

作者： Robin De Keyser Cristina I. Muresan DySC research group on Dynamical Systems and Control Ghent University Ghent Belgium Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

Internal Model control algorithms have numerous advantages, linked to the simplicity of the tuning procedure, the intrinsic dead-time compensation, reasonable robustness. In this paper, a novel idea for tuning an optimized IMC filter for input or load disturbance rejection is used and validated experimentally on a poorly damped process, an active suspension system. The core principle of the design is that the disturbance filter compensates for the process dead-times, provided that the disturbances have a stochastic nature with the spectral energy centered in a narrow frequency band (such as quasi-periodic disturbances). Diophantine equations are used to compute the disturbance filter coefficients. The experimental results show that the novel IMC controller improves the rejection capabilities of the standard default IMC algorithm. Validation is performed considering variations in the disturbance frequency. An adaptive suspension control situation is also tested, with an adapted IMC controller improving even further the disturbance attenuation properties of the proposed optimized IMC.

关键词： Suspensions Tuning Mathematical model Optimization Standards Filtering theory process control

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The Regulation of a Quadrotor UAV Carrying a Pendulum using Receding Horizon control

The Regulation of a Quadrotor UAV Carrying a Pendulum using ...

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International Conference on Information Technology and Electrical Engineering (ICITEE)

作者： Tua A. Tamba Yul Y. Nazaruddin Endang Juliastuti Center for Control Automation & Systems Engineering Parahyangan Catholic University Bandung Indonesia National Center for Sustainable Transportation Technology Bandung Indonesia Instrumentation & Control Research Group Institut Teknologi Bandung

ISBN: (数字)9781728110974

ISBN: (纸本)9781728110981

This paper proposes an approach for regulating the stability of an inverted pendulum that is attached on top of a moving quadrotor UAV. The approach is based on the receding horizon control scheme whose objective is to stabilize the pendulum in a vertical position while the quadrotor UAV is moving from predetermined initial to final poses. More specifically, the approach formulates a parametric quadratic optimization of the simultaneous stabilization of both the inverted pendulum and the quadrotor UAV. Simulation results are presented to demonstrate the successful implementation of the proposed method.

关键词： Optimization Regulation Mathematical model Electrical engineering Vehicle dynamics Task analysis Simulation

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Polynomial-Based Linear Programming Relaxation of Sensor Network Localization Problem

Polynomial-Based Linear Programming Relaxation of Sensor Net...

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International Conference on Information Technology and Electrical Engineering (ICITEE)

作者： Tua A. Tamba Yul Y. Nazaruddin Center for Control Automation & Systems Engineering Parahyangan Catholic University Bandung Indonesia National Center for Sustainable Transportation Technology Bandung Indonesia Instrumentation & Control Research Group Institut Teknologi Bandung

ISBN: (数字)9781728110974

ISBN: (纸本)9781728110981

One important task in the deployment of a wireless sensor network is solving the sensor network localization problem to assure location awareness of each sensor node in the network. The sensor network localization can be formulated as a global optimization problem that aims to minimize the squared inter-sensor distances under the constraint that such distances equal to some given numbers. The corresponding optimization formulation is generally nonsmooth, nonconvex, and NP-hard problem, and thus prior works have proposed approximate solution using relaxation methods such as semidefinite or conic programming. In this paper, a linear programming relaxation approach is proposed to solve such an optimization problem using the concept of Handelman's representation of nonnegative polynomial functions over polytopic set. Numerical simulation results are given to illustrate the promising potential of the proposed approach.

关键词： Optimization Wireless sensor networks Noise measurement Wireless communication Linear programming Electrical engineering Programming

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A Survey of Robot Manipulation in Contact

arXiv

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arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

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Distributed Functional Safety for Modular process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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An event based implementation of a fractional order controller on a non-Newtonian transiting robot

An event based implementation of a fractional order controll...

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European control Conference (ECC)

作者： Isabela Birs Cristina Muresan Clara Ionescu Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Isabela Birs and Clara Ionescu are part of DySC research group on Dynamical Systems and Control Ghent Belgium

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

Fractional order control is an emerging topic in the field of control engineering due to its numerous advantages. Many control strategies such as the Proportional Integral Derivative, Internal Model control, robust or predictive controllers have a generalization into the fractional calculus theory or offer fractional order implementation possibilities. The present study tackles the event-based implementation of fractional controllers. The task is complex due to the higher orders needed to approximate fractional elements and the scarce availability of direct discretization methods for fractional operators. The proposed strategy is validated through simulations on a scalable nanorobot designed to transit non-Newtonian environments. The event-based algorithm implements a Fractional Order Proportional Derivative (FOPD) that controls the position of the nanorobot, validating the presented solution for implementing fractional order event based controllers.

关键词： Tuning process control Transfer functions Detectors Robustness Task analysis Frequency-domain analysis

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