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International Conference on Unmanned Aircraft systems (ICUAS)

作者： A. Namigtle-Jimenez J.U. Alvarez-Munoz J. Diaz-Tellez R. Enriquez-Caldera J. Escareno S. Durand N. Marchand J.F. Guerrero-Castellanos Óptica y Electrónica Electronics Department Instituto Nacional de Astrofísica Puebla Mexico Institut Polytechnique de Sciences Avancées Ivry-sur-Seine France Instituto Tecnólogico de Puebla. Av. Tecnológico Puebla Robotics and Mechatronics Department XLIM Research Institute UMR-CNRS University of Limoges France ICube Laboratory INSA Strasbourg Strasbourg Univeristy CNRS Strasbourg France GIPSA-Lab Laboratory Control Systems Department CNRS Grenoble Univeristy Grenoble France Benémerita Universidad Autónoma de Puebla Faculty of Electronics Ciudad Universitaria Puebla Mexico

This paper presents the trajectory-tracking control of a Vertical Take-off and Landing (VTOL) rotorcraft endowing a two Degrees of Freedom (DoFs) manipulator arm. The research considers endogenous (parametric) and exogenous (external disturbances) uncertainties as lumped disturbance, which is estimated via an Extended-State Observer (ESO). A feedback controller is synthesized through the control Lyapunov Function (CLF) aided by feedforward terms composed of the ESO estimates. The compound system, the rotorcraft, and the manipulator dynamics are mathematically modeled based on the energy-based Euler-Lagrange (EL) formalism. The system’s stability is analyzed within the Input-State Stability (ISS) framework, guaranteeing closed-loop stability for the overall design (controller-ESO-UAV+arm). Results from an extensive simulation stage prove the effectiveness of the proposed control strategy.

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Kinetostatic Modeling of Compliant Mechanisms Via Reduced-Mode Cosserat Rod Model

SSRN

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SSRN 2023年

作者： Wu, Ke Wang, Wei Li, Xin Hu, Junzhe Chen, Pengyu Cheng, Ran Sun, Qidi Liu, Lifu Zhou, Luna Xu, Xin Zhang, Shucheng Deng, Zicheng Chen, Rui Zheng, Gang INRIA Lille-Nord Europe 40 Avenue Halley Villeneuve d’Ascq59650 France State Key Laboratory of Mechanical Transmission University of Chongqing Chongqing400030 China LS2N - équipe ReV - Robotique Et Vivant Institut Mines Telecom Atlantique Nantes France Chongqing University China Chongqing University University of Cincinnati Joint Co-op Institute Chongqing University Chongqing400044 China Center for Robotics Research University of Cincinnati CincinnatiOH45221 United States MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi’an710072 China Hong Kong

Compliant mechanisms (CMs), which are normally composed of rigid blocks and flexible members, utilize the elastic deflection of all these built-in flexible members, totransfer motion, force and energy. In the current literature, geometrically nonlinear Euler Bernoulli beam theory and its related methods are commonly used for modelingthese flexible members. However, its governing ordinary differential equation (ODE) only considers the main contributor to beam deflections: bending, without taking careof shear and axial stretch along the beam. To take care of more possible strains, Cosserat rod theory, serves as a better alternative for high accuracy. However, it stillsuffers from relatively complex modeling and time-consuming computation. In this paper, we propose a reduced-mode Cosserat rod model to bypass the need ofconducting complex modeling, providing a more compact formulation. The detailed derivations are presented step by step, and we also propose a mode selectionmethod to meet the requirements of different engineering scenarios. Numerical examples are provided to verify the reduced-mode model as well as the feasibility ofmodeling CMs. In particular, modeling flexible springs and related mechanisms has been proved valid via this proposed model. © 2023, The Authors. All rights reserved.

关键词： Boundary value problems

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Nonlinear Curvature Modeling for MPC of Autonomous Vehicles*

Nonlinear Curvature Modeling for MPC of Autonomous Vehicles*

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International Conference on Intelligent Transportation

作者： Gonçalo Collares Pereira Pedro F. Lima Bo Wahlberg Henrik Pettersson Jonas Mårtensson Research and Development Scania CV AB Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9781728141497

ISBN: (纸本)9781728141503

This paper investigates how to compensate for curvature response mismatch in lateral Model Predictive control (MPC) of an autonomous vehicle. The standard kinematic bicycle model does not describe accurately the vehicle yaw-rate dynamics, leading to inaccurate motion prediction when used in MPC. Therefore, the standard model is extended with a nonlinear function that maps the curvature response of the vehicle to a given request. Experimental data shows that a two Gaussian functions approximation gives an accurate description of this mapping. Both simulation and experimental results show that the corresponding modified model significantly improves the control performance when using Reference Aware MPC for autonomous driving of a Scania heavy-duty construction truck.

