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American Control Conference

作者： Robin Verschueren Niels van Duijkeren Jan Swevers Moritz Diehl Systems Control and Optimization Laboratory Department of Microsystems Engineering University of Freiburg Germany Division of Production engineering Machine design and Automation Department of Mechanical Engineering KU Leuven Belgium

ISBN: (纸本)9781467386838

Time-optimal motion planning for robotic manipulators consists of moving the robot along a path in Cartesian space as fast as possible. In contrast to time-optimal path following, small deviations from a predefined path are acceptable and can be exploited to further reduce the overall motion time. In this paper, we present a new method to compute time-optimal motions around a path. By employing an appropriate change of variables for the robot dynamics to path coordinates, geometric constraints enter the optimal control formulation in a convenient way. The reformulation of the robot dynamics and the path constraints is illustrated with numerical examples.

关键词： Robot kinematics Optimization Manipulators Dynamics Vehicle dynamics Optimal control Robot kinematics robot dynamics Manipulators Optimal control Vehicle dynamics motion planning Robot Manipulator dynamics Byways geometric constraint

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A switching-on control strategy of the DC-SSPC for the capacitive loads 18

A switching-on control strategy of the DC-SSPC for the capac...

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18th European Conference on Power Electronics and Applications, EPE 2016 ECCE Europe

作者： Song, Li-Nan Li, Wang Ruan, Li-Gang Dai, Ze-Hua Yang, Shan-Shui Wang, Bang-Ting Cheng, Guo-Hua Jian, Zhao Jiangsu Key Laboratory of New Energy Generation Power Conversion Electrical Engineering Department College of Automation Nanjing University of Aeronautics and Astronautics Nanjing211106 China Shanghai Aircraft Design and Research Institute Commercial Aircraft Corporation of China Shanghai200126 China

ISBN: (纸本)9789075815245

Solid-State Power Controller (SSPC) is a key device in the advanced aircraft power distribution system. It replaces the traditional electromechanical circuit breakers, contactors and relays to switch loads on/off and provides comprehensive protection functions. The large surge current, which results from the starting of large capacitive loads, is similar to the short-circuit fault, so it may mislead to the false protection and on the other hand, destroy the solid-state switch MOSFET. This paper proposes a control strategy for DC-SSPC, which can not only limit spikes but also distinguish short-circuit fault from capacitive loads quickly. Simulations and experiments proves that the control strategy is feasible. And compared with the fixed time delay fault detection strategy, the newly proposed control strategy can decrease the distinguish time, increase the capacity of switching on large capacitive loads. © 2016 IEEE and EPE Association.

关键词： Electric circuit breakers

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On the stability of static poisson networks under random access

On the stability of static poisson networks under random acc...

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作者： Zhong, Yi Haenggi, Martin Quek, Tony Q.S. Zhang, Wenyi Department of Electronic Engineering and Information Science University of Science and Technology of China Hefei230027 China Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore487372 Singapore Department of Electrical Engineering University of Notre Dame Notre DameIN46556 United States Key Laboratory of Wireless-Optical Communications Chinese Academy of Sciences Hefei230027 China

We investigate the stable packet arrival rate region of a discrete-time slotted random access network, where the sources are distributed as a Poisson point process. Each of the sources in the network has a destination at a given distance and a buffer of infinite capacity. The network is assumed to be random but static, i.e., the sources and the destinations are placed randomly and remain static during all the time slots. We employ tools from queueing theory as well as point process theory to study the stability of this system using the concept of dominance. The problem is an instance of the interacting queues problem, further complicated by the Poisson spatial distribution. We obtain sufficient conditions and necessary conditions for stability. Numerical results show that the gap between the sufficient conditions and the necessary conditions is small when the access probability, the density of transmitters, or the SINR threshold is small. The results also reveal that a slight change of the arrival rate may greatly affect the fraction of unstable queues in the network. © 1972-2012 IEEE.

关键词： Queueing theory

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Nonlinear identification and control of Organic Rankine Cycle systems using sparse polynomial models

Nonlinear identification and control of Organic Rankine Cycl...

