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European control Conference

作者： Vladislav Nenchev Calin Belta Jorg Raisch Control Systems Group Technische Universitat Berlin Department of Mechanical Engineering and the Division of Systems Engineering Boston University Control Systems Group Technische Universitat Berlin and the Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems

ISBN: (纸本)9781467371605

This paper proposes a method for automatic generation of time-optimal robot motion trajectories for the task of collecting and moving a finite number of objects to particular spots in space, while maintaining predefined temporal logic constraints. The continuous robot dynamics change upon an object pick-up or drop-off. The temporal constraints are expressed as syntactically co-safe Linear Temporal Logic (scLTL) formulas over the set of object and drop-off sites. We propose an approach based on constructing a discrete abstraction of the hybrid system modeling the robot in the form of a finite weighted transition system. Then, by employing tools from automata-based model checking, we obtain an automaton containing only paths that satisfy the specification. The shortest path in this automaton is found by graph search and corresponds directly to the time-optimal hybrid trajectory. The method is applied to a case study with a mobile ground robot and a case study involving a quadrotor moving in an environment with obstacles, thus reflecting its computational advantage over a direct optimization approach.

关键词： Automata Trajectory Optimal control Yttrium Vehicle dynamics Planning

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Rub-impact fault diagnosis of rotating machinery based on Hilbert-Huang transform 12th

Rub-impact fault diagnosis of rotating machinery based on Hi...

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IEEE International Conference on Mechatronics and Automation

作者： Yan Zhao Enshu Liu Junchao Zhu Baofeng Zhang Juan Wang Huan Tian Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China Research Institute of Physical and Chemical Engineering of Nuclear Industry Tianjin China Dagang Oilfield Thermal Power Company Tianjin China

ISBN: (纸本)9781479970995

The rub-impact fault is one of the important faults of the rotating machinery. The rub-impact fault signal may be nonlinear and non-stationary. The Hilbert-Huang transform (HHT) is based on time-frequency signal processing technology, which is suitable for nonlinear and non-stationary signals. In this paper, the HHT transform is used to analyze the time-frequency characteristic of the rub-impact fault signal of a rotor test rig. The velocity sensor is used to measure the vibration signal of the rub-impact fault rotor. The experimental result shows that the HHT transform can effectively detect the rub-impact fault of the rotor, which implies great potential of the HHT transform in the fault diagnosis of rotor system.

关键词： Rotors Vibrations Transforms Time-frequency analysis Signal processing Fault diagnosis

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From the Field: An occupational safety program for wildlife professionals involved with bovine tuberculosis surveillance

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Wildlife Society Bulletin 2019年第3期32卷

作者： Daniel J. O'Brien Daniel J. Yereb Melinda K. Cosgrove Elaine S. Carlson Stephen M. Schmitt Melinda J. Wilkins Dan O'Brien(front left) is a veterinarian with the Rose Lake Wildlife Disease Laboratory and the epidemiology specialist for the Michigan Department of Natural Resources (MDNR). He earned his B.S. in animal husbandry his D.V.M. and his Ph.D. in epidemiology all from Michigan State University. Dan's research interests have focused on analytical and spatial epidemiology and using animal sentinels for human diseases. His current responsibilities include surveillance control and research of various wildlife diseases in Michigan. Prior to coming to MDNR in 1999 he worked for several years in clinical practice and several more as a toxicologist for the Michigan Department of Environmental Quality. Field Studies Branch National Institute for Occupational Safety and Health 1095 Willowdale Road Morgantown WV 26505 USA Mio Field Office Wildlife Division Michigan Department of Natural Resources 191 S. Mt. Tom Road Box 939 Mio MI 48647 USA Bureau of Epidemiology Michigan Department of Community Health 3423 N. Martin Luther King Jr. Boulevard Lansing MI 48909 USA. Dan Yerebis an industrial hygienist with the National Institute for Occupational Safety and Health. He received his B.S. in occupational health and safety from Fairmont State College and his M.S. in occupational health and safety engineering from West Virginia University. He conducts health hazard evaluations to determine possible health hazards in the workplace that are poorly characterized or incompletely understood. Elaine Carlson(rear left) is an MDNR field wildlife biologist living and working in the bovine tuberculosis endemic area of northeast Michigan. She received a B.S. in parks and recreation resources and an M.S. in wildlife biology from Michigan State University. Elaine worked on black bear research for many years and more recently has been involved with field coordination of surveillance research and communications efforts for bovine tuberculosis. Steve Schmitt(rear right) has served as veterinarian-in-charge at the Rose La