关键词： Kinematics Bicycles Autonomous vehicles Computational modeling Vehicle dynamics Predictive models Standards

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COVID-19 estimated to have increased plastics, diclofenac, and triclosan pollution in more than half of urban rivers worldwide

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Cell Reports Sustainability 2024年第1期1卷

作者： Zhang, Qi Kroeze, Carolien Cui, Shilei Li, Yanan Ma, Lin Strokal, Vita Vriend, Paul Wang, Mengru van Wijnen, Jikke Xu, Wen Zhang, Fusuo Strokal, Maryna College of Resources and Environmental Sciences National Academy of Agriculture Green Development Key Laboratory of Plant-Soil Interactions Ministry of Education China Agricultural University Beijing China Water Systems and Global Change group Environmental Sciences Department Wageningen University & Research Wageningen Netherlands Environmental Systems Analysis Group Wageningen University & Research Droevendaalsesteeg 4 Wageningen 6708 PB Netherlands Key Laboratory of Agricultural Water Resources Hebei Key Laboratory of Soil Ecology Center for Agricultural Resources Research Institute of Genetic and Developmental Biology The Chinese Academy of Sciences Hebei China Department of Agrosphere Ecology and Environmental Control Faculty of Plant Protection Biotechnology and Ecology the National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine Ministry of Infrastructure and Water Management Directorate-General for Public Works and Water Management Utrecht Netherlands Open University Faculty of Science Environmental Sciences Department Heerlen Netherlands

The enhanced use of protective materials and chemicals during the COVID-19 pandemic has probably increased river pollution, but the effects of country-specific measures on multiple pollutants in rivers worldwide are not well documented. Here, we use an updated, spatially explicit water quality model to estimate the effects of the increased use of hand soap (triclosan), personal protective equipment and packaging materials (plastics), painkillers (diclofenac), and reduced transportation (microplastics from car tires) on river pollution in 10,226 sub-basins worldwide. Model results indicate that, globally, COVID-19 measures increased river pollution with macroplastics by 56%, triclosan by 33%, and diclofenac by 50%. Notably, only microplastics from car tires decreased. We identified priority sub-basins and pollutants across the globe for which water pollution control strategies should consider the impacts of COVID-19 measures. For these sub-basins, our results can inform the development of strategies for ameliorating the impacts of measures taken during the COVID-19 pandemic. © 2023 The Author(s)

关键词： COVID-19 environmental impacts modeling multi-pollutants water pollution controls

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development scales of clean energy power in North Africa in the background of transnational interconnection

Development scales of clean energy power in North Africa in ...

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Power and Electrical Engineering (ACPEE), 5th Asia Conference on

作者： Liang Zhao Ruoying Yu Zhe Wang Linan Qu Xiangyan Wang State Key Laboratory of Operation and Control of Renewable Energy & Storage Systems China Electric Power Research Institute Beijing China Renewable Energy Research Centre China Electric Power Research Institute Beijing China Development Bureau Global Energy Interconnection Development and Cooperation Organization Beijing China

ISBN: (数字)9781728152813

ISBN: (纸本)9781728152820

Energy transformation and sustainable development is the strategy of global energy development. The clean energy development is an important way to achieve this goal, especially in North Africa, which is rich in wind and solar resources. In this paper, the distributed characteristic of clean energy resources and electric power industry in North Africa are analyzed. Under the background of transnational interconnection, the capacity scales optimization planning model of clean energy power generation development, including wind, photovoltaic (PV) and concentrating solar power (CSP) based on the objective of minimizing construction cost and electricity curtailment loss is established. Considering independent development of three countries, transnational interconnection within the region and transcontinental interconnection between North Africa and South Europe, optimal capacity scales of three types clean energy power are planned in Morocco, Egypt and Tunisia through time series production simulation method. Meanwhile, three scenarios of high, middle and low utilization hours of transmission channels are chosen to plan under transnational interconnection background. The results show that combined power generation of clean energy with CSP can replace a part of conventional power units to satisfy local load increase demand and transnational interconnection will promote the scale of clean energy development in all countries as well as realizing the complementary benefit of clean energy power in interconnected regions. It is an important way to implement the energy transformation strategy in North Africa in the future.

