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IEEE Symposium on Intelligent Vehicle

作者： Jian Zhou Arvind Balachandran Björn Olofsson Lars Nielsen Erik Frisk Department of Electrical Engineering Division of Vehicular Systems Linköping University Linköping Sweden Department of Automatic Control Lund University Lund Sweden

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Optimization of vehicle maneuvers using dynamic models in constrained spaces is challenging. Homotopic optimization, which has shown success for vehicle maneuvers with kinematic models, is studied in the case where the vehicle model is governed by dynamic equations considering road-tire interactions. This method involves a sequence of optimization problems that start with a large free space. By iteration, this space is progressively made smaller until the target problem is reached. The method uses a homotopy index to iterate the sequence of optimizations, and the method is verified by solving challenging maneuvering problems with different road surfaces and entry velocities using a double-track vehicle dynamics model. The main takeaway is that homotopic optimization is also efficient for dynamic vehicle models at the limit of road-tire friction, and it demonstrates capabilities in solving demanding maneuvering problems compared with alternative methods like stepwise initialization and driver model-based initialization.

关键词： Space vehicles Roads Friction Kinematics Mathematical models Indexes Vehicle dynamics

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An Adaptive CUSUM Approach for Automating Sleep Apnoea Analysis Based on Pulse and Oximetry Data 20

An Adaptive CUSUM Approach for Automating Sleep Apnoea Analy...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Dongjin Bhargava, Eishaan Elphick, Heather Mihaylova, Lyudmila S. University of Sheffield Dept. of Automatic Control and Systems Engineering United Kingdom Sheffield Children's Hospital Department of Paediatric Otolaryngology Sheffield United Kingdom Sheffield Children's Hospital Department of Paediatric Respiratory and Sleep Medicine Sheffield United Kingdom

ISBN: (纸本)9798350320831

Sleep apnoea is a common sleep disorder during human sleep. It is usually diagnosed by a doctor after recording one nights' sleep signals. Patients have to go to the hospital to record sleep signals, which is time-consuming and resource-intensive. The study focused on two signals, pulse data and oximetry data, with the aim of detecting apnoea using a single signal. This paper introduced an anomaly detection approach using the adaptive cumulative sum (ACUSUM) change point detection algorithm to monitor outliers in the signal. In addition, the test results of ACUSUM will be compared with the test results of classical CUSUM. Besides, the threshold selection has been changed from an unchanging constant to a value related to the standard deviation of the selected signal based on a rational subgroup process. The results of the comparison confirm that ACUSUM is better than classical CUSUM in the accuracy of automatic detection. © 2023 IEEE.

关键词： Anomaly detection

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The Fundamental Limitations of Learning Linear-Quadratic Regulators

arXiv

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arXiv 2023年

作者： Lee, Bruce D. Ziemann, Ingvar Tsiamis, Anastasios Sandberg, Henrik Matni, Nikolai Department of Electrical and Systems Engineering University of Pennsylvania United States Automatic Control Laboratory ETH Zurich Switzerland Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

We present a local minimax lower bound on the excess cost of designing a linear-quadratic controller from offline data. The bound is valid for any offline exploration policy that consists of a stabilizing controller and an energy bounded exploratory input. The derivation leverages a relaxation of the minimax estimation problem to Bayesian estimation, and an application of Van Trees’ inequality. We show that the bound aligns with system-theoretic intuition. In particular, we demonstrate that the lower bound increases when the optimal control objective value increases. We also show that the lower bound increases when the system is poorly excitable, as characterized by the spectrum of the controllability gramian of the system mapping the noise to the state and the H∞ norm of the system mapping the input to the state. We further show that for some classes of systems, the lower bound may be exponential in the state dimension, demonstrating exponential sample complexity for learning the linear-quadratic regulator offline. © 2023, CC BY.

关键词： Bayesian networks

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Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Tomasz Marciniak Agnieszka Stankiewicz Przemysław Zaradzki Department of Control Robotics and Electrical Engineering Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author’s publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score).

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Prospects for Using of New Types of Current Transformers for Differential Protection for Transformers

Prospects for Using of New Types of Current Transformers for...