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IEEE Multi-Conference on systems and Control

作者： Andres Hernandez Fredy Ruiz Adriano Desideri Clara Ionescu Sylvain Quoilin Vincent Lemort Robin De Keyser Faculty of Engineering and Architecture Department of Electrical energy Systems and Automation Ghent University Department of electronics engineering Pontificia Universidad Javeriana Thermodynamics Laboratory University of Liege

ISBN: (纸本)9781509007561

Development of a first principles model of a system is not only a time- and cost-consuming task, but often leads to model structures which are not directly usable to design a controller using current available methodologies. In this paper we use a sparse identification procedure to obtain a nonlinear polynomial model. Since this is a NP-hard problem, a relaxed algorithm is employed to accelerate its convergence speed. The obtained model is further used inside the nonlinear Extended Prediction Self-Adaptive control (NEPSAC) approach to Nonlinear Model Predictive Control (NMPC), which replaces the complex nonlinear optimization problem by a simpler iterative quadratic programming procedure. An organic Rankine cycle system, characterized for presenting nonlinear time-varying dynamics, is used as benchmark to illustrate the effectiveness of the proposed combined strategies.

关键词： Polynomial Models Rankine cycle nonlinearity identification and control nonlinear model predictive control BENCHMARKS Controllers Converge

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Publisher Correction: The Scales Project, a cross-national dataset on the interpretation of thermal perception scales

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Scientific data 2020年第1期7卷 11页

作者： Marcel Schweiker Amar Abdul-Zahra Maíra André Farah Al-Atrash Hanan Al-Khatri Rea Risky Alprianti Hayder Alsaad Rucha Amin Eleni Ampatzi Alpha Yacob Arsano Montazami Azadeh Elie Azar Bannazadeh Bahareh Amina Batagarawa Susanne Becker Carolina Buonocore Bin Cao Joon-Ho Choi Chungyoon Chun Hein Daanen Siti Aisyah Damiati Lyrian Daniel Renata De Vecchi Shivraj Dhaka Samuel Domínguez-Amarillo Edyta Dudkiewicz Lakshmi Prabha Edappilly Jesica Fernández-Agüera Mireille Folkerts Arjan Frijns Gabriel Gaona Vishal Garg Stephanie Gauthier Shahla Ghaffari Jabbari Djamila Harimi Runa T Hellwig Gesche M Huebner Quan Jin Mina Jowkar Renate Kania Jungsoo Kim Nelson King Boris Kingma M Donny Koerniawan Jakub Kolarik Shailendra Kumar Alison Kwok Roberto Lamberts Marta Laska M C Jeffrey Lee Yoonhee Lee Vanessa Lindermayr Mohammadbagher Mahaki Udochukwu Marcel-Okafor Laura Marín-Restrepo Anna Marquardsen Francesco Martellotta Jyotirmay Mathur Gráinne McGill Isabel Mino-Rodriguez Di Mou Bassam Moujalled Mia Nakajima Edward Ng Marcellinus Okafor Mark Olweny Wanlu Ouyang Ana Ligia Papst de Abreu Alexis Pérez-Fargallo Indrika Rajapaksha Greici Ramos Saif Rashid Christoph F Reinhart Ma Isabel Rivera Mazyar Salmanzadeh Karin Schakib-Ekbatan Stefano Schiavon Salman Shooshtarian Masanori Shukuya Veronica Soebarto Mohammad Tahsildoost Federico Tartarini Despoina Teli Priyam Tewari Samar Thapa Maureen Trebilcock Jörg Trojan Ruqayyatu B Tukur Conrad Voelker Yeung Yam Liu Yang Gabriela Zapata-Lancaster Yongchao Zhai Yingxin Zhu Zahra Sadat Zomorodian Building Science Group Karlsruhe Institute of Technology Englerstr. 7 76131 Karlsruhe Germany. marcel.schweiker@kit.edu. WIN-Kolleg Thermal comfort and pain Heidelberg Academy of Sciences and Humanities Karlstr. 4 69117 Heidelberg Germany. marcel.schweiker@kit.edu. Mechanical Engineering Department University of Technology Iraq Al sinaea 10066 Baghdad Iraq. CTC/Department of Civil Engineering Federal University of Santa Catarina Rua João Pio Duarte Silva s/n. Córrego Grande 88.040-901 Florianópolis SC Brazil. School of Architecture and Built Environment German Jordanian University Darat Othman Bdeir 11180 Amman Jordan. Civil and Architectural Engineering Department Sultan Qaboos University Al-Khod P.O. Box: 33 PC: 123 Muscat Oman. Laboratory of Building Technology Department of Architecture Institut Teknologi Bandung Ganesha 10 40132 Bandung Indonesia. Department of Building Physics Bauhaus-University Weimar Coudraystr. 11A 99423 Weimar Germany. Energy & Climate Change Group Faculty of Engineering & Physical Sciences University of Southampton University Road SO17 1BJ Southampton United Kingdom. Welsh School of Architecture Cardiff University King Edward VII Avenue CF10 3NB Cardiff United Kingdom. Department of Architecture Massachusetts Institute of Technology Massachusetts Ave 02139 Cambridge United States of America. Faculty of Engineering Environment and Computing BNE Research Centre Coventry University Gulson road CV1 2JH Coventry United Kingdom. Industrial and Systems Engineering Khalifa University Masdar Campus Building 1B 54224 Abu Dhabi United Arab Emirates. Architecture University of Tehran Kish International Campus Niyayesh St. Mirmohanna Blvd 79416-55665 Kish Iran. Department of Architecture Ahmadu Bello University Zaria Nigeria Samaru Zaria Nigeria. WIN-Kolleg Thermal comfort and pain Heidelberg Academy of Sciences and Humanities Karlstr. 4 69117 Heidelberg Germany. Department of Cognitive and Clinical Neurosci