The discovery of bovine tuberculosis (caused by Mycobacterium bovis ) in white-tailed deer ( Odocoileus virginianus ) and other free-ranging Michigan wildlife has made ongoing surveillance for the disease a reality for wildlife professionals. The wide susceptibility of mammals, including humans, to M. bovis led us to be concerned with the potential risks of acquiring tuberculosis that Michigan Department of Natural Resources staff face in their occupational activities. Consequently, we developed a bovine tuberculosis occupational safety program for our staff and volunteer cooperators taking part in disease surveillance. Close similarities between bovine and human tuberculosis allowed occupational safety principles used in human health care to be used as a guide. We produced an occupational safety training document to educate personnel about bovine tuberculosis in humans, evaluate the risk posed by job duties, and make recommendations on risk mitigation. Following implementation, the National institute for Occupational Safety and Health conducted field evaluations of the occupational safety program that validated its protectiveness for workers. As wildlife disease surveillance becomes a greater responsibility for management agencies across the United States, we believe the lessons learned in development of the Michigan program can be widely adapted to other areas and potentially to other diseases, and can raise awareness of occupational exposure to zoonotic diseases.

关键词： bovine tuberculosis Mycobacterium bovis occupational safety wildlife disease surveillance

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Structural hysteresis model of transmitting mechanical systems

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Journal of Physics: Conference Series 2015年第1期585卷

作者： M Ruderman T Bertram Institute of Control Theory and Systems Engineering TU-Dortmund Dortmund Germany

We present a structural hysteresis model which describes the dynamic behavior of transmitting mechanical systems with a hysteretic spring and damped bedstop element, both connected in series. From the application point view this approach can be used for predicting the transmitted mechanical force based only on the known kinematic excitation. Using the case study of an elastic gear transmission we show and identify a hysteresis response which multivariate behavior depends on an internal state of the bedstop motion.

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Disrupted bandcount doubling in an AC-DC boost PFC circuit modeled by a time varying map

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Journal of Physics: Conference Series 2016年第1期692卷

作者： Viktor Avrutin Zhanybai T. Zhusubaliyev Abdelali El Aroudi Danièle Fournier-Prunaret Germain Garcia Erik Mosekilde Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Computer Science Southwest State University Kursk Russia Department of Electronics Electrical Engineering Automatic Control Universitat Rovira i Virgili Tarragona Spain INSA LAAS-CNRS Université de Toulouse Toulouse France INSA LAAS-CNRS Université de Toulouse Toulouse France Department of Physics The Technical University of Denmark Lyngby Denmark

Power factor correction converters are used in many applications as AC-DC power supplies aiming at maintaining a near unity power factor. systems of this type are known to exhibit nonlinear phenomena such as sub-harmonic oscillations and chaotic regimes that cannot be described by traditional averaged models. In this paper, we derive a time varying discretetime map modeling the behavior of a power factor correction AC-DC boost converter. This map is derived in closed-form and is able to faithfully reproduce the system behavior under realistic conditions. In the chaotic regime the map exhibits a sequence of bifurcation similar to a bandcount doubling cascade on the low frequency. However, the observed scenario appears in some sense incomplete, with some gaps in the bifurcation diagram, whose appearance to our knowledge has never been reported before. We show that these gaps are caused by high frequency oscillations.

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Benchmarking aerodynamic prediction of unsteady rotor aerodynamics of active flaps on wind turbine blades using ranging fidelity tools

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Journal of Physics: Conference Series 2016年第2期753卷

作者： Thanasis Barlas Eva Jost Georg Pirrung Theofanis Tsiantas Vasilis Riziotis Sachin T. Navalkar Thorsten Lutz Jan-Willem van Wingerden Technical University of Denmark Department of Wind Energy Aerodynamic Design & Loads and Control DTU Risø Campus Fredriksborgvej 399 4000 Roskilde Denmark Institute of Aerodynamics and Gas Dynamics University of Stuttgart Pfaffenwaldring 21 70569 Stuttgart Germany National Technical University of Athens School of Mechanical Engineering Section of Fluids Heroon Polytechniou 9 15780 Zografou Athens Greece Delft University of Technology Delft Center for Systems and Control Faculty of Mechanical Engineering 2628 CD Delft the Netherlands