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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Andrey Yablokov Anton Panashatenko Andrey Tychkin Department of Electric Power Systems Automatic Control "ISPU" Ivanovo State Power Engineering University Ivanovo Russian Federation

The article is devoted to the analysis of the possibilities of improving the methodology for selecting the operation parameters of the longitudinal differential protection of a power transformer when using new types of current transformers such Rogowski Coils, optical current transformers (including digital ones) and their combinations with traditional current transformers. The results of studies of the characteristics of digital transformers are presented, also the heat, repeatability of construction and continuous operating conditions influence on it are shown. Based on anlysis for these studies possible improvements in the methodology for selecting the operation parameters of the differential protection of the transformer are proposed. These improvements can increse the sensitivity and reliability for differential transformer protection.

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Active Adaptive Fuzzy Fault-Tolerant control for a Class of Nonlinear systems with Actuator Faults 4th

Active Adaptive Fuzzy Fault-Tolerant Control for a Class of ...

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4th International Conference on Electrical engineering and control Applications, ICEECA 2019

作者： Bounemeur, Abdelhamid Chemachema, Mohamed Laboratory of Automatic Robotic and Control Systems Department of Electronics Faculty of Engineering University of Constantine 1 Constantine Algeria

ISBN: (纸本)9789811564024

This paper deals with the problem of faulty and perturbed class of nonlinear systems. The universal approximator system is used to cope with the nonlinearities and the actuator faults. Two controllers are proposed, the first is an adaptive controller and the second is a robust controller. The proposed scheme allows to deal with the external disturbances theoretically instead of approximation. The stability is proved using Lyapunov theory. Simulation example on an inverted pendulums is carried out to show the prompt and the accuracy of the proposed strategy. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Nonlinear systems

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Prediction of Radiated Electromagnetic Interference Based on Four-module Motor Drive System

Prediction of Radiated Electromagnetic Interference Based on...

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Energy, Power and Grid (ICEPG), International Conference on

作者： Yixin Shi Wenjie Chen Fengjiao Li Jinpeng Kan Yongqing Meng Guang Yang School of Electrical Engineering Xi’an Jiaotong University Xi’an China Department of Computer and Electronic Systems Engineering AVIC Xi’an Flight Automatic Control Research Institute Xi’an China

ISBN: (数字)9798350377798

ISBN: (纸本)9798350377804

In recent years, wide bandgap semiconductor devices such as silicon carbide (SiC) and gallium nitride (GaN) have been increasingly applied in electric drive systems, effectively enhancing system power density. However, the high-frequency and high-speed characteristics of SiC devices exacerbate electromagnetic interference (EMI) issues within the system. Additionally, the cables in electric drive systems exhibit significant antenna effects, radiating conducted EMI into the surrounding space, thereby affecting the normal operation of other sensitive equipment. Therefore, it is essential to research motor drive system topologies that can actively suppress EMI and predict radiated interference in motor drive systems. The topology of a four-module motor paired with parallel inverters can achieve active suppression of EMI at the source. This paper conducts a simulation-based prediction of radiated interference for a parallel inverter-driven four-module motor system. It analyzes the coupling mechanisms of common mode and differential mode radiated interference and validates the radiated interference from both DC and AC cables through simulations, predicting the impact on surrounding sensitive equipment in practical systems.

关键词： Motor drives Accuracy Silicon carbide Electromagnetic interference Layout Predictive models Motors Topology Gallium nitride Cables

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Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidirectional Aerial Manipulator 6

Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidi...

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6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Ullah, Hameed Soto, Santos Miguel Orozco Mazhar, Naveed Ahmad, Irfan Lippiello, Vincenzo Ruggiero, Fabio University of Naples Federico II Department of Electrical Engineering and Information Technology Naples Italy Science and Technology College Autonomous University of Mexico City Mexico City Mexico National University of Sciences and Technology Unmanned Vehicles Research Lab DEE CEME Islamabad Pakistan Engineering School of Bilbao University of the Basque Country Department of Automatic Control and Systems Bilbao Spain

ISBN: (纸本)9798350355703

This paper presents the pushing and rotation of a heavy rigid body using an omnidirectional actively tilted aerial manipulator, controlled via a hybrid force/position controller. Unlike conventional unmanned aerial vehicles, the proposed system enables precise horizontal force application, making it ideal for aerial physical interaction tasks. The hybrid controller is implemented in the Robot Operating System and validated through extensive simulations in a Gazebo physics-engine-based environment. The manipulator's performance was evaluated in two scenarios: circular trajectory tracking and the rotation of a heavy rigid mass. Results demonstrated its capability to follow complex trajectories with high accuracy and exert sustained forces for object manipulation. The system exhibited excellent stability and precision, underscoring its potential for real-world applications in challenging environments. © 2024 IEEE.