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Position-based Power Allocation for Uplink HSRs Wireless Communication When Two Trains Encounter

Position-based Power Allocation for Uplink HSRs Wireless Com...

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IEEE Global Communications Conference

作者： Tao Li Zhengchuan Chen Pingyi Fan Khaled Ben Letaief Tsinghua National Laboratory for Information Science and Technology (TNList) and Department of Electronic Engineering Tsinghua University Information Systems Technology and Design Pillar SUTD Department of Electrical and Computer Engineering HKUST

ISBN: (纸本)9781509013296

Highly mobile wireless communication attracts much more attention currently due to the rapid development of high speed railways (HSRs) all over the world. Although the single train scenario has been well studied by now, two trains encountering scenario over the general two-way railways is also an important problem deserving to investigate. To this end, this paper concentrates on the uplink information transmission of HSRs in the two trains encountering scenario, which is modeled as a time-varying partial multiple access channel. In order to evaluate the transmission performance, the achievable rate region is utilized as a metric to characterize the tradeoff between the rates that each train can obtain under limited channel source constraint. With the help of superposition modulation and sequential interference cancelling, an optimal adaptive power allocation scheme aided by real-time position information is proposed to achieve the maximal boundary of the achievable rate region, namely alleviating the effect of encountering on information transmission to the largest extent. According to the numerical results, great improvement can be obtained by new proposed adaptive power allocation along time.

关键词： Highly mobile wireless communication Achievable rate region Position-based power allocation achievable rate region power splitting TRAIN CARRIER SYSTEM data transmission adaptive power allocation up link Transmission Characteristics ENCOUNTERS tradeoffs

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Sparse representation based multi-sensor image fusion: A review

arXiv

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arXiv 2017年

作者： Zhang, Qiang Liu, Yi Blum, Rick S. Han, Jungong Tao, Dacheng Key Laboratory of Electronic Equipment Structure Design Ministry of Education Xidian University China Center for Complex Systems School of Mechano-Electronic Engineering Xidian University Xi'an Shaanxi710071 China Electrical and Computer Engineering Depart-ment Lehigh University BethlehemPA18015 United States Department of Computer and Information Sciences Northumbria University Newcastle upon TyneNE1 8ST United Kingdom School of Information Technologies in Faculty of Engineering and Information Technologies University of Sydney J12/318 Cleveland St DarlingtonNSW2008 Australia

As a result of several successful applications in computer vision and image processing, sparse representation (SR) has attracted significant attention in multi-sensor image fusion. Unlike the traditional multiscale transforms (MSTs) that presume the basis functions, SR learns an over-complete dictionary from a set of training images for image fusion, and it achieves more stable and meaningful representations of the source images. By doing so, the SR-based fusion methods generally outperform the traditional MST-based image fusion methods in both subjective and objective tests. In addition, they are less susceptible to mis-registration among the source images, thus facilitating the practical applications. This survey paper proposes a systematic review of the SR-based multi-sensor image fusion literature, highlighting the pros and cons of each category of approaches. Specifically, we start by performing a theoretical investigation of the entire system from three key algorithmic aspects, (1) sparse representation models;(2) dictionary learning methods;and (3) activity levels and fusion rules. Subsequently, we show how the existing works address these scientific problems and design the appropriate fusion rules for each application such as multi-focus image fusion and multi-modality (e.g., infrared and visible) image fusion. At last, we carry out some experiments to evaluate the impact of these three algorithmic components on the fusion performance when dealing with different applications. This article is expected to serve as a tutorial and source of reference for researchers preparing to enter the field or who desire to employ the sparse representation theory in other fields. Copyright © 2017, The Authors. All rights reserved.

