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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Artemi Makarow Jan Braun Christoph Rosmann Georg Schoppel Ingo Glowatzky Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany Bosch Rexroth AG Lohr am Main Germany

During the development of mechatronic systems hard- and software components are integrated into a single system. Mostly, a digital control concept is designed to control the interactions of the different sub-systems from different domains and to reach the desired system performance requirements. In the case of a proportional directional control valve, the closed-loop control response is used as a metric of the system performance. The performance can be either improved by optimizing the controller as well as the valve's hardware design parameters. When performing a holistic model-based system optimization, the optimization vector contains the controller and the hardware design parameters. A variation of the design parameters requires a time-consuming Finite-Element-Method (FEM) simulation. In contrast, the impact of different controller parameters on the system performance can be simulated with a low computational effort. Actually, following the control theory, the controller parameters must only be adjusted when the plant changes its characteristic. This contribution presents a cascaded evolutionary multi-objective optimization process which enables the subordinated controller design in the context of a holistic multi-objective system optimization of a directional control valve. The required optimization time decreases significantly since the outer optimization loop mainly focuses on the hardware improvement without the impact of the controller robustness. A real industrial application motivates the developed approach, but the cascaded process is evaluated more generally investigating well-known benchmark functions from the literature for multi-objective optimization.

关键词： Optimization Valves Finite element analysis Computational modeling Mathematical model Solenoids

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Examination of acoustic insulation of composite metamaterials with negative stiffness elements inclusions 24

Examination of acoustic insulation of composite metamaterial...

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24th International Congress on Sound and Vibration, ICSV 2017

作者： Ampatzidis, Theofanis Chronopoulos, Dimitrios Antoniadis, Ioannis Institute for Aerospace Technology Composites Group University of Nottingham NG7 2RD United Kingdom Machine Design and Control Systems Section School of Mechanical Engineering National Technical University of Athens Greece

Damping is one of the most important properties of materials, being responsible for increased durability and conmfort of the structures. In this paper the damping enhancement of materials with internal oscillators is examined. Wave Finite Element (WFE) method is used to get the wave propagation of an two-dimensional layered mechanical material having embedded nonlinear internal oscillators acting as negative stiffness element. The acoustic properties of the panel are studied in a Statistical Energy Analysis (SEA) scheme.

关键词： Damping

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Consensus analysis of systems with time-varying interactions : An event-triggered approach

arXiv

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arXiv 2017年

作者： Kumar, S. Arun Chowdhury, N.R. Srikant, S. Raisch, J. Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai400076 India Fachgebiet Regelungssysteme Technische Universitat Berlin Berlin10587 Germany Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems

We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control effort expended. Initially, we consider a multi-agent system with persistently exciting interactions and study the behaviour under the application of event-triggered control with two types of trigger functions-static and dynamic *** show that while in the case of static trigger, the edge-states converge to a ball around the origin, the dynamic trigger function forces the states to reach consensus exponentially. Finally, we extend these results to a more general setting where we consider switching topologies. We show that similar results can be obtained for agents interacting via switching topologies and validate our results by means of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： Multi agent systems

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Finding the proper node ranking method for complex networks

arXiv

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arXiv 2018年

作者： Yu, Senbin Gao, Liang Wang, Yi-Fan Institute of Transportation Systems Science and Engineering MOE Key Laboratory of Urban Transportation System Theory and Technology State Key Laboratory of Rail Traffic Control and Safety Center of Cooperative Innovation for Beijing Metropolitan Transportation Beijing Jiaotong University Beijing100044 China Yinchuan Municipal Bureau of Big Data Management and Service Yinchuan750011 China