Simulations of a stiff rotor configuration of the DTU 10MW Reference Wind Turbine are performed in order to assess the impact of prescribed flap motion on the aerodynamic loads on a blade sectional and rotor integral level. Results of the engineering models used by DTU (HAWC2), TUDelft (Bladed) and NTUA (hGAST) are compared to the CFD predictions of USTUTT-IAG (FLOWer). Results show fairly good comparison in terms of axial loading, while alignment of tangential and drag-related forces across the numerical codes needs to be improved, together with unsteady corrections associated with rotor wake dynamics. The use of a new wake model in HAWC2 shows considerable accuracy improvements.

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A numerical evaluation of state reconstruction methods for heterogeneous cell populations

A numerical evaluation of state reconstruction methods for h...

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European control Conference

作者： Steffen Waldherr Robert Frysch Tim Pfeiffer Theresa Jakuszeit Shen Zeng Georg Rose Institute for Automation Engineering Otto-von-Guericke-University Institute for Medical Engineering Otto-von-Guericke-University Institute for Systems Theory and Automatic Control University of Stuttgart

ISBN: (纸本)9781467371605

Heterogeneity among cells is a common characteristic of living systems. For mathematical modeling of heterogeneous cell populations, one typically has to reconstruct the underlying heterogeneity from measurements on the population level. Based on recent insights into the mathematical nature of this problem as an inverse problem of tomographic type, we evaluate numerical methods to perform such a reconstruction in basic case studies. We compare a kernel density based optimization approach, filtered back projection, and algebraic reconstruction techniques. The latter two are well established methods in computed tomography.

关键词： cell population numerical calculation Reconstruction algorithm living systems Cells Numerical methods Inverse method mathematical modeling Population levels Heterogeneous backprojection Reconstructive Surgical Procedures

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Wheel-Legged Robot – Construction and obstacle detection sensors

Wheel-Legged Robot – Construction and obstacle detection se...

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作者： Gronowicz, A. Sperzyński, P. Szrek, J. Jakubiak, J. Wroclaw University of Technology Division of Machine Theory and Mechatronic Systems Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Poland

ISBN: (纸本)9789400774841

This paper presents the general structure of wheel-legged robot module and sensory systems. The scheme, interfaces and system components will be presented. Basing on initial experiments the sensor properties and suitability for a particular task – detection, identification and overcoming encountered obstacles on the robot’s path were assessed. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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Modeling and simulating for congestion evacuation based on multi-agent approach 33

Modeling and simulating for congestion evacuation based on m...

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第三十三届中国控制会议

作者： WANG Jinhuan SHI Qiongyu HU Xiaoming YANG Peng School of Sciences Hebei University of Technology School of Control Science and Engineering Hebei University of Technology Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology

ISBN: (纸本)9781479947249

A new multi-agent based congestion evacuation model is proposed in this paper to simulate the pedestrian evacuation process in stadium with or without obstacles, in which each agent's state can be normal, being overtaked and dead. In this model,all the pedestrians are divided into four kinds and each kind has six different classes of competitive ability. The individual action direction is affected by their competitive ability, the distance to the exits and the occupant number and density within the view field of the agent. In the simulation, we present the congestion and death phenomenon as well as the effects of obstacles in evacuation process. We also add a virtual leader to regulate the evacuation effectively. Simulation results show that the proposed model can reproduce exactly the real evacuation process in stadium.

关键词： Congestion Evacuation,Multi-agent,Cellular Automaton

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Performance analysis of economic MPC with self-tuning terminal cost

Performance analysis of economic MPC with self-tuning termin...

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2014 American control Conference, ACC 2014

作者： Müller, Matthias A. Angeli, David Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart 70550 Germany Department of Electrical and Electronic Engineering Imperial College London United Kingdom

ISBN: (纸本)9781479932726

In this paper, we further analyze an economic model predictive control (MPC) algorithm with self-tuning terminal cost, which was recently proposed in [1]. It is shown that if a generalized terminal region constraint instead of a generalized terminal equality constraint is used, improved closed-loop asymptotic average performance bounds can be obtained. In particular, in contrast to the results in [1], these bounds can be obtained a priori. We discuss how the necessary parameters for the generalized terminal region setting can be calculated, and we illustrate our findings with a numerical example. © 2014 American Automatic control Council.

关键词： Model predictive control

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