关键词： Image fusion

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I&I based Command Filtered Back-stepping of Pure-feedback systems in presence of Non-linearly Parameterized Uncertainty 34

I&I based Command Filtered Back-stepping of Pure-feedback Sy...

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第三十四届中国控制会议

作者： JI Yuehui ZONG Qun NI Weichen LI Junfang School of Electrical Engineering and Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Department of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781467374439

An Immersion and Invariance-based command filtered back-stepping control, is addressed for non-linearly parameterized pure-feedback systems, which avoids the complicate analytic derivatives in traditional back-stepping design. In the underlying control scheme, integral sliding-mode filters are designed to approximate the virtual control derivatives, to solve the nd in pure feedback system. The resulting closed-loop system consists of controller-filter pair, which both satisfy the input-to-state stability(ISS) property, providing the celebrated small-gain theorem can be exploited to guarantee the stability of closed-loop system. Referring to the issue of non-linearly parameterized uncertainty, adaptive laws are derived via Immersion and Invariance technique. Numerical simulations are included to illustrate the effectiveness of proposed control scheme.

关键词： Command filtered backstepping,Immersion and Invariance,Pure feedback System,Non-linearly Parameterized Uncertainty

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Robust H∞ control for a class of liner neutral delay systems

Robust H∞ control for a class of liner neutral delay system...

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2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Xinlan Guo Hongxia Zhao Mechanical and Electrical Engineering Department Nanjing Communications Institute of Technology The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Huawei Nanjing Institute

This paper design controller for the uncertain neutral delay system. The uncertain neutral delay system includes norm bounded uncertain system parameters and unknown constant delay. The paper uses uncertain neutral systems with structural features, and constructs appropriate Lyapunov function to obtain feedback control law. Compared with the previous methods for solving the Riccati equation, this method overcomes the shortcoming of Riccati equation emphasizing the center solution. Simulation results show that, the conservatism of the controller designed in this paper is reduced, and the controller easy to operate and application.

关键词： Robust H∞ control neutral system uncertain time delay feedback control

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Linearized PID control in a nonlinear model of an active hydromagnetic journal bearing

Linearized PID control in a nonlinear model of an active hyd...

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作者： Farmakopoulos, Michael G Thanou, Michalis D Nikolakopoulos, Pantelis G Papadopoulos, Chris A Tzes, Anthony P Machine Design Laboratory Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Automation and Robotics Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

A proportional-integral-derivative (PID) control model of an active hydromagnetic journal bearing (AHJB) is presented here and its design guidelines are explicitly described. The nonlinear rotor equations of motion, is introduced. Then, the linearization of these equations in the bearing specific equilibrium point is performed and presented along with the appropriate PID gains. Consequentially, the linear equation is transformed via Laplace method and the control model of the AHJB is finally developed. The multiphysics module of Ansys is used to calculate the forces that the hydrodynamic lubrication applies to the rotor, in every position of the rotor, during its movement inside the bearing. This has been done, in order not to have linear equations of the hydrodynamic forces, but the real, nonlinear equations. The nonlinear equations are used for the electromagnetic forces too. The Matlab software is used to simulate the components that the AHJB is consisted of. The P, I, and D gains are the obtained results of this simulations, which are produced via robust control method, in single-input-single-output tool module. Finally, the Simulink module of Matlab is energized to check the control characteristics of the developed AHJB system, taking into account the nonlinear equations of motion of the system, in combination with the rotor unbalance and gyroscopic effects and the saturation of the coils. The rotor response, the overshoot, the rotor center vibration are controlled using the above produced P, I, and D gains. Several plots are constructed and presented, such as the rotor orbits, to show the possibility of the AHJB control. © 2014 IMechE.

关键词： Simulink

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