Ranking node importance is crucial in understanding network structure and function on complex networks. Degree, h-index and coreness are widely used, but which one is more proper to a network associated with a dynamical process, e.g. SIR spreading process, is still unclear. To fill this gap, a, which is extracted from the fitting 1 function (f(x) = 1 − e2a(x−b)+1) of the average number of nodes in each radius of the neighborhood of a node, is proposed. Experiment results which are carried out on twenty real-world networks show that a can classify which of the three measures (degree, h-index and coreness) is more proper to a network in ranking node importance. We also find that [b/3] is a good indicator for forecasting the optimal radius of the neighborhood of a node in ranking node importance for a given network. To the best of our knowledge, it is the first solution of this interesting and open issue. Furthermore, by extending the range of neighborhood where we construct an operator ℋ on of a node, we propose a new method to quantify the importance of a node. The ranking accuracies of most networks can be improved when the radius is increased from 0 to its forecasting optimal radius and the improvement, for the best case, reaches up to 111%. The performances will reduce on half of the networks studied in this paper if we roughly extend the radius of the neighborhood. Our work deepens the understanding of how to find out the proper node ranking method for complex networks. The proposed methods bridge the gaps among network structure and node importance, and may have potential applications in controlling the outbreak of disease, designing of optimal information spreading *** Codes Game theory, economics, social and behavioral sciences Copyright © 2018, The Authors. All rights reserved.

关键词： Complex networks

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An offline-sampling SMPC framework with application to automated space maneuvers

arXiv

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arXiv 2018年

作者： Mammarella, Martina Lorenzen, Matthias Capello, Elisa Park, Hyeongjun Dabbene, Fabrizio Guglieri, Giorgio Romano, Marcello Allgöwer, Frank Department of Mechanical and Aerospace Engineering Politecnico di Torino Torino Italy Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Mechanical and Aerospace Engineering Department of Mechanical and Aerospace Engineering New Mexico State University Las CrucesNM United States CNR-IEIIT Politecnico di Torino Torino Italy Department of Mechanical and Aerospace Naval Postgraduate School MontereyCA United States

In this paper, a sampling-based Stochastic Model Predictive control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of the proposed control strategy is the need of reliable and robust guidance and control strategies for automated rendezvous and proximity operations between spacecraft. To this end, the proposed control algorithm is validated on a floating spacecraft experimental testbed, proving that this solution is effectively implementable in real-time. Parametric uncertainties due to the mass variations during operations, linearization errors, and disturbances due to external space environment are simultaneously considered. The approach enables to suitably tighten the constraints to guarantee robust recursive feasibility when bounds on the uncertain variables are provided. Moreover, the offline sampling approach in the control design phase shifts all the intensive computations to the offline phase, thus greatly reducing the online computational cost, which usually constitutes the main limit for the adoption of Stochastic Model Predictive control schemes, especially for low-cost on-board hardware. Numerical simulations and experiments show that the approach provides probabilistic guarantees on the success of the mission, even in rather uncertain and noise situations, while improving the spacecraft performance in terms of fuel consumption. Copyright © 2018, The Authors. All rights reserved.

关键词： Stochastic systems

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Local articulation points in complex networks

arXiv

引用

arXiv 2018年

作者： Yu, Senbin Gao, Liang Song, Rongqiu Institute of Transportation Systems Science and Engineering MOE Key Laboratory of Urban Transportation System Theory and Technology State Key Laboratory of Rail Traffic Control and Safety Center of Cooperative Innovation for Beijing Metropolitan Transportation Beijing Jiaotong University Beijing100044 China Yinchuan Municipal Bureau of Big Data Management and Service Yinchuan750011 China

An articulation point (AP) is any node whose removal increases the number of connected components of a graph. There is no doubt that this kind of node which occupies a non-ignorable fraction of real-world networks plays a key role in ensuring the connectivity. However, we should not thus neglect the impacts of non-APs nodes. In this paper, we define a local AP (LAP) whose removal will increase the number of connected components within its r-step neighborhood. Through investigating the fraction of LAPs in forty-five real networks, we find a critical proportion Scr, which is equal to 0.5 (S = r/D, D is the diameter of a network), and this result can also be turned out in ER networks. In addition, we present a unique advantage of LAPs in dismantling networks under the process of targeted attack, compared with APs, which provide another way of thinking to improve the calculation efficiency of APs and design better targeted attack strategy of network *** Codes Game theory, economics, social and behavioral sciences Copyright © 2018, The Authors. All rights reserved.