关键词： Omnidirectional antennas

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Features of Space Vector Pulse Width Modulation in 5-phases Cascaded High Voltage Converters 5

Features of Space Vector Pulse Width Modulation in 5-phases ...

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5th IEEE KhPI Week on Advanced Technology, KhPIWeek 2024

作者： Busher, Victor Chornyi, Oleksii Tytiuk, Valerii Glazeva, Oksana Kuznetsov, Vitaliy Dept. of Electrical Engineering and Electronics National University "Odessa Maritime Academy" Odessa Ukraine Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Kryvyi Rih National University Kryvyi Rih Ukraine Dept. of the electrical engineering Ukrainian State University of Science and Technologies Dnipro Ukraine

ISBN: (纸本)9798350384499

The purpose of this work is to analyze the capabilities of space-vector pulse-width modulation when controlling a 5-phase high-voltage cascade frequency converter in normal mode and several types of emergency situations. Taking into account the large number of controlled power transistors, an asynchronous modulation method is proposed, based on calculating the amplitude values of individual phases at each time based on the duty cycle of space vectors, which allows the control system to use independent switching in each phase. In emergency modes, when individual H-bridges are damaged, it is proposed to use the balanced space vectors method, which ensures the symmetry of the electromagnetic field in the event of a short circuit of both individual cascades and one or two phases of the inverter. Methodology. We use a mathematical and geometric interpretation of variable amplitude space vectors when projecting voltages onto a symmetrical 5-phase load. Results. Analysis of the 1st harmonic of phase voltages showed that the use of the space vector modulation method in the normal operating mode of a 5-phase converter makes it possible to increase the utilization factor of DC voltage sources by 23.1% (instead of 15.6% for a 3-phase converter). If individual H-bridges fail and the voltages in the load phases are balanced, the utilization factor may decrease, but in any case it will remain greater than 1. In this case, the higher harmonics, despite significant distortions in the shape of the phase voltages, are mutually compensated in the electromagnetic field of the load, as evidenced by absence of pulsations and shocks on the graphs of transient processes of the electromagnetic torque of the engine. Balancing of the electromagnetic field in the load is maintained even if one or two phases of the inverter are short-circuited. This significantly increases the survivability of the electric drive, which is especially important in critical mechanisms and technological processes,

关键词： Electric motors

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An Integrated Observer Framework Based Mechanical Parameters Identification for Adaptive control of Permanent Magnet Synchronous Motor

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Complex System Modeling and Simulation 2022年第4期2卷 354-367页

作者： Zhong Liao Zhaohua Liu Lei Chen Mingyang Lyu Dian Wang Faming Wu Zhengheng Wang Hualiang Wei the School of Information and Electrical Engineering Hunan University of Science and TechnologyXiangtan 411201China the Wind Power Business Division CRRC Zhuzhou Institute Co.Ltd.Zhuzhou 412001China. the Department of Automatic Control and Systems Engineering University of SheffieldSheffieldS13JDUK.

An integrated observer framework based mechanical parameters identification approach for adaptive control of permanent magnet synchronous motors is proposed in this ***,an integrated observer framework is established for mechanical parameters’estimation,which consists of an extended sliding mode observer(ESMO)and a Luenberger *** at minimizing the influence of parameters coupling,the viscous friction and the moment of inertia are obtained by ESMO and the load torque is identified by Luenberger observer *** obtaining estimates of the mechanical parameters,the optimal proportional integral(PI)parameters of the speed-loop are determined according to third-order best design *** a result,the controller can adjust the PI parameters in real time according to the parameter changes to realize the adaptive control of the ***,the disturbance is compensated according to the ***,the experiments were carried out on simulation platform,and the experimental results validated the reliability of parameter identification and the efficiency of the adaptive control strategy presented in this paper.

关键词： parameter identification permanent magnet synchronous motor adaptive control extended sliding mode observer Luenberger observer

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