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Robust Adaptation in Dynamically Switching Load Frequency control ⁎

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IFAC-PapersOnLine 2020年第2期53卷 13460-13465页

作者： Tian Tao Spandan Roy Shuai Yuan Simone Baldi Delft Center for Systems and Control TU Delft The Netherlands Robotics Research Centre International Institute of Information Technology Hyderabad India School of Astronautics Harbin Institute of Technology China School of Mathematics Southeast University Nanjing China School of Cyber Science and Engineering Southeast University Nanjing China

In recent years, heuristics for adaptive solutions to load frequency control (LFC) in power systems have been proposed that include adapting the LFC targets or adapting the participation factor for the resources. However, stability guarantees for these adaptation ideas are missing, especially in the presence of switching/evolving topologies of the power system. In today’s smart grids, switching topologies often arise from reconfiguration and resilience against faults or from switching among different control areas in order to dampen oscillations and face cyber attacks. This work proposes a novel LFC framework in which adaptation and switching topologies are combined in a provably stable way.

关键词： Power systems load frequency control adaptive control algorithm grid resilience switching evolving topologies

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OTE: Optimal Trustworthy EdgeAI solutions for smart cities

OTE: Optimal Trustworthy EdgeAI solutions for smart cities

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IEEE/ACM International Symposium on Cluster Computing and the Grid (CCGRID)

作者： Vasileios Mygdalis Lorenzo Carnevale Jose Ramiro Martí nez-De-Dios Dmitriy Shutin Giovanni Aiello Massimo Villari Ioannis Pitas Department of Informatics Aristotle University of Thessaloniki Thessaloniki Greece Department of Mathematical and Computer Science Physics and Hearth Sciences University of Messina Messina Italy Gruppo Nazionale per il Calcolo Scientifico (GNCS) Istituto Nazionale di Alta Matematica (INdAM) &#x201C F. Severi&#x201D Rome Italy Robotics Vision and Control Group University of Seville Seville Spain Institute of Communications and Navigation German Aerospace Center (DLR) Wessling Germany Research and Development Lab. Engineering Ingegneria Informatica S.p.A Rome Italy

This work studies and defines the problem of providing extensive and opportunistic Edge AI-based area coverage in smart city application scenarios, by researching and determining the optimal configuration of sensing and computational resources for minimizing the environmental/technology footprint of the solution. A typical smart city computing continuum consists of statically installed multimodal sensing Internet-of-Things (IoT) nodes at various city locations, accompanied by interconnected computational Cloud/Edge/IoT nodes. This paper presents Optimal Trustworthy EdgeAI (OTE), an entirely novel research pipeline, that complements existing smart city infrastructure with intelligent drone Edge/IoT nodes (in the form of modularly equipped unmanned aerial vehicles), capable of autonomous repositioning according to individual/collective sensing and coverage criteria. Thereby, we envisage the emerging cutting-edge technologies of trustworthy sensing, perceiving, modelling technologies for predicting the behavior of moving targets (e.g., citizens/vehicles/objects), understanding natural phenomena (e.g., sea wave motion, urban flora/fauna, biodiversity) in order to anticipate events (people's bad habits, environmental changes), by exploiting novel continuous data processing services across the whole span of the enhanced Cloud-Edge-IoT computing continuum.

关键词： Cloud computing Privacy Smart cities Pipelines Semantics Robot sensing systems Software

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Double Deep Q-learning for Anti-saturation Attack Problem of Warship Group

Double Deep Q-learning for Anti-saturation Attack Problem of...

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

作者： Wei Li Gang Xiong Hao Tao Yunjun Han Fang Wang Xisong Dong Zhen Shen State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences China China Ship Development and Design Center Wuhan China School of Control Science and Engineering (CSE) Shandong University Jinan China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China

Anti-saturation attack (ASA) strategy is vital for the survival of a warship group, and attracts the focus of many researchers. In this paper, the dynamics of ASA is formulated as a Markov Decision Process (MDP) with an enhanced states space since those characters are involved, such as the formation and detection and interception areas of warship group. A reinforcement learning method (Double Deep Q-leaning, DDQN) is developed to solve the problem and deal with the curse of dimensionality whereby the cost-to-go value is calculated by a marine engagement simulation system. A heuristic defense algorithm guided by field expert knowledge is designed for comparison. The experimental results show that the DDQN method performs better in anti-saturation attack scenarios.

关键词： Industries Heuristic algorithms Digital twin Conferences Knowledge based systems Reinforcement learning Markov processes

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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