关键词： Complex networks

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Model Predictive Planning and control Applied to Critical Traffic Situations

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ATZ worldwide 2016年第9期118卷 64-69页

作者： Götte, Christian Keller, Martin Haß, Carsten Bertram, Torsten Institute of Control Theory and Systems Engineering of the TU Dortmund Dortmund Germany ZF TRW Düsseldorf Germany

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Genetic drivers of heterogeneity in type 2 diabetes pathophysiology

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Nature 2024年第8003期627卷 347-357页

作者： Ken Suzuki Konstantinos Hatzikotoulas Lorraine Southam Henry J Taylor Xianyong Yin Kim M Lorenz Ravi Mandla Alicia Huerta-Chagoya Giorgio E M Melloni Stavroula Kanoni Nigel W Rayner Ozvan Bocher Ana Luiza Arruda Kyuto Sonehara Shinichi Namba Simon S K Lee Michael H Preuss Lauren E Petty Philip Schroeder Brett Vanderwerff Mart Kals Fiona Bragg Kuang Lin Xiuqing Guo Weihua Zhang Jie Yao Young Jin Kim Mariaelisa Graff Fumihiko Takeuchi Jana Nano Amel Lamri Masahiro Nakatochi Sanghoon Moon Robert A Scott James P Cook Jung-Jin Lee Ian Pan Daniel Taliun Esteban J Parra Jin-Fang Chai Lawrence F Bielak Yasuharu Tabara Yang Hai Gudmar Thorleifsson Niels Grarup Tamar Sofer Matthias Wuttke Chloé Sarnowski Christian Gieger Darryl Nousome Stella Trompet Soo-Heon Kwak Jirong Long Meng Sun Lin Tong Wei-Min Chen Suraj S Nongmaithem Raymond Noordam Victor J Y Lim Claudia H T Tam Yoonjung Yoonie Joo Chien-Hsiun Chen Laura M Raffield Bram Peter Prins Aude Nicolas Lisa R Yanek Guanjie Chen Jennifer A Brody Edmond Kabagambe Ping An Anny H Xiang Hyeok Sun Choi Brian E Cade Jingyi Tan K Alaine Broadaway Alice Williamson Zoha Kamali Jinrui Cui Manonanthini Thangam Linda S Adair Adebowale Adeyemo Carlos A Aguilar-Salinas Tarunveer S Ahluwalia Sonia S Anand Alain Bertoni Jette Bork-Jensen Ivan Brandslund Thomas A Buchanan Charles F Burant Adam S Butterworth Mickaël Canouil Juliana C N Chan Li-Ching Chang Miao-Li Chee Ji Chen Shyh-Huei Chen Yuan-Tsong Chen Zhengming Chen Lee-Ming Chuang Mary Cushman John Danesh Swapan K Das H Janaka de Silva George Dedoussis Latchezar Dimitrov Ayo P Doumatey Shufa Du Qing Duan Kai-Uwe Eckardt Leslie S Emery Daniel S Evans Michele K Evans Krista Fischer James S Floyd Ian Ford Oscar H Franco Timothy M Frayling Barry I Freedman Pauline Genter Hertzel C Gerstein Vilmantas Giedraitis Clicerio González-Villalpando Maria Elena González-Villalpando Penny Gordon-Larsen Myron Gross Lindsay A Guare Sophie Hackinger Liisa Hakaste Sohee Han Andrew T Hattersley Christian Herder Momoko Horikoshi Annie-Green Howard Willa Centre for Genetics and Genomics Versus Arthritis Centre for Musculoskeletal Research Division of Musculoskeletal and Dermatological Sciences University of Manchester Manchester UK. Department of Diabetes and Metabolic Diseases Graduate School of Medicine University of Tokyo Tokyo Japan. Department of Statistical Genetics Osaka University Graduate School of Medicine Suita Japan. Institute of Translational Genomics Helmholtz Zentrum München German Research Center for Environmental Health Neuherberg Germany. konstantinos.hatzikotoulas@helmholtz-munich.de. Institute of Translational Genomics Helmholtz Zentrum München German Research Center for Environmental Health Neuherberg Germany. Center for Precision Health Research National Human Genome Research Institute National Institutes of Health Bethesda MD USA. British Heart Foundation Cardiovascular Epidemiology Unit Department of Public Health and Primary Care University of Cambridge Cambridge UK. Heart and Lung Research Institute University of Cambridge Cambridge UK. Department of Epidemiology School of Public Health Nanjing Medical University Nanjing China. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor MI USA. Corporal Michael J. Crescenz VA Medical Center Philadelphia PA USA. Department of Systems Pharmacology and Translational Therapeutics University of Pennsylvania Perelman School of Medicine Philadelphia PA USA. Department of Genetics University of Pennsylvania Perelman School of Medicine Philadelphia PA USA. Programs in Metabolism and Medical and Population Genetics Broad Institute of Harvard and MIT Cambridge MA USA. Diabetes Unit and Center for Genomic Medicine Massachusetts General Hospital Boston MA USA. TIMI Study Group Division of Cardiovascular Medicine Brigham and Women's Hospital Harvard Medical School Boston MA USA. William Harvey Research Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London L

Type 2 diabetes (T2D) is a heterogeneous disease that develops through diverse pathophysiological processes and molecular mechanisms that are often specific to cell type. Here, to characterize the genetic contribution to these processes across ancestry groups, we aggregate genome-wide association study data from 2,535,601 individuals (39.7% not of European ancestry), including 428,452 cases of T2D. We identify 1,289 independent association signals at genome-wide significance (P < 5 × 10) that map to 611 loci, of which 145 loci are, to our knowledge, previously unreported. We define eight non-overlapping clusters of T2D signals that are characterized by distinct profiles of cardiometabolic trait associations. These clusters are differentially enriched for cell-type-specific regions of open chromatin, including pancreatic islets, adipocytes, endothelial cells and enteroendocrine cells. We build cluster-specific partitioned polygenic scores in a further 279,552 individuals of diverse ancestry, including 30,288 cases of T2D, and test their association with T2D-related vascular outcomes. Cluster-specific partitioned polygenic scores are associated with coronary artery disease, peripheral artery disease and end-stage diabetic nephropathy across ancestry groups, highlighting the importance of obesity-related processes in the development of vascular outcomes. Our findings show the value of integrating multi-ancestry genome-wide association study data with single-cell epigenomics to disentangle the aetiological heterogeneity that drives the development and progression of T2D. This might offer a route to optimize global access to genetically informed diabetes care.

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Numerical Evaluation of a Robust Self-Triggered MPC Algorithm

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IFAC-PapersOnLine 2016年第22期49卷 151-156页

作者： Brunner, Florian D. Heemels, W.P.M.H. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We present numerical examples demonstrating the efficacy of a recently proposed self-triggered model predictive control scheme for disturbed linear discrete-time systems with hard constraints on the input and state. In order to reduce the amount of communication between the controller and the actuator, the control input is not re-computed at each point in time but only at certain sampling instances. These instances are determined in a self-triggered fashion in the sense that at every sampling instant the next sampling instant is computed as a function of the current system state. A compact set in the state space, whose size is a design parameter in the control scheme, is stabilized. © 2016

关键词： Discrete time control systems Digital control systems Model predictive control Predictive control systems Robustness (control systems) control inputs control schemes Design parameters Hard constraints Linear discrete time systems Predictive control Sampling instants Self triggered controls

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Final-state constrained optimal control via a projection operator approach

arXiv

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arXiv 2017年

作者： Notarnicola, Ivano Bayer, Florian A. Notarstefano, Giuseppe Allgöwer, Frank Department of Engineering Università del Salento Lecce Italy Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany

In this paper we develop a numerical method to solve nonlinear optimal control problems with final-state constraints. Specifically, we extend the PRojection Operator based Netwon's method for Trajectory Optimization (PRONTO), which was proposed by Hauser for unconstrained optimal control problems. While in the standard method final-state constraints can be only approximately handled by means of a terminal penalty, in this work we propose a methodology to meet the constraints exactly. Moreover, our method guarantees recursive feasibility of the final-state constraint. This is an appealing property especially in realtime applications in which one would like to be able to stop the computation even if the desired tolerance has not been reached, but still satisfy the constraints. Following the same conceptual idea of PRONTO, the proposed strategy is based on two main steps which (differently from the standard scheme) preserve the feasibility of the final-state constraints: (i) solve a quadratic approximation of the nonlinear problem to find a descent direction, and (ii) get a (feasible) trajectory by means of a feedback law (which turns out to be a nonlinear projection operator). To find the (feasible) descent direction we take advantage of final-state constrained Linear Quadratic optimal control methods, while the second step is performed by suitably designing a constrained version of the trajectory tracking projection operator. The effectiveness of the proposed strategy is tested on the optimal state transfer of an inverted pendulum. Copyright © 2017, The Authors. All rights reserved.

关键词： Numerical methods

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